From 7c0957801d42e6eb285bd1938c58b193e84d4934 Mon Sep 17 00:00:00 2001 From: andrewwchong Date: Mon, 2 Oct 2023 17:17:27 -0400 Subject: [PATCH 01/31] updated changes from branch 8 --- driverless_ws/src/eufs_msgs | 2 +- driverless_ws/src/planning/CMakeLists.txt | 58 +++++----- driverless_ws/src/planning/src/generator.cpp | 102 ++++++++++++++++-- driverless_ws/src/planning/src/listener.cpp | 33 ++++++ driverless_ws/src/planning/src/midpoint.cpp | 76 ++++++------- .../src/planning/src/raceline/raceline.cpp | 14 +-- driverless_ws/src/planning/src/talker.cpp | 55 ++++++++++ 7 files changed, 250 insertions(+), 90 deletions(-) create mode 100644 driverless_ws/src/planning/src/listener.cpp create mode 100644 driverless_ws/src/planning/src/talker.cpp diff --git a/driverless_ws/src/eufs_msgs b/driverless_ws/src/eufs_msgs index 4f3b22961..d9f66a2d2 160000 --- a/driverless_ws/src/eufs_msgs +++ b/driverless_ws/src/eufs_msgs @@ -1 +1 @@ -Subproject commit 4f3b22961e2ad657794ee74ff4137eecbb5f0f78 +Subproject commit d9f66a2d24c2898561bbf5602421a3fbd0bc8463 diff --git a/driverless_ws/src/planning/CMakeLists.txt b/driverless_ws/src/planning/CMakeLists.txt index b73b62504..8e0631700 100644 --- a/driverless_ws/src/planning/CMakeLists.txt +++ b/driverless_ws/src/planning/CMakeLists.txt @@ -1,43 +1,47 @@ -cmake_minimum_required(VERSION 3.5) -project(planning) + cmake_minimum_required(VERSION 3.5) + project(planning) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) + # Default to C++14 + if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) -endif() + endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(std_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(eufs_msgs REQUIRED) -find_package(GSL REQUIRED) + endif() + + find_package(ament_cmake REQUIRED) + find_package(rclcpp REQUIRED) + find_package(std_msgs REQUIRED) + find_package(geometry_msgs REQUIRED) + find_package(eufs_msgs REQUIRED) + find_package(GSL REQUIRED) + + add_executable(midpoint_test src/midpoint.cpp src/generator.cpp src/raceline/raceline.cpp) + add_executable(midline_test src/generator.cpp src/raceline/raceline.cpp) + ament_target_dependencies(midpoint_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) + ament_target_dependencies(midline_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) + + install(TARGETS + midpoint_test + DESTINATION lib/${PROJECT_NAME}) -add_executable(midline src/midpoint.cpp src/generator.cpp src/raceline/raceline.cpp) -ament_target_dependencies(midline rclcpp std_msgs eufs_msgs geometry_msgs GSL) -add_executable(talker pub.cpp) -ament_target_dependencies(talker rclcpp std_msgs) + add_executable(talker src/talker.cpp) + ament_target_dependencies(talker rclcpp std_msgs geometry_msgs eufs_msgs) -install(TARGETS + install(TARGETS talker DESTINATION lib/${PROJECT_NAME}) -add_executable(listener sub.cpp) -ament_target_dependencies(listener rclcpp std_msgs) -install(TARGETS + add_executable(listener src/listener.cpp) + ament_target_dependencies(listener rclcpp std_msgs geometry_msgs eufs_msgs) + + install(TARGETS talker listener DESTINATION lib/${PROJECT_NAME}) -install(TARGETS - midline - DESTINATION lib/${PROJECT_NAME}) - -ament_package() \ No newline at end of file + ament_package() diff --git a/driverless_ws/src/planning/src/generator.cpp b/driverless_ws/src/planning/src/generator.cpp index 3a7bacdd8..7810ff4f3 100644 --- a/driverless_ws/src/planning/src/generator.cpp +++ b/driverless_ws/src/planning/src/generator.cpp @@ -1,5 +1,6 @@ #include "generator.hpp" + MidpointGenerator::MidpointGenerator(int interpolation_num){ interpolation_number=interpolation_num; @@ -17,11 +18,69 @@ std::vector> MidpointGenerator::sorted_by_norm(std::ve } -gsl_matrix* midpoint(gsl_matrix *inner,gsl_matrix *outer){ - gsl_matrix *midpt = gsl_matrix_alloc(inner->size1,inner->size2); - for(unsigned int i=0;isize1;i++) - for(unsigned int j=0;jsize1;j++) - gsl_matrix_set(midpt,i,j,(gsl_matrix_get(inner,i,j)+gsl_matrix_get(outer,i,j))/2); +gsl_matrix* midpoint(gsl_matrix *left,gsl_matrix *right){ + gsl_matrix *midpt = gsl_matrix_alloc(2,left->size2+right->size2-1); + + double lx = gsl_matrix_get(left, 0 , 0); //x-coordinate of first inner point + double ly = gsl_matrix_get(left, 1 , 0); //y-coordinate + double rx = gsl_matrix_get(right, 0 , 0); //x-coordinate of first outer point + double ry = gsl_matrix_get(right, 1 , 0); //y-coordinate + int l = 0; //index of inner + int r = 0; //index of outer + gsl_matrix_set(midpt,0,0,(lx+rx)/2); + gsl_matrix_set(midpt,1,0,(ly+ry)/2); + int m = 1; //index of midpt + while(lsize2-1 && rsize2-1){ + double lxp1 = gsl_matrix_get(left, 0 , l+1); //x-coordinater of inner[i+1] + double lyp1 = gsl_matrix_get(left, 1 , l+1); //y-coordinater of inner[i+1] + double rxp1 = gsl_matrix_get(right, 0 , r+1); //x-coordinater of outer[o+1] + double ryp1 = gsl_matrix_get(right, 1 , r+1); //y-coordinater of inner[o+1] + double dist_l_rp1 = pow((rxp1-lx),2) + pow((ryp1-ly),2); //distance between inner[i] and outer[o+1] + double dist_lp1_r = pow((rx-lxp1),2) + pow((ry-lyp1),2); //distance between inner[i+1] and outer[o] + if(dist_l_rp1 <= dist_lp1_r){ + r++; + rx = rxp1; + ry = ryp1; + gsl_matrix_set(midpt,0,m,(lx+rx)/2); + gsl_matrix_set(midpt,1,m,(ly+ry)/2); + }else{ + l++; + lx = lxp1; + ly = lyp1; + gsl_matrix_set(midpt,0,m,(lx+rx)/2); + gsl_matrix_set(midpt,1,m,(ly+ry)/2); + } + m++; + } + + if(r == right->size2-1) + { + while(lsize2-1) + { + lx = gsl_matrix_get(left, 0 , l); //x-coordinater of inner[i+1] + ly = gsl_matrix_get(left, 1 , l); + gsl_matrix_set(midpt,0,m,(lx+rx)/2); + gsl_matrix_set(midpt,1,m,(ly+ry)/2); + l++; + m++; + } + } + else{ + //l == left->size2-1 + while(rsize2-1) + { + rx = gsl_matrix_get(left, 0 , r); //x-coordinater of inner[i+1] + ry = gsl_matrix_get(left, 1 , r); + gsl_matrix_set(midpt,0,m,(lx+rx)/2); + gsl_matrix_set(midpt,1,m,(ly+ry)/2); + r++; + m++; + } + } + + // for(int i=0;isize1;i++) + // for(int j=0;jsize1;j++) + // gsl_matrix_set(midpt,i,j,(gsl_matrix_get(inner,i,j)+gsl_matrix_get(outer,i,j))/2); return midpt; } @@ -48,7 +107,7 @@ gsl_matrix* MidpointGenerator::generate_points(perceptionsData perceptions_data) if (perceptions_data.bluecones.size()>0 && perceptions_data.yellowcones.size()==0){ gsl_matrix *left = gsl_matrix_alloc(2,perceptions_data.bluecones.size()); gsl_matrix *right = gsl_matrix_alloc(2,perceptions_data.bluecones.size()); - for(unsigned int i=0;i0){ gsl_matrix *left = gsl_matrix_alloc(2,perceptions_data.yellowcones.size()); gsl_matrix *right = gsl_matrix_alloc(2,perceptions_data.yellowcones.size()); - for(unsigned int i=0;i> side){ gsl_matrix *mat = gsl_matrix_alloc(2,side.size()); - for(unsigned int i=0;i gsl_matrix_free(side_mat); return splines[0]; } + +int main(){ + gsl_matrix *left = gsl_matrix_alloc(2, 5); + gsl_matrix *right = gsl_matrix_alloc(2, 3); + std::vector left_xcord = {-4.475, -4.45, -4.37, -4.16, -3.78}; + std::vector left_ycord = {0, 0.424, 0.95, 1.64, 2.39}; + std::vector right_xcord = {-3, -2.875, -2.68}; + std::vector right_ycord = {0, 0.857, 1.348}; + for(int i = 0; i < 5; i++) + { + gsl_matrix_set(left, 0, i, left_xcord[i]); + gsl_matrix_set(left, 1, i, left_ycord[i]); + } + for(int i = 0; i < 3; i++) + { + gsl_matrix_set(right, 0, i, right_xcord[i]); + gsl_matrix_set(right, 1, i, right_ycord[i]); + } + + gsl_matrix *mid = midpoint(left, right); + for(int i = 0; i < mid->size2; i++) + { + std::cout< + +#include "rclcpp/rclcpp.hpp" +#include "geometry_msgs/msg/point.hpp" +#include "std_msgs/msg/string.hpp" +#include "eufs_msgs/msg/waypoint.hpp" +using std::placeholders::_1; + +class MinimalSubscriber : public rclcpp::Node +{ + public: + MinimalSubscriber() + : Node("minimal_subscriber") + { + subscription_ = this->create_subscription( + "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); + } + + private: + void topic_callback(const eufs_msgs::msg::Waypoint::SharedPtr msg) const + { + RCLCPP_INFO(this->get_logger(), "I heard:"); // '%s'", msg->data.c_str() + } + rclcpp::Subscription::SharedPtr subscription_; +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/midpoint.cpp b/driverless_ws/src/planning/src/midpoint.cpp index 01ab0ad5e..7af54b703 100644 --- a/driverless_ws/src/planning/src/midpoint.cpp +++ b/driverless_ws/src/planning/src/midpoint.cpp @@ -12,6 +12,11 @@ // #include "frenet.hpp" // #include "runpy.hpp" + +//publish topic example +//ros2 topic pub -1 /stereo_cones eufs_msgs/msg/ConeArray "{blue_cones: [{x: 1.0, y: 2.0, z: 3.0}]}" + + using std::placeholders::_1; #define DELTA 0.5 struct raceline_pt{ @@ -20,38 +25,9 @@ struct raceline_pt{ class MidpointNode : public rclcpp::Node { - - public: - MidpointNode() - : Node("midpoint") - { - - RCLCPP_INFO(this->get_logger(), "Started Node"); - - subscription_ = this->create_subscription( - "topic", 10, std::bind(&MidpointNode::topic_callback, this, _1)); - - subscription_cones = this->create_subscription( - "/stereo_cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); - // subscription_cones.subscribe(this,"/stereo_cones"); //= this->create_subscription("/stereo_cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); - - // subscription_lap_num = this->create_subscription("/lap_num", 10, std::bind(&MidpointNode::lap_callback, this, _1)); - publisher_rcl_pt = this->create_publisher("/midpoint_points",10); - // rclcpp::TimerBase::SharedPtr timer_ = this->create_wall_timer( - // 500ms, std::bind(&MinimalPublisher::timer_callback, this)); - generator_mid = MidpointGenerator(10); - // generator_left = MidpointGenerator(10); - // generator_right = MidpointGenerator(10); - // VIS LOOKAHEADS - RCLCPP_INFO(this->get_logger(), "Created Node"); - - } - - private: + private: perceptionsData perception_data; - - rclcpp::Subscription::SharedPtr subscription_; rclcpp::Subscription::SharedPtr subscription_cones; // rclcpp::Subscription::SharedPtr subscription_lap_num; rclcpp::Publisher::SharedPtr publisher_rcl_pt; @@ -62,33 +38,25 @@ class MidpointNode : public rclcpp::Node int lap = 1; bool vis_spline = true; MidpointGenerator generator_mid; - // MidpointGenerator generator_left; - // MidpointGenerator generator_right; - - // void lap_callback(const std_msgs::msg::Int8::SharedPtr msg) - // { - // lap=msg->data; - // } + MidpointGenerator generator_left; + MidpointGenerator generator_right; - void topic_callback(const std_msgs::msg::String::SharedPtr msg) const + void lap_callback(const std_msgs::msg::Int8::SharedPtr msg) { - RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); + lap=msg->data; } - void cones_callback(const eufs_msgs::msg::ConeArray::SharedPtr msg) const + void cones_callback (const eufs_msgs::msg::ConeArray::SharedPtr msg) { - RCLCPP_INFO(this->get_logger(), "Recieved cones from perceptions"); - } - - void cones_callback2(const eufs_msgs::msg::ConeArray::SharedPtr msg) - { - RCLCPP_INFO(this->get_logger(), "Recieved cones from perceptions"); + RCLCPP_INFO(this->get_logger(), "Hello"); + return; if (lap>1) return; if((msg->blue_cones.size()==0 || msg->yellow_cones.size()==0) && (msg->orange_cones.size()<2)){ return; } + for (auto e : msg->blue_cones) { perception_data.bluecones.emplace_back(e.x, e.y); @@ -138,6 +106,22 @@ class MidpointNode : public rclcpp::Node } + + public: + MidpointNode() + : Node("midpoint") + { + subscription_cones = this->create_subscription("/stereo_cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); + // subscription_lap_num = this->create_subscription("/lap_num", 10, std::bind(&MidpointNode::lap_callback, this, _1)); + publisher_rcl_pt = this->create_publisher("/midpoint_points",10); + // publisher_rcl_pt = this->create_publisher("/midpoint_points",10); + // rclcpp::TimerBase::SharedPtr timer_ = this->create_wall_timer( + // 500ms, std::bind(&MinimalPublisher::timer_callback, this)); + generator_mid = MidpointGenerator(10); + generator_left = MidpointGenerator(10); + generator_right = MidpointGenerator(10); + // VIS LOOKAHEADS + } }; int main(int argc, char * argv[]) diff --git a/driverless_ws/src/planning/src/raceline/raceline.cpp b/driverless_ws/src/planning/src/raceline/raceline.cpp index dd38dde52..bff0e4936 100644 --- a/driverless_ws/src/planning/src/raceline/raceline.cpp +++ b/driverless_ws/src/planning/src/raceline/raceline.cpp @@ -281,7 +281,7 @@ gsl_vector *get_translation_vector(gsl_matrix *group){ gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); - for(u_int32_t i=0;isize2;++i){ + for(int i=0;isize2;++i){ gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)-gsl_vector_get(get_translation_vector,0)); gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)-gsl_vector_get(get_translation_vector,1)); } @@ -298,7 +298,7 @@ gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_ gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); - for(uint32_t i=0;isize2;++i){ + for(int i=0;isize2;++i){ gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)); gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)); } @@ -307,7 +307,7 @@ gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get gsl_linalg_matmult(temp,Q,ret); gsl_matrix_free(temp); - for(uint32_t i=0;isize2;++i){ + for(int i=0;isize2;++i){ gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)+gsl_vector_get(get_translation_vector,0)); gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)+gsl_vector_get(get_translation_vector,1)); } @@ -318,21 +318,21 @@ gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get polynomial lagrange_gen(gsl_matrix* points){ polynomial lagrange_poly = poly(3); - for(uint32_t col = 0;col size2;col++){ + for(int col = 0;col size2;col++){ } double x[points->size2]; double y[points->size2]; - for(uint32_t i=0;isize2;i++){ + for(int i=0;isize2;i++){ x[i] = gsl_matrix_get(points,i,0); y[i] = gsl_matrix_get(points,i,1); } - for(uint32_t i=0;isize2;i++){ + for(int i=0;isize2;i++){ polynomial p = poly_one(); - for(uint32_t j=0;jsize2;j++){ + for(int j=0;jsize2;j++){ if(j!=i){ polynomial pr =poly_root(x[j]); polynomial q =poly_mult(p,pr); diff --git a/driverless_ws/src/planning/src/talker.cpp b/driverless_ws/src/planning/src/talker.cpp new file mode 100644 index 000000000..95438a78c --- /dev/null +++ b/driverless_ws/src/planning/src/talker.cpp @@ -0,0 +1,55 @@ +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" +#include "eufs_msgs/msg/waypoint.hpp" +#include "geometry_msgs/msg/point.hpp" + +using namespace std::chrono_literals; + +/* This example creates a subclass of Node and uses std::bind() to register a +* member function as a callback from the timer. */ + +class MinimalPublisher : public rclcpp::Node +{ + public: + MinimalPublisher() + : Node("minimal_publisher"), count_(0) + { + publisher_ = this->create_publisher("topic", 10); + timer_ = this->create_wall_timer( + 500ms, std::bind(&MinimalPublisher::timer_callback, this)); + } + + private: + void timer_callback() + { + // auto message = std_msgs::msg::String(); + // message.data = "Hello, world! " + std::to_string(count_++); + // RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); + auto position = geometry_msgs::msg::Point(); + position.x = 1.0; + position.y = 2.0; + position.z = 2.0; + auto message = eufs_msgs::msg::Waypoint(); + message.set__position(position); + message.set__speed(4.0); + message.set__suggested_steering(5.0); + RCLCPP_INFO(this->get_logger(), "Publishing"); + publisher_->publish(message); + } + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher::SharedPtr publisher_; + size_t count_; +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file From a54b145ea22b81e5bd5705c7f3e156aff1af14ab Mon Sep 17 00:00:00 2001 From: sfu699 Date: Mon, 23 Oct 2023 16:34:21 -0400 Subject: [PATCH 02/31] new unit test file for triangulation --- .../src/planning/src/midpoint_tests.cpp | 33 +++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 driverless_ws/src/planning/src/midpoint_tests.cpp diff --git a/driverless_ws/src/planning/src/midpoint_tests.cpp b/driverless_ws/src/planning/src/midpoint_tests.cpp new file mode 100644 index 000000000..72d19d66e --- /dev/null +++ b/driverless_ws/src/planning/src/midpoint_tests.cpp @@ -0,0 +1,33 @@ +#include "generator.cpp" +#include +#include + +int main(){ + //test case 1: + printf("test case 1: \n"); + gsl_matrix *left_1 = gsl_matrix_alloc(2,1); + gsl_matrix *right_1 = gsl_matrix_alloc(2,1); + gsl_matrix_set(left_1, 0, 0, 0); + gsl_matrix_set(left_1, 1, 0, 0); + gsl_matrix_set(right_1, 0, 0, 0); + gsl_matrix_set(right_1, 1, 0, 1); + gsl_matrix *result = midpoint(left_1, right_1); + assert(gsl_matrix_get(result, 0, 0, 0)); + assert(gsl_matrix_get(result, 1, 0, 0.5)); + + //test case 2: + printf("test case 2: \n"); + gsl_matrix *left_1 = gsl_matrix_alloc(2,2); + gsl_matrix *right_1 = gsl_matrix_alloc(2,1); + gsl_matrix_set(left_1, 0, 0, 0); + gsl_matrix_set(left_1, 1, 0, 0); + gsl_matrix_set(left_1, 0, 1, 1); + gsl_matrix_set(left_1, 1, 1, 0); + + gsl_matrix_set(right_1, 0, 0, 0); + gsl_matrix_set(right_1, 1, 0, 1); + gsl_matrix *result = midpoint(left_1, right_1); + assert(gsl_matrix_get(result, 0, 0, 0)); + assert(gsl_matrix_get(result, 1, 0, 0.5)); + +} From eeee42cf10cd35f8b41ae4230699374c484bf28d Mon Sep 17 00:00:00 2001 From: sfu699 Date: Mon, 23 Oct 2023 16:47:53 -0400 Subject: [PATCH 03/31] basic unit tests for a line of cones --- .../src/planning/src/midpoint_tests.cpp | 100 +++++++++++++++--- 1 file changed, 83 insertions(+), 17 deletions(-) diff --git a/driverless_ws/src/planning/src/midpoint_tests.cpp b/driverless_ws/src/planning/src/midpoint_tests.cpp index 72d19d66e..faced3aba 100644 --- a/driverless_ws/src/planning/src/midpoint_tests.cpp +++ b/driverless_ws/src/planning/src/midpoint_tests.cpp @@ -5,29 +5,95 @@ int main(){ //test case 1: printf("test case 1: \n"); - gsl_matrix *left_1 = gsl_matrix_alloc(2,1); - gsl_matrix *right_1 = gsl_matrix_alloc(2,1); - gsl_matrix_set(left_1, 0, 0, 0); - gsl_matrix_set(left_1, 1, 0, 0); - gsl_matrix_set(right_1, 0, 0, 0); - gsl_matrix_set(right_1, 1, 0, 1); - gsl_matrix *result = midpoint(left_1, right_1); + gsl_matrix *left = gsl_matrix_alloc(2,1); + gsl_matrix *right = gsl_matrix_alloc(2,1); + gsl_matrix_set(left, 0, 0, 0); + gsl_matrix_set(left, 1, 0, 0); + gsl_matrix_set(right, 0, 0, 0); + gsl_matrix_set(right, 1, 0, 1); + gsl_matrix *result = midpoint(left, right); assert(gsl_matrix_get(result, 0, 0, 0)); assert(gsl_matrix_get(result, 1, 0, 0.5)); + free(left); + free(right); + free(result); + //test case 2: printf("test case 2: \n"); - gsl_matrix *left_1 = gsl_matrix_alloc(2,2); - gsl_matrix *right_1 = gsl_matrix_alloc(2,1); - gsl_matrix_set(left_1, 0, 0, 0); - gsl_matrix_set(left_1, 1, 0, 0); - gsl_matrix_set(left_1, 0, 1, 1); - gsl_matrix_set(left_1, 1, 1, 0); - - gsl_matrix_set(right_1, 0, 0, 0); - gsl_matrix_set(right_1, 1, 0, 1); - gsl_matrix *result = midpoint(left_1, right_1); + gsl_matrix *left = gsl_matrix_alloc(2,2); + gsl_matrix *right = gsl_matrix_alloc(2,1); + gsl_matrix_set(left, 0, 0, 0); + gsl_matrix_set(left, 1, 0, 0); + gsl_matrix_set(left, 0, 1, 1); + gsl_matrix_set(left, 1, 1, 0); + + gsl_matrix_set(right, 0, 0, 0); + gsl_matrix_set(right, 1, 0, 1); + + gsl_matrix *result = midpoint(left, right); + + assert(result->size2 == 2); + assert(gsl_matrix_get(result, 0, 0, 0)); + assert(gsl_matrix_get(result, 1, 0, 0.5)); + assert(gsl_matrix_get(result, 0, 1, 0.5)); + assert(gsl_matrix_get(result, 1, 1, 0.5)); + free(left); + free(right); + free(result); + + //test case 3: + printf("test case 3: \n"); + gsl_matrix *left = gsl_matrix_alloc(2,2); + gsl_matrix *right = gsl_matrix_alloc(2,2); + gsl_matrix_set(left, 0, 0, 0); + gsl_matrix_set(left, 1, 0, 0); + gsl_matrix_set(left, 0, 1, 1); + gsl_matrix_set(left, 1, 1, 0); + + gsl_matrix_set(right, 0, 0, 0); + gsl_matrix_set(right, 1, 0, 1); + gsl_matrix_set(right, 0, 0, 1); + gsl_matrix_set(right, 1, 0, 1); + + gsl_matrix *result = midpoint(left, right); + + assert(result->size2 == 3); + assert(gsl_matrix_get(result, 0, 0, 0)); + assert(gsl_matrix_get(result, 1, 0, 0.5)); + assert(gsl_matrix_get(result, 0, 1, 0.5)); + assert(gsl_matrix_get(result, 1, 1, 0.5)); + assert(gsl_matrix_get(result, 0, 2, 1)); + assert(gsl_matrix_get(result, 1, 2, 0.5)); + free(left); + free(right); + free(result); + + //test case 4: + printf("test case 4: \n"); + gsl_matrix *left = gsl_matrix_alloc(2,2); + gsl_matrix *right = gsl_matrix_alloc(2,2); + gsl_matrix_set(left, 0, 0, 0); + gsl_matrix_set(left, 1, 0, 0); + gsl_matrix_set(left, 0, 1, 1); + gsl_matrix_set(left, 1, 1, 0); + + gsl_matrix_set(right, 0, 0, 0); + gsl_matrix_set(right, 1, 0, 1); + gsl_matrix_set(right, 0, 0, 1); + gsl_matrix_set(right, 1, 0, 1); + + gsl_matrix *result = midpoint(left, right); + + assert(result->size2 == 3); assert(gsl_matrix_get(result, 0, 0, 0)); assert(gsl_matrix_get(result, 1, 0, 0.5)); + assert(gsl_matrix_get(result, 0, 1, 0.5)); + assert(gsl_matrix_get(result, 1, 1, 0.5)); + assert(gsl_matrix_get(result, 0, 2, 1)); + assert(gsl_matrix_get(result, 1, 2, 0.5)); + free(left); + free(right); + free(result); } From 03632e6ae1a995392561adcb7942bd07d829d2ab Mon Sep 17 00:00:00 2001 From: Doris Date: Mon, 23 Oct 2023 16:49:29 -0400 Subject: [PATCH 04/31] added text file for unit test points --- driverless_ws/src/planning/src/test_points.txt | 10 ++++++++++ 1 file changed, 10 insertions(+) create mode 100644 driverless_ws/src/planning/src/test_points.txt diff --git a/driverless_ws/src/planning/src/test_points.txt b/driverless_ws/src/planning/src/test_points.txt new file mode 100644 index 000000000..8887148ba --- /dev/null +++ b/driverless_ws/src/planning/src/test_points.txt @@ -0,0 +1,10 @@ +circle track: inner rad 2, outer rad 3, one to one +left: (0, 2), (2, 0), (0, -2), (-2, 0) +right: (0, 3), (3, 0), (0, -3), (-3, 0) + +circle track: inner rad 2, outer rad 3, extra pts on outer +left: (0, 2), (2, 0), (0, -2) +right: (0, 5), (5, 0), (0, -5), (-5, 0) (-2.66, 1.387) (-2.52, 1.628) + + + From 1f3aa482c1d624430deefbde5cea7d32f2b123fb Mon Sep 17 00:00:00 2001 From: sfu699 Date: Mon, 30 Oct 2023 14:34:05 -0400 Subject: [PATCH 05/31] added basic curve test, turning to the right --- .../src/planning/src/midpoint_tests.cpp | 37 ++++++++++++------- 1 file changed, 23 insertions(+), 14 deletions(-) diff --git a/driverless_ws/src/planning/src/midpoint_tests.cpp b/driverless_ws/src/planning/src/midpoint_tests.cpp index faced3aba..0ad016809 100644 --- a/driverless_ws/src/planning/src/midpoint_tests.cpp +++ b/driverless_ws/src/planning/src/midpoint_tests.cpp @@ -71,27 +71,36 @@ int main(){ //test case 4: printf("test case 4: \n"); - gsl_matrix *left = gsl_matrix_alloc(2,2); - gsl_matrix *right = gsl_matrix_alloc(2,2); + gsl_matrix *left = gsl_matrix_alloc(2,3); + gsl_matrix *right = gsl_matrix_alloc(2,3); gsl_matrix_set(left, 0, 0, 0); - gsl_matrix_set(left, 1, 0, 0); - gsl_matrix_set(left, 0, 1, 1); + gsl_matrix_set(left, 1, 0, 2); + gsl_matrix_set(left, 0, 1, 1.414); + gsl_matrix_set(left, 1, 1, 1.414); + gsl_matrix_set(left, 0, 1, 2); + gsl_matrix_set(left, 1, 1, 0); + + gsl_matrix_set(left, 0, 0, 0); + gsl_matrix_set(left, 1, 0, 3); + gsl_matrix_set(left, 0, 1, 1.414); + gsl_matrix_set(left, 1, 1, 2.236); + gsl_matrix_set(left, 0, 1, 3); gsl_matrix_set(left, 1, 1, 0); - gsl_matrix_set(right, 0, 0, 0); - gsl_matrix_set(right, 1, 0, 1); - gsl_matrix_set(right, 0, 0, 1); - gsl_matrix_set(right, 1, 0, 1); gsl_matrix *result = midpoint(left, right); - assert(result->size2 == 3); + assert(result->size2 == 5); assert(gsl_matrix_get(result, 0, 0, 0)); - assert(gsl_matrix_get(result, 1, 0, 0.5)); - assert(gsl_matrix_get(result, 0, 1, 0.5)); - assert(gsl_matrix_get(result, 1, 1, 0.5)); - assert(gsl_matrix_get(result, 0, 2, 1)); - assert(gsl_matrix_get(result, 1, 2, 0.5)); + assert(gsl_matrix_get(result, 1, 0, 2.5)); + assert(gsl_matrix_get(result, 0, 1, 0.707)); + assert(gsl_matrix_get(result, 1, 1, 2.118)); + assert(gsl_matrix_get(result, 0, 2, 1.414)); + assert(gsl_matrix_get(result, 1, 2, 1.825)); + assert(gsl_matrix_get(result, 0, 3, 2.207)); + assert(gsl_matrix_get(result, 1, 3, 0.707)); + assert(gsl_matrix_get(result, 0, 4, 2.5)); + assert(gsl_matrix_get(result, 1, 4, 0)); free(left); free(right); free(result); From 9073fa6ff07b072e3fbe6003b29a3ded376e66c1 Mon Sep 17 00:00:00 2001 From: dale Date: Mon, 30 Oct 2023 16:45:51 -0400 Subject: [PATCH 06/31] removed main in generator --- driverless_ws/log.log | 0 driverless_ws/src/eufs_msgs | 2 +- driverless_ws/src/planning/CMakeCache.txt | 38 ----- driverless_ws/src/planning/CMakeLists.txt | 28 ++-- .../src/planning/midpoint/generator.cpp | 138 ------------------ .../src/planning/midpoint/generator.hpp | 49 ------- driverless_ws/src/planning/src/generator.cpp | 48 +++--- driverless_ws/src/planning/src/generator.hpp | 2 +- driverless_ws/src/stereo/stereo/visualize.py | 1 + 9 files changed, 41 insertions(+), 265 deletions(-) delete mode 100644 driverless_ws/log.log delete mode 100644 driverless_ws/src/planning/CMakeCache.txt delete mode 100644 driverless_ws/src/planning/midpoint/generator.cpp delete mode 100644 driverless_ws/src/planning/midpoint/generator.hpp diff --git a/driverless_ws/log.log b/driverless_ws/log.log deleted file mode 100644 index e69de29bb..000000000 diff --git a/driverless_ws/src/eufs_msgs b/driverless_ws/src/eufs_msgs index d9f66a2d2..4f3b22961 160000 --- a/driverless_ws/src/eufs_msgs +++ b/driverless_ws/src/eufs_msgs @@ -1 +1 @@ -Subproject commit d9f66a2d24c2898561bbf5602421a3fbd0bc8463 +Subproject commit 4f3b22961e2ad657794ee74ff4137eecbb5f0f78 diff --git a/driverless_ws/src/planning/CMakeCache.txt b/driverless_ws/src/planning/CMakeCache.txt deleted file mode 100644 index 350d5b2c4..000000000 --- a/driverless_ws/src/planning/CMakeCache.txt +++ /dev/null @@ -1,38 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /home/ishin/Documents/cmr/driverless_py/driverless/driverless_ws/src/planning -# It was generated by CMake: /usr/bin/cmake -# You can edit this file to change values found and used by cmake. -# If you do not want to change any of the values, simply exit the editor. -# If you do want to change a value, simply edit, save, and exit the editor. -# The syntax for the file is as follows: -# KEY:TYPE=VALUE -# KEY is the name of a variable in the cache. -# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. -# VALUE is the current value for the KEY. - -######################## -# EXTERNAL cache entries -######################## - - -######################## -# INTERNAL cache entries -######################## - -//This is the directory where this CMakeCache.txt was created -CMAKE_CACHEFILE_DIR:INTERNAL=/home/chip/Documents/driverless/driverless_ws/src/planning/ -//Major version of cmake used to create the current loaded cache -CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 -//Minor version of cmake used to create the current loaded cache -CMAKE_CACHE_MINOR_VERSION:INTERNAL=26 -//Patch version of cmake used to create the current loaded cache -CMAKE_CACHE_PATCH_VERSION:INTERNAL=4 -//Path to CMake executable. -CMAKE_COMMAND:INTERNAL=/usr/bin/cmake -//Path to cpack program executable. -CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack -//Path to ctest program executable. -CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest -//Path to CMake installation. -CMAKE_ROOT:INTERNAL=/usr/share/cmake - diff --git a/driverless_ws/src/planning/CMakeLists.txt b/driverless_ws/src/planning/CMakeLists.txt index 8e0631700..fa1eda157 100644 --- a/driverless_ws/src/planning/CMakeLists.txt +++ b/driverless_ws/src/planning/CMakeLists.txt @@ -18,9 +18,9 @@ find_package(GSL REQUIRED) add_executable(midpoint_test src/midpoint.cpp src/generator.cpp src/raceline/raceline.cpp) - add_executable(midline_test src/generator.cpp src/raceline/raceline.cpp) + # add_executable(midline_test src/generator.cpp src/raceline/raceline.cpp) ament_target_dependencies(midpoint_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) - ament_target_dependencies(midline_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) + # ament_target_dependencies(midline_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) install(TARGETS midpoint_test @@ -29,19 +29,19 @@ - add_executable(talker src/talker.cpp) - ament_target_dependencies(talker rclcpp std_msgs geometry_msgs eufs_msgs) + # add_executable(talker src/talker.cpp) + # ament_target_dependencies(talker rclcpp std_msgs geometry_msgs eufs_msgs) - install(TARGETS - talker - DESTINATION lib/${PROJECT_NAME}) + # install(TARGETS + # talker + # DESTINATION lib/${PROJECT_NAME}) - add_executable(listener src/listener.cpp) - ament_target_dependencies(listener rclcpp std_msgs geometry_msgs eufs_msgs) + # add_executable(listener src/listener.cpp) + # ament_target_dependencies(listener rclcpp std_msgs geometry_msgs eufs_msgs) - install(TARGETS - talker - listener - DESTINATION lib/${PROJECT_NAME}) - ament_package() + # install(TARGETS + # talker + # listener + # DESTINATION lib/${PROJECT_NAME}) + # ament_package() diff --git a/driverless_ws/src/planning/midpoint/generator.cpp b/driverless_ws/src/planning/midpoint/generator.cpp deleted file mode 100644 index c367ec6c1..000000000 --- a/driverless_ws/src/planning/midpoint/generator.cpp +++ /dev/null @@ -1,138 +0,0 @@ -#include "generator.hpp" - -MidpointGenerator::MidpointGenerator(int interpolation_num){ - interpolation_number=interpolation_num; - -} - -bool ptnrm_cmp(std::pair a,std::pair b){ - return hypot(a.first,a.second) < hypot(b.first,b.second); -} - -std::vector> MidpointGenerator::sorted_by_norm(std::vector> inp){ - - std::sort(inp.begin(),inp.end(),ptnrm_cmp); - - return inp; -} - - -gsl_matrix* midpoint(gsl_matrix *inner,gsl_matrix *outer){ - gsl_matrix *midpt = gsl_matrix_alloc(inner->size1,inner->size2); - for(int i=0;isize1;i++) - for(int j=0;jsize1;j++) - gsl_matrix_set(midpt,i,j,(gsl_matrix_get(inner,i,j)+gsl_matrix_get(outer,i,j))/2); - - return midpt; -} - - -std::vector MidpointGenerator::generate_splines(gsl_matrix *midpoints){ - std::pair,std::vector> a= raceline_gen(midpoints,std::rand(),midpoints->size2,false); - // auto result = raceline_gen(midpoints,std::rand(),midpoints->size2,false); - for (auto &e:a.first){ - cumulated_splines.push_back(e); - } - for(auto &e:a.second){ - cumulated_lengths.push_back(e); - } - return a.first; -} - - - -gsl_matrix* MidpointGenerator::generate_points(perceptionsData perceptions_data){ - // LEFT ==BLUE - perceptions_data.bluecones = sorted_by_norm(perceptions_data.bluecones); - perceptions_data.yellowcones = sorted_by_norm(perceptions_data.yellowcones); - if (perceptions_data.bluecones.size()>0 && perceptions_data.yellowcones.size()==0){ - gsl_matrix *left = gsl_matrix_alloc(2,perceptions_data.bluecones.size()); - gsl_matrix *right = gsl_matrix_alloc(2,perceptions_data.bluecones.size()); - for(int i=0;i0){ - gsl_matrix *left = gsl_matrix_alloc(2,perceptions_data.yellowcones.size()); - gsl_matrix *right = gsl_matrix_alloc(2,perceptions_data.yellowcones.size()); - for(int i=0;i splines = generate_splines(midpoints); - gsl_matrix_free(midpoints); - return splines[0]; -} - -gsl_matrix* vector_to_mat(std::vector> side){ - gsl_matrix *mat = gsl_matrix_alloc(2,side.size()); - for(int i=0;i> side){ - - gsl_matrix *side_mat= vector_to_mat(side); - std::vector splines = generate_splines(side_mat); - gsl_matrix_free(side_mat); - return splines[0]; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/midpoint/generator.hpp b/driverless_ws/src/planning/midpoint/generator.hpp deleted file mode 100644 index 90f899fbf..000000000 --- a/driverless_ws/src/planning/midpoint/generator.hpp +++ /dev/null @@ -1,49 +0,0 @@ -#include "raceline.hpp" -#include "random.h" -#include -#include - -#ifndef MIDPOINTGENERATOR -#define MIDPOINTGENERATOR - -struct perceptionsData{ - - std::vector> bluecones,yellowcones,orangecones; -}; - -class MidpointGenerator -{ -private: - /* data */ - - - -public: - int PERCEP_COLOR = 2; - int BLUE = 1; - int YELLOW = 2; - int ORANGE = 3; - int interpolation_number; - std::vector cumulated_splines; - std::vector cumulated_lengths; - - - MidpointGenerator(int interpolation_number=30); - - ~MidpointGenerator(); - std::vector> sorted_by_norm(std::vector> inp); - // gsl_matrix *sorted_by_norm(gsl_matrix *list); - - std::vector generate_splines(gsl_matrix *midpoints); - gsl_matrix* generate_points(perceptionsData perceptions_data); - gsl_matrix* interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); - Spline spline_from_cones(perceptionsData perceptions_data); - Spline spline_from_cone_side(std::vector> side); - -}; - -gsl_matrix *midpoint(gsl_matrix *inner,gsl_matrix *outer); - -#endif - - diff --git a/driverless_ws/src/planning/src/generator.cpp b/driverless_ws/src/planning/src/generator.cpp index 7810ff4f3..37f58f2c8 100644 --- a/driverless_ws/src/planning/src/generator.cpp +++ b/driverless_ws/src/planning/src/generator.cpp @@ -196,27 +196,27 @@ Spline MidpointGenerator::spline_from_curve(std::vector return splines[0]; } -int main(){ - gsl_matrix *left = gsl_matrix_alloc(2, 5); - gsl_matrix *right = gsl_matrix_alloc(2, 3); - std::vector left_xcord = {-4.475, -4.45, -4.37, -4.16, -3.78}; - std::vector left_ycord = {0, 0.424, 0.95, 1.64, 2.39}; - std::vector right_xcord = {-3, -2.875, -2.68}; - std::vector right_ycord = {0, 0.857, 1.348}; - for(int i = 0; i < 5; i++) - { - gsl_matrix_set(left, 0, i, left_xcord[i]); - gsl_matrix_set(left, 1, i, left_ycord[i]); - } - for(int i = 0; i < 3; i++) - { - gsl_matrix_set(right, 0, i, right_xcord[i]); - gsl_matrix_set(right, 1, i, right_ycord[i]); - } - - gsl_matrix *mid = midpoint(left, right); - for(int i = 0; i < mid->size2; i++) - { - std::cout< left_xcord = {-4.475, -4.45, -4.37, -4.16, -3.78}; +// std::vector left_ycord = {0, 0.424, 0.95, 1.64, 2.39}; +// std::vector right_xcord = {-3, -2.875, -2.68}; +// std::vector right_ycord = {0, 0.857, 1.348}; +// for(int i = 0; i < 5; i++) +// { +// gsl_matrix_set(left, 0, i, left_xcord[i]); +// gsl_matrix_set(left, 1, i, left_ycord[i]); +// } +// for(int i = 0; i < 3; i++) +// { +// gsl_matrix_set(right, 0, i, right_xcord[i]); +// gsl_matrix_set(right, 1, i, right_ycord[i]); +// } + +// gsl_matrix *mid = midpoint(left, right); +// for(int i = 0; i < mid->size2; i++) +// { +// std::cout< #include - +#include #ifndef MIDPOINTGENERATOR #define MIDPOINTGENERATOR diff --git a/driverless_ws/src/stereo/stereo/visualize.py b/driverless_ws/src/stereo/stereo/visualize.py index 310a9f75d..b449bd4e8 100644 --- a/driverless_ws/src/stereo/stereo/visualize.py +++ b/driverless_ws/src/stereo/stereo/visualize.py @@ -16,6 +16,7 @@ def __init__(self): self.subscription # prevent unused variable warning def listener_callback(self, msg): + pass From 3049939845b08c67fca4e0ad8f467bf6b6fb0891 Mon Sep 17 00:00:00 2001 From: dale Date: Mon, 30 Oct 2023 18:01:55 -0400 Subject: [PATCH 07/31] working --- driverless_ws/src/planning/CMakeLists.txt | 2 +- driverless_ws/src/planning/src/midpoint.cpp | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/driverless_ws/src/planning/CMakeLists.txt b/driverless_ws/src/planning/CMakeLists.txt index fa1eda157..e4fc1ac8f 100644 --- a/driverless_ws/src/planning/CMakeLists.txt +++ b/driverless_ws/src/planning/CMakeLists.txt @@ -44,4 +44,4 @@ # talker # listener # DESTINATION lib/${PROJECT_NAME}) - # ament_package() + ament_package() diff --git a/driverless_ws/src/planning/src/midpoint.cpp b/driverless_ws/src/planning/src/midpoint.cpp index 7af54b703..fc2d228fd 100644 --- a/driverless_ws/src/planning/src/midpoint.cpp +++ b/driverless_ws/src/planning/src/midpoint.cpp @@ -49,7 +49,7 @@ class MidpointNode : public rclcpp::Node void cones_callback (const eufs_msgs::msg::ConeArray::SharedPtr msg) { RCLCPP_INFO(this->get_logger(), "Hello"); - return; + // return; if (lap>1) return; if((msg->blue_cones.size()==0 || msg->yellow_cones.size()==0) && (msg->orange_cones.size()<2)){ @@ -103,6 +103,8 @@ class MidpointNode : public rclcpp::Node } message.set__points(Points); publisher_rcl_pt->publish(message); + RCLCPP_INFO(this->get_logger(), "published midpoint cones"); + } @@ -126,6 +128,7 @@ class MidpointNode : public rclcpp::Node int main(int argc, char * argv[]) { + // RCLCPP_INFO(this->get_logger(), "Started Midpoint Node"); rclcpp::init(argc, argv); rclcpp::spin(std::make_shared()); rclcpp::shutdown(); From 2cfb6c6b8bee7bc003644a49a09d3e115c76b6b0 Mon Sep 17 00:00:00 2001 From: dale Date: Mon, 30 Oct 2023 18:44:25 -0400 Subject: [PATCH 08/31] Minor Stereocamera fix --- .../src/stereo/stereo/StereoCamNode.py | 72 +++++++++++-------- driverless_ws/src/stereo/stereo/predict.py | 2 +- 2 files changed, 44 insertions(+), 30 deletions(-) diff --git a/driverless_ws/src/stereo/stereo/StereoCamNode.py b/driverless_ws/src/stereo/stereo/StereoCamNode.py index aab8c9def..8dc2f53be 100644 --- a/driverless_ws/src/stereo/stereo/StereoCamNode.py +++ b/driverless_ws/src/stereo/stereo/StereoCamNode.py @@ -6,7 +6,7 @@ from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy, QoSDurabilityPolicy from stereo.predict import predict -from stereo.ZED import ZEDSDK +# from stereo.ZED import ZEDSDK from eufs_msgs.msg import ConeArray from geometry_msgs.msg import Point @@ -48,58 +48,72 @@ def __init__(self): self.prediction_publisher = self.create_publisher(msg_type=ConeArray, topic=STEREO_OUT, qos_profile=BEST_EFFORT_QOS_PROFILE) - - self.left_publisher = self.create_publisher(msg_type=Image, - topic=IMAGE_LEFT_OUT, - qos_profile=BEST_EFFORT_QOS_PROFILE) - self.right_publisher = self.create_publisher(msg_type=Image, - topic=IMAGE_RIGHT_OUT, - qos_profile=BEST_EFFORT_QOS_PROFILE) - self.depth_publisher = self.create_publisher(msg_type=Image, - topic=DEPTH_OUT, - qos_profile=BEST_EFFORT_QOS_PROFILE) - self.point_publisher = self.create_publisher(msg_type=Image, - topic=POINT_OUT, - qos_profile=BEST_EFFORT_QOS_PROFILE) + # self.left_publisher = self.create_publisher(msg_type=Image, + # topic=IMAGE_LEFT_OUT, + # qos_profile=BEST_EFFORT_QOS_PROFILE) + # self.right_publisher = self.create_publisher(msg_type=Image, + # topic=IMAGE_RIGHT_OUT, + # qos_profile=BEST_EFFORT_QOS_PROFILE) + # self.depth_publisher = self.create_publisher(msg_type=Image, + # topic=DEPTH_OUT, + # qos_profile=BEST_EFFORT_QOS_PROFILE) + # self.point_publisher = self.create_publisher(msg_type=Image, + # topic=POINT_OUT, + # qos_profile=BEST_EFFORT_QOS_PROFILE) + + self.left_sub = self.create_subscription(msg_type=Image, topic=IMAGE_LEFT_OUT, callback=self.left_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) + self.point_sub = self.create_subscription(msg_type=Image, topic=POINT_OUT, callback=self.point_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) self.data_syncer = self.create_timer(1/frame_rate, self.inference) - self.zed = ZEDSDK() - self.zed.open() + # self.zed = ZEDSDK() + # self.zed.open() self.bridge = CvBridge() + self.left_msg = None + self.point_msg = None + print(f"model-device: {self.device}") print("done-init-node") + def left_callback(self, msg): + self.left_msg = msg + + def point_callback(self, msg): + self.point_msg = msg + def inference(self): # try displaying the image s = time.time() - left, right, depth, point = self.zed.grab_data() - blue_cones, yellow_cones, orange_cones = predict(self.model, left, point) + # left, right, depth, point = self.zed.grab_data() + # blue_cones, yellow_cones, orange_cones = predict(self.model, left, point) # convert the data and check that it is the same going and backwards # have to extract out nan values that don't count to compare image values - left_enc = self.bridge.cv2_to_imgmsg(left, encoding="passthrough") - right_enc = self.bridge.cv2_to_imgmsg(right, encoding="passthrough") - depth_enc = self.bridge.cv2_to_imgmsg(depth, encoding="passthrough") - point_enc = self.bridge.cv2_to_imgmsg(point,encoding="32FC4") + if (self.left_msg is None or self.point_msg is None): + return + + left_enc = self.left_msg + point_enc = self.point_msg # publish the data - self.left_publisher.publish(left_enc) - self.right_publisher.publish(right_enc) - self.depth_publisher.publish(depth_enc) - self.point_publisher.publish(point_enc) + # self.left_publisher.publish(left_enc) + # self.right_publisher.publish(right_enc) + # self.depth_publisher.publish(depth_enc) + # self.point_publisher.publish(point_enc) + + left_unenc = self.bridge.imgmsg_to_cv2(left_enc, desired_encoding="passthrough") + point_unenc = self.bridge.imgmsg_to_cv2(point_enc, desired_encoding="32FC4") + blue_cones, yellow_cones, orange_cones = predict(self.model, left_unenc, point_unenc) - # left_unenc = self.bridge.imgmsg_to_cv2(left_enc, desired_encoding="passthrough") - # point_unenc = self.bridge.imgmsg_to_cv2(point_enc, desired_encoding="32FC4") - # depth_unenc = self.bridge.imgmsg_to_cv2(depth_enc, desired_encoding="passthrough") + print(blue_cones, yellow_cones, orange_cones) result = [] for i in range(len(blue_cones)): diff --git a/driverless_ws/src/stereo/stereo/predict.py b/driverless_ws/src/stereo/stereo/predict.py index 9f558dbe0..e6781d286 100644 --- a/driverless_ws/src/stereo/stereo/predict.py +++ b/driverless_ws/src/stereo/stereo/predict.py @@ -167,7 +167,7 @@ def predict(model, left_image_np, point_cloud_np, sim=False): print("stereo-vision YOLO: Found unknown cone -- ignoring") color = cfg_perceptions.COLORS.UNKNOWN - color = get_cone_color(left_img, box, padding=2) + # color = get_cone_color(left_img, box, padding=2) prediction = [world_x, world_y, From 1cfb4d3fad946040c7e20cea3fbf2f253b691567 Mon Sep 17 00:00:00 2001 From: dale Date: Mon, 30 Oct 2023 20:31:08 -0400 Subject: [PATCH 09/31] fixed merge issues --- .../src/planning/planning_codebase/isam2.cpp | 214 ----------------- .../planning/planning_codebase/isamNode.cpp | 227 ------------------ driverless_ws/src/planning/src/midpoint.cpp | 26 +- driverless_ws/src/ros2_numpy | 1 - 4 files changed, 7 insertions(+), 461 deletions(-) delete mode 100644 driverless_ws/src/planning/planning_codebase/isam2.cpp delete mode 100644 driverless_ws/src/planning/planning_codebase/isamNode.cpp delete mode 160000 driverless_ws/src/ros2_numpy diff --git a/driverless_ws/src/planning/planning_codebase/isam2.cpp b/driverless_ws/src/planning/planning_codebase/isam2.cpp deleted file mode 100644 index 2808b2f7f..000000000 --- a/driverless_ws/src/planning/planning_codebase/isam2.cpp +++ /dev/null @@ -1,214 +0,0 @@ -// #include "isam2.hpp" -#include - -// Camera observations of landmarks will be stored as Point2 (x, y). -#include -#include -#include -// Each variable in the system (sposes and landmarks) must be identified with a -// unique key. We can either use simple integer keys (1, 2, 3, ...) or symbols -// (X1, X2, L1). Here we will use Symbols -#include - -// We want to use iSAM2 to solve the structure-from-motion problem -// incrementally, so include iSAM2 herel -// #include - -#include -#include - - -// iSAM2 requires as input a set of new factors to be added stored in a factor -// graph, and initial guesses for any new variables used in the added factors -#include -#include - -// In GTSAM, measurement functions are represented as 'factors'. Several common -// factors have been provided with the library for solving robotics/SLAM/Bundle -// Adjustment problems. Here we will use Projection factors to model the -// camera's landmark observations. Also, we will initialize the robot at some -// location using a Prior factor. -#include -#include -#include - -#include - -// using namespace std; -using namespace gtsam; - - -static const float DT = 0.1; -static const float SIM_TIME = 50.0; -static const float MAX_RANGE = 10.0; -static const int M_DIST_TH = 1; -static const int LM_SIZE = 2; -static const int STATE_SIZE = 3; - -static const int N_STEP = 100; - -struct enumLm { - int lm_id; - gtsam::Point2 lm_pos; -}; - -// auto cmp [](enumLm lm1, enumLm lm2) { -// return (lm1.lm_pos.x() > lm2.lm_pos.x() && lm1.lm_pos.y() > lm2.lm_pos.y()); -// }; - -class Compare { -public: - bool operator()(enumLm lm1, enumLm lm2) const { - return (lm1.lm_pos.x() > lm2.lm_pos.x() && lm1.lm_pos.y() > lm2.lm_pos.y()); - } -}; - - -class slamISAM { -private: - // ISAM2Params parameters; - // parameters.relinearizeThreshold = 0.01; - // parameters.relinearizeSkip = 1; - // ISAM2 isam2; REPLACED - NonlinearISAM isam; - - //Create a factor graph and values for new data - NonlinearFactorGraph graph; - Values values; - - int x; - - // std::vector> PEst; - // std::vector> xDR; - // std::vector> xEst; - - //Define empty set - // using Cmp = std::integral_constant; - std::set observed; - - gtsam::Symbol X(int robot_pose_id) { - return Symbol('x', robot_pose_id); - } - - gtsam::Symbol L(int cone_pose_id) { - return Symbol('x', cone_pose_id); - } - -public: - - int n_landmarks; - - gtsam::Pose2 robot_est; - std::vector landmark_est; - - - slamISAM() { - - isam = gtsam::NonlinearISAM(); - graph = gtsam::NonlinearFactorGraph(); - values = gtsam::Values(); - x = 0; - n_landmarks = 0; - robot_est = gtsam::Pose2(0, 0, 0); - landmark_est = std::vector(); - - } - - void step(gtsam::Pose2 global_odom, std::vector &cone_obs) { - - Pose2 prev_robot_est; - - if (x==0) { - noiseModel::Diagonal::shared_ptr prior_model = noiseModel::Diagonal::Sigmas(Eigen::Vector3d(0, 0, 0)); - gtsam::PriorFactor prior_factor = gtsam::PriorFactor(X(0), global_odom, prior_model); - graph.add(prior_factor); - values.insert(X(0), global_odom); - prev_robot_est = Pose2(0, 0, 0); - } - else { - noiseModel::Diagonal::shared_ptr odom_model = noiseModel::Diagonal::Sigmas(Eigen::Vector3d(0, 0, 0)); - Pose2 prev_pos = isam.calculateEstimate(X(x - 1)).cast(); - gtsam::BetweenFactor odom_factor = gtsam::BetweenFactor(X(x - 1), X(x), Pose2(global_odom.x() - prev_pos.x(), global_odom.y() - prev_pos.y(), global_odom.theta() - prev_pos.theta()), odom_model); - graph.add(odom_factor); - values.insert(X(x), global_odom); - prev_robot_est = prev_pos; - } - - isam.update(graph, values); - graph.resize(0); - values.clear(); - Pose2 robot_est = isam.calculateEstimate(X(x)).cast(); - - // DATA ASSOCIATION BEGIN - for (Point2 cone : cone_obs) { - Point2 global_cone(global_odom.x() + cone.x(), global_odom.y() + cone.y()); - const enumLm enum_cone{lm_id: n_landmarks, lm_pos: global_cone}; - if (observed.find(enum_cone) == observed.end()) { - observed.insert(enum_cone); - - double range = std::sqrt(cone.x() * cone.x() + cone.y() * cone.y()); - double bearing = std::atan2(cone.y(), cone.x()) - global_odom.theta(); - graph.add(BearingRangeFactor(X(x), L(n_landmarks), bearing, range, noiseModel::Diagonal::Sigmas(Eigen::Vector3d(0, 0, 0)))); - values.insert(L(n_landmarks), global_cone); - n_landmarks++; - } else { - int associated_id = (*(observed.find(enum_cone))).lm_id; - double range = std::sqrt(cone.x() * cone.x() + cone.y() * cone.y()); - double bearing = std::atan2(cone.y(), cone.x()) - global_odom.theta(); - graph.add(BearingRangeFactor(X(x), L(associated_id), bearing, range, noiseModel::Diagonal::Sigmas(Eigen::Vector3d(0, 0, 0)))); - } - } - // DATA ASSOCIATION END - - isam.update(graph, values); - graph.resize(0); - values.clear(); - - - - robot_est = isam.estimate(); //extract robot variable - //isam.calculateEstimate(X(x)).cast(); - x++; - - landmark_est.clear(); - for (int i = 0; i < n_landmarks; i++) { - landmark_est.push_back(isam.calculateEstimate(L(i)).cast()); - } - - } - -}; - - -// int main(int argc, char* argv[]){ -// // Create an iSAM2 object. Unlike iSAM1, which performs periodic batch steps -// // to maintain proper linearization and efficient variable ordering, iSAM2 -// // performs partial relinearization/reordering at each step. A parameter -// // structure is available that allows the user to set various properties, such -// // as the relinearization threshold and type of linear solver. For this -// // example, we we set the relinearization threshold small so the iSAM2 result -// // will approach the batch result. - -// ISAM2Params parameters; -// parameters.RelinearizationThreshold = 0.01; -// parameters.relinearizeSkip = 1; - -// // vector> xEst; -// // vector> PEst; -// // vector> xDR; - -// //Define empty set -// // std::set observed; - -// //for(x, (odom, obs) in enumerate(sim.step()): ) -// for(int i = 0; i < N_STEP; i++){ -// if(i == 0){ -// } - -// } - - - - - -// } \ No newline at end of file diff --git a/driverless_ws/src/planning/planning_codebase/isamNode.cpp b/driverless_ws/src/planning/planning_codebase/isamNode.cpp deleted file mode 100644 index 407973dda..000000000 --- a/driverless_ws/src/planning/planning_codebase/isamNode.cpp +++ /dev/null @@ -1,227 +0,0 @@ -#include -#include "rclcpp/rclcpp.hpp" -#include -#include -#include -#include "eufs_msgs/msg/cone_array_with_covariance.hpp" -#include "eufs_msgs/msg/car_state.hpp" -#include - -// #include -// #include -// #include -// #include -// #include - -#include "isam2.cpp" -#include -#include -#include -#include - -#define CONE_DATA_TOPIC "/cones" -#define VEHICLE_DATA_TOPIC "/ground_truth/state" - -using namespace std; -using std::placeholders::_1; - -struct Cone{ - double x; - double y; - -}; - -struct VehiclePosition{ - double x; - double y; - double yaw; - double dx; - double dy; - double dyaw; -}; -class SLAMValidation : public rclcpp::Node -{ - public: - SLAMValidation(): Node("slam_validation"){ - // gsl_matrix_set_identity(pEst); - cone_sub = this->create_subscription( - "/cones", 10, std::bind(&SLAMValidation::cone_callback, this, _1)); - vehicle_state_sub = this->create_subscription( - "/ground_truth/state", 10, std::bind(&SLAMValidation::vehicle_state_callback, this, _1)); - timer = this->create_wall_timer(100ms, std::bind(&SLAMValidation::timer_callback, this)); - } - private: - void cone_callback(const eufs_msgs::msg::ConeArrayWithCovariance::SharedPtr cone_data){ - RCLCPP_INFO(this->get_logger(), "CONECALLBACK: B: %i| Y: %i| O: %i", cone_data->blue_cones.size(), cone_data->yellow_cones.size(), cone_data->orange_cones.size()); - cones.clear(); - for(int i = 0; i < cone_data->blue_cones.size(); i++){ - gtsam::Point2 to_add = gtsam::Point2(Eigen::Vector2d(cone_data->blue_cones[i].point.x, cone_data->blue_cones[i].point.y)); - cones.push_back(to_add); - } - for(int i = 0; i < cone_data->yellow_cones.size(); i++){ - gtsam::Point2 to_add = gtsam::Point2(Eigen::Vector2d(cone_data->yellow_cones[i].point.x, cone_data->yellow_cones[i].point.y)); - cones.push_back(to_add); - } - for(int i = 0; i < cone_data->orange_cones.size(); i++){ - gtsam::Point2 to_add = gtsam::Point2(Eigen::Vector2d(cone_data->orange_cones[i].point.x, cone_data->orange_cones[i].point.y)); - cones.push_back(to_add); - } - } - void vehicle_state_callback(const eufs_msgs::msg::CarState::SharedPtr vehicle_state_data){ - // RCLCPP_INFO(this->get_logger(), "vehicle state\n"); - double q1 = vehicle_state_data->pose.pose.orientation.x; - double q2 = vehicle_state_data->pose.pose.orientation.y; - double q3 = vehicle_state_data->pose.pose.orientation.z; - double q0 = vehicle_state_data->pose.pose.orientation.w; - double yaw = atan2(2*(q0*q3+q1*q2), pow(q0, 2)+pow(q1, 2)-pow(q2, 2)-pow(q3, 2)); - - global_odom = gtsam::Pose2(vehicle_state_data->pose.pose.position.x, vehicle_state_data->pose.pose.position.y, yaw); - - // vpos_is_jacob.x = vehicle_state_data->pose.pose.position.x; - // vpos_is_jacob.y = vehicle_state_data->pose.pose.position.y; - // vpos_is_jacob.yaw = yaw; - // vpos_is_jacob.dx = vehicle_state_data->twist.twist.linear.x; - // vpos_is_jacob.dy = vehicle_state_data->twist.twist.linear.y; - // vpos_is_jacob.dyaw = vehicle_state_data->twist.twist.angular.z; - } - void timer_callback(){ - run_slam(); - } - - void run_slam(){ - // dt = std::chrono::duration_cast(curr_time - prev_time).count() / 1000000.0; - // prev_time = curr_time; - // RCLCPP_INFO(this->get_logger(), "curr_time: %d | prev_time: %d | dt: %d\n", curr_time.count(), prev_time.count(), dt); - // Time difference from one callback to another is so close to 0.1 seconds, gonna assume 0.1 everywhere - // Cuz elapsed time stuff not working rn - // gsl_matrix* u = gsl_matrix_calloc(2, 1); - // gsl_matrix_set(u, 0, 0, hypot(vpos_is_jacob.dx, vpos_is_jacob.dy)); - // gsl_matrix_set(u, 1, 0, vpos_is_jacob.dyaw); - - // int n = blue_cones.size() + yellow_cones.size() + orange_cones.size(); - // int idx = 0; - // gsl_matrix* z = gsl_matrix_calloc(n, 3); - // RCLCPP_INFO(this->get_logger(), "RUNSLAM: B: %i | Y: %i | O: %i\n", blue_cones.size(), yellow_cones.size(), orange_cones.size()); - // for(int i = 0; i < blue_cones.size(); i++){ - // Cone c = blue_cones[i]; - // double dist = hypot(c.x, c.y); - // double angle = atan2(c.y, c.x); - // double corrected_angle = std::fmod(angle + M_PI, 2 * M_PI) - M_PI; - // gsl_matrix_set(z, idx, 0, dist); - // gsl_matrix_set(z, idx, 1, angle); - // idx++; - // } - - // for(int i = 0; i < yellow_cones.size(); i++){ - // Cone c = yellow_cones[i]; - // double dist = hypot(c.x, c.y); - // double angle = atan2(c.y, c.x); - // double corrected_angle = std::fmod(angle + M_PI, 2 * M_PI) - M_PI; - // gsl_matrix_set(z, idx, 0, dist); - // gsl_matrix_set(z, idx, 1, angle); - // idx++; - // } - - // for(int i = 0; i < orange_cones.size(); i++){ - // Cone c = orange_cones[i]; - // double dist = hypot(c.x, c.y); - // double angle = atan2(c.y, c.x); - // double corrected_angle = std::fmod(angle + M_PI, 2 * M_PI) - M_PI; - // gsl_matrix_set(z, idx, 0, dist); - // gsl_matrix_set(z, idx, 1, angle); - // idx++; - // } - slam_instance.step(global_odom, cones); - // slam_output = ekf_slam(xEst, pEst, u, z, 0.1, this->get_logger()); - RCLCPP_INFO(this->get_logger(), "got output\n"); - RCLCPP_INFO(this->get_logger(), "NUM_LANDMARKS: %i\n", (slam_instance.n_landmarks)); - // xEst = slam_output.x; - // pEst = slam_output.p; - - } - // ISAM2Params parameters; - // parameters.RelinearizationThreshold = 0.01; - // parameters.relinearizeSkip = 1; - slamISAM slam_instance = slamISAM(); - rclcpp::Subscription::SharedPtr cone_sub; - rclcpp::Subscription::SharedPtr vehicle_state_sub; - // vector blue_cones; - // vector yellow_cones; - // vector orange_cones; - gtsam::Pose2 global_odom; // local variable to load odom into SLAM instance - vector cones; // local variable to load cone observations into SLAM instance - - // VehiclePosition vpos_is_jacob; - rclcpp::TimerBase::SharedPtr timer; - - // gsl_matrix* xEst = gsl_matrix_calloc(STATE_SIZE, 1); - // gsl_matrix* pEst = gsl_matrix_calloc(STATE_SIZE, STATE_SIZE); - double dt; - - // ekfPackage slam_output; -}; - -// class SLAMValidation : public rclcpp::Node { -// public: -// SLAMValidation(): Node("EKF_SLAM"){ -// RCLCPP_INFO(this->get_logger(), "ur mom was here\n"); -// cone_sub = this->create_subscription("/cones", 10, std::bind(&SLAMValidation::cone_callback, this, _1)); -// vehicle_state_sub = this->create_subscription("/ground_truth/state", 10, std::bind(&SLAMValidation::vehicle_state_callback, this, _1)); -// // this->create_subscription("/cones", 10, std::bind(&SLAMValidation::topic_callback, this, _1)); -// // cone_sub = message_filters::Subscriber(this, "/cones"); -// // vehicle_state_sub = message_filters::Subscriber(this, "/ground_truth/state"); -// // typedef message_filters::sync_policies::ApproximateTime approx_sync_policy; -// // message_filters::Synchronizer approx_sync(approx_sync_policy(10), cone_sub, vehicle_state_sub); -// // approx_sync.setMaxIntervalDuration(rclcpp::Duration(1, 0)); -// // approx_sync.registerCallback(std::bind(&SLAMValidation::run_slam, this, std::placeholders::_1, std::placeholders::_2)); -// // sync.reset(new Sync(MySyncPolicy(10), cone_sub, vehicle_state_sub)); -// // sync->registerCallback(boost::bind(&SLAMValidation::run_slam, this, _1, _2)); -// } - -// void cone_callback(const eufs_msgs::msg::ConeArrayWithCovariance::SharedPtr cone_data){ -// RCLCPP_INFO(this->get_logger(), "cones\n"); -// }; - -// void vehicle_state_callback(const eufs_msgs::msg::CarState::SharedPtr vehicle_state_data){ -// RCLCPP_INFO(this->get_logger(), "vehicle state\n"); -// }; -// void run_slam(const eufs_msgs::msg::ConeArrayWithCovariance::ConstSharedPtr cone_data, -// const eufs_msgs::msg::CarState::ConstSharedPtr vehicle_state_data) const { -// RCLCPP_INFO(this->get_logger(), -// "Blue: %i, Yellow: %i, Orange: %i\n", -// sizeof(cone_data->blue_cones)/sizeof(cone_data->blue_cones[0]), -// sizeof(cone_data->yellow_cones)/sizeof(cone_data->yellow_cones[0]), -// sizeof(cone_data->orange_cones)/sizeof(cone_data->orange_cones[0])); -// RCLCPP_INFO(this->get_logger(), -// "X: %f, Y: %f, Z: %f\n", -// vehicle_state_data->pose.x, -// vehicle_state_data->pose.pose.position.y, -// vehicle_state_data->pose.pose.position.z); -// RCLCPP_INFO(this->get_logger(), -// "-------------------------------\n\n"); -// } - -// private: -// // void topic_callback(const eufs_msgs::msg::ConeArrayWithCovariance msg) const -// // { -// // RCLCPP_INFO(this->get_logger(), -// // "Blue: %i, Yellow: %i, Orange: %i\n", -// // sizeof(cone_data->blue_cones)/sizeof(cone_data->blue_cones[0]), -// // sizeof(cone_data->yellow_cones)/sizeof(cone_data->yellow_cones[0]), -// // sizeof(cone_data->orange_cones)/sizeof(cone_data->orange_cones[0])); -// // } -// // message_filters::Subscriber cone_sub; -// // message_filters::Subscriber vehicle_state_sub; -// rclcpp::Subscription cone_sub; -// rclcpp::Subscription vehicle_state_sub; - - - -// }; - -int main(int argc, char * argv[]){ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - return 0; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/midpoint.cpp b/driverless_ws/src/planning/src/midpoint.cpp index 6cd7417bb..ea5cf26c2 100644 --- a/driverless_ws/src/planning/src/midpoint.cpp +++ b/driverless_ws/src/planning/src/midpoint.cpp @@ -4,7 +4,7 @@ #include "std_msgs/msg/int8.hpp" #include "geometry_msgs/msg/point.hpp" // #include "msg/optimizer_points.hpp" -#include "eufs_msgs/msg/cone_array_with_covariance.hpp" +#include "eufs_msgs/msg/cone_array.hpp" #include "eufs_msgs/msg/point_array.hpp" // #include "interfaces/msg/cone_list.hpp" // #include "interfaces/msg/points.hpp" @@ -59,15 +59,15 @@ class MidpointNode : public rclcpp::Node for (auto e : msg->blue_cones) { - perception_data.bluecones.emplace_back(e.point.x, e.point.y); + perception_data.bluecones.emplace_back(e.x, e.y); } for (auto e : msg->orange_cones) { - perception_data.orangecones.emplace_back(e.point.x, e.point.y); + perception_data.orangecones.emplace_back(e.x, e.y); } for (auto e : msg->yellow_cones) { - perception_data.yellowcones.emplace_back(e.point.x, e.point.y); + perception_data.yellowcones.emplace_back(e.x, e.y); } //TODO: shouldn't return a spline @@ -77,6 +77,7 @@ class MidpointNode : public rclcpp::Node // Spline spline_left = generator_left.spline_from_curve(perception_data.bluecones); // Spline spline_right = generator_right.spline_from_curve(perception_data.yellowcones); + // WILL BE USED WHEN OPTIMIZER STARTS std::vector rcl_pt_x,rcl_pt_y;//,rcl_pt_wr, rcl_pt_wl; double x,y;//,wl,wr,rptr,lptr; @@ -88,7 +89,7 @@ class MidpointNode : public rclcpp::Node auto spline = generator_mid.cumulated_splines[i]; //TODO:create a typedef, but size2 is the num of rows for(unsigned int j=0;jsize2-1;j++){ - x=gsl_matrix_get(spline.get_points(),0,j); //get x and y points from a row + x=gsl_matrix_get(spline.get_points(),0,j); y=gsl_matrix_get(spline.get_points(),1,j); // double len=0; // if (i>0) len = generator_mid.cumulated_lengths[i-1]; @@ -112,23 +113,10 @@ class MidpointNode : public rclcpp::Node MidpointNode() : Node("midpoint") { -<<<<<<< HEAD subscription_cones = this->create_subscription("/stereo_cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); // subscription_lap_num = this->create_subscription("/lap_num", 10, std::bind(&MidpointNode::lap_callback, this, _1)); publisher_rcl_pt = this->create_publisher("/midpoint_points",10); // publisher_rcl_pt = this->create_publisher("/midpoint_points",10); -======= - //Should be cone array for normal pipeline - // subscription_cones = this->create_subscription( - // "/stereo_cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); - subscription_cones = this->create_subscription( - "/cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); - - - // subscription_lap_num = this->create_subscription("/lap_num", 10, std::bind(&MidpointNode::lap_callback, this, _1)); - publisher_rcl_pt = this->create_publisher( - "/midpoint_points",10); ->>>>>>> main // rclcpp::TimerBase::SharedPtr timer_ = this->create_wall_timer( // 500ms, std::bind(&MinimalPublisher::timer_callback, this)); generator_mid = MidpointGenerator(10); @@ -145,4 +133,4 @@ int main(int argc, char * argv[]) rclcpp::spin(std::make_shared()); rclcpp::shutdown(); return 0; -} +} \ No newline at end of file diff --git a/driverless_ws/src/ros2_numpy b/driverless_ws/src/ros2_numpy deleted file mode 160000 index 780ef66b7..000000000 --- a/driverless_ws/src/ros2_numpy +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 780ef66b7e800bf278c6f72b82f821cc542eed7d From 374f7e6d38483d7558c40137cbc768bf668662a5 Mon Sep 17 00:00:00 2001 From: Jai Date: Wed, 1 Nov 2023 19:06:35 -0400 Subject: [PATCH 10/31] changed midpoint and generator.hpp to Eigen and added generatorEigen.cpp, wont work until raceline is translated --- driverless_ws/src/eufs_msgs | 2 +- driverless_ws/src/planning/CMakeCache.txt | 38 --- driverless_ws/src/planning/CMakeLists.txt | 3 +- driverless_ws/src/planning/src/generator.hpp | 8 +- .../src/planning/src/generatorEigen.cpp | 223 ++++++++++++++++++ driverless_ws/src/planning/src/midpoint.cpp | 12 +- 6 files changed, 239 insertions(+), 47 deletions(-) delete mode 100644 driverless_ws/src/planning/CMakeCache.txt create mode 100644 driverless_ws/src/planning/src/generatorEigen.cpp diff --git a/driverless_ws/src/eufs_msgs b/driverless_ws/src/eufs_msgs index 4f3b22961..8f33f5842 160000 --- a/driverless_ws/src/eufs_msgs +++ b/driverless_ws/src/eufs_msgs @@ -1 +1 @@ -Subproject commit 4f3b22961e2ad657794ee74ff4137eecbb5f0f78 +Subproject commit 8f33f5842a0d97968e2b5df130ddeb54a8aeb91f diff --git a/driverless_ws/src/planning/CMakeCache.txt b/driverless_ws/src/planning/CMakeCache.txt deleted file mode 100644 index ee0f981f4..000000000 --- a/driverless_ws/src/planning/CMakeCache.txt +++ /dev/null @@ -1,38 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /home/ishin/Documents/cmr/driverless_py/driverless/driverless_ws/src/planning -# It was generated by CMake: /usr/bin/cmake -# You can edit this file to change values found and used by cmake. -# If you do not want to change any of the values, simply exit the editor. -# If you do want to change a value, simply edit, save, and exit the editor. -# The syntax for the file is as follows: -# KEY:TYPE=VALUE -# KEY is the name of a variable in the cache. -# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. -# VALUE is the current value for the KEY. - -######################## -# EXTERNAL cache entries -######################## - - -######################## -# INTERNAL cache entries -######################## - -//This is the directory where this CMakeCache.txt was created -CMAKE_CACHEFILE_DIR:INTERNAL=/home/dale/driverless/driverless_ws/src/planning/ -//Major version of cmake used to create the current loaded cache -CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 -//Minor version of cmake used to create the current loaded cache -CMAKE_CACHE_MINOR_VERSION:INTERNAL=26 -//Patch version of cmake used to create the current loaded cache -CMAKE_CACHE_PATCH_VERSION:INTERNAL=4 -//Path to CMake executable. -CMAKE_COMMAND:INTERNAL=/usr/bin/cmake -//Path to cpack program executable. -CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack -//Path to ctest program executable. -CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest -//Path to CMake installation. -CMAKE_ROOT:INTERNAL=/usr/share/cmake - diff --git a/driverless_ws/src/planning/CMakeLists.txt b/driverless_ws/src/planning/CMakeLists.txt index e4fc1ac8f..5bf24e3a1 100644 --- a/driverless_ws/src/planning/CMakeLists.txt +++ b/driverless_ws/src/planning/CMakeLists.txt @@ -15,11 +15,12 @@ find_package(std_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(eufs_msgs REQUIRED) + find_package(Eigen3 3.3 REQUIRED) find_package(GSL REQUIRED) add_executable(midpoint_test src/midpoint.cpp src/generator.cpp src/raceline/raceline.cpp) # add_executable(midline_test src/generator.cpp src/raceline/raceline.cpp) - ament_target_dependencies(midpoint_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) + ament_target_dependencies(midpoint_test rclcpp std_msgs geometry_msgs Eigen3 eufs_msgs GSL) # ament_target_dependencies(midline_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) install(TARGETS diff --git a/driverless_ws/src/planning/src/generator.hpp b/driverless_ws/src/planning/src/generator.hpp index b16a83d4f..541eb6a70 100644 --- a/driverless_ws/src/planning/src/generator.hpp +++ b/driverless_ws/src/planning/src/generator.hpp @@ -34,15 +34,15 @@ class MidpointGenerator // gsl_matrix *sorted_by_norm(gsl_matrix *list); - std::vector generate_splines(gsl_matrix *midpoints); - gsl_matrix* generate_points(perceptionsData perceptions_data); - gsl_matrix* interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); + std::vector generate_splines(Eigen::MatrixXd& midpoints); + Eigen::MatrixXd& generate_points(perceptionsData perceptions_data); + Eigen::MatrixXd& interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); Spline spline_from_cones(perceptionsData perceptions_data); Spline spline_from_curve(std::vector> side); }; -gsl_matrix *midpoint(gsl_matrix *inner,gsl_matrix *outer); +Eigen::MatrixXd& midpoint(Eigen::MatrixXd& inner,Eigen::MatrixXd& outer); #endif diff --git a/driverless_ws/src/planning/src/generatorEigen.cpp b/driverless_ws/src/planning/src/generatorEigen.cpp new file mode 100644 index 000000000..328b1f798 --- /dev/null +++ b/driverless_ws/src/planning/src/generatorEigen.cpp @@ -0,0 +1,223 @@ +#include "generator.hpp" +#include + +MidpointGenerator::MidpointGenerator(int interpolation_num){ + interpolation_number=interpolation_num; + +} + +bool ptnrm_cmp(std::pair a,std::pair b){ + return hypot(a.first,a.second) < hypot(b.first,b.second); +} + +std::vector> MidpointGenerator::sorted_by_norm(std::vector> inp){ + + std::sort(inp.begin(),inp.end(),ptnrm_cmp); + + return inp; +} + + +Eigen::MatrixXd& midpoint(Eigen::MatrixXd& left,Eigen::MatrixXd& right){ + int cols = left.cols() +right.cols() -1; + Eigen::MatrixXd midpt(2,cols); + + double lx = left(0 , 0); //x-coordinate of first inner point + double ly = left(1 , 0); //y-coordinate + double rx = right(0 , 0); //x-coordinate of first outer point + double ry = right(1 , 0); //y-coordinate + int l = 0; //index of inner + int r = 0; //index of outer + midpt(0,0)=(lx+rx)/2; + midpt(1,0)=(ly+ry)/2; + int m = 1; //index of midpt + while(lsize2-1 + while(rsize1;i++) + // for(int j=0;jsize1;j++) + // gsl_matrix_set(midpt,i,j,(gsl_matrix_get(inner,i,j)+gsl_matrix_get(outer,i,j))/2); + + return midpt; +} + + +std::vector MidpointGenerator::generate_splines(Eigen::MatrixXd& midpoints){ + std::pair,std::vector> a= raceline_gen(midpoints,std::rand(),midpoints.cols(),false); + // auto result = raceline_gen(midpoints,std::rand(),midpoints->size2,false); + for (auto &e:a.first){ + cumulated_splines.push_back(e); + } + for(auto &e:a.second){ + cumulated_lengths.push_back(e); + } + return a.first; +} + + + +Eigen::MatrixXd& MidpointGenerator::generate_points(perceptionsData perceptions_data){ + // LEFT ==BLUE + perceptions_data.bluecones = sorted_by_norm(perceptions_data.bluecones); + perceptions_data.yellowcones = sorted_by_norm(perceptions_data.yellowcones); + if (perceptions_data.bluecones.size()>0 && perceptions_data.yellowcones.size()==0){ + Eigen::MatrixXd left(2,perceptions_data.bluecones.size()); + Eigen::MatrixXd right(2,perceptions_data.bluecones.size()); + for(int i=0;i0){ + Eigen::MatrixXd left(2,perceptions_data.yellowcones.size()); + Eigen::MatrixXd right(2,perceptions_data.yellowcones.size()); + for(int i=0;i splines = generate_splines(midpoints); + // gsl_matrix_free(midpoints); + return splines[0]; +} + +Eigen::MatrixXd& vector_to_mat(std::vector> side){ + Eigen::MatrixXd mat(2,side.size()); + for(int i=0;i> side){ + + Eigen::MatrixXd& side_mat= vector_to_mat(side); + std::vector splines = generate_splines(side_mat); + // gsl_matrix_free(side_mat); + return splines[0]; +} + +// int main(){ +// gsl_matrix *left = gsl_matrix_alloc(2, 5); +// gsl_matrix *right = gsl_matrix_alloc(2, 3); +// std::vector left_xcord = {-4.475, -4.45, -4.37, -4.16, -3.78}; +// std::vector left_ycord = {0, 0.424, 0.95, 1.64, 2.39}; +// std::vector right_xcord = {-3, -2.875, -2.68}; +// std::vector right_ycord = {0, 0.857, 1.348}; +// for(int i = 0; i < 5; i++) +// { +// gsl_matrix_set(left, 0, i, left_xcord[i]); +// gsl_matrix_set(left, 1, i, left_ycord[i]); +// } +// for(int i = 0; i < 3; i++) +// { +// gsl_matrix_set(right, 0, i, right_xcord[i]); +// gsl_matrix_set(right, 1, i, right_ycord[i]); +// } + +// gsl_matrix *mid = midpoint(left, right); +// for(int i = 0; i < mid->size2; i++) +// { +// std::cout< //publish topic example @@ -88,9 +89,14 @@ class MidpointNode : public rclcpp::Node for(unsigned int i =0;isize2-1;j++){ - x=gsl_matrix_get(spline.get_points(),0,j); - y=gsl_matrix_get(spline.get_points(),1,j); + for(unsigned int j=0;j0) len = generator_mid.cumulated_lengths[i-1]; geometry_msgs::msg::Point tmpPoint; From 93d3500275d4b071336d6bf51d39b9821169b0c1 Mon Sep 17 00:00:00 2001 From: Jai Date: Wed, 1 Nov 2023 19:14:50 -0400 Subject: [PATCH 11/31] singular extraneuous ` removed --- driverless_ws/src/planning/src/generatorEigen.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/driverless_ws/src/planning/src/generatorEigen.cpp b/driverless_ws/src/planning/src/generatorEigen.cpp index 328b1f798..dbc3b453d 100644 --- a/driverless_ws/src/planning/src/generatorEigen.cpp +++ b/driverless_ws/src/planning/src/generatorEigen.cpp @@ -114,7 +114,7 @@ Eigen::MatrixXd& MidpointGenerator::generate_points(perceptionsData perceptions_ if(i==0){ right(0,i)=-1*perceptions_data.bluecones[i].first; right(1,i)=perceptions_data.bluecones[i].second; -` } + } else{ double xdiff = perceptions_data.bluecones[i].first-perceptions_data.bluecones[i-1].first; double ydiff = perceptions_data.bluecones[i].second-perceptions_data.bluecones[i-1].second; From 4f4239c0b3cae75a9da869da553584246e17d2c7 Mon Sep 17 00:00:00 2001 From: Jai Date: Sat, 4 Nov 2023 13:12:40 -0400 Subject: [PATCH 12/31] some racelineEigen.cpp translation --- .../planning/src/raceline/racelineEigen.cpp | 443 ++++++++++++++++++ .../planning/src/raceline/racelineEigen.hpp | 122 +++++ 2 files changed, 565 insertions(+) create mode 100644 driverless_ws/src/planning/src/raceline/racelineEigen.cpp create mode 100644 driverless_ws/src/planning/src/raceline/racelineEigen.hpp diff --git a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp new file mode 100644 index 000000000..cca927f46 --- /dev/null +++ b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp @@ -0,0 +1,443 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "raceline.hpp" +// #include "random.h" + +polynomial poly(int deg = 3){ + polynomial inst; + inst.deg=deg; + Eigen::VectorXd nums(deg+1); + inst.nums = nums; + + return inst; +} + +polynomial poly_one(){ + polynomial p = poly(1); + p.nums(0)=1; + return p; +} + +polynomial poly_root(double root){ + polynomial p = poly(1); + p.nums(0)= -root; + p.nums(1)=1; + return p; +} + +polynomial polyder(polynomial p){ + if (p.deg ==0) return poly(0); + polynomial der = poly(p.deg-1); + for(int i=0;ispl_poly,this->rotated_points(0,0),this->rotated_points(0,this->rotated_points->size2-1); +} + +// gsl_matrix* Spline::interpolate(int number, std::pair bounds){ +// return interpolate(*this,number,bounds); +// } + +bool Spline::operator==(Spline const & other) const{ + return this->sort_index==other.sort_index; +} + +bool Spline::operator<(Spline const & other) const{ + return this->sort_indexfirst_der; +} + +polynomial Spline::get_second_der(){ + return this->second_der; +} + +Eigen::MatrixXd& Spline::get_points(){ + return points;} + +Eigen::MatrixXd& Spline::get_rotated_points(){ + return rotated_points; +} + +Eigen::MatrixXd& Spline::get_Q(){ + return Q; +} + +Eigen::VectorXd& Spline::get_translation(){ + return translation_vector; +} + +int Spline::get_path_id(){ + return path_id; +} + +int Spline::get_sort_index(){ + return sort_index; +} + + + + +std::tuple Spline::along(double progress, double point_index, int precision){ + std::tuple ret; + + + double len = this->length(); + + + double first_x = this->get_rotated_points()(0,0); + double last_x = this->get_rotated_points()(0,this->get_rotated_points().cols()); + + double delta = last_x - first_x; + + std::pair boundaries = std::make_pair(first_x,last_x); + int ratio = progress / len + 1; + + + + if (ratio >= 2){ + double x = first_x + delta*ratio; + double shoot = arclength(this->spl_poly,first_x,x); + + double lower_bound = first_x + delta * (ratio - 1); + double upper_bound = first_x + delta * ratio; + + if (shoot < progress){ + while (shoot < progress){ + lower_bound = x; + // add approximately one spline length to shoot + shoot = arclength(this->spl_poly,first_x,x+delta); + x=x+delta; + } + upper_bound = x; // upper bound is direct first overshoot (separated by delta from the lower bound) + } + else if (shoot >= progress){ // equality not very important + while (shoot >= progress){ + upper_bound = x; + // # remove approximately one splien length to shoot + shoot = arclength(this->spl_poly,first_x,x - delta); + } + lower_bound = x; // lower bound is direct first undershoot (separated by delta from the upper bound) + } + std::pair boundaries = std::make_pair(lower_bound, upper_bound); + + } + // Perform a more precise search between the two computed bounds + + std::vector guesses; + guesses.resize(precision+1); + for(int i=0;i<=precision;i++){ + guesses[i] = (boundaries.first*i + boundaries.second*(precision-i))/precision; + } + + // Evaluate progress along the (extrapolated) spline + // As arclength is expensive and cannot take multiple points + // at the same time, it is faster to use a for loop + double past = -1, best_guess = -1, best_length = -1; + for (double guess : guesses){ + double guess_length = arclength(this->spl_poly, first_x, guess); + if (abs(progress - guess_length) > abs(progress - past)) //# if we did worst than before + break; + best_guess = guess; + best_length = guess_length; + past = guess_length; + } + Eigen::VectorXd rotated_point(2); + rotated_point(0)=best_guess; + Eigen::PolynomialSolver solver(this->spl_poly.nums->data) + rotated_point(1)=solver(best_guess); + + Eigen::MatrixXd rotated_points(2,1); + rotated_points(0,0)=rotated_point(0); + rotated_points(0,1)=rotated_point(1); + + gEigen::MatrixXd point_mat =reverse_transform(rotated_points,this->Q,this->translation_vector); + + Eigen::VectorXd point (2); + point(0)=point_mat(0); + point(1)=point_mat(1); + + ret = std::make_tuple(point,best_length,rotated_point,best_guess); + + return ret; +} + +double Spline::getderiv(double x){ + gsl_matrix *point_x = gsl_matrix_alloc(1,2); + gsl_matrix_set(point_x,0,0,x); + gsl_matrix_set(point_x,0,1,0); + + gsl_matrix *gm= reverse_transform(point_x,this->Q,this->translation_vector); + + return gsl_poly_eval(this->first_der.nums->data,this->first_der.deg,gm->data[0]); + + + +} + +gsl_matrix* Spline::interpolate(int number, std::pair bounds){ + + if(bounds.first == -1 && bounds.second == -1){ + double bound1 = gsl_matrix_get(get_rotated_points(),0,0); + // MAKE PROPER BOUND 2 + double bound2 = gsl_matrix_get(get_rotated_points(),0,get_rotated_points()->size2); + bounds = std::make_pair(bound1,bound2); + } + + gsl_matrix *points = gsl_matrix_alloc(number,2); + + for(int i=0;idata,get_SplPoly().deg,x); + gsl_matrix_set(points,i,0,x); + gsl_matrix_set(points,i,1,y); + } + + + + + gsl_matrix *ret= reverse_transform(points,get_Q(),get_translation()); + + return ret; +} + +gsl_matrix* rotation_matrix_gen(gsl_matrix *pnts){ + gsl_vector *beg= gsl_vector_alloc_col_from_matrix(pnts,0); + gsl_vector *end = gsl_vector_alloc_col_from_matrix(pnts,pnts->size2-1); + + gsl_vector_sub(end,beg); + gsl_vector_free(beg); + + double norm = gsl_blas_dnrm2(end); + + double cos = gsl_vector_get(end,0)/norm; + double sin = gsl_vector_get(end,1)/norm; + + gsl_vector_free(end); + + gsl_matrix *ret = gsl_matrix_alloc(2,2); + gsl_matrix_set(ret,0,0,cos); + gsl_matrix_set(ret,1,0,-sin); + gsl_matrix_set(ret,0,1,sin); + gsl_matrix_set(ret,1,1,cos); + + + return ret; +} + +gsl_vector *get_translation_vector(gsl_matrix *group){ + return gsl_vector_alloc_col_from_matrix(group,0); +} + +gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ + gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); + for(int i=0;isize2;++i){ + gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)-gsl_vector_get(get_translation_vector,0)); + gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)-gsl_vector_get(get_translation_vector,1)); + } + + gsl_matrix_transpose(Q); + + gsl_matrix *ret = gsl_matrix_alloc(points->size1,points->size2); + gsl_linalg_matmult(temp,Q,ret); + gsl_matrix_free(temp); + gsl_matrix_transpose(Q); + + return ret; +} + +gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ + gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); + for(int i=0;isize2;++i){ + gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)); + gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)); + } + + gsl_matrix *ret = gsl_matrix_alloc(points->size1,points->size2); + gsl_linalg_matmult(temp,Q,ret); + gsl_matrix_free(temp); + + for(int i=0;isize2;++i){ + gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)+gsl_vector_get(get_translation_vector,0)); + gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)+gsl_vector_get(get_translation_vector,1)); + } + + return ret; +} + +polynomial lagrange_gen(gsl_matrix* points){ + polynomial lagrange_poly = poly(3); + + for(int col = 0;col size2;col++){ + + + } + double x[points->size2]; + double y[points->size2]; + for(int i=0;isize2;i++){ + x[i] = gsl_matrix_get(points,i,0); + y[i] = gsl_matrix_get(points,i,1); + } + + + for(int i=0;isize2;i++){ + polynomial p = poly_one(); + for(int j=0;jsize2;j++){ + if(j!=i){ + polynomial pr =poly_root(x[j]); + polynomial q =poly_mult(p,pr); + gsl_vector_free(p.nums); + gsl_vector_free(pr.nums); + p=q; + } + } + polynomial p1 = poly_one(); + gsl_vector_set(p1.nums,0,1/gsl_poly_eval(p.nums->data,p.deg+1,x[i])); + polynomial q = poly_mult(p1,p); + gsl_vector_free(p.nums); + gsl_vector_free(p1.nums); + + gsl_vector_add(lagrange_poly.nums,q.nums); + gsl_vector_free(q.nums); + + } + + return lagrange_poly; + +} + +double arclength_f(double, void* params){ + + polynomial p = *(polynomial*)params; + + double x = gsl_poly_eval(p.nums->data,p.deg+1,x); + return x*x+1; +} + +double arclength(polynomial poly, double x0,double x1){ + + gsl_function F; + F.function = &arclength_f; + F.params = &poly; + + double result, error; + gsl_integration_workspace * w + = gsl_integration_workspace_alloc (1000); + + gsl_integration_qags (&F, x0, x1, 0, 1e-7, 1000, + w, &result, &error); + gsl_integration_workspace_free(w); + + return result; + +} + +std::pair,std::vector> raceline_gen(gsl_matrix *res,int path_id ,int points_per_spline,bool loop){ + + int n = res->size2; + + std::vector splines; + + // gsl_matrix *points=res; + + int shift = points_per_spline-1; + int group_numbers; + + if (shift == 1){ + group_numbers = n/shift; + + if (loop) + group_numbers += (int)(n % shift != 0); + } + else{ + group_numbers = n; + } + std::vector> groups; + + std::vector lengths; + std::vector cumsum; + lengths.resize(group_numbers); + + for(int i=0;i +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#ifndef RACELINE +#define RACELINE + +const int prefered_degree = 3,overlap = 0; +struct polynomial +{ + int deg; + gsl_vector *nums; +}; + +polynomial poly(int deg); + +polynomial poly_one(); + +polynomial poly_root(double root); + +polynomial polyder(polynomial p); + +polynomial poly_mult(polynomial a,polynomial b); + + +class Spline +{ +private: + polynomial spl_poly; + + gsl_matrix *points; + gsl_matrix *rotated_points; + + gsl_matrix *Q; + gsl_vector *translation_vector; + + polynomial first_der; + polynomial second_der; + + + int path_id; + int sort_index; + +public: + polynomial get_SplPoly(){ return spl_poly;} + void set_SplPoly(polynomial p){ + spl_poly.deg = p.deg; + spl_poly.nums = p.nums; + first_der = polyder(spl_poly); + second_der = polyder(first_der); + } + + + polynomial get_first_der(); + polynomial get_second_der(); + + gsl_matrix* get_points(); + void set_points(gsl_matrix *newpoints); + + gsl_matrix* get_rotated_points(); + void set_rotated_points(gsl_matrix *newpoints); + + gsl_matrix* get_Q(); + void set_Q(gsl_matrix *new_Q); + + gsl_vector* get_translation(); + void set_translation(gsl_vector *new_trans); + + int get_path_id(); + void set_path_id(int new_id); + + int get_sort_index(); + void set_sort_index(int new_sort); + double length(); + + // gsl_matrix *interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); + + gsl_matrix *interpolate(int number,std::pair bounds); + + bool operator==(Spline const & other) const; + bool operator<(Spline const & other) const; + + std::tuple along(double progress, double point_index=0, int precision=20); + double getderiv(double x); + + std::pair along(double progress) const; + + Spline(polynomial interpolation_poly,gsl_matrix *points_mat,gsl_matrix *rotated,gsl_matrix *Q_mat, gsl_vector *translation,polynomial first, polynomial second, int path, int sort_ind); + + Spline() {}; + + ~Spline(); +}; + + + +gsl_matrix *interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); + +gsl_matrix* rotation_matrix_gen(gsl_matrix *pnts); +gsl_vector *get_translation_vector(gsl_matrix *group); + +gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector); + +gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector); + +polynomial lagrange_gen(gsl_matrix* points); + +double arclength_f(double, void* params); + +double arclength(polynomial poly, double x0,double x1); + +std::pair,std::vector> raceline_gen(gsl_matrix *res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); + +#endif From 6a2ad5637040cd134fb7bf3d32543d4e8aa3fffa Mon Sep 17 00:00:00 2001 From: ishinshah Date: Sat, 4 Nov 2023 13:28:24 -0400 Subject: [PATCH 13/31] racelineEigenhpp --- .../planning/src/raceline/racelineEigen.hpp | 59 +++++++++---------- 1 file changed, 27 insertions(+), 32 deletions(-) diff --git a/driverless_ws/src/planning/src/raceline/racelineEigen.hpp b/driverless_ws/src/planning/src/raceline/racelineEigen.hpp index 75239ae82..514ec59a2 100644 --- a/driverless_ws/src/planning/src/raceline/racelineEigen.hpp +++ b/driverless_ws/src/planning/src/raceline/racelineEigen.hpp @@ -1,11 +1,6 @@ -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include #include #include @@ -17,7 +12,7 @@ const int prefered_degree = 3,overlap = 0; struct polynomial { int deg; - gsl_vector *nums; + Eigen::VectorXd nums; }; polynomial poly(int deg); @@ -36,11 +31,11 @@ class Spline private: polynomial spl_poly; - gsl_matrix *points; - gsl_matrix *rotated_points; + Eigen::MatrixXd points; + Eigen::MatrixXd rotated_points; - gsl_matrix *Q; - gsl_vector *translation_vector; + Eigen::MatrixXd Q; + Eigen::VectorXd translation_vector; polynomial first_der; polynomial second_der; @@ -62,17 +57,17 @@ class Spline polynomial get_first_der(); polynomial get_second_der(); - gsl_matrix* get_points(); - void set_points(gsl_matrix *newpoints); + Eigen::MatrixXd get_points(); + void set_points(Eigen::MatrixXd newpoints); - gsl_matrix* get_rotated_points(); - void set_rotated_points(gsl_matrix *newpoints); + Eigen::MatrixXd get_rotated_points(); + void set_rotated_points(Eigen::MatrixXd newpoints); - gsl_matrix* get_Q(); - void set_Q(gsl_matrix *new_Q); + Eigen::MatrixXd get_Q(); + void set_Q(Eigen::MatrixXd new_Q); - gsl_vector* get_translation(); - void set_translation(gsl_vector *new_trans); + Eigen::VectorXd get_translation(); + void set_translation(Eigen::VectorXd new_trans); int get_path_id(); void set_path_id(int new_id); @@ -81,19 +76,19 @@ class Spline void set_sort_index(int new_sort); double length(); - // gsl_matrix *interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); + // Eigen::MatrixXd interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); - gsl_matrix *interpolate(int number,std::pair bounds); + Eigen::MatrixXd interpolate(int number,std::pair bounds); bool operator==(Spline const & other) const; bool operator<(Spline const & other) const; - std::tuple along(double progress, double point_index=0, int precision=20); + std::tuple along(double progress, double point_index=0, int precision=20); double getderiv(double x); std::pair along(double progress) const; - Spline(polynomial interpolation_poly,gsl_matrix *points_mat,gsl_matrix *rotated,gsl_matrix *Q_mat, gsl_vector *translation,polynomial first, polynomial second, int path, int sort_ind); + Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::MatrixXd Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); Spline() {}; @@ -102,21 +97,21 @@ class Spline -gsl_matrix *interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); +Eigen::MatrixXd interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); -gsl_matrix* rotation_matrix_gen(gsl_matrix *pnts); -gsl_vector *get_translation_vector(gsl_matrix *group); +Eigen::MatrixXd rotation_matrix_gen(Eigen::MatrixXd pnts); +Eigen::VectorXd get_translation_vector(Eigen::MatrixXd group); -gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector); +Eigen::MatrixXd transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); -gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector); +Eigen::MatrixXd reverse_transform(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); -polynomial lagrange_gen(gsl_matrix* points); +polynomial lagrange_gen(Eigen::MatrixXd points); double arclength_f(double, void* params); double arclength(polynomial poly, double x0,double x1); -std::pair,std::vector> raceline_gen(gsl_matrix *res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); +std::pair,std::vector> raceline_gen(Eigen::MatrixXd res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); #endif From 4ea1e0d98f71eff1ddfd86d8dff995838541637f Mon Sep 17 00:00:00 2001 From: Jai Date: Sat, 4 Nov 2023 14:30:33 -0400 Subject: [PATCH 14/31] most raceline translation done --- .../planning/src/raceline/racelineEigen.cpp | 170 +++++++++--------- .../planning/src/raceline/racelineEigen.hpp | 2 + 2 files changed, 88 insertions(+), 84 deletions(-) diff --git a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp index cca927f46..48719908d 100644 --- a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp +++ b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp @@ -9,7 +9,7 @@ #include #include #include -#include "raceline.hpp" +#include "racelineEigen.hpp" // #include "random.h" polynomial poly(int deg = 3){ @@ -45,6 +45,15 @@ polynomial polyder(polynomial p){ return der; } +polynomial polyint(polynomial p){ + polynomial antider = poly(p.deg+1); + for(int i=0;ispl_poly,this->rotated_points(0,0),this->rotated_points(0,this->rotated_points->size2-1); + return arclength(this->spl_poly,this->rotated_points(0,0),this->rotated_points(0,this->rotated_points.cols()-1)); } -// gsl_matrix* Spline::interpolate(int number, std::pair bounds){ +// Eigen::MatrixXd Spline::interpolate(int number, std::pair bounds){ // return interpolate(*this,number,bounds); // } @@ -199,14 +202,14 @@ std::tuple Spline::along(doubl } Eigen::VectorXd rotated_point(2); rotated_point(0)=best_guess; - Eigen::PolynomialSolver solver(this->spl_poly.nums->data) + Eigen::PolynomialSolver solver(this->spl_poly.nums.data()) rotated_point(1)=solver(best_guess); Eigen::MatrixXd rotated_points(2,1); rotated_points(0,0)=rotated_point(0); rotated_points(0,1)=rotated_point(1); - - gEigen::MatrixXd point_mat =reverse_transform(rotated_points,this->Q,this->translation_vector); + + Eigen::MatrixXd point_mat =reverse_transform(rotated_points,this->Q,this->translation_vector); Eigen::VectorXd point (2); point(0)=point_mat(0); @@ -218,142 +221,141 @@ std::tuple Spline::along(doubl } double Spline::getderiv(double x){ - gsl_matrix *point_x = gsl_matrix_alloc(1,2); - gsl_matrix_set(point_x,0,0,x); - gsl_matrix_set(point_x,0,1,0); - - gsl_matrix *gm= reverse_transform(point_x,this->Q,this->translation_vector); + Eigen::MatrixXd point_x(1,2); + point_x(0,0)=x; + point_x(0,1)=0; - return gsl_poly_eval(this->first_der.nums->data,this->first_der.deg,gm->data[0]); + Eigen::MatrixXd gm= reverse_transform(point_x,this->Q,this->translation_vector); + Eigen::Polynomial solver(this->first_der.nums.data()) + return solver(gm.data()[0]); } -gsl_matrix* Spline::interpolate(int number, std::pair bounds){ +Eigen::MatrixXd& Spline::interpolate(int number, std::pair bounds){ if(bounds.first == -1 && bounds.second == -1){ - double bound1 = gsl_matrix_get(get_rotated_points(),0,0); + double bound1 = get_rotated_points()(0,0); // MAKE PROPER BOUND 2 - double bound2 = gsl_matrix_get(get_rotated_points(),0,get_rotated_points()->size2); + double bound2 = get_rotated_points()(0,get_rotated_points().cols()); bounds = std::make_pair(bound1,bound2); } - gsl_matrix *points = gsl_matrix_alloc(number,2); + Eigen::MatrixXd points(number,2); for(int i=0;idata,get_SplPoly().deg,x); - gsl_matrix_set(points,i,0,x); - gsl_matrix_set(points,i,1,y); + Eigen::PolynomialSolver solver(get_SplPoly().nums.data()) + double y = solver(x); + points(i,0)=x; + points(i,1)=y; } - gsl_matrix *ret= reverse_transform(points,get_Q(),get_translation()); + Eigen::MatrixXd ret= reverse_transform(points,get_Q(),get_translation()); return ret; } -gsl_matrix* rotation_matrix_gen(gsl_matrix *pnts){ - gsl_vector *beg= gsl_vector_alloc_col_from_matrix(pnts,0); - gsl_vector *end = gsl_vector_alloc_col_from_matrix(pnts,pnts->size2-1); - - gsl_vector_sub(end,beg); - gsl_vector_free(beg); +Eigen::MatrixXd rotation_matrix_gen(Eigen::MatrixXd pnts){ + Eigen::Vector2d beg; beg << pnts.col(0); + Eigen::Vector2d end; end << pnts.col(pnts.cols()-1); - double norm = gsl_blas_dnrm2(end); + end = end-beg; - double cos = gsl_vector_get(end,0)/norm; - double sin = gsl_vector_get(end,1)/norm; + double norm = end.norm(); - gsl_vector_free(end); + double cos = end(0)/norm; + double sin = end(1)/norm; - gsl_matrix *ret = gsl_matrix_alloc(2,2); - gsl_matrix_set(ret,0,0,cos); - gsl_matrix_set(ret,1,0,-sin); - gsl_matrix_set(ret,0,1,sin); - gsl_matrix_set(ret,1,1,cos); + Eigen::MatrixXd ret(2,2); + ret(0,0)=cos; + ret(1,0)=-sin; + ret(0,1)=sin; + ret(1,1)=cos; return ret; } -gsl_vector *get_translation_vector(gsl_matrix *group){ - return gsl_vector_alloc_col_from_matrix(group,0); +Eigen::VectorXd& get_translation_vector(Eigen::MatrixXd group){ + Eigen::VectorXd ret; ret << group.col(0); + return ret; } -gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ - gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); - for(int i=0;isize2;++i){ - gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)-gsl_vector_get(get_translation_vector,0)); - gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)-gsl_vector_get(get_translation_vector,1)); +Eigen::MatrixXd& transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector){ + Eigen::MatrixXd temp(points.rows(),points.cols()); + for(int i=0;isize1,points->size2); - gsl_linalg_matmult(temp,Q,ret); - gsl_matrix_free(temp); - gsl_matrix_transpose(Q); + Eigen::MatrixXd ret (points.rows(),points.cols()); + ret = temp*Q; + // gsl_linalg_matmult(temp,Q,ret); + // gsl_matrix_free(temp); + Q =Q.transpose(); return ret; } -gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ - gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); +Eigen::MatrixXd& reverse_transform(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector){ + Eigen::MatrixXd temp(points->size1,points->size2); for(int i=0;isize2;++i){ - gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)); - gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)); + temp(0,i)=points(0,i); + temp(1,i)=points(1,i); } - gsl_matrix *ret = gsl_matrix_alloc(points->size1,points->size2); - gsl_linalg_matmult(temp,Q,ret); - gsl_matrix_free(temp); + Eigen::MatrixXd ret = temp*Q; for(int i=0;isize2;++i){ - gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)+gsl_vector_get(get_translation_vector,0)); - gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)+gsl_vector_get(get_translation_vector,1)); + temp(0,i)= points(0,i)+ get_translation_vector(0); + temp(1,i)= points(1,i)+ get_translation_vector(1); } return ret; } -polynomial lagrange_gen(gsl_matrix* points){ +polynomial lagrange_gen(Eigen::MatrixXd points){ polynomial lagrange_poly = poly(3); - for(int col = 0;col size2;col++){ + for(int col = 0;col size2]; - double y[points->size2]; - for(int i=0;isize2;i++){ - x[i] = gsl_matrix_get(points,i,0); - y[i] = gsl_matrix_get(points,i,1); + double x[points.cols()]; + double y[points.cols()]; + for(int i=0;isize2;i++){ polynomial p = poly_one(); - for(int j=0;jsize2;j++){ + for(int j=0;jdata,p.deg+1,x[i])); + Eigen::PolynomialSolver solver(p.nums.data()); + p1.nums(0)=1/solver(x[i]); polynomial q = poly_mult(p1,p); - gsl_vector_free(p.nums); - gsl_vector_free(p1.nums); + // gsl_vector_free(p.nums); + // gsl_vector_free(p1.nums); - gsl_vector_add(lagrange_poly.nums,q.nums); - gsl_vector_free(q.nums); + lagrange_poly.nums+=q.nums; + // gsl_vector_free(q.nums); } @@ -387,13 +389,13 @@ double arclength(polynomial poly, double x0,double x1){ } -std::pair,std::vector> raceline_gen(gsl_matrix *res,int path_id ,int points_per_spline,bool loop){ +std::pair,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id ,int points_per_spline,bool loop){ int n = res->size2; std::vector splines; - // gsl_matrix *points=res; + // Eigen::MatrixXd points=res; int shift = points_per_spline-1; int group_numbers; @@ -414,11 +416,11 @@ std::pair,std::vector> raceline_gen(gsl_matrix *res, lengths.resize(group_numbers); for(int i=0;i Date: Sat, 4 Nov 2023 14:49:27 -0400 Subject: [PATCH 15/31] raceline translation finished, added frenetEigen --- .../src/planning/src/raceline/frenetEigen.cpp | 227 ++++++++++++++++++ .../src/planning/src/raceline/frenetEigen.hpp | 34 +++ .../planning/src/raceline/racelineEigen.cpp | 13 +- 3 files changed, 264 insertions(+), 10 deletions(-) create mode 100644 driverless_ws/src/planning/src/raceline/frenetEigen.cpp create mode 100644 driverless_ws/src/planning/src/raceline/frenetEigen.hpp diff --git a/driverless_ws/src/planning/src/raceline/frenetEigen.cpp b/driverless_ws/src/planning/src/raceline/frenetEigen.cpp new file mode 100644 index 000000000..46298cda0 --- /dev/null +++ b/driverless_ws/src/planning/src/raceline/frenetEigen.cpp @@ -0,0 +1,227 @@ +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "frenet.hpp" +#include "raceline.hpp" + +gsl_matrix *mat_mul(gsl_matrix *A, gsl_matrix *B) { + assert(A->size2 == B->size1); + gsl_matrix_view A_view = gsl_matrix_submatrix(A, 0, 0, A->size1, A->size2); + gsl_matrix_view B_view = gsl_matrix_submatrix(A, 0, 0, B->size1, B->size2); + gsl_matrix *C = gsl_matrix_calloc(A->size1, B->size2); + gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, &A_view.matrix, + &B_view.matrix, 0.0, C); + return C; +} + +double poly_eval(polynomial poly, double x) { + return gsl_poly_eval(poly.nums->data, poly.deg + 1, x); +} +// Curvature at point(s) `min_x` based on 2d curvature equation +// https://mathworld.wolfram.com/Curvature.html +double get_curvature(polynomial poly_der_1, polynomial poly_der_2, + double min_x) { + return poly_eval(poly_der_2, min_x) / + (1 + pow(pow(poly_eval(poly_der_1, min_x), 2), 3 / 2)); +} + +// Rotates points based on the rotation and transformation matrices +// Why aren't the matrices converted into vectors? +std::vector rotate_points( + std::vector points, std::vector poly_Qs, + std::vector poly_transMats) { + size_t n = points.size(); + assert(n == poly_Qs.size()); + assert(n == poly_transMats.size()); + std::vector rotated_points; + for (size_t i = 0; i < n; ++i) { + gsl_matrix *point = points[i]; + gsl_matrix_sub(point, poly_transMats[i]); + point = mat_mul(point, poly_transMats[i]); + rotated_points.push_back(point); + } + return rotated_points; +} + +gsl_matrix *matrix_nonzero(gsl_matrix *m, double nonzero = 0.0001) { + for (size_t i = 0; i < m->size1; i++) { + for (size_t j = 0; j < m->size2; j++) { + if (gsl_matrix_get(m, i, j) == 0) { + gsl_matrix_set(m, i, j, nonzero); + } + } + } + return m; +} + +struct minimization_params { + double car_x; + double car_y; + polynomial poly; +}; +double minimization_f(double x, void *p) { + struct minimization_params *params = (struct minimization_params *)p; + return pow((params->car_x - x), 2) + + pow((params->car_y - poly_eval(params->poly, x)), 2); +} + +static const size_t n_coeffs = 7; +// x and y are a set of points +std::pair, std::vector> get_closest_distance( + double x, double y, std::vector polys, gsl_matrix *poly_coeffs, + gsl_matrix *poly_roots, double epsabs = 0.001, double epsrel = 0, + size_t max_iter = 5) { + size_t n = poly_coeffs->size1; + assert(n == poly_roots->size1); + + const gsl_min_fminimizer_type *T = gsl_min_fminimizer_brent; + gsl_min_fminimizer *s = gsl_min_fminimizer_alloc(T); + std::pair, std::vector> results; + for (size_t i = 0; i < n; ++i) { + polynomial poly = polys[i]; + int status; + size_t iter = 0; + double x_min = gsl_matrix_get(poly_roots, i, poly.deg + 1), x_lower = 0, + x_upper = x_min; + gsl_function f; + struct minimization_params params = {x, y, poly}; + f.function = &minimization_f; + f.params = ¶ms; + + gsl_min_fminimizer_set(s, &f, x_min, x_lower, x_upper); + + do { + ++iter; + status = gsl_min_fminimizer_iterate(s); + x_min = gsl_min_fminimizer_x_minimum(s); + x_lower = gsl_min_fminimizer_x_lower(s); + x_upper = gsl_min_fminimizer_x_upper(s); + status = gsl_min_test_interval(x_lower, x_upper, epsabs, epsrel); + } while (status == GSL_CONTINUE && iter < max_iter); + + results.first.push_back(x_min); + results.second.push_back(minimization_f(x_min, ¶ms)); + } + + gsl_min_fminimizer_free(s); + return results; +} + +// Argmin in row,col form assuming 2d matrix +std::pair argmin(gsl_matrix *m) { + double min = 9999999; + std::pair minIndex = {-1, -1}; + for (size_t i = 0; i < m->size1; i++) { + for (size_t j = 0; j < m->size2; j++) { + if (gsl_matrix_get(m, i, j) < min) { + min = gsl_matrix_get(m, i, j); + minIndex = {i, j}; + } + } + } + return minIndex; +} + +// Vector of + +// Finds the progress (length) and curvature of point on a raceline generated +// from splines +projection frenet(float x, float y, std::vector path, + std::vector lengths, float prev_progress, float v_x, + float v_y) { + assert(path.size() == lengths.size()); + const size_t num_points = prefered_degree + 1; + const size_t n = path.size(); + size_t index_offset = 0; + size_t size = n; + std::vector indexes; + if (prev_progress != prev_progress_flag) { // what does this flag do? + // Lengths must be sorted for bisect to work since its binary search + assert(is_sorted(lengths.begin(), lengths.end())); + index_offset = + std::lower_bound(lengths.begin(), lengths.end(), prev_progress) - + lengths.begin(); + size = std::min(n, index_offset + 30); + } + // get index where all elements in lengths[index:] are >= prev_progress + for (size_t i = index_offset; i < size; ++i) indexes.push_back(i % n); + + std::vector explore_space; + for (float element : indexes) { + explore_space.push_back(path[element]); + } + size_t explore_space_n = explore_space.size(); + gsl_matrix *poly_coeffs = gsl_matrix_alloc(explore_space_n, num_points); + gsl_matrix *poly_roots = gsl_matrix_alloc(explore_space_n, num_points); + std::vector polys; + std::vector poly_Qs; + std::vector poly_transMats; + for (size_t i = 0; i < explore_space_n; + ++i) { // used to be size: check if this is right + Spline spline = path[i]; + polynomial poly = spline.get_SplPoly(); + polys.push_back(poly); + gsl_vector *nums = spline.get_SplPoly().nums; + gsl_matrix *rotated_points = spline.get_rotated_points(); + poly_Qs.push_back(spline.get_Q()); + gsl_vector *transMatVec = spline.get_translation(); + gsl_matrix *transMat = gsl_matrix_alloc(2, 1); + gsl_matrix_set(transMat, 0, 0, gsl_vector_get(transMatVec, 0)); + gsl_matrix_set(transMat, 1, 0, gsl_vector_get(transMatVec, 1)); + poly_transMats.push_back(transMat); + for (size_t j = 0; j < num_points; ++j) { + gsl_matrix_set(poly_coeffs, i, j, + gsl_vector_get(nums, (num_points - 1 - j))); + gsl_matrix_set(poly_roots, i, j, gsl_matrix_get(rotated_points, 0, i)); + } + } + gsl_matrix *point = gsl_matrix_alloc(2, 1); + gsl_matrix_set(point, 0, 0, x); + gsl_matrix_set(point, 0, 1, y); + std::vector points = {point}; + // returns a single rotated point + std::vector rotated_points = + rotate_points(points, poly_Qs, poly_transMats); + + // gsl_matrix *x_point = gsl_matrix_alloc(explore_space_n,1); + // gsl_matrix *y_point = gsl_matrix_alloc(explore_space_n,1); + // Just x and y from the one row in the matrix + double x_point = gsl_matrix_get(rotated_points[0], 0, 0); + double y_point = gsl_matrix_get(rotated_points[0], 0, 1); + + // find how to get the columns from the vector of matrices + // std::pair< gsl_matrix *,gsl_matrix *> dist = get_closest_distance(x_point, + // y_point, poly_coeffs,poly_roots); + std::pair, std::vector> optimization_result = + get_closest_distance(x_point, y_point, polys, poly_coeffs, poly_roots); + std::vector opt_xs = optimization_result.first; + assert(opt_xs.size() > 0); + std::vector distances = optimization_result.second; + assert(distances.size() > 0); + + size_t i = + std::min_element(distances.begin(), distances.end()) - distances.begin(); + size_t min_index = (i + index_offset) % n; + polynomial min_polynomial = path[i].get_SplPoly(); + double min_x = opt_xs[i]; + double curvature = + get_curvature(path[i].get_first_der(), path[i].get_second_der(), min_x); + // assert min_index in indexes + + double extra_length = arclength(min_polynomial, 0, min_x); + double mu = distances[i]; + + double velocity = (v_x * cos(mu) - v_y * sin(mu)) / (1 - mu * curvature); + + projection result = projection( + float(min_index == 0 ? 0 : lengths[min_index - 1]) + extra_length, + min_index, mu, curvature, velocity); + return result; +} diff --git a/driverless_ws/src/planning/src/raceline/frenetEigen.hpp b/driverless_ws/src/planning/src/raceline/frenetEigen.hpp new file mode 100644 index 000000000..e9cf0e8f7 --- /dev/null +++ b/driverless_ws/src/planning/src/raceline/frenetEigen.hpp @@ -0,0 +1,34 @@ +#ifndef FRENET_H +#define FRENET_H + +#include + +#include +#include + +#include "raceline.hpp" +const float prev_progress_flag = -std::numeric_limits::max(); + +//Projection class for storing result from minimization and related data +struct projection { + float progress; + int min_index; // For testing + float min_distance; // For testing + float curvature; + float velocity; + + projection(float progress,int min_index,float min_distance,float curvature,float velocity){ + this->progress = progress; + this->min_index = min_index; + this->min_distance = min_distance; + this->curvature = curvature; + this->velocity = velocity; + } +}; + +projection frenet(float x, float y, std::vector path, + std::vector lengths, + float prev_progress = prev_progress_flag, float v_x = 0, + float v_y = 0); + +#endif diff --git a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp index 48719908d..6a8b0ab03 100644 --- a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp +++ b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp @@ -1,10 +1,3 @@ -#include -#include -#include -#include -#include -#include -#include #include #include #include @@ -366,9 +359,9 @@ polynomial lagrange_gen(Eigen::MatrixXd points){ double arclength_f(double, void* params){ polynomial p = *(polynomial*)params; - - double x = gsl_poly_eval(p.nums->data,p.deg+1,x); - return x*x+1; + Eigen::PolynomialSolver solver(p); + double x = p(x); + return math.sqrt(x*x+1); } double arclength(polynomial poly, double x0,double x1){ From 752a1cfe9be701fa3757407f91ee36a43c855853 Mon Sep 17 00:00:00 2001 From: Jai Date: Sun, 5 Nov 2023 15:58:04 -0500 Subject: [PATCH 16/31] half of frenet translated, but miminizer hasnt been translated --- .../src/planning/src/raceline/frenetEigen.cpp | 81 ++++++++++--------- 1 file changed, 43 insertions(+), 38 deletions(-) diff --git a/driverless_ws/src/planning/src/raceline/frenetEigen.cpp b/driverless_ws/src/planning/src/raceline/frenetEigen.cpp index 46298cda0..68679074b 100644 --- a/driverless_ws/src/planning/src/raceline/frenetEigen.cpp +++ b/driverless_ws/src/planning/src/raceline/frenetEigen.cpp @@ -7,10 +7,13 @@ #include #include #include +#include +#include +#include "frenetEigen.hpp" +#include "racelineEigen.hpp" -#include "frenet.hpp" -#include "raceline.hpp" +//irrelevent function now, but still keeping it gsl_matrix *mat_mul(gsl_matrix *A, gsl_matrix *B) { assert(A->size2 == B->size1); gsl_matrix_view A_view = gsl_matrix_submatrix(A, 0, 0, A->size1, A->size2); @@ -22,7 +25,8 @@ gsl_matrix *mat_mul(gsl_matrix *A, gsl_matrix *B) { } double poly_eval(polynomial poly, double x) { - return gsl_poly_eval(poly.nums->data, poly.deg + 1, x); + Eigen::PolynomialSolver solver(poly.nums.data()) + return solver(x); } // Curvature at point(s) `min_x` based on 2d curvature equation // https://mathworld.wolfram.com/Curvature.html @@ -34,27 +38,29 @@ double get_curvature(polynomial poly_der_1, polynomial poly_der_2, // Rotates points based on the rotation and transformation matrices // Why aren't the matrices converted into vectors? -std::vector rotate_points( - std::vector points, std::vector poly_Qs, - std::vector poly_transMats) { +std::vector rotate_points( + std::vector points, std::vector poly_Qs, + std::vector poly_transMats) { size_t n = points.size(); assert(n == poly_Qs.size()); assert(n == poly_transMats.size()); - std::vector rotated_points; + std::vector rotated_points; for (size_t i = 0; i < n; ++i) { - gsl_matrix *point = points[i]; - gsl_matrix_sub(point, poly_transMats[i]); - point = mat_mul(point, poly_transMats[i]); + Eigen::MatrixXd point = points[i]; + //The line below is wrong as it doesnt take in 3 arguments, I dont know what its trying to do + //im assuming it wants point -= poly_transMats[i] + // gsl_matrix_sub(point, poly_transMats[i]); + point = point - poly_transMats[i]; rotated_points.push_back(point); } return rotated_points; } -gsl_matrix *matrix_nonzero(gsl_matrix *m, double nonzero = 0.0001) { +Eigen::MatrixXd& matrix_nonzero(Eigen::MatrixXd& m, double nonzero = 0.0001) { for (size_t i = 0; i < m->size1; i++) { for (size_t j = 0; j < m->size2; j++) { - if (gsl_matrix_get(m, i, j) == 0) { - gsl_matrix_set(m, i, j, nonzero); + if (m(i, j) == 0) { + m(i, j) = nonzero; } } } @@ -75,8 +81,8 @@ double minimization_f(double x, void *p) { static const size_t n_coeffs = 7; // x and y are a set of points std::pair, std::vector> get_closest_distance( - double x, double y, std::vector polys, gsl_matrix *poly_coeffs, - gsl_matrix *poly_roots, double epsabs = 0.001, double epsrel = 0, + double x, double y, std::vector polys, Eigen::MatrixXd& poly_coeffs, + Eigen::MatrixXd& poly_roots, double epsabs = 0.001, double epsrel = 0, size_t max_iter = 5) { size_t n = poly_coeffs->size1; assert(n == poly_roots->size1); @@ -115,13 +121,13 @@ std::pair, std::vector> get_closest_distance( } // Argmin in row,col form assuming 2d matrix -std::pair argmin(gsl_matrix *m) { +std::pair argmin(Eigen::MatrixXd& m) { double min = 9999999; std::pair minIndex = {-1, -1}; for (size_t i = 0; i < m->size1; i++) { for (size_t j = 0; j < m->size2; j++) { - if (gsl_matrix_get(m, i, j) < min) { - min = gsl_matrix_get(m, i, j); + if (m(i, j) < min) { + min = m(i, j); minIndex = {i, j}; } } @@ -158,43 +164,42 @@ projection frenet(float x, float y, std::vector path, explore_space.push_back(path[element]); } size_t explore_space_n = explore_space.size(); - gsl_matrix *poly_coeffs = gsl_matrix_alloc(explore_space_n, num_points); - gsl_matrix *poly_roots = gsl_matrix_alloc(explore_space_n, num_points); + Eigen::MatrixXd poly_coeffs(explore_space_n, num_points); + Eigen::MatrixXd poly_roots(explore_space_n, num_points); std::vector polys; - std::vector poly_Qs; - std::vector poly_transMats; + std::vector poly_Qs; + std::vector poly_transMats; for (size_t i = 0; i < explore_space_n; ++i) { // used to be size: check if this is right Spline spline = path[i]; polynomial poly = spline.get_SplPoly(); polys.push_back(poly); - gsl_vector *nums = spline.get_SplPoly().nums; - gsl_matrix *rotated_points = spline.get_rotated_points(); + Eigen::VectorXd nums = spline.get_SplPoly().nums; + Eigen::MatrixXd rotated_points = spline.get_rotated_points(); poly_Qs.push_back(spline.get_Q()); - gsl_vector *transMatVec = spline.get_translation(); - gsl_matrix *transMat = gsl_matrix_alloc(2, 1); - gsl_matrix_set(transMat, 0, 0, gsl_vector_get(transMatVec, 0)); - gsl_matrix_set(transMat, 1, 0, gsl_vector_get(transMatVec, 1)); + Eigen::VectorXd transMatVec = spline.get_translation(); + Eigen::MatrixXd transMat = gsl_matrix_alloc(2, 1); + transMat(0, 0) = transMatVec(0); + transMat(1, 0) = transMatVec(1); poly_transMats.push_back(transMat); for (size_t j = 0; j < num_points; ++j) { - gsl_matrix_set(poly_coeffs, i, j, - gsl_vector_get(nums, (num_points - 1 - j))); - gsl_matrix_set(poly_roots, i, j, gsl_matrix_get(rotated_points, 0, i)); + poly_coeffs(i, j)= nums(num_points - 1 - j); + poly_roots(i, j) = rotated_points(0, i); } } - gsl_matrix *point = gsl_matrix_alloc(2, 1); - gsl_matrix_set(point, 0, 0, x); - gsl_matrix_set(point, 0, 1, y); - std::vector points = {point}; + Eigen::MatrixXd point(2, 1); + point(0, 0) = x; + point(0, 1) = y; + std::vector points = {point}; // returns a single rotated point - std::vector rotated_points = + std::vector rotated_points = rotate_points(points, poly_Qs, poly_transMats); // gsl_matrix *x_point = gsl_matrix_alloc(explore_space_n,1); // gsl_matrix *y_point = gsl_matrix_alloc(explore_space_n,1); // Just x and y from the one row in the matrix - double x_point = gsl_matrix_get(rotated_points[0], 0, 0); - double y_point = gsl_matrix_get(rotated_points[0], 0, 1); + double x_point = rotated_points[0](0, 0); + double y_point = rotated_points[0](0, 1); // find how to get the columns from the vector of matrices // std::pair< gsl_matrix *,gsl_matrix *> dist = get_closest_distance(x_point, From d33f5af9227ecde2bac62e5a68d0bd5a837c5281 Mon Sep 17 00:00:00 2001 From: dale Date: Mon, 6 Nov 2023 22:18:41 -0500 Subject: [PATCH 17/31] fixes on raceline eigen --- driverless_ws/src/planning/CMakeLists.txt | 2 +- driverless_ws/src/planning/package.xml | 2 + driverless_ws/src/planning/src/generator.hpp | 3 +- .../src/planning/src/generatorEigen.cpp | 2 +- .../planning_codebase/midline/generator.hpp | 51 +++++++++++++ .../planning/src/raceline/racelineEigen.cpp | 75 ++++++++++--------- .../planning/src/raceline/racelineEigen.hpp | 30 ++++---- .../{raceline.cpp => racelineOld.cpp} | 0 .../{raceline.hpp => racelineOld.hpp} | 3 + 9 files changed, 117 insertions(+), 51 deletions(-) create mode 100644 driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp rename driverless_ws/src/planning/src/raceline/{raceline.cpp => racelineOld.cpp} (100%) rename driverless_ws/src/planning/src/raceline/{raceline.hpp => racelineOld.hpp} (99%) diff --git a/driverless_ws/src/planning/CMakeLists.txt b/driverless_ws/src/planning/CMakeLists.txt index 5bf24e3a1..ff02a9a9e 100644 --- a/driverless_ws/src/planning/CMakeLists.txt +++ b/driverless_ws/src/planning/CMakeLists.txt @@ -18,7 +18,7 @@ find_package(Eigen3 3.3 REQUIRED) find_package(GSL REQUIRED) - add_executable(midpoint_test src/midpoint.cpp src/generator.cpp src/raceline/raceline.cpp) + add_executable(midpoint_test src/midpoint.cpp src/generatorEigen.cpp src/raceline/racelineEigen.cpp) # add_executable(midline_test src/generator.cpp src/raceline/raceline.cpp) ament_target_dependencies(midpoint_test rclcpp std_msgs geometry_msgs Eigen3 eufs_msgs GSL) # ament_target_dependencies(midline_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) diff --git a/driverless_ws/src/planning/package.xml b/driverless_ws/src/planning/package.xml index 4247b608e..4a7fe0cec 100644 --- a/driverless_ws/src/planning/package.xml +++ b/driverless_ws/src/planning/package.xml @@ -18,6 +18,8 @@ rclcpp message_filters eufs_msgs + GSL + Eigen3 ament_cmake diff --git a/driverless_ws/src/planning/src/generator.hpp b/driverless_ws/src/planning/src/generator.hpp index 541eb6a70..fe20829b7 100644 --- a/driverless_ws/src/planning/src/generator.hpp +++ b/driverless_ws/src/planning/src/generator.hpp @@ -1,8 +1,9 @@ -#include "raceline/raceline.hpp" +#include "raceline/racelineEigen.hpp" // #include "random.h" #include #include #include +#include #ifndef MIDPOINTGENERATOR #define MIDPOINTGENERATOR diff --git a/driverless_ws/src/planning/src/generatorEigen.cpp b/driverless_ws/src/planning/src/generatorEigen.cpp index dbc3b453d..45af5945f 100644 --- a/driverless_ws/src/planning/src/generatorEigen.cpp +++ b/driverless_ws/src/planning/src/generatorEigen.cpp @@ -149,7 +149,7 @@ Eigen::MatrixXd& MidpointGenerator::generate_points(perceptionsData perceptions_ // gsl_matrix_free(right); return midpoint_mat; } - double size = std::min(perceptions_data.bluecones.size(),perceptions_data.yellowcones.size()); + int size = std::min(perceptions_data.bluecones.size(),perceptions_data.yellowcones.size()); Eigen::MatrixXd left(2,size+1); Eigen::MatrixXd right(2,size+1); for(int i=0;i +#include +#include +#ifndef MIDPOINTGENERATOR +#define MIDPOINTGENERATOR + +struct perceptionsData{ + + std::vector> bluecones,yellowcones,orangecones; +}; + +class MidpointGenerator +{ +private: + /* data */ + + + +public: + int PERCEP_COLOR = 2; + int BLUE = 1; + int YELLOW = 2; + int ORANGE = 3; + int interpolation_number; + std::vector cumulated_splines; + std::vector cumulated_lengths; + + + MidpointGenerator(int interpolation_number=30); + + + // gsl_matrix *sorted_by_norm(gsl_matrix *list); + + + std::vector generate_splines(gsl_matrix *midpoints); + + gsl_matrix* interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); + Spline spline_from_cones(perceptionsData perceptions_data); + Spline spline_from_curve(std::vector> side); + +}; + +gsl_matrix *midpoint(gsl_matrix *inner,gsl_matrix *outer); +gsl_matrix* generate_points(perceptionsData perceptions_data); +std::vector> sorted_by_norm(std::vector> inp); + +#endif + + diff --git a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp index 6a8b0ab03..9bfac7de8 100644 --- a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp +++ b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp @@ -1,8 +1,5 @@ -#include -#include -#include -#include #include "racelineEigen.hpp" +#include // #include "random.h" polynomial poly(int deg = 3){ @@ -38,14 +35,7 @@ polynomial polyder(polynomial p){ return der; } -polynomial polyint(polynomial p){ - polynomial antider = poly(p.deg+1); - for(int i=0;i Spline::along(double progress, double point_index, int precision){ - std::tuple ret; +std::tuple Spline::along(double progress, double point_index, int precision){ + std::tuple ret; double len = this->length(); @@ -195,8 +196,8 @@ std::tuple Spline::along(doubl } Eigen::VectorXd rotated_point(2); rotated_point(0)=best_guess; - Eigen::PolynomialSolver solver(this->spl_poly.nums.data()) - rotated_point(1)=solver(best_guess); + + rotated_point(1)=poly_eval(this->spl_poly,best_guess); Eigen::MatrixXd rotated_points(2,1); rotated_points(0,0)=rotated_point(0); @@ -219,8 +220,7 @@ double Spline::getderiv(double x){ point_x(0,1)=0; Eigen::MatrixXd gm= reverse_transform(point_x,this->Q,this->translation_vector); - Eigen::Polynomial solver(this->first_der.nums.data()) - return solver(gm.data()[0]); + return poly_eval(this->first_der,gm.data()[0]); @@ -239,10 +239,8 @@ Eigen::MatrixXd& Spline::interpolate(int number, std::pair bounds){ for(int i=0;i bounds){ return ret; } -Eigen::MatrixXd rotation_matrix_gen(Eigen::MatrixXd pnts){ +Eigen::MatrixXd& rotation_matrix_gen(Eigen::MatrixXd pnts){ Eigen::Vector2d beg; beg << pnts.col(0); Eigen::Vector2d end; end << pnts.col(pnts.cols()-1); @@ -298,15 +296,15 @@ Eigen::MatrixXd& transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eig } Eigen::MatrixXd& reverse_transform(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector){ - Eigen::MatrixXd temp(points->size1,points->size2); - for(int i=0;isize2;++i){ + Eigen::MatrixXd temp(points.rows(),points.cols()); + for(int i=0;isize2;++i){ + for(int i=0;isize2;i++){ + for(int i=0;i,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id ,int points_per_spline,bool loop){ - int n = res->size2; + int n = res.cols(); std::vector splines; @@ -409,7 +407,16 @@ std::pair,std::vector> raceline_gen(Eigen::MatrixXd& lengths.resize(group_numbers); for(int i=0;i +#include #include -#include #include #include #include +#include #ifndef RACELINE @@ -23,10 +25,10 @@ polynomial poly_root(double root); polynomial polyder(polynomial p); -polynomial polyint(polynomial p); polynomial poly_mult(polynomial a,polynomial b); +double poly_eval(polynomial a,double x); class Spline { @@ -59,16 +61,16 @@ class Spline polynomial get_first_der(); polynomial get_second_der(); - Eigen::MatrixXd get_points(); + Eigen::MatrixXd& get_points(); void set_points(Eigen::MatrixXd newpoints); - Eigen::MatrixXd get_rotated_points(); + Eigen::MatrixXd& get_rotated_points(); void set_rotated_points(Eigen::MatrixXd newpoints); - Eigen::MatrixXd get_Q(); + Eigen::MatrixXd& get_Q(); void set_Q(Eigen::MatrixXd new_Q); - Eigen::VectorXd get_translation(); + Eigen::VectorXd& get_translation(); void set_translation(Eigen::VectorXd new_trans); int get_path_id(); @@ -80,7 +82,7 @@ class Spline // Eigen::MatrixXd interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); - Eigen::MatrixXd interpolate(int number,std::pair bounds); + Eigen::MatrixXd& interpolate(int number,std::pair bounds); bool operator==(Spline const & other) const; bool operator<(Spline const & other) const; @@ -90,7 +92,7 @@ class Spline std::pair along(double progress) const; - Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::MatrixXd Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); + Spline(polynomial interpolation_poly,Eigen::MatrixXd& points_mat,Eigen::MatrixXd& rotated,Eigen::MatrixXd& Q_mat, Eigen::VectorXd& translation,polynomial first, polynomial second, int path, int sort_ind); Spline() {}; @@ -99,14 +101,14 @@ class Spline -Eigen::MatrixXd interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); +Eigen::MatrixXd& interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); -Eigen::MatrixXd rotation_matrix_gen(Eigen::MatrixXd pnts); -Eigen::VectorXd get_translation_vector(Eigen::MatrixXd group); +Eigen::MatrixXd& rotation_matrix_gen(Eigen::MatrixXd pnts); +Eigen::VectorXd& get_translation_vector(Eigen::MatrixXd group); -Eigen::MatrixXd transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); +Eigen::MatrixXd& transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); -Eigen::MatrixXd reverse_transform(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); +Eigen::MatrixXd& reverse_transform(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); polynomial lagrange_gen(Eigen::MatrixXd points); @@ -114,6 +116,6 @@ double arclength_f(double, void* params); double arclength(polynomial poly, double x0,double x1); -std::pair,std::vector> raceline_gen(Eigen::MatrixXd res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); +std::pair,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); #endif diff --git a/driverless_ws/src/planning/src/raceline/raceline.cpp b/driverless_ws/src/planning/src/raceline/racelineOld.cpp similarity index 100% rename from driverless_ws/src/planning/src/raceline/raceline.cpp rename to driverless_ws/src/planning/src/raceline/racelineOld.cpp diff --git a/driverless_ws/src/planning/src/raceline/raceline.hpp b/driverless_ws/src/planning/src/raceline/racelineOld.hpp similarity index 99% rename from driverless_ws/src/planning/src/raceline/raceline.hpp rename to driverless_ws/src/planning/src/raceline/racelineOld.hpp index 75239ae82..4c6d459bb 100644 --- a/driverless_ws/src/planning/src/raceline/raceline.hpp +++ b/driverless_ws/src/planning/src/raceline/racelineOld.hpp @@ -8,6 +8,7 @@ #include #include #include +#include #ifndef RACELINE @@ -31,6 +32,8 @@ polynomial polyder(polynomial p); polynomial poly_mult(polynomial a,polynomial b); + + class Spline { private: From f124b5319d4b7e997726193238905c811353f1cb Mon Sep 17 00:00:00 2001 From: dale Date: Sat, 11 Nov 2023 16:42:26 -0500 Subject: [PATCH 18/31] remade file struct ure, debugging --- driverless_ws/src/perceptions/package.xml | 4 +- .../src/perceptions/perceptions/LidarNode.py | 63 - .../src/perceptions/perceptions/README.md | 5 + .../src/perceptions/perceptions/StereoNode.py | 68 - .../perceptions/ros/predictors/LidarNode.py | 35 + .../perceptions/ros/predictors/StereoNode.py | 37 + .../perceptions/{ => ros/utils}/DataNode.py | 61 +- .../perceptions/ros/utils/FileNode.py | 71 + .../{ => ros/utils}/PredictNode.py | 34 +- .../{ => ros/utils}/conversions.py | 2 +- driverless_ws/src/perceptions/setup.py | 10 +- driverless_ws/src/planning/CMakeLists.txt | 22 +- driverless_ws/src/planning/pub.cpp | 44 - driverless_ws/src/planning/src/generator.cpp | 222 - driverless_ws/src/planning/src/generator.hpp | 50 - .../src/planning/src/isam2/isam2.cpp | 78 - driverless_ws/src/planning/src/listener.cpp | 33 - .../src/planning/src/{ => nodes}/midpoint.cpp | 6 +- .../src/planning_codebase/EKF_SLAM.cpp | 69 - .../src/planning/src/planning_codebase/a.out | Bin 59576 -> 0 bytes .../planning/src/planning_codebase/hello.cpp | 9 - .../midline/generator.cpp} | 33 +- .../planning_codebase/midline/generator.hpp | 13 +- .../midline}/midpoint_tests.cpp | 0 .../midline}/test_points.txt | 0 .../src/planning_codebase/new_slam.cpp | 813 - .../src/planning_codebase/output/new_slam.exe | Bin 114534 -> 0 bytes .../raceline/frenetEigen.cpp | 0 .../raceline/frenetEigen.hpp | 0 .../planning_codebase/raceline/generator.cpp | 138 - .../planning_codebase/raceline/generator.hpp | 50 - .../raceline/optimizer/runpy.cpp | 70 +- .../raceline/optimizer/runpy.hpp | 3 +- .../planning_codebase/raceline/raceline.cpp | 276 +- .../planning_codebase/raceline/raceline.hpp | 66 +- .../src/planning/src/raceline/frenet.cpp | 227 - .../src/planning/src/raceline/frenet.hpp | 34 - .../src/planning/src/raceline/gen_curves.cpp | 51 - .../Readme.md | 156 - .../global_racetrajectory_optimization/a.txt | 613 - .../frictionmap/__init__.py | 1 - .../frictionmap/src/__init__.py | 3 - .../frictionmap/src/plot_frictionmap_data.py | 166 - .../frictionmap/src/plot_frictionmap_grid.py | 120 - .../frictionmap/src/reftrack_functions.py | 161 - .../helper_funcs_glob/__init__.py | 1 - .../helper_funcs_glob/src/__init__.py | 8 - .../src/calc_min_bound_dists.py | 71 - .../helper_funcs_glob/src/check_traj.py | 144 - .../helper_funcs_glob/src/export_traj_ltpl.py | 91 - .../helper_funcs_glob/src/export_traj_race.py | 46 - .../helper_funcs_glob/src/import_track.py | 75 - 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.../create_raceline.py | 83 - .../get_rel_path_part.py | 119 - .../import_veh_dyn_info.py | 87 - .../import_veh_dyn_info_2.py | 79 - .../interp_splines.py | 190 - .../interp_track.py | 63 - .../interp_track_widths.py | 67 - .../iqp_handler.py | 201 - .../nonreg_sampling.py | 60 - .../normalize_psi.py | 45 - .../opt_min_curv.py | 401 - .../opt_shortest_path.py | 159 - .../path_matching_global.py | 93 - .../path_matching_local.py | 128 - .../progressbar.py | 51 - .../side_of_line.py | 38 - .../spline_approximation.py | 155 - .../planning/src/raceline/optimizer/runpy.cpp | 122 - .../planning/src/raceline/optimizer/runpy.hpp | 15 - .../planning/src/raceline/racelineEigen.cpp | 445 - .../planning/src/raceline/racelineEigen.hpp | 121 - .../src/planning/src/raceline/racelineOld.cpp | 434 - .../src/planning/src/raceline/racelineOld.hpp | 125 - driverless_ws/src/planning/src/talker.cpp | 55 - driverless_ws/src/planning/sub.cpp | 31 - driverless_ws/src/ros2_numpy | 1 + driverless_ws/src/ros2_numpy_dv/CHANGELOG.rst | 44 + .../src/ros2_numpy_dv/CMakeLists.txt | 15 + driverless_ws/src/ros2_numpy_dv/LICENSE | 21 + driverless_ws/src/ros2_numpy_dv/README.md | 84 + driverless_ws/src/ros2_numpy_dv/package.xml | 35 + .../ros2_numpy_dv/ros2_numpy_dv/__init__.py | 9 + .../ros2_numpy_dv/ros2_numpy_dv/geometry.py | 133 + .../src/ros2_numpy_dv/ros2_numpy_dv/image.py | 120 + .../ros2_numpy_dv/occupancy_grid.py | 36 + .../ros2_numpy_dv/point_cloud2.py | 271 + .../ros2_numpy_dv/ros2_numpy_dv/registry.py | 48 + 157 files changed, 1301 insertions(+), 324793 deletions(-) delete mode 100644 driverless_ws/src/perceptions/perceptions/LidarNode.py create mode 100644 driverless_ws/src/perceptions/perceptions/README.md delete mode 100644 driverless_ws/src/perceptions/perceptions/StereoNode.py create mode 100644 driverless_ws/src/perceptions/perceptions/ros/predictors/LidarNode.py create mode 100644 driverless_ws/src/perceptions/perceptions/ros/predictors/StereoNode.py rename driverless_ws/src/perceptions/perceptions/{ => ros/utils}/DataNode.py (65%) create mode 100644 driverless_ws/src/perceptions/perceptions/ros/utils/FileNode.py rename driverless_ws/src/perceptions/perceptions/{ => ros/utils}/PredictNode.py (68%) rename driverless_ws/src/perceptions/perceptions/{ => ros/utils}/conversions.py (98%) delete mode 100644 driverless_ws/src/planning/pub.cpp delete mode 100644 driverless_ws/src/planning/src/generator.cpp delete mode 100644 driverless_ws/src/planning/src/generator.hpp delete mode 100644 driverless_ws/src/planning/src/isam2/isam2.cpp delete mode 100644 driverless_ws/src/planning/src/listener.cpp rename driverless_ws/src/planning/src/{ => nodes}/midpoint.cpp (93%) delete mode 100644 driverless_ws/src/planning/src/planning_codebase/EKF_SLAM.cpp delete mode 100644 driverless_ws/src/planning/src/planning_codebase/a.out delete mode 100644 driverless_ws/src/planning/src/planning_codebase/hello.cpp rename driverless_ws/src/planning/src/{generatorEigen.cpp => planning_codebase/midline/generator.cpp} (89%) rename driverless_ws/src/planning/src/{ => planning_codebase/midline}/midpoint_tests.cpp (100%) rename driverless_ws/src/planning/src/{ => planning_codebase/midline}/test_points.txt (100%) delete mode 100644 driverless_ws/src/planning/src/planning_codebase/new_slam.cpp delete mode 100644 driverless_ws/src/planning/src/planning_codebase/output/new_slam.exe rename driverless_ws/src/planning/src/{ => planning_codebase}/raceline/frenetEigen.cpp (100%) rename driverless_ws/src/planning/src/{ => planning_codebase}/raceline/frenetEigen.hpp (100%) delete mode 100644 driverless_ws/src/planning/src/planning_codebase/raceline/generator.cpp delete mode 100644 driverless_ws/src/planning/src/planning_codebase/raceline/generator.hpp delete mode 100644 driverless_ws/src/planning/src/raceline/frenet.cpp delete mode 100644 driverless_ws/src/planning/src/raceline/frenet.hpp delete mode 100644 driverless_ws/src/planning/src/raceline/gen_curves.cpp delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/Readme.md delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/a.txt delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/__init__.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/__init__.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/plot_frictionmap_data.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/plot_frictionmap_grid.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/reftrack_functions.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/__init__.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/__init__.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/calc_min_bound_dists.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/check_traj.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/export_traj_ltpl.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/export_traj_race.py delete mode 100644 driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/import_track.py delete mode 100644 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driverless_ws/src/planning/sub.cpp create mode 160000 driverless_ws/src/ros2_numpy create mode 100644 driverless_ws/src/ros2_numpy_dv/CHANGELOG.rst create mode 100644 driverless_ws/src/ros2_numpy_dv/CMakeLists.txt create mode 100644 driverless_ws/src/ros2_numpy_dv/LICENSE create mode 100644 driverless_ws/src/ros2_numpy_dv/README.md create mode 100644 driverless_ws/src/ros2_numpy_dv/package.xml create mode 100644 driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/__init__.py create mode 100644 driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/geometry.py create mode 100644 driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/image.py create mode 100644 driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/occupancy_grid.py create mode 100644 driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/point_cloud2.py create mode 100644 driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/registry.py diff --git a/driverless_ws/src/perceptions/package.xml b/driverless_ws/src/perceptions/package.xml index a0237f7ff..5c9ba8726 100644 --- a/driverless_ws/src/perceptions/package.xml +++ b/driverless_ws/src/perceptions/package.xml @@ -9,8 +9,8 @@ eufs_msgs eufs_msgs - ros2_numpy - ros2_numpy + ros2_numpy_dv + ros2_numpy_dv ament_copyright ament_flake8 diff --git a/driverless_ws/src/perceptions/perceptions/LidarNode.py b/driverless_ws/src/perceptions/perceptions/LidarNode.py deleted file mode 100644 index 51290d8f3..000000000 --- a/driverless_ws/src/perceptions/perceptions/LidarNode.py +++ /dev/null @@ -1,63 +0,0 @@ -# ROS2 imports -import rclpy - -# for subscribing to sensor data -from perceptions.DataNode import DataNode - -# for converting predictor output to cone message type -from eufs_msgs.msg import ConeArray -import perceptions.conversions as conversions - -# for doing prediction on sensor data -from perc22a.predictors import LidarPredictor - -NODE_NAME = "lidar_node" - -class LidarNode(DataNode): - - def __init__(self): - super().__init__(name=NODE_NAME) - - # do prediction on a timer - self.interval = 0.5 - self.predict_timer = self.create_timer(self.interval, self.predict_callback) - - # create publisher - self.cone_topic = f"/{NODE_NAME}_cones" - self.qos_profile = 10 - self.cone_publisher = self.create_publisher(ConeArray, self.cone_topic, self.qos_profile) - - # create predictor - self.predictor = LidarPredictor() - - def predict_callback(self): - if not self.got_all_data(): - self.get_logger().warn("Not got all data") - return - - # otherwise, do prediction on data and display - data = { - "points": self.points - } - cones = self.predictor.predict(data) - self.predictor.display() - - # publish messages - msg = conversions.cones_to_msg(cones) - self.cone_publisher.publish(msg) - print(cones) - - -def main(args=None): - rclpy.init(args=args) - - stereo_node = LidarNode() - - rclpy.spin(stereo_node) - - stereo_node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() \ No newline at end of file diff --git a/driverless_ws/src/perceptions/perceptions/README.md b/driverless_ws/src/perceptions/perceptions/README.md new file mode 100644 index 000000000..99f30af1e --- /dev/null +++ b/driverless_ws/src/perceptions/perceptions/README.md @@ -0,0 +1,5 @@ +`tar` and `gzip` file by running + +``` +tar -cvf .tar.gz +``` diff --git a/driverless_ws/src/perceptions/perceptions/StereoNode.py b/driverless_ws/src/perceptions/perceptions/StereoNode.py deleted file mode 100644 index 0cae2174f..000000000 --- a/driverless_ws/src/perceptions/perceptions/StereoNode.py +++ /dev/null @@ -1,68 +0,0 @@ -# ROS2 imports -import rclpy - -# for subscribing to sensor data -from perceptions.DataNode import DataNode - -# for converting predictor output to cone message type -from eufs_msgs.msg import ConeArray -import perceptions.conversions as conversions - -# for doing prediction on sensor data -from perc22a.predictors import StereoPredictor - -NODE_NAME = "stereo_node" - -class StereoNode(DataNode): - - def __init__(self): - super().__init__(name=NODE_NAME) - - # do prediction on a timer - # TODO: figure out what the best way is to deal with this? - self.interval = 0.5 - self.predict_timer = self.create_timer(self.interval, self.predict_callback) - - # create publisher - self.cone_topic = f"/{NODE_NAME}_cones" - self.qos_profile = 10 - self.cone_publisher = self.create_publisher(ConeArray, self.cone_topic, self.qos_profile) - - # create predictor - self.model_name = 'ultralytics/yolov5' - self.param_path = '/home/dale/driverless-packages/PerceptionsLibrary22a/perc22a/predictors/stereo/model_params.pt' - self.predictor = StereoPredictor(self.model_name, self.param_path) - - def predict_callback(self): - if not self.got_all_data(): - self.get_logger().warn("Not got all data") - return - - # otherwise, do prediction on data and display - data = { - "left_color": self.left_color, - "xyz_image": self.xyz_image, - } - cones = self.predictor.predict(data) - self.predictor.display() - - # publish message - msg = conversions.cones_to_msg(cones) - self.cone_publisher.publish(msg) - - print(cones) - - -def main(args=None): - rclpy.init(args=args) - - stereo_node = StereoNode() - - rclpy.spin(stereo_node) - - stereo_node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() \ No newline at end of file diff --git a/driverless_ws/src/perceptions/perceptions/ros/predictors/LidarNode.py b/driverless_ws/src/perceptions/perceptions/ros/predictors/LidarNode.py new file mode 100644 index 000000000..6f1ca6acb --- /dev/null +++ b/driverless_ws/src/perceptions/perceptions/ros/predictors/LidarNode.py @@ -0,0 +1,35 @@ +# ROS2 imports +import rclpy + +# for subscribing to sensor data +from perceptions.ros.utils.PredictNode import PredictNode + +# for doing prediction on sensor data +from perc22a.predictors.lidar.LidarPredictor import LidarPredictor + +NODE_NAME = "lidar_node" + +class LidarNode(PredictNode): + + def __init__(self): + super().__init__(name=NODE_NAME, debug_flag=False, time_flag=True) + + return + + def init_predictor(self): + return LidarPredictor() + + +def main(args=None): + rclpy.init(args=args) + + stereo_node = LidarNode() + + rclpy.spin(stereo_node) + + stereo_node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/driverless_ws/src/perceptions/perceptions/ros/predictors/StereoNode.py b/driverless_ws/src/perceptions/perceptions/ros/predictors/StereoNode.py new file mode 100644 index 000000000..aad3adbc5 --- /dev/null +++ b/driverless_ws/src/perceptions/perceptions/ros/predictors/StereoNode.py @@ -0,0 +1,37 @@ +# ROS2 imports +import rclpy + +# for subscribing to sensor data +from perceptions.ros.utils.PredictNode import PredictNode + +# for doing prediction on sensor data +from perc22a.predictors.stereo.StereoPredictor import StereoPredictor + +NODE_NAME = "stereo_node" + +class StereoNode(PredictNode): + + def __init__(self): + super().__init__(name=NODE_NAME, debug_flag=False, time_flag=True) + return + + def init_predictor(self): + # create predictor + self.model_name = 'ultralytics/yolov5' + self.param_path = '/home/dale/driverless-packages/PerceptionsLibrary22a/perc22a/predictors/stereo/model_params.pt' + predictor = StereoPredictor(self.model_name, self.param_path) + return predictor + +def main(args=None): + rclpy.init(args=args) + + stereo_node = StereoNode() + + rclpy.spin(stereo_node) + + stereo_node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/driverless_ws/src/perceptions/perceptions/DataNode.py b/driverless_ws/src/perceptions/perceptions/ros/utils/DataNode.py similarity index 65% rename from driverless_ws/src/perceptions/perceptions/DataNode.py rename to driverless_ws/src/perceptions/perceptions/ros/utils/DataNode.py index 60eb4c408..1026be1a5 100644 --- a/driverless_ws/src/perceptions/perceptions/DataNode.py +++ b/driverless_ws/src/perceptions/perceptions/ros/utils/DataNode.py @@ -7,7 +7,7 @@ from sensor_msgs.msg import Image, PointCloud2 # ROS2 msg to python datatype conversions -import perceptions.conversions as conv +import perceptions.ros.utils.conversions as conv # perceptions Library visualization functions (for 3D data) import perc22a.predictors.utils.lidar.visualization as vis @@ -45,46 +45,49 @@ def __init__(self, name="data_node"): # subscribe to each piece of data that we want to collect on self.left_color_subscriber = self.create_subscription(Image, LEFT_IMAGE_TOPIC, self.left_color_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) self.right_color_subscriber = self.create_subscription(Image, RIGHT_IMAGE_TOPIC, self.right_color_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) - self.xyz_image_subscriber = self.create_subscription(Image, XYZ_IMAGE_TOPIC, self.xyz_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) + self.xyz_image_subscriber = self.create_subscription(Image, XYZ_IMAGE_TOPIC, self.xyz_image_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) self.depth_subscriber = self.create_subscription(Image, DEPTH_IMAGE_TOPIC, self.depth_image_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) - self.point_subscriber = self.create_subscription(PointCloud2, POINT_TOPIC, self.point_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) - - # define varaibles to store the data - self.left_color = None - self.right_color = None - self.xyz_image = None - self.depth_image = None - self.points = None + self.point_subscriber = self.create_subscription(PointCloud2, POINT_TOPIC, self.points_callback, qos_profile=BEST_EFFORT_QOS_PROFILE) + + # define dictionary to store the data + self.data = {} + + # create key strings associated with data (eventually make same as topic names) + self.left_color_str = "left_color" + self.right_color_str = "right_color" + self.xyz_image_str = "xyz_image" + self.depth_image_str = "depth_image" + self.points_str = "points" def got_all_data(self): # returns whether data node has all pieces of data - return self.left_color is not None and \ - self.right_color is not None and \ - self.xyz_image is not None and \ - self.depth_image is not None and \ - self.points is not None + return self.left_color_str in self.data and \ + self.right_color_str in self.data and \ + self.xyz_image_str in self.data and \ + self.depth_image_str in self.data and \ + self.points_str in self.data def left_color_callback(self, msg): - self.left_color = conv.img_to_npy(msg) + self.data[self.left_color_str] = conv.img_to_npy(msg) if DEBUG: - cv2.imshow("left", self.left_color) + cv2.imshow("left", self.data[self.left_color_str]) cv2.waitKey(1) def right_color_callback(self, msg): - self.right_color = conv.img_to_npy(msg) + self.data[self.right_color_str] = conv.img_to_npy(msg) if DEBUG: - cv2.imshow("right", self.right_color) + cv2.imshow("right", self.data[self.right_color_str]) cv2.waitKey(1) - def xyz_callback(self, msg): - self.xyz_image =conv.img_to_npy(msg) + def xyz_image_callback(self, msg): + self.data[self.xyz_image_str] =conv.img_to_npy(msg) if DEBUG: # display xyz_image as unstructured point cloud - points = self.xyz_image[:, :, :3] + points = self.data[self.xyz_image_str][:, :, :3] points = points.reshape((-1, 3)) points = points[:,[1,0,2]] points = points[~np.isnan(points)].reshape((-1, 3)) @@ -93,16 +96,16 @@ def xyz_callback(self, msg): vis.update_visualizer_window(self.xyz_image_window, points) def depth_image_callback(self, msg): - self.depth_image = conv.img_to_npy(msg) + self.data[self.depth_image_str] = conv.img_to_npy(msg) if DEBUG: - cv2.imshow("depth", self.depth_image) + cv2.imshow("depth", self.data[self.depth_image_str]) - def point_callback(self, msg): - self.points = conv.pointcloud2_to_npy(msg) + def points_callback(self, msg): + self.data[self.points_str] = conv.pointcloud2_to_npy(msg) if DEBUG: - points = self.points[:, :3] + points = self.data[self.points_str][:, :3] points = points[:, [1, 0, 2]] points[:, 0] *= -1 vis.update_visualizer_window(self.window, points[:,:3]) @@ -111,7 +114,7 @@ def point_callback(self, msg): def main(args=None): rclpy.init(args=args) - # enable the debug flag for visualizations + # enable the debug flag for sexy visualizations global DEBUG DEBUG = True @@ -122,7 +125,7 @@ def main(args=None): data_node.destroy_node() rclpy.shutdown() - pass + return if __name__ == "__main__": main() \ No newline at end of file diff --git a/driverless_ws/src/perceptions/perceptions/ros/utils/FileNode.py b/driverless_ws/src/perceptions/perceptions/ros/utils/FileNode.py new file mode 100644 index 000000000..abcecd959 --- /dev/null +++ b/driverless_ws/src/perceptions/perceptions/ros/utils/FileNode.py @@ -0,0 +1,71 @@ +import rclpy +from rclpy.node import Node + +# include DataNode for subscribing to data +from perceptions.ros.utils.DataNode import DataNode + +# file path manipulation and creating directories +from pathlib import Path +import shutil +import os + +# use numpy to save files +import numpy as np + +# set to determine what folder to create (find in ~/driverless/driverless_ws/) +# DO NOT MAKE "src", "build", "install", or "log" +FOLDER_NAME = "tt-09-29-1" + +# define path to data directory +WS_DIR = Path(__file__).parents[3] +DATA_DIR = os.path.join(WS_DIR, FOLDER_NAME) + +class FileNode(DataNode): + + def __init__(self): + super().__init__(name="file_node") + + # create timer for saving on interval + self.interval = 1 + self.save_timer = self.create_timer(self.interval, self.save_callback) + self.save_instance = 0 + + # setup empty + if os.path.exists(DATA_DIR): + shutil.rmtree(DATA_DIR) + print(f"Deleting existing {FOLDER_NAME} to reset data saving") + os.mkdir(DATA_DIR) + + def get_datafile_name(self): + return f"instance-{self.save_instance}.npz" + + def save_callback(self): + if not self.got_all_data(): + self.get_logger().warn("Not got all data") + return + + datafile_name = self.get_datafile_name() + print(f"Saving instance {self.save_instance} @ {os.path.join(FOLDER_NAME, datafile_name)}") + + # self.data updated by DataNode subscribers + filepath = os.path.join(DATA_DIR, datafile_name) + np.savez(filepath, **self.data) + + # update instance value + self.save_instance += 1 + return + +def main(args=None): + rclpy.init(args=args) + + file_node = FileNode() + + rclpy.spin(file_node) + + file_node.destroy_node() + rclpy.shutdown() + + return + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/driverless_ws/src/perceptions/perceptions/PredictNode.py b/driverless_ws/src/perceptions/perceptions/ros/utils/PredictNode.py similarity index 68% rename from driverless_ws/src/perceptions/perceptions/PredictNode.py rename to driverless_ws/src/perceptions/perceptions/ros/utils/PredictNode.py index 95c048c5b..35e3f0004 100644 --- a/driverless_ws/src/perceptions/perceptions/PredictNode.py +++ b/driverless_ws/src/perceptions/perceptions/ros/utils/PredictNode.py @@ -4,46 +4,51 @@ from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy, QoSDurabilityPolicy # for converting predictor output to cone message type -from eufs_msgs.msg import ConeArrayWithCovariance -import perceptions.conversions as conversions +from eufs_msgs.msg import ConeArray +import perceptions.ros.utils.conversions as conversions # for collecting data from sensors -from perceptions.DataNode import DataNode +from perceptions.ros.utils.DataNode import DataNode import time # configure QOS profile -BEST_EFFORT_QOS_PROFILE = QoSProfile(reliability = QoSReliabilityPolicy.BEST_EFFORT, +BEST_EFFORT_QOS_PROFILE = QoSProfile(reliability = QoSReliabilityPolicy.RELIABLE, history = QoSHistoryPolicy.KEEP_LAST, durability = QoSDurabilityPolicy.VOLATILE, depth = 5) -DEBUG = True - class PredictNode(DataNode): - def __init__(self, name): + def __init__(self, name, debug_flag=False, time_flag=True): super().__init__(name=name) + # debugging flags + self.debug = debug_flag + self.time = time_flag + self.name = name # TODO: figure out best way to time prediction appropriately - self.interval = 0.5 + self.interval = 0.1 self.predict_timer = self.create_timer(self.interval, self.predict_callback) # initialize published cone topic based on name self.cone_topic = f"/{name}_cones" self.qos_profile = BEST_EFFORT_QOS_PROFILE - self.cone_publisher = self.create_publisher(ConeArrayWithCovariance, self.cone_topic, self.qos_profile) + self.cone_publisher = self.create_publisher(ConeArray, self.cone_topic, self.qos_profile) # create predictor, any subclass of PredictNode needs to fill this component - self.predictor = None + self.predictor = self.init_predictor() return + + def init_predictor(self): + raise RuntimeError("[PredictNode] init_predictor() function not overwritten. Must return Predictor.") def predict_callback(self): if not self.got_all_data(): - self.get_logger().warn("Not got all data") + self.get_logger().warn(f"[Node={self.name}] Not got all data") return # predict cones from data @@ -52,16 +57,15 @@ def predict_callback(self): e = time.time() # display if necessary - if DEBUG: + if self.debug: self.predictor.display() + print(cones) # publish message msg = conversions.cones_to_msg(cones) self.cone_publisher.publish(msg) - if DEBUG: - print(cones) - + if self.time: # display time taken to perform prediction t = (e - s) time_str = f"[Node={self.name}] Predict Time: {t * 1000:.3f}ms" diff --git a/driverless_ws/src/perceptions/perceptions/conversions.py b/driverless_ws/src/perceptions/perceptions/ros/utils/conversions.py similarity index 98% rename from driverless_ws/src/perceptions/perceptions/conversions.py rename to driverless_ws/src/perceptions/perceptions/ros/utils/conversions.py index dc72de630..7831ab1d3 100644 --- a/driverless_ws/src/perceptions/perceptions/conversions.py +++ b/driverless_ws/src/perceptions/perceptions/ros/utils/conversions.py @@ -9,7 +9,7 @@ # message to numpy conversion packages stolen from internet from cv_bridge import CvBridge -import ros2_numpy as rnp +import ros2_numpy_dv as rnp import numpy as np diff --git a/driverless_ws/src/perceptions/setup.py b/driverless_ws/src/perceptions/setup.py index 6a4d764f3..cce1188cf 100644 --- a/driverless_ws/src/perceptions/setup.py +++ b/driverless_ws/src/perceptions/setup.py @@ -1,11 +1,12 @@ from setuptools import setup +from setuptools import find_namespace_packages package_name = 'perceptions' setup( name=package_name, version='0.0.0', - packages=[package_name], + packages=[package_name] + find_namespace_packages(), data_files=[ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), @@ -20,9 +21,10 @@ tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'data_node = perceptions.DataNode:main', - 'stereo_node = perceptions.StereoNode:main', - 'lidar_node = perceptions.LidarNode:main' + 'data_node = perceptions.ros.utils.DataNode:main', + 'file_node = perceptions.ros.utils.FileNode:main', + 'stereo_node = perceptions.ros.predictors.StereoNode:main', + 'lidar_node = perceptions.ros.predictors.LidarNode:main' ], }, ) diff --git a/driverless_ws/src/planning/CMakeLists.txt b/driverless_ws/src/planning/CMakeLists.txt index ff02a9a9e..80bf259a0 100644 --- a/driverless_ws/src/planning/CMakeLists.txt +++ b/driverless_ws/src/planning/CMakeLists.txt @@ -7,7 +7,7 @@ endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) + add_compile_options(-Wall -Wextra -Wpedantic -O0) endif() find_package(ament_cmake REQUIRED) @@ -18,7 +18,7 @@ find_package(Eigen3 3.3 REQUIRED) find_package(GSL REQUIRED) - add_executable(midpoint_test src/midpoint.cpp src/generatorEigen.cpp src/raceline/racelineEigen.cpp) + add_executable(midpoint_test src/nodes/midpoint.cpp src/planning_codebase/midline/generator.cpp src/planning_codebase/raceline/raceline.cpp) # add_executable(midline_test src/generator.cpp src/raceline/raceline.cpp) ament_target_dependencies(midpoint_test rclcpp std_msgs geometry_msgs Eigen3 eufs_msgs GSL) # ament_target_dependencies(midline_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) @@ -27,22 +27,4 @@ midpoint_test DESTINATION lib/${PROJECT_NAME}) - - - - # add_executable(talker src/talker.cpp) - # ament_target_dependencies(talker rclcpp std_msgs geometry_msgs eufs_msgs) - - # install(TARGETS - # talker - # DESTINATION lib/${PROJECT_NAME}) - - - # add_executable(listener src/listener.cpp) - # ament_target_dependencies(listener rclcpp std_msgs geometry_msgs eufs_msgs) - - # install(TARGETS - # talker - # listener - # DESTINATION lib/${PROJECT_NAME}) ament_package() diff --git a/driverless_ws/src/planning/pub.cpp b/driverless_ws/src/planning/pub.cpp deleted file mode 100644 index 2157f70c4..000000000 --- a/driverless_ws/src/planning/pub.cpp +++ /dev/null @@ -1,44 +0,0 @@ -#include -#include -#include -#include - -#include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" - -using namespace std::chrono_literals; - -/* This example creates a subclass of Node and uses std::bind() to register a -* member function as a callback from the timer. */ - -class MinimalPublisher : public rclcpp::Node -{ - public: - MinimalPublisher() - : Node("minimal_publisher"), count_(0) - { - publisher_ = this->create_publisher("topic", 10); - timer_ = this->create_wall_timer( - 500ms, std::bind(&MinimalPublisher::timer_callback, this)); - } - - private: - void timer_callback() - { - auto message = std_msgs::msg::String(); - message.data = "Hello, world! " + std::to_string(count_++); - RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); - publisher_->publish(message); - } - rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr publisher_; - size_t count_; -}; - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/generator.cpp b/driverless_ws/src/planning/src/generator.cpp deleted file mode 100644 index 37f58f2c8..000000000 --- a/driverless_ws/src/planning/src/generator.cpp +++ /dev/null @@ -1,222 +0,0 @@ -#include "generator.hpp" - - -MidpointGenerator::MidpointGenerator(int interpolation_num){ - interpolation_number=interpolation_num; - -} - -bool ptnrm_cmp(std::pair a,std::pair b){ - return hypot(a.first,a.second) < hypot(b.first,b.second); -} - -std::vector> MidpointGenerator::sorted_by_norm(std::vector> inp){ - - std::sort(inp.begin(),inp.end(),ptnrm_cmp); - - return inp; -} - - -gsl_matrix* midpoint(gsl_matrix *left,gsl_matrix *right){ - gsl_matrix *midpt = gsl_matrix_alloc(2,left->size2+right->size2-1); - - double lx = gsl_matrix_get(left, 0 , 0); //x-coordinate of first inner point - double ly = gsl_matrix_get(left, 1 , 0); //y-coordinate - double rx = gsl_matrix_get(right, 0 , 0); //x-coordinate of first outer point - double ry = gsl_matrix_get(right, 1 , 0); //y-coordinate - int l = 0; //index of inner - int r = 0; //index of outer - gsl_matrix_set(midpt,0,0,(lx+rx)/2); - gsl_matrix_set(midpt,1,0,(ly+ry)/2); - int m = 1; //index of midpt - while(lsize2-1 && rsize2-1){ - double lxp1 = gsl_matrix_get(left, 0 , l+1); //x-coordinater of inner[i+1] - double lyp1 = gsl_matrix_get(left, 1 , l+1); //y-coordinater of inner[i+1] - double rxp1 = gsl_matrix_get(right, 0 , r+1); //x-coordinater of outer[o+1] - double ryp1 = gsl_matrix_get(right, 1 , r+1); //y-coordinater of inner[o+1] - double dist_l_rp1 = pow((rxp1-lx),2) + pow((ryp1-ly),2); //distance between inner[i] and outer[o+1] - double dist_lp1_r = pow((rx-lxp1),2) + pow((ry-lyp1),2); //distance between inner[i+1] and outer[o] - if(dist_l_rp1 <= dist_lp1_r){ - r++; - rx = rxp1; - ry = ryp1; - gsl_matrix_set(midpt,0,m,(lx+rx)/2); - gsl_matrix_set(midpt,1,m,(ly+ry)/2); - }else{ - l++; - lx = lxp1; - ly = lyp1; - gsl_matrix_set(midpt,0,m,(lx+rx)/2); - gsl_matrix_set(midpt,1,m,(ly+ry)/2); - } - m++; - } - - if(r == right->size2-1) - { - while(lsize2-1) - { - lx = gsl_matrix_get(left, 0 , l); //x-coordinater of inner[i+1] - ly = gsl_matrix_get(left, 1 , l); - gsl_matrix_set(midpt,0,m,(lx+rx)/2); - gsl_matrix_set(midpt,1,m,(ly+ry)/2); - l++; - m++; - } - } - else{ - //l == left->size2-1 - while(rsize2-1) - { - rx = gsl_matrix_get(left, 0 , r); //x-coordinater of inner[i+1] - ry = gsl_matrix_get(left, 1 , r); - gsl_matrix_set(midpt,0,m,(lx+rx)/2); - gsl_matrix_set(midpt,1,m,(ly+ry)/2); - r++; - m++; - } - } - - // for(int i=0;isize1;i++) - // for(int j=0;jsize1;j++) - // gsl_matrix_set(midpt,i,j,(gsl_matrix_get(inner,i,j)+gsl_matrix_get(outer,i,j))/2); - - return midpt; -} - - -std::vector MidpointGenerator::generate_splines(gsl_matrix *midpoints){ - std::pair,std::vector> a= raceline_gen(midpoints,std::rand(),midpoints->size2,false); - // auto result = raceline_gen(midpoints,std::rand(),midpoints->size2,false); - for (auto &e:a.first){ - cumulated_splines.push_back(e); - } - for(auto &e:a.second){ - cumulated_lengths.push_back(e); - } - return a.first; -} - - - -gsl_matrix* MidpointGenerator::generate_points(perceptionsData perceptions_data){ - // LEFT ==BLUE - perceptions_data.bluecones = sorted_by_norm(perceptions_data.bluecones); - perceptions_data.yellowcones = sorted_by_norm(perceptions_data.yellowcones); - if (perceptions_data.bluecones.size()>0 && perceptions_data.yellowcones.size()==0){ - gsl_matrix *left = gsl_matrix_alloc(2,perceptions_data.bluecones.size()); - gsl_matrix *right = gsl_matrix_alloc(2,perceptions_data.bluecones.size()); - for(int i=0;i0){ - gsl_matrix *left = gsl_matrix_alloc(2,perceptions_data.yellowcones.size()); - gsl_matrix *right = gsl_matrix_alloc(2,perceptions_data.yellowcones.size()); - for(int i=0;i splines = generate_splines(midpoints); - gsl_matrix_free(midpoints); - return splines[0]; -} - -gsl_matrix* vector_to_mat(std::vector> side){ - gsl_matrix *mat = gsl_matrix_alloc(2,side.size()); - for(int i=0;i> side){ - - gsl_matrix *side_mat= vector_to_mat(side); - std::vector splines = generate_splines(side_mat); - gsl_matrix_free(side_mat); - return splines[0]; -} - -// int main(){ -// gsl_matrix *left = gsl_matrix_alloc(2, 5); -// gsl_matrix *right = gsl_matrix_alloc(2, 3); -// std::vector left_xcord = {-4.475, -4.45, -4.37, -4.16, -3.78}; -// std::vector left_ycord = {0, 0.424, 0.95, 1.64, 2.39}; -// std::vector right_xcord = {-3, -2.875, -2.68}; -// std::vector right_ycord = {0, 0.857, 1.348}; -// for(int i = 0; i < 5; i++) -// { -// gsl_matrix_set(left, 0, i, left_xcord[i]); -// gsl_matrix_set(left, 1, i, left_ycord[i]); -// } -// for(int i = 0; i < 3; i++) -// { -// gsl_matrix_set(right, 0, i, right_xcord[i]); -// gsl_matrix_set(right, 1, i, right_ycord[i]); -// } - -// gsl_matrix *mid = midpoint(left, right); -// for(int i = 0; i < mid->size2; i++) -// { -// std::cout< -#include -#include -#include -#ifndef MIDPOINTGENERATOR -#define MIDPOINTGENERATOR - -struct perceptionsData{ - - std::vector> bluecones,yellowcones,orangecones; -}; - -class MidpointGenerator -{ -private: - /* data */ - - - -public: - int PERCEP_COLOR = 2; - int BLUE = 1; - int YELLOW = 2; - int ORANGE = 3; - int interpolation_number; - std::vector cumulated_splines; - std::vector cumulated_lengths; - - - MidpointGenerator(int interpolation_number=30); - - std::vector> sorted_by_norm(std::vector> inp); - // gsl_matrix *sorted_by_norm(gsl_matrix *list); - - - std::vector generate_splines(Eigen::MatrixXd& midpoints); - Eigen::MatrixXd& generate_points(perceptionsData perceptions_data); - Eigen::MatrixXd& interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); - Spline spline_from_cones(perceptionsData perceptions_data); - Spline spline_from_curve(std::vector> side); - -}; - -Eigen::MatrixXd& midpoint(Eigen::MatrixXd& inner,Eigen::MatrixXd& outer); - -#endif - - diff --git a/driverless_ws/src/planning/src/isam2/isam2.cpp b/driverless_ws/src/planning/src/isam2/isam2.cpp deleted file mode 100644 index fcd2520af..000000000 --- a/driverless_ws/src/planning/src/isam2/isam2.cpp +++ /dev/null @@ -1,78 +0,0 @@ -#include "isam2.hpp" - -// Camera observations of landmarks will be stored as Point2 (x, y). -#include - -// Each variable in the system (poses and landmarks) must be identified with a -// unique key. We can either use simple integer keys (1, 2, 3, ...) or symbols -// (X1, X2, L1). Here we will use Symbols -#include - -// We want to use iSAM2 to solve the structure-from-motion problem -// incrementally, so include iSAM2 here -#include - -// iSAM2 requires as input a set of new factors to be added stored in a factor -// graph, and initial guesses for any new variables used in the added factors -#include -#include - -// In GTSAM, measurement functions are represented as 'factors'. Several common -// factors have been provided with the library for solving robotics/SLAM/Bundle -// Adjustment problems. Here we will use Projection factors to model the -// camera's landmark observations. Also, we will initialize the robot at some -// location using a Prior factor. -#include - -#include - -using namespace std; -using namespace gtsam; - - -static const float DT = 0.1; -static const float SIM_TIME = 50.0; -static const float MAX_RANGE = 10.0; -static const int M_DIST_TH = 1; -static const int LM_SIZE = 2; -static const int STATE_SIZE = 3; - -static const int N_STEP = 100; - -int main(int argc, char* argv[]){ - // Create an iSAM2 object. Unlike iSAM1, which performs periodic batch steps - // to maintain proper linearization and efficient variable ordering, iSAM2 - // performs partial relinearization/reordering at each step. A parameter - // structure is available that allows the user to set various properties, such - // as the relinearization threshold and type of linear solver. For this - // example, we we set the relinearization threshold small so the iSAM2 result - // will approach the batch result. - - ISAM2Params parameters; - parameters.relinearizeThreshold = 0.01; - parameters.relinearizeSkip = 1; - ISAM2 isam(parameters); - //Create a factor graph and values for new data - NonlinearFactorGraph graph; - Values initialEstimate; - - vector> xEst; - vector> PEst; - vector> xDR; - - //Define empty set - set observed; - - //for(x, (odom, obs) in enumerate(sim.step()): ) - for(int i = 0; i < N_STEP; i++){ - if(i == 0){ - vector<> - } - - } - - - - - -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/listener.cpp b/driverless_ws/src/planning/src/listener.cpp deleted file mode 100644 index d63f2fe45..000000000 --- a/driverless_ws/src/planning/src/listener.cpp +++ /dev/null @@ -1,33 +0,0 @@ -#include - -#include "rclcpp/rclcpp.hpp" -#include "geometry_msgs/msg/point.hpp" -#include "std_msgs/msg/string.hpp" -#include "eufs_msgs/msg/waypoint.hpp" -using std::placeholders::_1; - -class MinimalSubscriber : public rclcpp::Node -{ - public: - MinimalSubscriber() - : Node("minimal_subscriber") - { - subscription_ = this->create_subscription( - "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); - } - - private: - void topic_callback(const eufs_msgs::msg::Waypoint::SharedPtr msg) const - { - RCLCPP_INFO(this->get_logger(), "I heard:"); // '%s'", msg->data.c_str() - } - rclcpp::Subscription::SharedPtr subscription_; -}; - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/midpoint.cpp b/driverless_ws/src/planning/src/nodes/midpoint.cpp similarity index 93% rename from driverless_ws/src/planning/src/midpoint.cpp rename to driverless_ws/src/planning/src/nodes/midpoint.cpp index 7d442bc3f..3f6c0210a 100644 --- a/driverless_ws/src/planning/src/midpoint.cpp +++ b/driverless_ws/src/planning/src/nodes/midpoint.cpp @@ -8,14 +8,14 @@ #include "eufs_msgs/msg/point_array.hpp" // #include "interfaces/msg/cone_list.hpp" // #include "interfaces/msg/points.hpp" -#include "generator.hpp" +#include "../planning_codebase/midline/generator.hpp" // #include "frenet.hpp" // #include "runpy.hpp" #include //publish topic example -//ros2 topic pub -1 /stereo_cones eufs_msgs/msg/ConeArray "{blue_cones: [{x: 1.0, y: 2.0, z: 3.0}]}" +//ros2 topic pub -1 /stereo_node_cones eufs_msgs/msg/ConeArray "{blue_cones: [{x: 1.0, y: 2.0, z: 3.0}]}" using std::placeholders::_1; @@ -119,7 +119,7 @@ class MidpointNode : public rclcpp::Node MidpointNode() : Node("midpoint") { - subscription_cones = this->create_subscription("/stereo_cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); + subscription_cones = this->create_subscription("/stereo_node_cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); // subscription_lap_num = this->create_subscription("/lap_num", 10, std::bind(&MidpointNode::lap_callback, this, _1)); publisher_rcl_pt = this->create_publisher("/midpoint_points",10); // publisher_rcl_pt = this->create_publisher("/midpoint_points",10); diff --git a/driverless_ws/src/planning/src/planning_codebase/EKF_SLAM.cpp b/driverless_ws/src/planning/src/planning_codebase/EKF_SLAM.cpp deleted file mode 100644 index 7268a869d..000000000 --- a/driverless_ws/src/planning/src/planning_codebase/EKF_SLAM.cpp +++ /dev/null @@ -1,69 +0,0 @@ -#include -#include -#include - -#include "rclcpp/rclcpp.hpp" -//Message includes -#include "std_msgs/msg/string.hpp" -#include "sensor_msgs/msg/temperature.hpp" -#include "eufs_msgs/msg/cone_array_with_covariance.hpp" -#include "eufs_msgs/msg/car_state.hpp" - -//Message Filter -#include "message_filters/subscriber.h" -#include "message_filters/time_synchronizer.h" - -#include - -#define CONE_DATA_TOPIC "/cones" -#define VEHICLE_DATA_TOPIC "/ground_truth/state" - -using std::placeholders::_1; -using std::placeholders::_2; - -class SLAMValidation : public rclcpp::Node { - public: - SLAMValidation(): Node("EKF_SLAM"){ - cone_sub.subscribe(this, CONE_DATA_TOPIC); - vehicle_state_sub.subscribe(this, VEHICLE_DATA_TOPIC); - - sync_ = std::make_shared>(cone_sub, vehicle_state_sub, 3); - sync_->registerCallback(std::bind(&SLAMValidation::topic_callback, this, _1, _2)); - } - - void run_slam(const eufs_msgs::msg::ConeArrayWithCovariance::SharedPtr cone_data, - const eufs_msgs::msg::CarState::SharedPtr vehicle_state_data) const { - RCLCPP_INFO(this->get_logger(), - "Blue: %i, Yellow: %i, Orange: %i\n", - sizeof(cone_data->blue_cones)/sizeof(cone_data->blue_cones[0]), - sizeof(cone_data->yellow_cones)/sizeof(cone_data->yellow_cones[0]), - sizeof(cone_data->orange_cones)/sizeof(cone_data->orange_cones[0])); - RCLCPP_INFO(this->get_logger(), - "X: %f, Y: %f, Z: %f\n", - vehicle_state_data->pose.pose.position.x, - vehicle_state_data->pose.pose.position.y, - vehicle_state_data->pose.pose.position.z); - RCLCPP_INFO(this->get_logger(), - "-------------------------------\n\n"); - } - - private: - message_filters::Subscriber cone_sub; - message_filters::Subscriber vehicle_state_sub; - std::shared_ptr> sync_; - - void topic_callback(const eufs_msgs::msg::ConeArrayWithCovariance::ConstSharedPtr& tmp_1, - const eufs_msgs::msg::CarState::ConstSharedPtr& tmp_2) const{ - const char *temp_1 = std::to_string(tmp_1->header.stamp.sec).c_str(); //change to actual values - const char *temp_2 = std::to_string(tmp_2->header.stamp.sec).c_str(); - RCLCPP_INFO(this->get_logger(), "Cone Array Time: '%s' \n Car State time: '%s'", temp_1, temp_2); - } -}; - -int main(int argc, char * argv[]){ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/planning_codebase/a.out 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zi6z&A&r -#include - -int main(){ - auto a = nc::random::randInt({10,10},0,100); - std::cout << a; - return EXIT_SUCCESS; -} diff --git a/driverless_ws/src/planning/src/generatorEigen.cpp b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp similarity index 89% rename from driverless_ws/src/planning/src/generatorEigen.cpp rename to driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp index 45af5945f..ad6addf9d 100644 --- a/driverless_ws/src/planning/src/generatorEigen.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp @@ -32,10 +32,10 @@ Eigen::MatrixXd& midpoint(Eigen::MatrixXd& left,Eigen::MatrixXd& right){ midpt(1,0)=(ly+ry)/2; int m = 1; //index of midpt while(l #include #include +#include #ifndef MIDPOINTGENERATOR #define MIDPOINTGENERATOR @@ -30,21 +31,19 @@ class MidpointGenerator MidpointGenerator(int interpolation_number=30); - + std::vector> sorted_by_norm(std::vector> inp); // gsl_matrix *sorted_by_norm(gsl_matrix *list); - std::vector generate_splines(gsl_matrix *midpoints); - - gsl_matrix* interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); + std::vector generate_splines(Eigen::MatrixXd& midpoints); + Eigen::MatrixXd& generate_points(perceptionsData perceptions_data); + Eigen::MatrixXd& interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); Spline spline_from_cones(perceptionsData perceptions_data); Spline spline_from_curve(std::vector> side); }; -gsl_matrix *midpoint(gsl_matrix *inner,gsl_matrix *outer); -gsl_matrix* generate_points(perceptionsData perceptions_data); -std::vector> sorted_by_norm(std::vector> inp); +Eigen::MatrixXd& midpoint(Eigen::MatrixXd& inner,Eigen::MatrixXd& outer); #endif diff --git a/driverless_ws/src/planning/src/midpoint_tests.cpp b/driverless_ws/src/planning/src/planning_codebase/midline/midpoint_tests.cpp similarity index 100% rename from driverless_ws/src/planning/src/midpoint_tests.cpp rename to driverless_ws/src/planning/src/planning_codebase/midline/midpoint_tests.cpp diff --git a/driverless_ws/src/planning/src/test_points.txt b/driverless_ws/src/planning/src/planning_codebase/midline/test_points.txt similarity index 100% rename from driverless_ws/src/planning/src/test_points.txt rename to driverless_ws/src/planning/src/planning_codebase/midline/test_points.txt diff --git a/driverless_ws/src/planning/src/planning_codebase/new_slam.cpp b/driverless_ws/src/planning/src/planning_codebase/new_slam.cpp deleted file mode 100644 index c873b696b..000000000 --- a/driverless_ws/src/planning/src/planning_codebase/new_slam.cpp +++ /dev/null @@ -1,813 +0,0 @@ -/* -* Extended Kalman Filter SLAM example -* author: Atsushi Sakai (@Atsushi_twi) -* Translator: Rohan Raavi & Ankit Khandelwal -* Last Edit: 08/06/2023 -*/ -#include -#include -#include -#include -#include -#include -#include -#include -#include - - - -using namespace std; - -struct ArrStruct { - int rows; - int cols; - double** arr; -}; - -//special struct I made so that the ekf_slam function can return xEst, PEst, and cones -struct ekfPackage { - gsl_matrix* x; - gsl_matrix* p; - list cone; -}; - -double deg2Rad(double ang) { - double rad = (ang*M_PI)/180.0; - return rad; -} - - - -// EKF state covariance -double Cx [3][3] = { {(pow(0.5,2)),0,0}, {0,(pow(0.5,2)),0}, {0,0,(pow(deg2Rad(30.0),2))}}; -double alphas[6] = {0.11, 0.01, 0.18, 0.08, 0.0, 0.0}; - - - -// Simulation parameter -double Q_sim [2][2] = { {(pow(0.2,2)),0}, {0, (pow(deg2Rad(1.0),2)) } }; -double R_sim [2][2] = { {1,0}, {0, (pow(deg2Rad(10.0),2)) } }; - - -//# DT = 0.1 # time tick [s] -double const SIM_TIME = 50.0; // # simulation time [s] -double const MAX_RANGE = 20.0; //# maximum observation range -double const M_DIFF_TH = 1.6; -double const M_DIST_TH = 2; -// double const M_DIST_TH_FIRST = 0.25; // # Threshold of Mahalanobis distance for data association. -double const M_DIST_TH_ALL = 1; -double const STATE_SIZE = 3; //# State size [x,y,yaw] -double const LM_SIZE = 2; //# LM state size [x,y] - -bool show_animation = true; - - - - - - - - - -gsl_matrix* motion_model(gsl_matrix* x, gsl_matrix* u, double dt) -{ - //3x3 identity matrix - gsl_matrix* F = gsl_matrix_calloc(3,3); - gsl_matrix_set(F,0,0,1); - gsl_matrix_set(F,1,1,1); - gsl_matrix_set(F,2,2,1); - - - - gsl_matrix* B = gsl_matrix_calloc(3,2); - double val1 = gsl_matrix_get(x,2,0); - gsl_matrix_set(B,0,0,dt*cos(val1)); - gsl_matrix_set(B,1,0,dt*sin(val1)); - gsl_matrix_set(B,2,1,dt); - - //x = F*x + B*u - gsl_matrix * arr1 = gsl_matrix_alloc(F->size1,x->size2); - int i = gsl_linalg_matmult(F,x,arr1); - gsl_matrix * arr2 = gsl_matrix_alloc(B->size1,u->size2); - i = gsl_linalg_matmult(B,u,arr2); - gsl_matrix_add(arr1,arr2); - gsl_matrix_memcpy(x, arr1); - - gsl_matrix_free(F); - gsl_matrix_free(B); - gsl_matrix_free(arr1); - gsl_matrix_free(arr2); - return x; -} - -int calc_n_lm(gsl_matrix* x) { - int len; - if(x->size1==1) - { - len = x->size2; - } - else { - len = x->size1; - } - - int n = ((len - STATE_SIZE)/LM_SIZE); - return n; -} - -double pi_2_pi(double angle){ - double ans = fmod((angle + M_PI), (2 * M_PI)) - M_PI; - return ans; -} - - -gsl_matrix* calc_landmark_position(gsl_matrix* x, gsl_matrix* z) -{ - gsl_matrix* zp = gsl_matrix_calloc(2,1); - - - double val1 = gsl_matrix_get(x,0,0) + (gsl_matrix_get(z,0,0)*cos(gsl_matrix_get(x,2,0) + gsl_matrix_get(z,0,1))); - gsl_matrix_set(zp,0,0,val1); - double val2 = gsl_matrix_get(x,1,0) + (gsl_matrix_get(z,0,0)*sin(gsl_matrix_get(x,2,0) + gsl_matrix_get(z,0,1))); - gsl_matrix_set(zp,1,0,val2); - - return zp; -} - -gsl_matrix* jacob_h(double q, gsl_matrix* delta, gsl_matrix* x, double i) -{ - double sq = sqrt(q); - gsl_matrix* G = gsl_matrix_calloc(2,5); - gsl_matrix_set(G,0,0,-sq*gsl_matrix_get(delta,0,0)); - gsl_matrix_set(G,0,1,-sq*gsl_matrix_get(delta,1,0)); - gsl_matrix_set(G,0,3,sq*gsl_matrix_get(delta,0,0)); - gsl_matrix_set(G,0,4,sq*gsl_matrix_get(delta,1,0)); - - gsl_matrix_set(G,1,0,gsl_matrix_get(delta,1,0)); - gsl_matrix_set(G,1,1,-gsl_matrix_get(delta,0,0)); - gsl_matrix_set(G,1,2,-q); - gsl_matrix_set(G,1,3,-gsl_matrix_get(delta,1,0));\ - gsl_matrix_set(G,1,4,gsl_matrix_get(delta,0,0)); - - gsl_matrix_scale(G,(1/q)); - int nLM = calc_n_lm(x); - - gsl_matrix* F1 = gsl_matrix_calloc(3,3 + (2*nLM)); - gsl_matrix_set(F1,0,0,1); - gsl_matrix_set(F1,1,1,1); - gsl_matrix_set(F1,2,2,1); - - gsl_matrix* F2 = gsl_matrix_calloc(2,3 + (2*(i-1)) + 2 + (2*nLM) - 2*i); - gsl_matrix_set(F1,0,(3+(2*(i-1))),1); - gsl_matrix_set(F1,1,(4+(2*(i-1))),1); - - - //vertical stacking F1 and F2 into F - gsl_matrix* F = gsl_matrix_calloc(5,F1->size2); - for(int r = 0; r < 5; r++) - { - for(int c = 0; c < F1->size2; c++) - { - if(r<=2) - { - gsl_matrix_set(F,r,c,gsl_matrix_get(F1,r,c)); - } - else - { - gsl_matrix_set(F,r,c,gsl_matrix_get(F2,r-3,c)); - } - } - } - - gsl_matrix_free(F1); - gsl_matrix_free(F2); - - //H = G*F - gsl_matrix* H = gsl_matrix_calloc(G->size1,F->size2); - gsl_linalg_matmult(G,F,H); - gsl_matrix_free(G); - gsl_matrix_free(F); - - return H; - -} - -gsl_matrix** jacob_motion(gsl_matrix* x, gsl_matrix* u, double dt){ //do we need logger? - gsl_matrix** res = new gsl_matrix*[2]; - - //horizontal stacking STATE_SIZExSTATE_SIZE identity matrix with zeros matrix - gsl_matrix* Fx = gsl_matrix_calloc(STATE_SIZE,STATE_SIZE + LM_SIZE * calc_n_lm(x)); - for (int i = 0; i < STATE_SIZE; i++) - { - gsl_matrix_set(Fx,i,i,1); - } - - - //G = np.eye(STATE_SIZE) + Fx.T @ jF @ Fx - gsl_matrix* FxT = gsl_matrix_calloc(STATE_SIZE + LM_SIZE * calc_n_lm(x), STATE_SIZE); - - gsl_matrix_transpose_memcpy(FxT,Fx); - - gsl_matrix* jf = gsl_matrix_calloc(3,3); //does jf have to be a float 2d array? is it ok if it's a double - - double val1 = gsl_matrix_get(u,0,0); - gsl_matrix_set(jf,0,2,-dt*val1*sin(gsl_matrix_get(x,2,0))); - gsl_matrix_set(jf,0,2,-dt*val1*cos(gsl_matrix_get(x,2,0))); - - gsl_matrix* arr1 = gsl_matrix_calloc(FxT->size1,jf->size2); - gsl_linalg_matmult(FxT,jf,arr1); - - gsl_matrix* arr2 = gsl_matrix_calloc(arr1->size1,Fx->size2); - gsl_linalg_matmult(arr1,Fx,arr2); - - gsl_matrix* G = gsl_matrix_calloc(STATE_SIZE,STATE_SIZE); - for (int i = 0; i < STATE_SIZE; i++) - { - gsl_matrix_set(G,i,i,1); - } - - gsl_matrix_add(G,+arr2); - - res[0] = G; - res[1] = Fx; - - gsl_matrix_free(FxT); - gsl_matrix_free(arr1); - gsl_matrix_free(arr2); - gsl_matrix_free(jf); - return res; - -} - - -gsl_matrix** calc_innovation(gsl_matrix* lm, gsl_matrix* xEst, gsl_matrix* PEst, gsl_matrix* z, double LMid) { - gsl_matrix* delta = gsl_matrix_calloc(lm->size1,lm->size2); - //getting xEst[0:2] - gsl_matrix* xEst2 = gsl_matrix_calloc(lm->size1,lm->size2); - for(int r = 0; r < 2; r++) { - for(int c = 0; c < lm->size2; c++) - { - gsl_matrix_set(xEst2,r,c,gsl_matrix_get(xEst,r,c)); - } - } - gsl_matrix_memcpy(delta,lm); - //delta = lm - xEst[0:2] - gsl_matrix_sub(delta,xEst2); - - gsl_matrix* deltaT = gsl_matrix_calloc(delta->size2,delta->size1); - gsl_matrix_transpose_memcpy(deltaT,delta); - - //(delta.T * delta) - gsl_matrix* dtd = gsl_matrix_calloc(deltaT->size1,delta->size2); - gsl_linalg_matmult(deltaT,delta,dtd); - double q = gsl_matrix_get(dtd,0,0); - double z_angle = atan(gsl_matrix_get(delta,1,0)/gsl_matrix_get(delta,0,0)) - gsl_matrix_get(xEst,2,0); - - gsl_matrix* y = gsl_matrix_calloc(2,1); - gsl_matrix_set(y,0,0, gsl_matrix_get(z,0,0) - sqrt(q)); - gsl_matrix_set(y,1,0, gsl_matrix_get(z,0,1) - pi_2_pi(z_angle)); - gsl_matrix_set(y,1,0,pi_2_pi(gsl_matrix_get(y,1,0))); - - gsl_matrix* H = jacob_h(q,delta,xEst,LMid+1); - gsl_matrix* HT = gsl_matrix_calloc(H->size2,H->size1); - gsl_matrix_transpose_memcpy(HT,H); - gsl_matrix* arr1 = gsl_matrix_calloc(H->size1,PEst->size2); - gsl_linalg_matmult(H,PEst,arr1); - gsl_matrix* S = gsl_matrix_calloc(arr1->size1,HT->size2); - gsl_linalg_matmult(arr1,HT,S); - - - //fetching Cx[0:2, 0:2] - gsl_matrix* Cx2x2 = gsl_matrix_calloc(2,2); - for(int i = 0; i < 2; i++) - { - for(int j = 0; j < 2; j++) - { - gsl_matrix_set(Cx2x2,i,j,Cx[i][j]); - } - } - gsl_matrix_add(S,Cx2x2); - - gsl_matrix** res = new gsl_matrix*[3]; - res[0] = y; - res[1] = S; - res[2] = H; - - gsl_matrix_free(delta); - gsl_matrix_free(deltaT); - gsl_matrix_free(xEst2); - gsl_matrix_free(dtd); - gsl_matrix_free(HT); - gsl_matrix_free(arr1); - return res; - -} - -gsl_matrix* get_landmark_position_from_state(gsl_matrix* x, int ind) { - //translating this operation - //lm = x[STATE_SIZE + LM_SIZE * ind: STATE_SIZE + LM_SIZE * (ind + 1), :] - int start = STATE_SIZE + LM_SIZE*ind; - int end = STATE_SIZE + LM_SIZE * (ind + 1); - int size = end - start; - gsl_matrix* lm = gsl_matrix_calloc(size,x->size2); - for(int r = 0; r < size; r++) - { - for(int c = 0; c < x->size2; c++) - { - gsl_matrix_set(lm,r,c,gsl_matrix_get(x,r+start,c)); - } - } - return lm; -} - -//helper function that finds the min value in a matrix and returns -// a double pointer containing the min value and its row and col -//location -double* findMinLocation(gsl_matrix* mat) -{ - double row = 0; - double col = 0; - double min = gsl_matrix_get(mat,0,0); - - for(int r = 0; r < mat->size1; r++) - { - for(int c = 0; c < mat->size2; c++) - { - double elem = gsl_matrix_get(mat,r,c); - if(min > elem) - { - min = elem; - row = r; - col = c; - } - } - } - - double* res = new double[3]; - res[0] = min; - res[1] = row; - res[2] = col; - return res; -} - -int search_correspond_landmark_id(gsl_matrix* xAug, gsl_matrix* PAug, gsl_matrix* zi) -{ - int nLM = calc_n_lm(xAug); - double r = gsl_matrix_get(zi,0,0); - double theta = gsl_matrix_get(zi,0,1); - int start = 1; - gsl_matrix* min_dist = gsl_matrix_calloc(1,1); - for(int i = 0; i < nLM; i++) - { - gsl_matrix* lm = get_landmark_position_from_state(xAug,i); - gsl_matrix** arrs = calc_innovation(lm, xAug, PAug, zi, i); - gsl_matrix* y = arrs[0]; - gsl_matrix* S = arrs[1]; - gsl_matrix* H = arrs[2]; - - gsl_matrix* yT = gsl_matrix_calloc(y->size2,y->size1); - gsl_matrix_transpose_memcpy(yT,y); - - gsl_permutation* p = gsl_permutation_calloc(S->size1); - int * signum = new int[1]; - signum[0] = 0; - gsl_linalg_LU_decomp(S,p,signum); - gsl_matrix* S_inverse = gsl_matrix_calloc(S->size1,S->size2); - gsl_linalg_LU_invert(S,p,S_inverse); - - gsl_matrix* arr1 = gsl_matrix_calloc(yT->size1,S_inverse->size2); - gsl_linalg_matmult(yT,S_inverse,arr1); - - gsl_matrix* arr2 = gsl_matrix_calloc(1,1); - gsl_linalg_matmult(arr1,y,arr2); - - double val = gsl_matrix_get(arr2,0,0); - - //appending the array by remaking it - if(start==1) - { - gsl_matrix_set(min_dist,0,0,val); - start = 0; - } - else - { - gsl_matrix* new_min_dist = gsl_matrix_calloc(1,min_dist->size2+1); - for(int j = 0; j < min_dist->size2; j++) - { - gsl_matrix_set(new_min_dist,0,j,gsl_matrix_get(min_dist,0,j)); - } - gsl_matrix_set(new_min_dist,0,min_dist->size2,val); - - gsl_matrix_free(min_dist); - min_dist = gsl_matrix_calloc(1,new_min_dist->size2); - - for(int j = 0; j < new_min_dist->size2; j++) - { - gsl_matrix_set(min_dist,0,j,gsl_matrix_get(new_min_dist,0,j)); - } - - gsl_matrix_free(new_min_dist); - } - gsl_matrix_free(arrs[0]); - gsl_matrix_free(arrs[1]); - gsl_matrix_free(arrs[2]); - delete arrs; - gsl_matrix_free(yT); - gsl_matrix_free(arr1); - gsl_matrix_free(arr2); - gsl_matrix_free(S_inverse); - gsl_permutation_free(p); - delete signum; - - - } - //appending M_DIST_TH - gsl_matrix* new_min_dist = gsl_matrix_calloc(1,min_dist->size2+1); - for(int j = 0; j < min_dist->size2; j++) - { - gsl_matrix_set(new_min_dist,0,j,gsl_matrix_get(min_dist,0,j)); - } - gsl_matrix_set(new_min_dist,0,min_dist->size2,M_DIST_TH); - gsl_matrix_free(min_dist); - min_dist = gsl_matrix_calloc(1,new_min_dist->size2); - for(int j = 0; j < new_min_dist->size2; j++) - { - gsl_matrix_set(min_dist,0,j,gsl_matrix_get(new_min_dist,0,j)); - } - gsl_matrix_free(new_min_dist); - - double* minimum = findMinLocation(min_dist); - - int min_id = minimum[2]; //getting the col location of the min value - delete minimum; - gsl_matrix_free(min_dist); - - - return min_id; -} - -// -ekfPackage ekf_slam(gsl_matrix* xEst, gsl_matrix* PEst, gsl_matrix* u, gsl_matrix* z, double dt) -{ - double S = STATE_SIZE; - gsl_matrix* x = gsl_matrix_calloc(S,xEst->size2); - for(int r = 0; r < x->size1; r++) - { - for(int c = 0; c < x->size2; c++) - { - gsl_matrix_set(x,r,c,gsl_matrix_get(xEst,r,c)); - } - } - gsl_matrix** gFx = jacob_motion(x,u,dt); - gsl_matrix* G = gFx[0]; - gsl_matrix* Fx = gFx[1]; - - gsl_matrix* M_t = gsl_matrix_calloc(2,2); - double val1 = pow((alphas[0]*abs(gsl_matrix_get(u,0,0)) + alphas[1]*abs(gsl_matrix_get(u,1,0))),2); - double val2 = pow((alphas[2]*abs(gsl_matrix_get(u,0,0)) + alphas[3]*abs(gsl_matrix_get(u,1,0))),2); - gsl_matrix_set(M_t,0,0,val1); - gsl_matrix_set(M_t,1,1,val2); - - val1 = gsl_matrix_get(x,2,0); - gsl_matrix* V_t = gsl_matrix_calloc(3,2); - gsl_matrix_set(V_t,0,0,cos(val1)); - gsl_matrix_set(V_t,0,1,-0.5*sin(val1)); - gsl_matrix_set(V_t,1,0,sin(val1)); - gsl_matrix_set(V_t,1,1,0.5*cos(val1)); - gsl_matrix_set(V_t,2,1,1); - - gsl_matrix* mm = motion_model(x,u,dt); - for(int r = 0; r < x->size1; r++) - { - for(int c = 0; c < x->size2; c++) - { - gsl_matrix_set(xEst,r,c,gsl_matrix_get(mm,r,c)); - } - } - gsl_matrix_free(mm); - - gsl_matrix* PEst_S = gsl_matrix_calloc(S,S); - for(int r = 0; r < S; r++) - { - for(int c = 0; c < S; c++) - { - gsl_matrix_set(PEst_S,r,c,gsl_matrix_get(PEst,r,c)); - } - } - - gsl_matrix* GT = gsl_matrix_calloc(G->size2,G->size1); - gsl_matrix_transpose_memcpy(GT,G); - gsl_matrix* FxT = gsl_matrix_calloc(Fx->size2,Fx->size1); - gsl_matrix_transpose_memcpy(FxT,Fx); - - gsl_matrix* Cxmat = gsl_matrix_calloc(3,3); - for(int r = 0; r < 3; r++) - { - for(int c = 0; c < 3; c++) - { - gsl_matrix_set(Cxmat,r,c,Cx[r][c]); - } - } - - gsl_matrix* arr1 = gsl_matrix_calloc(GT->size1,PEst_S->size2); - gsl_linalg_matmult(GT,PEst_S,arr1); - gsl_matrix* arr2 = gsl_matrix_calloc(arr1->size1,G->size2); - gsl_linalg_matmult(arr1,G,arr2); - - gsl_matrix* arr3 = gsl_matrix_calloc(FxT->size1,Cxmat->size2); - gsl_linalg_matmult(FxT,Cxmat,arr3); - gsl_matrix* arr4 = gsl_matrix_calloc(arr3->size1,Fx->size2); - gsl_linalg_matmult(arr3,Fx,arr4); - gsl_matrix_add(arr2,arr4); - - for(int r = 0; r < S; r++) - { - for(int c = 0; c < S; c++) - { - gsl_matrix_set(PEst,r,c,gsl_matrix_get(arr2,r,c)); - } - } - gsl_matrix_free(arr1); - gsl_matrix_free(arr2); - gsl_matrix_free(arr3); - gsl_matrix_free(arr4); - gsl_matrix* initP = gsl_matrix_calloc(2,2); - gsl_matrix_set(initP,0,0,1); - gsl_matrix_set(initP,1,1,1); - gsl_matrix_free(x); - gsl_matrix_free(G); - gsl_matrix_free(GT); - gsl_matrix_free(Fx); - gsl_matrix_free(FxT); - delete gFx; - gsl_matrix_free(M_t); - gsl_matrix_free(V_t); - gsl_matrix_free(PEst_S); - gsl_matrix_free(Cxmat); - - - - - list cones; - - //cones[0] = gsl_matrix_calloc(2,1); - - gsl_matrix* newZ = gsl_matrix_calloc(1,2); - for(int iz = 0; iz < z->size1; iz++) - { - gsl_matrix_set(newZ,0,0,gsl_matrix_get(z,iz,0)); - gsl_matrix_set(newZ,0,1,gsl_matrix_get(z,iz,1)); - - int min_id = search_correspond_landmark_id(xEst,PEst,newZ); - gsl_matrix* zRow = gsl_matrix_calloc(1,z->size2); - for(int c = 0; c < z->size2; c++) - { - gsl_matrix_set(zRow,iz,c,gsl_matrix_get(z,iz,c)); - } - gsl_matrix* landPos = calc_landmark_position(xEst,zRow); - gsl_matrix_free(zRow); - cones.push_back(landPos); - int nLM = calc_n_lm(xEst); - - if(min_id==nLM) { - cout << "New LM" << endl; - gsl_matrix* xaug = gsl_matrix_calloc(xEst->size1+2,1); - for(int i = 0; i < xEst->size1; i++) - { - gsl_matrix_set(xaug,i,0,gsl_matrix_get(xEst,i,0)); - } - gsl_matrix_set(xaug,xEst->size1,0,gsl_matrix_get(landPos,0,0)); - gsl_matrix_set(xaug,xEst->size1+1,0,gsl_matrix_get(landPos,1,0)); - - gsl_matrix* paug = gsl_matrix_calloc(PEst->size1 + LM_SIZE, PEst->size2 + LM_SIZE); - for(int r = 0; r < PEst->size1; r++) - { - for(int c = 0; c < PEst->size2; c++) - { - gsl_matrix_set(paug,r,c,gsl_matrix_get(PEst,r,c)); - } - } - - int rowOffset = PEst->size1 + xEst->size1 - initP->size1; - int colOffset = PEst->size2 + LM_SIZE - initP->size2; - for(int r = 0; r < initP->size1; r++) - { - for(int c = 0; c < initP->size2; c++) - { - gsl_matrix_set(paug,r+rowOffset,c+colOffset,gsl_matrix_get(initP,r,c)); - } - } - - gsl_matrix_free(xEst); - xEst = gsl_matrix_calloc(xaug->size1,xaug->size2); - - for(int r = 0; r < xaug->size1; r++) - { - for(int c = 0; c < xaug->size2; c++) - { - gsl_matrix_set(xEst,r,c,gsl_matrix_get(xaug,r,c)); - } - } - gsl_matrix_free(xaug); - - gsl_matrix_free(PEst); - PEst = gsl_matrix_calloc(paug->size1,paug->size2); - - for(int r = 0; r < paug->size1; r++) - { - for(int c = 0; c < paug->size2; c++) - { - gsl_matrix_set(PEst,r,c,gsl_matrix_get(paug,r,c)); - } - } - gsl_matrix_free(paug); - - - } - gsl_matrix_free(landPos); - gsl_matrix* lm = get_landmark_position_from_state(xEst,min_id); - gsl_matrix** ySH = calc_innovation(lm,xEst,PEst,newZ,min_id); - gsl_matrix* y = ySH[0]; - gsl_matrix* Smat = ySH[1]; - gsl_matrix* H = ySH[2]; - - gsl_matrix* HT = gsl_matrix_calloc(H->size2,H->size1); - gsl_matrix_transpose_memcpy(HT,H); - - gsl_permutation* p = gsl_permutation_calloc(Smat->size1); - int * signum = new int[1]; - signum[0] = 0; - gsl_linalg_LU_decomp(Smat,p,signum); - gsl_matrix* S_inverse = gsl_matrix_calloc(Smat->size1,Smat->size2); - gsl_linalg_LU_invert(Smat,p,S_inverse); - gsl_permutation_free(p); - - delete signum; - - - arr1 = gsl_matrix_calloc(PEst->size1,HT->size2); - gsl_linalg_matmult(PEst,HT,arr1); - gsl_matrix* K = gsl_matrix_calloc(arr1->size1,S_inverse->size2); - gsl_linalg_matmult(arr1,S_inverse,K); - gsl_matrix_free(arr1); - - gsl_matrix* xEst_3 = gsl_matrix_calloc(xEst->size1-3, xEst->size2); - for(int r = 0; r < xEst_3->size1; r++) - { - for(int c = 0; c < xEst_3->size2; c++) - { - gsl_matrix_set(xEst_3,r,c,gsl_matrix_get(xEst,r+3,c)); - } - } - - gsl_matrix* K_3 = gsl_matrix_calloc(K->size1-3, K->size2); - for(int r = 0; r < K_3->size1; r++) - { - for(int c = 0; c < K_3->size2; c++) - { - gsl_matrix_set(xEst_3,r,c,gsl_matrix_get(xEst,r+3,c)); - } - } - - - arr1 = gsl_matrix_calloc(K_3->size1, y->size2); - gsl_linalg_matmult(K_3,y,arr1); - gsl_matrix_add(xEst_3,arr1); - gsl_matrix_free(arr1); - - - for(int r = 3; r < xEst->size1; r++) - { - for(int c = 0; c < xEst->size2; c++) - { - gsl_matrix_set(xEst,r,c,gsl_matrix_get(xEst_3,r-3,c)); - } - } - - - arr2 = gsl_matrix_calloc(K->size1,H->size2); - gsl_linalg_matmult(K_3,y,arr2); - - gsl_matrix* eye = gsl_matrix_calloc(xEst->size1,xEst->size1); - for(int i = 0; i < xEst->size1; i++) - { - gsl_matrix_set(eye,i,i,1); - } - - gsl_matrix_sub(eye,arr2); - gsl_matrix* prod = gsl_matrix_calloc(eye->size1,PEst->size2); - gsl_linalg_matmult(eye,PEst,prod); - gsl_matrix_free(arr2); - - gsl_matrix_free(PEst); - PEst = gsl_matrix_calloc(prod->size1,prod->size2); - - for(int r = 0; r < prod->size1; r++) - { - for(int c = 0; c < prod->size2; c++) - { - gsl_matrix_set(PEst,r,c,gsl_matrix_get(prod,r,c)); - } - } - gsl_matrix_free(lm); - gsl_matrix_free(ySH[0]); - gsl_matrix_free(ySH[1]); - gsl_matrix_free(ySH[2]); - delete ySH; - gsl_matrix_free(HT); - gsl_matrix_free(S_inverse); - gsl_matrix_free(K); - gsl_matrix_free(xEst_3); - gsl_matrix_free(K_3); - gsl_matrix_free(eye); - gsl_matrix_free(prod); - - - - - } - gsl_matrix_free(newZ); - - gsl_matrix_set(xEst,2,0,pi_2_pi(gsl_matrix_get(xEst,2,0))); - - ekfPackage result; - result.x = xEst; - result.p = PEst; - result.cone = cones; - - return result; -} - -void print2DArray(double** arr, int rows, int cols) -{ - - cout << "rows = " << rows << " " << "cols = " << cols << endl; - for(int a = 0; a < rows; a++) - { - for(int b = 0; b < cols; b++) - { - cout << arr[a][b] << " "; - } - cout << endl; - } -} - -void printGSLMatrix(gsl_matrix *mat) -{ - int rows = mat->size1; - int cols = mat->size2; - for(int a = 0; a < rows; a++) - { - for(int b = 0; b < cols; b++) - { - cout << gsl_matrix_get(mat,a,b) << " "; - } - cout << endl; - } -} - -gsl_matrix* calc_input(){ - double v = 1.0; //# [m/s] - double yaw_rate = 0.1; // # [rad/s] - - gsl_matrix* u = gsl_matrix_calloc(2,1); - gsl_matrix_set(u,0,0,v); - gsl_matrix_set(u,1,0,yaw_rate); - - - return u; -} - - - - - - - - - - -int main() { - - gsl_matrix * r = gsl_matrix_calloc(3,3); - gsl_matrix_set_all(r,2); - printGSLMatrix(r); - - gsl_matrix *g = gsl_matrix_calloc(3,1); - gsl_matrix_set_all(g,1); - printGSLMatrix(g); - - gsl_matrix* ans = gsl_matrix_calloc(r->size1,g->size2); - - gsl_linalg_matmult(r,g,ans); - gsl_matrix_free(r); - gsl_matrix_free(g); - printGSLMatrix(ans); - - gsl_matrix_free(ans); - - - - - cout << "Hello World" << endl; - return 0; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/planning_codebase/output/new_slam.exe 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zZOo-hH)xr~#3rV()@BWJ+_+hL2B}IXJ9vsv9$88yIBHR*YK3lu-7s4<0wk(}tc2}+ zZ=`BIuPUrL?LKy&w&on8dYG0`p{l>tc;mz8+T*O7mr;IEDMY0gU*_v6qFswi_qVz{ brJFsed2M3Kv*O0H>P%g;^HS~YN&f!>2Zo1( diff --git a/driverless_ws/src/planning/src/raceline/frenetEigen.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/frenetEigen.cpp similarity index 100% rename from driverless_ws/src/planning/src/raceline/frenetEigen.cpp rename to driverless_ws/src/planning/src/planning_codebase/raceline/frenetEigen.cpp diff --git a/driverless_ws/src/planning/src/raceline/frenetEigen.hpp b/driverless_ws/src/planning/src/planning_codebase/raceline/frenetEigen.hpp similarity index 100% rename from driverless_ws/src/planning/src/raceline/frenetEigen.hpp rename to driverless_ws/src/planning/src/planning_codebase/raceline/frenetEigen.hpp diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/generator.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/generator.cpp deleted file mode 100644 index ad56d217c..000000000 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/generator.cpp +++ /dev/null @@ -1,138 +0,0 @@ -#include "generator.hpp" - -MidpointGenerator::MidpointGenerator(int interpolation_num){ - interpolation_number=interpolation_num; - -} - -bool ptnrm_cmp(std::pair a,std::pair b){ - return hypot(a.first,a.second) < hypot(b.first,b.second); -} - -std::vector> MidpointGenerator::sorted_by_norm(std::vector> inp){ - - std::sort(inp.begin(),inp.end(),ptnrm_cmp); - - return inp; -} - - -gsl_matrix* midpoint(gsl_matrix *inner,gsl_matrix *outer){ - gsl_matrix *midpt = gsl_matrix_alloc(inner->size1,inner->size2); - for(int i=0;isize1;i++) - for(int j=0;jsize1;j++) - gsl_matrix_set(midpt,i,j,(gsl_matrix_get(inner,i,j)+gsl_matrix_get(outer,i,j))/2); - - return midpt; -} - - -std::vector MidpointGenerator::generate_splines(gsl_matrix *midpoints){ - std::pair,std::vector> a= raceline_gen(midpoints,std::rand(),midpoints->size2,false); - // auto result = raceline_gen(midpoints,std::rand(),midpoints->size2,false); - for (auto &e:a.first){ - cumulated_splines.push_back(e); - } - for(auto &e:a.second){ - cumulated_lengths.push_back(e); - } - return a.first; -} - - - -gsl_matrix* MidpointGenerator::generate_points(perceptionsData perceptions_data){ - // LEFT ==BLUE - perceptions_data.bluecones = sorted_by_norm(perceptions_data.bluecones); - perceptions_data.yellowcones = sorted_by_norm(perceptions_data.yellowcones); - if (perceptions_data.bluecones.size()>0 && perceptions_data.yellowcones.size()==0){ - gsl_matrix *left = gsl_matrix_alloc(2,perceptions_data.bluecones.size()); - gsl_matrix *right = gsl_matrix_alloc(2,perceptions_data.bluecones.size()); - for(int i=0;i0){ - gsl_matrix *left = gsl_matrix_alloc(2,perceptions_data.yellowcones.size()); - gsl_matrix *right = gsl_matrix_alloc(2,perceptions_data.yellowcones.size()); - for(int i=0;i splines = generate_splines(midpoints); - gsl_matrix_free(midpoints); - return splines[0]; -} - -gsl_matrix* vector_to_mat(std::vector> side){ - gsl_matrix *mat = gsl_matrix_alloc(2,side.size()); - for(int i=0;i> side){ - - gsl_matrix *side_mat= vector_to_mat(side); - std::vector splines = generate_splines(side_mat); - gsl_matrix_free(side_mat); - return splines[0]; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/generator.hpp b/driverless_ws/src/planning/src/planning_codebase/raceline/generator.hpp deleted file mode 100644 index ac80c0252..000000000 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/generator.hpp +++ /dev/null @@ -1,50 +0,0 @@ -#include "raceline.hpp" -#include "sys/random.h" -#include -#include - -#ifndef MIDPOINTGENERATOR -#define MIDPOINTGENERATOR - -struct perceptionsData{ - - std::vector> bluecones,yellowcones,orangecones; -}; - -class MidpointGenerator -{ -private: - /* data */ - - - -public: - int PERCEP_COLOR = 2; - int BLUE = 1; - int YELLOW = 2; - int ORANGE = 3; - int interpolation_number; - std::vector cumulated_splines; - std::vector cumulated_lengths; - - - MidpointGenerator(int interpolation_number=30); - - ~MidpointGenerator(); - std::vector> sorted_by_norm(std::vector> inp); - // gsl_matrix *sorted_by_norm(gsl_matrix *list); - - std::vector generate_splines(gsl_matrix *midpoints); - gsl_matrix* generate_points(perceptionsData perceptions_data); - gsl_matrix* interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); - Spline spline_from_cones(perceptionsData perceptions_data); - Spline spline_from_cone_side(std::vector> side); - Spline spline_from_curve(std::vector> side); - -}; - -gsl_matrix *midpoint(gsl_matrix *inner,gsl_matrix *outer); - -#endif - - diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/optimizer/runpy.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/optimizer/runpy.cpp index 5a16ab197..d49f5e6f7 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/optimizer/runpy.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/optimizer/runpy.cpp @@ -23,13 +23,33 @@ std::vector PyList_DoubleVec(PyObject *DL,int i){ }; + +/* + std::vector> runlto(std::vector x,std::vector y,std::vector wl,std::vector wr){ + + Py_Initialize(); + PyRun_SimpleString("import os\n"); + + PyObject *obj = Py_BuildValue("s", "/optimizer/lto/global_racetrajectory_optimization/main_globaltraj.py"); + FILE *file = _Py_fopen_obj(obj, "r+"); + // PyRun_SimpleString("import os\n"); + // PyRun_SimpleString("import moduler\n"); + // PyRun_SimpleString("print (os.getcwd())"); + + + + // PyRun_SimpleFile(file,"pyshit.py"); + // PyRun_StringFlags(myString,0,NULL,NULL,NULL); + + + + PyObject *py_x,*py_y,*py_wl,*py_wr; py_x=double_list_Py(x); py_y=double_list_Py(y); py_wl=double_list_Py(wl); py_wr=double_list_Py(wr); - pythonfile = fopen("/optimizer/lto/global_racetrajectory_optimization/main_globaltraj.py","r+"); PyObject *globals =PyDict_New(); PyDict_SetItemString(globals,"x",py_x); @@ -37,7 +57,7 @@ std::vector> runlto(std::vector x,std::vector xpts =PyList_DoubleVec(ret,0); std::vector ypts =PyList_DoubleVec(ret,1); @@ -50,6 +70,52 @@ std::vector> runlto(std::vector x,std::vector x,std::vector y,std::vector wl,std::vector wr){ + + Py_Initialize(); + PyRun_SimpleString("import os\n"); + + PyObject *obj = Py_BuildValue("s", "/optimizer/lto/global_racetrajectory_optimization/main_globaltraj.py"); + FILE *file = _Py_fopen_obj(obj, "r+"); + // PyRun_SimpleString("import os\n"); + // PyRun_SimpleString("import moduler\n"); + // PyRun_SimpleString("print (os.getcwd())"); + + + + // PyRun_SimpleFile(file,"pyshit.py"); + // PyRun_StringFlags(myString,0,NULL,NULL,NULL); + + + + + PyObject *py_x,*py_y,*py_wl,*py_wr; + py_x=double_list_Py(x); + py_y=double_list_Py(y); + py_wl=double_list_Py(wl); + py_wr=double_list_Py(wr); + + PyObject *globals =PyDict_New(); + PyObject *local =PyDict_New(); + PyDict_SetItemString(globals,"x",py_x); + PyDict_SetItemString(globals,"y",py_y); + PyDict_SetItemString(globals,"wl",py_wl); + PyDict_SetItemString(globals,"wr",py_wr); + + PyRun_File(file,"stuff",0,globals,local); + + + Py_Finalize(); // PyList_DoubleVec(y_pts); diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/optimizer/runpy.hpp b/driverless_ws/src/planning/src/planning_codebase/raceline/optimizer/runpy.hpp index a3039a529..b68179423 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/optimizer/runpy.hpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/optimizer/runpy.hpp @@ -11,4 +11,5 @@ PyObject *double_list_Py(std::vector x); std::vector PyList_DoubleVec(PyObject* ); -std::vector> runlto(std::vector x,std::vector y,std::vector wl,std::vector wr); \ No newline at end of file +void runlto(std::vector x,std::vector y,std::vector wl,std::vector wr); +// std::vector> runlto(std::vector x,std::vector y,std::vector wl,std::vector wr); \ No newline at end of file diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp index d0cf8be28..3b4ea6e68 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp @@ -1,32 +1,26 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include #include "raceline.hpp" +#include // #include "random.h" polynomial poly(int deg = 3){ polynomial inst; inst.deg=deg; - inst.nums = gsl_vector_alloc(deg+1); + Eigen::VectorXd nums(deg+1); + inst.nums = nums; + return inst; } polynomial poly_one(){ polynomial p = poly(1); - gsl_vector_set(p.nums,0,1); + p.nums(0)=1; return p; } polynomial poly_root(double root){ polynomial p = poly(1); - gsl_vector_set(p.nums,0,-root); - gsl_vector_set(p.nums,1,1); + p.nums(0)= -root; + p.nums(1)=1; return p; } @@ -34,26 +28,39 @@ polynomial polyder(polynomial p){ if (p.deg ==0) return poly(0); polynomial der = poly(p.deg-1); for(int i=0;ispl_poly,gsl_matrix_get(this->rotated_points,0,0),gsl_matrix_get(this->rotated_points,0,this->rotated_points->size2-1)); + return arclength(this->spl_poly,this->rotated_points(0,0),this->rotated_points(0,this->rotated_points.cols()-1)); } -gsl_matrix* Spline::interpolate(int number, std::pair bounds){ - return interpolate(*this,number,bounds); -} +// Eigen::MatrixXd Spline::interpolate(int number, std::pair bounds){ +// return interpolate(*this,number,bounds); +// } bool Spline::operator==(Spline const & other) const{ return this->sort_index==other.sort_index; @@ -103,18 +104,18 @@ polynomial Spline::get_second_der(){ return this->second_der; } -gsl_matrix* Spline::get_points(){ +Eigen::MatrixXd& Spline::get_points(){ return points;} -gsl_matrix* Spline::get_rotated_points(){ +Eigen::MatrixXd& Spline::get_rotated_points(){ return rotated_points; } -gsl_matrix* Spline::get_Q(){ +Eigen::MatrixXd& Spline::get_Q(){ return Q; } -gsl_vector* Spline::get_translation(){ +Eigen::VectorXd& Spline::get_translation(){ return translation_vector; } @@ -129,15 +130,15 @@ int Spline::get_sort_index(){ -std::tuple Spline::along(double progress, double point_index, int precision){ - std::tuple ret; +std::tuple Spline::along(double progress, double point_index, int precision){ + std::tuple ret; double len = this->length(); - double first_x = gsl_matrix_get(this->get_rotated_points(),0,0); - double last_x = gsl_matrix_get(this->get_rotated_points(),0,this->get_rotated_points()->size2); + double first_x = this->get_rotated_points()(0,0); + double last_x = this->get_rotated_points()(0,this->get_rotated_points().cols()); double delta = last_x - first_x; @@ -193,19 +194,20 @@ std::tuple Spline::along(double progress best_length = guess_length; past = guess_length; } - gsl_vector *rotated_point = gsl_vector_alloc(2); - gsl_vector_set(rotated_point,0,best_guess); - gsl_vector_set(rotated_point,1,gsl_poly_eval(this->spl_poly.nums->data,this->spl_poly.deg,best_guess)); + Eigen::VectorXd rotated_point(2); + rotated_point(0)=best_guess; - gsl_matrix *rotated_points = gsl_matrix_alloc(2,1); - gsl_matrix_set(rotated_points,0,0,rotated_point->data[0]); - gsl_matrix_set(rotated_points,0,1,rotated_point->data[1]); + rotated_point(1)=poly_eval(this->spl_poly,best_guess); - gsl_matrix *point_mat =reverse_transform(rotated_points,this->Q,this->translation_vector); + Eigen::MatrixXd rotated_points(2,1); + rotated_points(0,0)=rotated_point(0); + rotated_points(0,1)=rotated_point(1); + + Eigen::MatrixXd point_mat =reverse_transform(rotated_points,this->Q,this->translation_vector); - gsl_vector *point = gsl_vector_alloc(2); - gsl_vector_set(point,0,point_mat->data[0]); - gsl_vector_set(point,0,point_mat->data[1]); + Eigen::VectorXd point (2); + point(0)=point_mat(0); + point(1)=point_mat(1); ret = std::make_tuple(point,best_length,rotated_point,best_guess); @@ -213,133 +215,137 @@ std::tuple Spline::along(double progress } double Spline::getderiv(double x){ - gsl_matrix *point_x = gsl_matrix_alloc(1,2); - gsl_matrix_set(point_x,0,0,x); - gsl_matrix_set(point_x,0,1,0); + Eigen::MatrixXd point_x(1,2); + point_x(0,0)=x; + point_x(0,1)=0; - gsl_matrix *gm= reverse_transform(point_x,this->Q,this->translation_vector); - - return gsl_poly_eval(this->first_der.nums->data,this->first_der.deg,gm->data[0]); + Eigen::MatrixXd gm= reverse_transform(point_x,this->Q,this->translation_vector); + return poly_eval(this->first_der,gm.data()[0]); } -gsl_matrix *interpolate(Spline spline,int number, std::pair bounds){ +Eigen::MatrixXd& Spline::interpolate(int number, std::pair bounds){ if(bounds.first == -1 && bounds.second == -1){ - double bound1 = gsl_matrix_get(spline.get_rotated_points(),0,0); + double bound1 = get_rotated_points()(0,0); // MAKE PROPER BOUND 2 - double bound2 = gsl_matrix_get(spline.get_rotated_points(),0,spline.get_rotated_points()->size2); + double bound2 = get_rotated_points()(0,get_rotated_points().cols()); bounds = std::make_pair(bound1,bound2); } - gsl_matrix *points = gsl_matrix_alloc(number,2); + Eigen::MatrixXd points(number,2); for(int i=0;idata,spline.get_SplPoly().deg,x); - gsl_matrix_set(points,i,0,x); - gsl_matrix_set(points,i,1,y); + points(i,0)=x; + points(i,1)=poly_eval(get_SplPoly(),x); } - gsl_matrix *ret= reverse_transform(points,spline.get_Q(),spline.get_translation()); + Eigen::MatrixXd ret= reverse_transform(points,get_Q(),get_translation()); return ret; } -gsl_matrix* rotation_matrix_gen(gsl_matrix *pnts){ - gsl_vector *beg= gsl_vector_alloc_col_from_matrix(pnts,0); - gsl_vector *end = gsl_vector_alloc_col_from_matrix(pnts,pnts->size2-1); - - gsl_vector_sub(end,beg); - gsl_vector_free(beg); +Eigen::MatrixXd& rotation_matrix_gen(Eigen::MatrixXd pnts){ + Eigen::Vector2d beg; beg << pnts.col(0); + Eigen::Vector2d end; end << pnts.col(pnts.cols()-1); - double norm = gsl_blas_dnrm2(end); + end = end-beg; - double cos = gsl_vector_get(end,0)/norm; - double sin = gsl_vector_get(end,1)/norm; + double norm = end.norm(); - gsl_vector_free(end); + double cos = end(0)/norm; + double sin = end(1)/norm; - gsl_matrix *ret = gsl_matrix_alloc(2,2); - gsl_matrix_set(ret,0,0,cos); - gsl_matrix_set(ret,1,0,-sin); - gsl_matrix_set(ret,0,1,sin); - gsl_matrix_set(ret,1,1,cos); + Eigen::MatrixXd ret(2,2); + ret(0,0)=cos; + ret(1,0)=-sin; + ret(0,1)=sin; + ret(1,1)=cos; return ret; } -gsl_vector *get_translation_vector(gsl_matrix *group){ - return gsl_vector_alloc_col_from_matrix(group,0); +Eigen::VectorXd& get_translation_vector(Eigen::MatrixXd group){ + Eigen::VectorXd ret; ret << group.col(0); + return ret; } -gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ - gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); - for(int i=0;isize2;++i){ - gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)-gsl_vector_get(get_translation_vector,0)); - gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)-gsl_vector_get(get_translation_vector,1)); +Eigen::MatrixXd& transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector){ + Eigen::MatrixXd temp(points.rows(),points.cols()); + for(int i=0;isize1,points->size2); - gsl_linalg_matmult(temp,Q,ret); - gsl_matrix_free(temp); + Eigen::MatrixXd ret = temp*Q; - //TODO: temp2 and ret2 is very bad naming - gsl_matrix *temp2 = gsl_matrix_alloc(Q->size1,Q->size2); - for(int i=0;isize2;++i){ - gsl_matrix_set(temp2,0,i,gsl_matrix_get(Q,0,i)+gsl_vector_get(get_translation_vector,0)); - gsl_matrix_set(temp2,1,i,gsl_matrix_get(Q,1,i)+gsl_vector_get(get_translation_vector,1)); + for(int i=0;isize1,points->size2); - gsl_linalg_matmult(points,temp2,ret2); - gsl_matrix_free(temp2); - - return ret2; + return ret; } -polynomial lagrange_gen(gsl_matrix* points){ +polynomial lagrange_gen(Eigen::MatrixXd points){ polynomial lagrange_poly = poly(3); - for(int col = 0;col size2;col++){ + for(int col = 0;col size2]; - double y[points->size2]; - for(int i=0;isize2;i++){ - x[i] = gsl_matrix_get(points,i,0); - y[i] = gsl_matrix_get(points,i,1); + double x[points.cols()]; + double y[points.cols()]; + for(int i=0;isize2;i++){ + for(int i=0;isize2;j++){ + for(int j=0;jdata,p.deg+1,x[i])); + p1.nums(0)=1/ poly_eval(p,x[i]); polynomial q = poly_mult(p1,p); - gsl_vector_free(p.nums); - gsl_vector_free(p1.nums); + // gsl_vector_free(p.nums); + // gsl_vector_free(p1.nums); - gsl_vector_add(lagrange_poly.nums,q.nums); - gsl_vector_free(q.nums); + lagrange_poly.nums+=q.nums; + // gsl_vector_free(q.nums); } @@ -347,14 +353,15 @@ polynomial lagrange_gen(gsl_matrix* points){ } -double arclength_f(double, void* params){ +double arclength_f(double x, void* params){ polynomial p = *(polynomial*)params; - - double x = gsl_poly_eval(p.nums->data,p.deg+1,x); - return x*x+1; + double y = poly_eval(p,x); + return sqrt(y*y+1); } + +// CHECK CORRECTNESS double arclength(polynomial poly, double x0,double x1){ gsl_function F; @@ -373,22 +380,26 @@ double arclength(polynomial poly, double x0,double x1){ } -std::pair,std::vector> raceline_gen(gsl_matrix *res,int path_id,int points_per_spline,bool loop){ +std::pair,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id ,int points_per_spline,bool loop){ - int n = res->size2; + int n = res.cols(); std::vector splines; - gsl_matrix *points=res; + // Eigen::MatrixXd points=res; int shift = points_per_spline-1; + int group_numbers; - int group_numbers = n/shift; - - - if (loop) - group_numbers += (int)(n % shift != 0); + if (shift == 1){ + group_numbers = n/shift; + if (loop) + group_numbers += (int)(n % shift != 0); + } + else{ + group_numbers = n; + } std::vector> groups; std::vector lengths; @@ -396,11 +407,20 @@ std::pair,std::vector> raceline_gen(gsl_matrix *res, lengths.resize(group_numbers); for(int i=0;i -#include -#include -#include -#include -#include -#include #include #include +#include +#include +#include #include - +#include #ifndef RACELINE #define RACELINE @@ -17,7 +13,7 @@ const int prefered_degree = 3,overlap = 0; struct polynomial { int deg; - gsl_vector *nums; + Eigen::VectorXd nums; }; polynomial poly(int deg); @@ -28,19 +24,21 @@ polynomial poly_root(double root); polynomial polyder(polynomial p); + polynomial poly_mult(polynomial a,polynomial b); +double poly_eval(polynomial a,double x); class Spline { private: polynomial spl_poly; - gsl_matrix *points; - gsl_matrix *rotated_points; + Eigen::MatrixXd points; + Eigen::MatrixXd rotated_points; - gsl_matrix *Q; - gsl_vector *translation_vector; + Eigen::MatrixXd Q; + Eigen::VectorXd translation_vector; polynomial first_der; polynomial second_der; @@ -59,43 +57,41 @@ class Spline } - double length(); - polynomial get_first_der(); polynomial get_second_der(); - gsl_matrix* get_points(); - void set_points(gsl_matrix *newpoints); + Eigen::MatrixXd& get_points(); + void set_points(Eigen::MatrixXd newpoints); - gsl_matrix* get_rotated_points(); - void set_rotated_points(gsl_matrix *newpoints); + Eigen::MatrixXd& get_rotated_points(); + void set_rotated_points(Eigen::MatrixXd newpoints); - gsl_matrix* get_Q(); - void set_Q(gsl_matrix *new_Q); + Eigen::MatrixXd& get_Q(); + void set_Q(Eigen::MatrixXd new_Q); - gsl_vector* get_translation(); - void set_translation(gsl_vector *new_trans); + Eigen::VectorXd& get_translation(); + void set_translation(Eigen::VectorXd new_trans); int get_path_id(); void set_path_id(int new_id); int get_sort_index(); void set_sort_index(int new_sort); - + double length(); - gsl_matrix *interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); + // Eigen::MatrixXd interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); - gsl_matrix *interpolate(int number,std::pair bounds); + Eigen::MatrixXd& interpolate(int number,std::pair bounds); bool operator==(Spline const & other) const; bool operator<(Spline const & other) const; - std::tuple along(double progress, double point_index=0, int precision=20); + std::tuple along(double progress, double point_index=0, int precision=20); double getderiv(double x); std::pair along(double progress) const; - Spline(polynomial interpolation_poly,gsl_matrix *points_mat,gsl_matrix *rotated,gsl_matrix *Q_mat, gsl_vector *translation,polynomial first, polynomial second, int path, int sort_ind); + Spline(polynomial interpolation_poly,Eigen::MatrixXd& points_mat,Eigen::MatrixXd& rotated,Eigen::MatrixXd& Q_mat, Eigen::VectorXd& translation,polynomial first, polynomial second, int path, int sort_ind); Spline() {}; @@ -104,21 +100,21 @@ class Spline -gsl_matrix *interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); +Eigen::MatrixXd& interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); -gsl_matrix* rotation_matrix_gen(gsl_matrix *pnts); -gsl_vector *get_translation_vector(gsl_matrix *group); +Eigen::MatrixXd& rotation_matrix_gen(Eigen::MatrixXd pnts); +Eigen::VectorXd& get_translation_vector(Eigen::MatrixXd group); -gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector); +Eigen::MatrixXd& transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); -gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector); +Eigen::MatrixXd& reverse_transform(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); -polynomial lagrange_gen(gsl_matrix* points); +polynomial lagrange_gen(Eigen::MatrixXd points); double arclength_f(double, void* params); double arclength(polynomial poly, double x0,double x1); -std::pair,std::vector> raceline_gen(gsl_matrix *res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); +std::pair,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); #endif diff --git a/driverless_ws/src/planning/src/raceline/frenet.cpp b/driverless_ws/src/planning/src/raceline/frenet.cpp deleted file mode 100644 index 46298cda0..000000000 --- a/driverless_ws/src/planning/src/raceline/frenet.cpp +++ /dev/null @@ -1,227 +0,0 @@ -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "frenet.hpp" -#include "raceline.hpp" - -gsl_matrix *mat_mul(gsl_matrix *A, gsl_matrix *B) { - assert(A->size2 == B->size1); - gsl_matrix_view A_view = gsl_matrix_submatrix(A, 0, 0, A->size1, A->size2); - gsl_matrix_view B_view = gsl_matrix_submatrix(A, 0, 0, B->size1, B->size2); - gsl_matrix *C = gsl_matrix_calloc(A->size1, B->size2); - gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, &A_view.matrix, - &B_view.matrix, 0.0, C); - return C; -} - -double poly_eval(polynomial poly, double x) { - return gsl_poly_eval(poly.nums->data, poly.deg + 1, x); -} -// Curvature at point(s) `min_x` based on 2d curvature equation -// https://mathworld.wolfram.com/Curvature.html -double get_curvature(polynomial poly_der_1, polynomial poly_der_2, - double min_x) { - return poly_eval(poly_der_2, min_x) / - (1 + pow(pow(poly_eval(poly_der_1, min_x), 2), 3 / 2)); -} - -// Rotates points based on the rotation and transformation matrices -// Why aren't the matrices converted into vectors? -std::vector rotate_points( - std::vector points, std::vector poly_Qs, - std::vector poly_transMats) { - size_t n = points.size(); - assert(n == poly_Qs.size()); - assert(n == poly_transMats.size()); - std::vector rotated_points; - for (size_t i = 0; i < n; ++i) { - gsl_matrix *point = points[i]; - gsl_matrix_sub(point, poly_transMats[i]); - point = mat_mul(point, poly_transMats[i]); - rotated_points.push_back(point); - } - return rotated_points; -} - -gsl_matrix *matrix_nonzero(gsl_matrix *m, double nonzero = 0.0001) { - for (size_t i = 0; i < m->size1; i++) { - for (size_t j = 0; j < m->size2; j++) { - if (gsl_matrix_get(m, i, j) == 0) { - gsl_matrix_set(m, i, j, nonzero); - } - } - } - return m; -} - -struct minimization_params { - double car_x; - double car_y; - polynomial poly; -}; -double minimization_f(double x, void *p) { - struct minimization_params *params = (struct minimization_params *)p; - return pow((params->car_x - x), 2) + - pow((params->car_y - poly_eval(params->poly, x)), 2); -} - -static const size_t n_coeffs = 7; -// x and y are a set of points -std::pair, std::vector> get_closest_distance( - double x, double y, std::vector polys, gsl_matrix *poly_coeffs, - gsl_matrix *poly_roots, double epsabs = 0.001, double epsrel = 0, - size_t max_iter = 5) { - size_t n = poly_coeffs->size1; - assert(n == poly_roots->size1); - - const gsl_min_fminimizer_type *T = gsl_min_fminimizer_brent; - gsl_min_fminimizer *s = gsl_min_fminimizer_alloc(T); - std::pair, std::vector> results; - for (size_t i = 0; i < n; ++i) { - polynomial poly = polys[i]; - int status; - size_t iter = 0; - double x_min = gsl_matrix_get(poly_roots, i, poly.deg + 1), x_lower = 0, - x_upper = x_min; - gsl_function f; - struct minimization_params params = {x, y, poly}; - f.function = &minimization_f; - f.params = ¶ms; - - gsl_min_fminimizer_set(s, &f, x_min, x_lower, x_upper); - - do { - ++iter; - status = gsl_min_fminimizer_iterate(s); - x_min = gsl_min_fminimizer_x_minimum(s); - x_lower = gsl_min_fminimizer_x_lower(s); - x_upper = gsl_min_fminimizer_x_upper(s); - status = gsl_min_test_interval(x_lower, x_upper, epsabs, epsrel); - } while (status == GSL_CONTINUE && iter < max_iter); - - results.first.push_back(x_min); - results.second.push_back(minimization_f(x_min, ¶ms)); - } - - gsl_min_fminimizer_free(s); - return results; -} - -// Argmin in row,col form assuming 2d matrix -std::pair argmin(gsl_matrix *m) { - double min = 9999999; - std::pair minIndex = {-1, -1}; - for (size_t i = 0; i < m->size1; i++) { - for (size_t j = 0; j < m->size2; j++) { - if (gsl_matrix_get(m, i, j) < min) { - min = gsl_matrix_get(m, i, j); - minIndex = {i, j}; - } - } - } - return minIndex; -} - -// Vector of - -// Finds the progress (length) and curvature of point on a raceline generated -// from splines -projection frenet(float x, float y, std::vector path, - std::vector lengths, float prev_progress, float v_x, - float v_y) { - assert(path.size() == lengths.size()); - const size_t num_points = prefered_degree + 1; - const size_t n = path.size(); - size_t index_offset = 0; - size_t size = n; - std::vector indexes; - if (prev_progress != prev_progress_flag) { // what does this flag do? - // Lengths must be sorted for bisect to work since its binary search - assert(is_sorted(lengths.begin(), lengths.end())); - index_offset = - std::lower_bound(lengths.begin(), lengths.end(), prev_progress) - - lengths.begin(); - size = std::min(n, index_offset + 30); - } - // get index where all elements in lengths[index:] are >= prev_progress - for (size_t i = index_offset; i < size; ++i) indexes.push_back(i % n); - - std::vector explore_space; - for (float element : indexes) { - explore_space.push_back(path[element]); - } - size_t explore_space_n = explore_space.size(); - gsl_matrix *poly_coeffs = gsl_matrix_alloc(explore_space_n, num_points); - gsl_matrix *poly_roots = gsl_matrix_alloc(explore_space_n, num_points); - std::vector polys; - std::vector poly_Qs; - std::vector poly_transMats; - for (size_t i = 0; i < explore_space_n; - ++i) { // used to be size: check if this is right - Spline spline = path[i]; - polynomial poly = spline.get_SplPoly(); - polys.push_back(poly); - gsl_vector *nums = spline.get_SplPoly().nums; - gsl_matrix *rotated_points = spline.get_rotated_points(); - poly_Qs.push_back(spline.get_Q()); - gsl_vector *transMatVec = spline.get_translation(); - gsl_matrix *transMat = gsl_matrix_alloc(2, 1); - gsl_matrix_set(transMat, 0, 0, gsl_vector_get(transMatVec, 0)); - gsl_matrix_set(transMat, 1, 0, gsl_vector_get(transMatVec, 1)); - poly_transMats.push_back(transMat); - for (size_t j = 0; j < num_points; ++j) { - gsl_matrix_set(poly_coeffs, i, j, - gsl_vector_get(nums, (num_points - 1 - j))); - gsl_matrix_set(poly_roots, i, j, gsl_matrix_get(rotated_points, 0, i)); - } - } - gsl_matrix *point = gsl_matrix_alloc(2, 1); - gsl_matrix_set(point, 0, 0, x); - gsl_matrix_set(point, 0, 1, y); - std::vector points = {point}; - // returns a single rotated point - std::vector rotated_points = - rotate_points(points, poly_Qs, poly_transMats); - - // gsl_matrix *x_point = gsl_matrix_alloc(explore_space_n,1); - // gsl_matrix *y_point = gsl_matrix_alloc(explore_space_n,1); - // Just x and y from the one row in the matrix - double x_point = gsl_matrix_get(rotated_points[0], 0, 0); - double y_point = gsl_matrix_get(rotated_points[0], 0, 1); - - // find how to get the columns from the vector of matrices - // std::pair< gsl_matrix *,gsl_matrix *> dist = get_closest_distance(x_point, - // y_point, poly_coeffs,poly_roots); - std::pair, std::vector> optimization_result = - get_closest_distance(x_point, y_point, polys, poly_coeffs, poly_roots); - std::vector opt_xs = optimization_result.first; - assert(opt_xs.size() > 0); - std::vector distances = optimization_result.second; - assert(distances.size() > 0); - - size_t i = - std::min_element(distances.begin(), distances.end()) - distances.begin(); - size_t min_index = (i + index_offset) % n; - polynomial min_polynomial = path[i].get_SplPoly(); - double min_x = opt_xs[i]; - double curvature = - get_curvature(path[i].get_first_der(), path[i].get_second_der(), min_x); - // assert min_index in indexes - - double extra_length = arclength(min_polynomial, 0, min_x); - double mu = distances[i]; - - double velocity = (v_x * cos(mu) - v_y * sin(mu)) / (1 - mu * curvature); - - projection result = projection( - float(min_index == 0 ? 0 : lengths[min_index - 1]) + extra_length, - min_index, mu, curvature, velocity); - return result; -} diff --git a/driverless_ws/src/planning/src/raceline/frenet.hpp b/driverless_ws/src/planning/src/raceline/frenet.hpp deleted file mode 100644 index e9cf0e8f7..000000000 --- a/driverless_ws/src/planning/src/raceline/frenet.hpp +++ /dev/null @@ -1,34 +0,0 @@ -#ifndef FRENET_H -#define FRENET_H - -#include - -#include -#include - -#include "raceline.hpp" -const float prev_progress_flag = -std::numeric_limits::max(); - -//Projection class for storing result from minimization and related data -struct projection { - float progress; - int min_index; // For testing - float min_distance; // For testing - float curvature; - float velocity; - - projection(float progress,int min_index,float min_distance,float curvature,float velocity){ - this->progress = progress; - this->min_index = min_index; - this->min_distance = min_distance; - this->curvature = curvature; - this->velocity = velocity; - } -}; - -projection frenet(float x, float y, std::vector path, - std::vector lengths, - float prev_progress = prev_progress_flag, float v_x = 0, - float v_y = 0); - -#endif diff --git a/driverless_ws/src/planning/src/raceline/gen_curves.cpp b/driverless_ws/src/planning/src/raceline/gen_curves.cpp deleted file mode 100644 index 8897ceeff..000000000 --- a/driverless_ws/src/planning/src/raceline/gen_curves.cpp +++ /dev/null @@ -1,51 +0,0 @@ -#include -#include -#include -#include "raceline.hpp" - -#define STEP_THRESH = 10 -#define STEP_SPECIAL = 2 -#define STEP_NORMAL = 10 -#define DEG_SPECIAL = 2 -#define DEG_NORMAL = 3 -#define OUTLIER_PERCENT = 0.95 - - - -std::pair calcMidPoint(double x1,double y1,double x2,double y2){ - return std::make_pair((x1+x2)/2,(y1+y2)/2); -} - -double distance(double x1,double y1,double x2,double y2){ - return sqrt(gsl_pow_2(x2-x1)+gsl_pow_2(y2-y1)); -} - -double calcDist(std::vector x,std::vector y,int i, int rangeLen){ - double x1,y1 = x[i],y[i]; - double x2,y2 = x[i+rangeLen],y[i+rangeLen]; - std::pair mxy = calcMidPoint(x1,y1,x2,y2); - double x_,y_ = x[i+rangeLen/2], y[i+rangeLen/2]; - return distance(mxy.first,mxy.second,x_,y_); -} - -double consecutiveGreaterThanThresh(std::vector x,std::vector y,int i,double thresh,int rangeLen){ - double thisD = calcDist(x,y,i+1,rangeLen); - while (thisD >= thresh){ - i+=1; - thisD = calcDist(x,y,i,rangeLen); - } - if (i+rangeLen < x.size()) - return i+rangeLen ; - return x.size(); -} - - -// WILL HAVE TO FIX TYPE FOR R -int idxInRange(int start, int stop, std::map R){ - for (int i=start;i< stop;i++) - if (R.count(i) ==0) - return (i); - return -1; -} - -// NEED TO ADD DRAW \ No newline at end of file diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/Readme.md b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/Readme.md deleted file mode 100644 index 27d9bfbc8..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/Readme.md +++ /dev/null @@ -1,156 +0,0 @@ -# Introduction -This repository contains algorithms that allow us to determine an optimal racing line on a race track. You can chose -between several objectives: -* Shortest path -* Minimum curvature (with or without iterative call) -* Minimum time -* Minimum time with powertrain behavior consideration - -The minimum curvature line is quite near to a minimum time line in corners but will differ as soon as the car's -acceleration limits are not exploited. However, the minimum time optimization requires a lot more parameters and takes -more computation time. Please look into the `main_globaltraj.py` for all possible options. - -# List of components -* `frictionmap`: This package contains the functions related to the creation and handling of friction maps along the -race track. -* `helper_funcs_glob`: This package contains some helper functions used in several other functions when -calculating the global race trajectory. -* `inputs`: This folder contains the vehicle dynamics information, the reference track csvs and friction maps. -* `opt_mintime_traj`: This package contains the functions required to find the time-optimal trajectory. - - It also includes the powertrain components in `opt_mintime_traj/powertrain_src` used to calculate power losses and - thermal behavior of the powertrain and to consider the state of charge of the battery. -* `params`: This folder contains a parameter file with optimization and vehicle parameters. - -# Trajectory Planning Helpers repository -Lots of the required functions for trajectory planning are cumulated in our trajectory planning helpers repository. It -can be found on https://github.com/TUMFTM/trajectory_planning_helpers. They can be quite useful for other projects as -well. - -# Dependencies -Use the provided `requirements.txt` in the root directory of this repo, in order to install all required modules.\ -`pip3 install -r /path/to/requirements.txt` - -The code is developed with Ubuntu 20.04 LTS and Python 3.7. - -### Solutions for possible installation problems (Windows) -* `cvxpy`, `cython` or any other package requires a `Visual C++ compiler` -> Download the build tools for Visual Studio -2019 (https://visualstudio.microsoft.com/de/downloads/ -> tools for Visual Studio 2019 -> build tools), install them and -chose the `C++ build tools` option to install the required C++ compiler and its dependencies -* Problems with quadprog -> reason currently not clear, test using quadprog in version 0.1.6 instead 0.1.7 - -### Solutions for possible installation problems (Ubuntu) -* `matplotlib` requires `tkinter` -> can be solved by `sudo apt install python3-tk` -* `Python.h` required `quadprog` -> can be solved by `sudo apt install python3-dev` - -# Creating your own friction map -The script `main_gen_frictionmap.py` can be used to create your own friction map for any race track file supplied in the -input folder. The resulting maps are stored in the `inputs/frictionmaps` folder. These friction maps can be used within -the minimum time optimization. In principle, they can also be considered within the velocity profile calculation of the -minimum curvature planner. However, this is currently not supported from our side. - -# Running the code -* `Step 1:` (optional) Adjust the parameter file that can be found in the `params` folder (required file). -* `Step 2:` (optional) Adjust the ggv diagram and ax_max_machines file in `inputs/veh_dyn_info` (if used). This -acceleration should be calculated without drag resistance, i.e. simply by F_x_drivetrain / m_veh! -* `Step 3:` (optional) Add your own reference track file in `inputs/tracks` (required file). -* `Step 4:` (optional) Add your own friction map files in `inputs/frictionmaps` (if used). -* `Step 5:` (optional) If you want to consider the powertrain behavior (thermal behavior, power loss, state of charge), -enable the powertrain-option in the parameter file (`/params`) and adjust the powertrain parameters as needed. Set the -number of race laps in the dict `imp_opts` in `main_globaltraj.py` and specify a non-regular discretization step length -for faster optimization in the parameter file (`/params`) (if used). You can select a simple approximation of the - powertrain components by setting `/params/racecar.ini:simple_loss = True` or consider more detailed models by - specifying `/params/racecar.ini:simple_loss = False`. -* `Step 6:` Adjust the parameters in the upper part of `main_globaltraj.py` and execute it to start the trajectory -generation process. The calculated race trajectory is stored in `outputs/traj_race_cl.csv`. - -IMPORTANT: For further information on the minimum time optimization have a look into the according `Readme.md` which can -be found in the `opt_mintime_traj` folder! - -![Resulting raceline for the Berlin FE track](opt_raceline_berlin.png) - -# Wording and conventions -We tried to keep a consistant wording for the variable names: -* path -> [x, y] Describes any array containing x,y coordinates of points (i.e. point coordinates).\ -* refline -> [x, y] A path that is used as reference line during our calculations.\ -* reftrack -> [x, y, w_tr_right, w_tr_left] An array that contains not only the reference line information but also -right and left track widths. In our case it contains the race track that is used as a basis for the raceline -optimization. - -Our normal vectors usually point to the right in the direction of driving. Therefore, we get the track boundaries by -multiplication as follows: norm_vector * w_tr_right, -norm_vector * w_tr_left. - -# Trajectory definition -The global racetrajectory optimization currently supports two output formats: - -* *Race Trajectory* - (default) holds detailed information about the race trajectory. -* *LTPL Trajectory* - holds source information about the race trajectory as well as information about the track bounds - and tue reference line (the actual race trajectory has to be calculated based on the stored information). - -In order to en-/disable the export of any of these files, add the respective entry to the 'file_paths'-dict in the -'main_globtraj.py'-script (search for `# assemble export paths`). By the default, the file path for the -'LTPL Trajectory' is commented out. - -Details about the individual formats are given in the following. - -### Race Trajectory -The output csv contains the global race trajectory. The array is of size [no_points x 7] where no_points depends on -stepsize and track length. The seven columns are structured as follows: - -* `s_m`: float32, meter. Curvi-linear distance along the raceline. -* `x_m`: float32, meter. X-coordinate of raceline point. -* `y_m`: float32, meter. Y-coordinate of raceline point. -* `psi_rad`: float32, rad. Heading of raceline in current point from -pi to +pi rad. Zero is north (along y-axis). -* `kappa_radpm`: float32, rad/meter. Curvature of raceline in current point. -* `vx_mps`: float32, meter/second. Target velocity in current point. -* `ax_mps2`: float32, meter/second². Target acceleration in current point. We assume this acceleration to be constant - from current point until next point. - -### LTPL Trajectory -The output csv contains the source information of the global race trajectory and map information via the normal vectors. -The array is of size [no_points x 12] where no_points depends on step size and track length. The seven columns are -structured as follows: - -* `x_ref_m`: float32, meter. X-coordinate of reference line point (e.g. center line of the track). -* `y_ref_m`: float32, meter. Y-coordinate of reference line point (e.g. center line of the track). -* `width_right_m`: float32, meter. Distance between reference line point and right track bound (along normal vector). -* `width_left_m`: float32, meter. Distance between reference line point and left track bound (along normal vector). -* `x_normvec_m`: float32, meter. X-coordinate of the normalized normal vector based on the reference line point. -* `y_normvec_m`: float32, meter. Y-coordinate of the normalized normal vector based on the reference line point. -* `alpha_m`: float32, meter. Solution of the opt. problem holding the lateral shift in m for the reference line point. -* `s_racetraj_m`: float32, meter. Curvi-linear distance along the race line. -* `psi_racetraj_rad`: float32, rad. Heading of raceline in current point from -pi to +pi rad. Zero is north. -* `kappa_racetraj_radpm`: float32, rad/meter. Curvature of raceline in current point. -* `vx_racetraj_mps`: float32, meter/second. Target velocity in current point. -* `ax_racetraj_mps2`: float32, meter/second². Target acceleration in current point. We assume this acceleration to be - constant from current point until next point. - -The generated file can be directly imported by the -[graph-based local trajectory planner](https://github.com/TUMFTM/GraphBasedLocalTrajectoryPlanner). - - -# References -* Minimum Curvature Trajectory Planning\ -Heilmeier, Wischnewski, Hermansdorfer, Betz, Lienkamp, Lohmann\ -Minimum Curvature Trajectory Planning and Control for an Autonomous Racecar\ -DOI: 10.1080/00423114.2019.1631455\ -Contact person: [Alexander Heilmeier](mailto:alexander.heilmeier@tum.de). - -* Time-Optimal Trajectory Planning\ -Christ, Wischnewski, Heilmeier, Lohmann\ -Time-Optimal Trajectory Planning for a Race Car Considering Variable Tire-Road Friction Coefficients\ -DOI: 10.1080/00423114.2019.1704804\ -Contact person: [Fabian Christ](mailto:fabian.christ@tum.de). - -* Friction Map Generation\ -Hermansdorfer, Betz, Lienkamp\ -A Concept for Estimation and Prediction of the Tire-Road Friction Potential for an Autonomous Racecar\ -DOI: 10.1109/ITSC.2019.8917024\ -Contact person: [Leonhard Hermansdorfer](mailto:leo.hermansdorfer@tum.de). - -* Powertrain Behavior\ -Herrmann, Passigato, Betz, Lienkamp\ -Minimum Race-Time Planning-Strategy for an Autonomous Electric Racecar\ -DOI: 10.1109/ITSC45102.2020.9294681\ -Preprint: https://arxiv.org/abs/2005.07127 \ -Contact person: [Thomas Herrmann](mailto:thomas.herrmann@tum.de). diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/a.txt b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/a.txt deleted file mode 100644 index 852635b58..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/a.txt +++ /dev/null @@ -1,613 +0,0 @@ -Spline approximation: mean deviation 0.04m, maximum deviation 0.28m --0.7812662596371494 0.5091623493702011 nminmax -3881 3881 3881 -CasADi - 2023-06-28 10:09:24 MESSAGE("nlp::init") [.../casadi/core/function_internal.cpp:543] -CasADi - 2023-06-28 10:09:24 MESSAGE("nlp::init") [.../casadi/core/x_function.hpp:327] -CasADi - 2023-06-28 10:09:24 MESSAGE("nlp::init") [.../casadi/core/mx_function.cpp:113] -CasADi - 2023-06-28 10:09:24 MESSAGE("Using live variables: work array is 6218 instead of 148219") [.../casadi/core/mx_function.cpp:326] -CasADi - 2023-06-28 10:09:25 MESSAGE("solver::init") [.../casadi/core/function_internal.cpp:543] -CasADi - 2023-06-28 10:09:25 MESSAGE("solver::create_function nlp_grad:[x, p, lam:f, lam:g]->[f, g, grad:gamma:x, grad:gamma:p]") [.../casadi/core/oracle_function.cpp:169] -CasADi - 2023-06-28 10:09:27 MESSAGE("solver::create_function nlp_f:[x, p]->[f]") [.../casadi/core/oracle_function.cpp:169] -CasADi - 2023-06-28 10:09:27 MESSAGE("solver::create_function nlp_g:[x, p]->[g]") [.../casadi/core/oracle_function.cpp:169] -CasADi - 2023-06-28 10:09:27 MESSAGE("solver::create_function nlp_grad_f:[x, p]->[f, grad:f:x]") [.../casadi/core/oracle_function.cpp:169] -CasADi - 2023-06-28 10:09:27 MESSAGE("solver::create_function nlp_jac_g:[x, p]->[g, jac:g:x]") [.../casadi/core/oracle_function.cpp:169] -CasADi - 2023-06-28 10:09:30 MESSAGE("solver::create_function nlp_hess_l:[x, p, lam:f, lam:g]->[triu:hess:gamma:x:x]") [.../casadi/core/oracle_function.cpp:169] -There are 18629 variables and 24057 constraints. -Using exact Hessian - -****************************************************************************** -This program contains Ipopt, a library for large-scale nonlinear optimization. - Ipopt is released as open source code under the Eclipse Public License (EPL). - For more information visit https://github.com/coin-or/Ipopt -****************************************************************************** - -This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1. - -Number of nonzeros in equality constraint Jacobian...: 143570 -Number of nonzeros in inequality constraint Jacobian.: 35680 -Number of nonzeros in Lagrangian Hessian.............: 115610 - -Total number of variables............................: 18629 - variables with only lower bounds: 0 - variables with lower and upper bounds: 6213 - variables with only upper bounds: 0 -Total number of equality constraints.................: 16301 -Total number of inequality constraints...............: 7756 - inequality constraints with only lower bounds: 775 - inequality constraints with lower and upper bounds: 4655 - inequality constraints with only upper bounds: 1551 - -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 0 1.1640000e+02 4.02e-01 1.18e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 - 1 1.1406696e+02 1.70e+01 2.82e+01 -1.0 2.12e+00 - 1.04e-01 8.44e-02H 1 - 2 1.1440947e+02 1.80e+01 2.46e+02 -1.0 1.29e+00 2.0 2.32e-02 1.63e-02f 1 - 3 1.1501880e+02 1.87e+01 1.11e+02 -1.0 1.24e+00 1.5 4.45e-02 1.63e-02f 1 - 4 1.1685830e+02 1.99e+01 1.95e+02 -1.0 1.00e+00 1.0 3.69e-02 2.58e-02f 1 - 5 1.1938257e+02 2.30e+01 2.63e+02 -1.0 9.68e-01 1.5 8.02e-02 4.80e-02f 1 - 6 1.2269725e+02 2.27e+01 2.57e+02 -1.0 1.48e+00 1.0 3.53e-02 3.37e-02f 1 - 7 1.2693213e+02 2.29e+01 2.52e+02 -1.0 6.75e-01 1.4 7.73e-02 6.66e-02f 1 - 8 1.3554582e+02 3.57e+01 2.14e+02 -1.0 5.23e-01 1.8 1.68e-01 1.64e-01f 1 - 9 1.3973145e+02 3.76e+01 6.19e+02 -1.0 4.10e-01 2.3 2.06e-01 1.21e-01f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 10 1.4274958e+02 3.86e+01 7.67e+02 -1.0 4.64e-01 1.8 1.14e-01 8.95e-02f 1 - 11 1.4651444e+02 3.85e+01 5.70e+02 -1.0 3.34e-01 2.2 2.35e-01 1.45e-01h 1 - 12 1.4736257e+02 3.76e+01 5.78e+02 -1.0 6.55e-01 1.7 3.93e-02 3.62e-02f 1 - 13 1.5077072e+02 3.56e+01 1.78e+03 -1.0 2.76e-01 2.2 4.88e-01 1.66e-01h 2 - 14 1.5224201e+02 3.43e+01 1.59e+03 -1.0 3.73e-01 1.7 1.01e-01 8.18e-02f 1 - 15 1.5840649e+02 2.88e+01 7.02e+02 -1.0 2.10e-01 2.1 5.65e-01 4.30e-01H 1 - 16 1.6495398e+02 1.67e+01 4.01e+02 -1.0 1.20e-01 2.5 4.66e-01 8.22e-01h 1 - 17 1.6532951e+02 3.68e+00 3.33e+02 -1.0 2.81e-02 3.0 1.00e+00 7.27e-01h 1 - 18 1.6473187e+02 1.37e+00 5.47e+03 -1.0 3.10e-02 2.5 1.00e+00 1.00e+00f 1 - 19 1.6439965e+02 1.30e-01 1.82e+03 -1.0 1.49e-02 2.9 5.76e-01 1.00e+00f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 20 1.6427513e+02 2.49e-02 4.60e+02 -1.0 5.85e-03 3.3 9.04e-01 1.00e+00f 1 - 21 1.6391962e+02 9.88e-03 4.92e+01 -1.0 9.82e-03 2.9 1.00e+00 1.00e+00f 1 - 22 1.6378782e+02 1.33e-03 7.36e+00 -1.0 3.73e-03 3.3 1.00e+00 1.00e+00f 1 - 23 1.6339478e+02 1.10e-02 2.14e+01 -1.0 1.10e-02 2.8 1.00e+00 1.00e+00f 1 - 24 1.6324923e+02 1.48e-03 7.27e+00 -1.0 4.15e-03 3.2 1.00e+00 1.00e+00f 1 - 25 1.6281561e+02 1.19e-02 2.05e+01 -1.0 1.21e-02 2.8 1.00e+00 1.00e+00f 1 - 26 1.6155350e+02 8.10e-02 4.86e+02 -1.0 4.15e-02 2.3 6.93e-01 1.00e+00f 1 - 27 1.6110150e+02 1.03e-02 3.49e+01 -1.0 1.24e-02 2.7 1.00e+00 1.00e+00f 1 - 28 1.5978010e+02 7.71e-02 8.66e+01 -1.0 3.50e-02 2.2 1.00e+00 1.00e+00f 1 - 29 1.5930556e+02 9.93e-03 2.14e+01 -1.0 1.29e-02 2.7 1.00e+00 1.00e+00f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 30 1.5792517e+02 7.58e-02 6.81e+01 -1.0 3.49e-02 2.2 1.00e+00 1.00e+00f 1 - 31 1.5438366e+02 4.09e-01 1.98e+02 -1.0 9.02e-02 1.7 7.75e-01 9.62e-01f 1 - 32 1.5315593e+02 6.47e-02 5.19e+01 -1.0 3.38e-02 2.1 1.00e+00 1.00e+00f 1 - 33 1.4976263e+02 4.42e-01 5.21e+01 -1.0 8.54e-02 1.7 1.00e+00 1.00e+00f 1 - 34 1.4929860e+02 4.25e-01 4.90e+01 -1.0 1.39e+00 1.2 5.37e-02 5.73e-02f 1 - 35 1.4609328e+02 5.04e-01 1.49e+01 -1.0 8.65e-02 1.6 1.00e+00 1.00e+00f 1 - 36 1.4002321e+02 1.88e+00 1.85e+01 -1.0 1.94e-01 1.1 8.29e-01 8.29e-01f 1 - 37 1.3780858e+02 4.37e-01 2.43e+03 -1.0 7.83e-02 1.6 4.96e-01 1.00e+00f 1 - 38 1.3345413e+02 1.58e+00 2.60e+02 -1.0 1.84e-01 1.1 7.15e-01 7.92e-01f 1 - 39 1.3171580e+02 3.48e-01 2.89e+00 -1.0 7.12e-02 1.5 1.00e+00 1.00e+00f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 40 1.2891741e+02 9.58e-01 2.04e+00 -1.0 1.78e-01 1.0 6.31e-01 6.32e-01f 1 - 41 1.2741900e+02 3.12e-01 1.97e+00 -1.0 6.92e-02 1.5 1.00e+00 1.00e+00f 1 - 42 1.2437311e+02 1.46e+00 2.56e+00 -1.0 1.78e-01 1.0 8.03e-01 8.16e-01f 1 - 43 1.2318051e+02 3.13e-01 1.96e+00 -1.0 6.71e-02 1.4 1.00e+00 1.00e+00f 1 - 44 1.2009746e+02 2.64e+00 3.81e+00 -1.0 1.75e-01 0.9 1.00e+00 1.00e+00f 1 - 45 1.1915051e+02 5.30e-01 6.16e+00 -1.0 6.47e-02 1.4 1.00e+00 1.00e+00f 1 - 46 1.1712512e+02 5.35e+00 6.79e+00 -1.0 1.72e-01 0.9 7.88e-01 7.90e-01f 1 - 47 1.1629520e+02 5.98e-01 2.99e+00 -1.0 6.43e-02 1.3 1.00e+00 1.00e+00f 1 - 48 1.1441138e+02 3.62e+00 1.17e+00 -1.0 1.73e-01 0.8 8.73e-01 8.78e-01f 1 - 49 1.1372004e+02 5.66e-01 3.44e+00 -1.0 6.39e-02 1.2 1.00e+00 1.00e+00f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 50 1.1192797e+02 3.94e+00 5.99e+00 -1.0 1.73e-01 0.8 1.00e+00 1.00e+00f 1 - 51 1.0965806e+02 4.59e+01 1.67e+01 -1.0 4.14e-01 0.3 6.58e-01 6.54e-01f 1 - 52 1.0862066e+02 2.03e+00 2.55e+02 -1.0 1.58e-01 0.7 6.88e-01 1.00e+00f 1 - 53 1.0660809e+02 8.50e+00 5.37e+00 -1.0 3.87e-01 0.2 1.00e+00 1.00e+00f 1 - 54 1.0658553e+02 5.94e-02 3.50e+00 -1.0 2.11e-02 1.6 1.00e+00 1.00e+00h 1 - 55 1.0634329e+02 1.75e-01 1.37e+00 -1.0 5.35e-02 1.1 1.00e+00 1.00e+00f 1 - 56 1.0576286e+02 1.17e+00 8.99e-01 -1.0 1.49e-01 0.6 1.00e+00 1.00e+00f 1 - 57 1.0482894e+02 1.98e+00 4.47e+02 -1.7 7.87e-02 0.1 6.27e-01 1.00e+00f 1 - 58 1.0305248e+02 7.65e+00 5.76e+00 -1.7 2.04e-01 -0.3 1.00e+00 1.00e+00f 1 - 59 1.0295042e+02 2.27e-01 1.12e+00 -1.7 1.15e-02 1.0 1.00e+00 1.00e+00h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 60 1.0289757e+02 6.63e-02 6.06e-01 -1.7 6.26e-03 1.4 1.00e+00 1.00e+00h 1 - 61 1.0272336e+02 1.83e+00 1.44e+00 -1.7 2.88e-02 0.9 1.00e+00 1.00e+00f 1 - 62 1.0266745e+02 5.12e-02 6.61e+00 -1.7 9.39e-03 1.4 7.12e-01 1.00e+00h 1 - 63 1.0250185e+02 8.40e-01 9.56e+00 -1.7 1.75e-02 0.9 1.00e+00 1.00e+00f 1 - 64 1.0221931e+02 3.01e+00 4.28e+00 -1.7 8.52e-02 0.4 5.75e-01 6.15e-01f 1 - 65 1.0220414e+02 4.09e-02 1.35e+00 -1.7 2.44e-02 1.7 1.00e+00 1.00e+00f 1 - 66 1.0212794e+02 1.26e-01 2.98e+00 -1.7 1.25e-02 1.3 1.00e+00 1.00e+00f 1 - 67 1.0209454e+02 5.27e-02 6.57e+00 -1.7 8.07e-03 1.7 1.00e+00 1.00e+00h 1 - 68 1.0199426e+02 6.20e-01 2.65e+00 -1.7 2.55e-02 1.2 1.00e+00 1.00e+00f 1 - 69 1.0179325e+02 2.00e+00 1.61e+01 -1.7 4.39e-02 0.7 4.82e-01 8.24e-01f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 70 1.0122487e+02 5.85e+00 1.46e+01 -1.7 6.09e-02 0.3 1.00e+00 1.00e+00f 1 - 71 1.0106732e+02 1.57e+00 5.59e+00 -1.7 3.67e-02 0.7 7.69e-01 8.31e-01h 1 - 72 1.0055247e+02 8.97e+00 4.77e+02 -1.7 8.55e-02 0.2 4.39e-01 1.00e+00f 1 - 73 1.0005402e+02 1.24e+01 1.63e+02 -1.7 1.72e-01 -0.3 4.36e-01 5.07e-01f 1 - 74 1.0001064e+02 1.65e-01 3.17e-01 -1.7 1.30e-02 1.1 1.00e+00 1.00e+00f 1 - 75 9.9860551e+01 9.84e-01 1.06e-01 -1.7 2.67e-02 0.6 1.00e+00 1.00e+00f 1 - 76 9.9124241e+01 4.60e+00 2.93e+01 -2.5 5.31e-02 0.1 8.56e-01 1.00e+00f 1 - 77 9.7302073e+01 2.56e+01 3.22e-01 -2.5 1.22e-01 -0.4 1.00e+00 1.00e+00f 1 - 78 9.5329126e+01 4.32e+01 1.87e+00 -2.5 2.19e-01 -0.8 5.40e-01 6.23e-01f 1 - 79 9.3549629e+01 4.41e+01 1.08e+00 -2.5 3.88e-01 -1.3 4.46e-01 4.58e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 80 9.2275787e+01 3.18e+01 6.99e-01 -2.5 9.58e-01 -1.8 3.48e-01 3.45e-01h 1 - 81 9.2099890e+01 2.79e+01 6.12e-01 -2.5 6.61e-01 -1.4 1.25e-01 1.25e-01h 1 - 82 9.1419650e+01 1.42e+01 1.46e-01 -2.5 1.20e-01 -0.9 1.00e+00 1.00e+00h 1 - 83 9.1334225e+01 1.28e+01 7.62e-01 -2.5 1.51e+00 -1.4 1.19e-01 1.11e-01h 1 - 84 9.1108201e+01 7.07e+00 3.73e-01 -2.5 1.12e-01 -1.0 6.34e-01 6.12e-01h 1 - 85 9.0981779e+01 8.97e-01 1.19e-01 -2.5 7.72e-02 -0.6 1.00e+00 1.00e+00h 1 - 86 9.0935374e+01 7.89e-02 1.68e-02 -2.5 1.28e-02 -0.1 1.00e+00 1.00e+00h 1 - 87 9.0195817e+01 6.47e+00 9.51e+00 -3.8 8.75e-02 -0.6 6.36e-01 9.02e-01f 1 - 88 8.9434100e+01 1.16e+01 3.65e+00 -3.8 2.31e-01 -1.1 6.04e-01 6.25e-01h 1 - 89 8.9155644e+01 1.11e+02 3.40e+00 -3.8 1.05e+00 -1.6 1.41e-01 1.66e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 90 8.8842603e+01 1.06e+02 3.22e+01 -3.8 4.11e-01 -1.2 8.93e-03 3.87e-01h 1 - 91 8.8733680e+01 6.98e+01 1.72e+01 -3.8 1.86e-01 -0.7 5.14e-01 3.43e-01h 1 - 92 8.8663926e+01 3.24e+01 6.69e+00 -3.8 1.37e-01 -0.3 7.06e-01 5.45e-01h 1 - 93 8.8619551e+01 4.62e+00 9.87e+00 -3.8 7.02e-02 0.1 2.35e-01 9.85e-01h 1 - 94 8.8596214e+01 3.58e+01 7.88e+00 -3.8 5.31e-01 -0.4 2.23e-01 2.02e-01f 1 - 95 8.8547814e+01 1.54e+01 9.27e-01 -3.8 5.28e-02 0.1 1.00e+00 1.00e+00h 1 - 96 8.8461794e+01 3.52e+00 7.40e-01 -3.8 5.65e-02 -0.4 7.11e-01 8.89e-01h 1 - 97 8.8351380e+01 4.18e+00 5.28e+00 -3.8 1.20e-01 -0.9 1.00e+00 4.77e-01f 1 - 98 8.8275626e+01 3.24e-01 2.11e+00 -3.8 3.98e-02 -0.5 6.70e-01 1.00e+00h 1 - 99 8.8141363e+01 1.03e+00 1.02e+00 -3.8 1.08e-01 -0.9 8.82e-01 7.11e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 100 8.7926179e+01 4.77e+00 7.91e-01 -3.8 3.08e-01 -1.4 4.57e-01 5.25e-01h 1 - 101 8.7813074e+01 3.27e+00 5.31e-01 -3.8 8.94e-02 -1.0 8.88e-01 8.32e-01h 1 - 102 8.7744946e+01 3.64e+00 2.34e+00 -3.8 2.45e-01 -1.5 1.00e+00 2.24e-01h 1 - 103 8.7728646e+01 8.74e+01 2.30e+00 -3.8 5.84e+00 -1.9 4.89e-02 2.73e-02h 1 - 104 8.7686078e+01 7.49e+00 1.44e+00 -3.8 1.10e-01 -0.6 3.93e-01 1.00e+00h 1 - 105 8.7644607e+01 5.01e+00 1.70e+00 -3.8 1.68e-01 -1.1 1.00e+00 3.80e-01h 1 - 106 8.7640473e+01 2.03e-01 2.48e+01 -3.8 2.85e-02 0.2 1.25e-01 1.00e+00h 1 - 107 8.7624623e+01 1.11e-01 7.41e+00 -3.8 1.44e-02 -0.2 2.93e-01 1.00e+00h 1 - 108 8.7581001e+01 8.28e-01 1.29e+00 -3.8 5.49e-02 -0.7 6.28e-01 1.00e+00h 1 - 109 8.7565523e+01 1.96e-01 2.45e-01 -3.8 2.20e-02 -0.3 1.00e+00 1.00e+00h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 110 8.7534542e+01 7.30e-01 1.26e+00 -3.8 1.42e-01 -0.8 6.14e-01 6.80e-01h 1 - 111 8.7527880e+01 7.41e-01 1.19e+00 -3.8 5.53e-01 -1.2 1.65e-01 5.51e-02h 1 - 112 8.7483862e+01 2.29e+00 4.62e+00 -3.8 1.61e-01 -0.8 3.16e-01 1.00e+00f 1 - 113 8.7468861e+01 6.80e-01 2.96e+00 -3.8 2.60e-02 -0.4 4.09e-01 1.00e+00h 1 - 114 8.7462873e+01 1.06e-01 1.19e-01 -3.8 1.07e-02 0.0 1.00e+00 1.00e+00h 1 - 115 8.7444238e+01 9.32e-01 2.71e-01 -3.8 4.56e-02 -0.4 1.00e+00 1.00e+00h 1 - 116 8.7425833e+01 3.47e+00 1.05e+00 -3.8 2.38e-01 -0.9 1.80e-01 3.58e-01h 1 - 117 8.7408773e+01 4.30e+00 2.20e+01 -3.8 7.14e-02 -0.5 1.00e+00 1.00e+00f 1 - 118 8.7351058e+01 1.52e+02 1.07e+01 -3.8 1.34e-01 -1.0 3.50e-01 1.00e+00h 1 - 119 8.7331634e+01 1.15e+01 7.23e+00 -3.8 1.06e-01 -0.5 4.80e-01 1.00e+00h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 120 8.7331950e+01 5.45e-02 4.07e+01 -3.8 9.44e-03 0.8 3.69e-01 1.00e+00h 1 - 121 8.7329380e+01 2.36e-02 4.85e-01 -3.8 5.43e-03 0.3 1.00e+00 1.00e+00h 1 - 122 8.7321532e+01 1.49e-01 1.44e-02 -3.8 1.79e-02 -0.2 1.00e+00 1.00e+00h 1 - 123 8.7299564e+01 8.64e-01 9.62e-01 -3.8 5.29e-02 -0.6 6.93e-01 1.00e+00h 1 - 124 8.7289426e+01 9.22e-01 1.40e+00 -3.8 1.55e-01 -1.1 6.81e-01 1.77e-01h 1 - 125 8.7269191e+01 1.08e+00 4.90e+00 -3.8 5.17e-02 -0.7 3.31e-01 1.00e+00f 1 - 126 8.7212815e+01 1.02e+01 2.89e+00 -3.8 1.34e-01 -1.2 4.52e-01 1.00e+00h 1 - 127 8.7197493e+01 5.83e+00 1.40e+00 -3.8 1.24e-01 -0.7 7.51e-01 6.87e-01h 1 - 128 8.7184921e+01 1.04e+01 1.15e+00 -3.8 1.52e-01 -1.2 4.15e-01 2.15e-01h 1 - 129 8.7163889e+01 1.50e+00 9.60e-01 -3.8 5.83e-02 -0.8 1.00e+00 1.00e+00f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 130 8.7154837e+01 2.64e+00 5.81e-02 -3.8 2.08e-02 -0.4 8.57e-01 1.00e+00h 1 - 131 8.7151206e+01 6.79e-01 1.07e-02 -3.8 7.20e-03 0.1 1.00e+00 1.00e+00h 1 - 132 8.7140389e+01 5.99e+00 3.61e-02 -3.8 2.46e-02 -0.4 1.00e+00 1.00e+00h 1 - 133 8.7129690e+01 8.24e+00 2.41e+00 -3.8 1.03e+00 -0.9 1.66e-01 1.76e-01h 1 - 134 8.7107516e+01 1.23e+01 1.73e+00 -3.8 2.05e-01 -1.4 2.80e-01 2.73e-01h 1 - 135 8.7080137e+01 4.64e+00 3.67e+00 -3.8 8.48e-02 -1.0 2.06e-01 1.00e+00h 1 - 136 8.7074884e+01 2.20e+00 2.10e+00 -3.8 2.23e-02 -0.5 1.00e+00 5.44e-01h 1 - 137 8.7060552e+01 9.47e-01 4.99e+00 -3.8 1.09e-01 -1.0 1.70e-01 5.77e-01f 1 - 138 8.7028410e+01 6.05e-01 4.63e+00 -3.8 1.57e-01 -1.5 1.74e-01 5.54e-01f 1 - 139 8.6935718e+01 3.22e+00 8.69e-01 -3.8 3.62e-01 -2.0 6.52e-01 7.48e-01f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 140 8.6931899e+01 2.58e-02 8.42e-02 -3.8 4.26e-02 -0.6 9.96e-01 1.00e+00h 1 - 141 8.6929381e+01 3.61e-03 1.46e-02 -3.8 8.59e-03 -0.2 1.00e+00 1.00e+00h 1 - 142 8.6921735e+01 7.22e-02 1.11e-01 -3.8 3.63e-02 -0.7 1.00e+00 1.00e+00h 1 - 143 8.6919393e+01 2.60e-03 4.61e-01 -3.8 7.30e-03 -0.3 6.20e-01 1.00e+00h 1 - 144 8.6915468e+01 4.53e-02 4.70e-01 -3.8 9.98e-02 -0.7 6.87e-01 4.20e-01h 1 - 145 8.6895546e+01 2.13e-01 7.10e+00 -3.8 2.24e-01 -1.2 1.37e-01 1.00e+00f 1 - 146 8.6865761e+01 5.97e-01 2.51e+00 -3.8 1.61e-01 -1.7 5.58e-01 6.35e-01h 1 - 147 8.6854448e+01 3.18e-01 8.10e+00 -3.8 8.32e-02 -1.3 4.50e-02 6.39e-01f 1 - 148 8.6847581e+01 5.62e-02 3.61e+00 -3.8 3.17e-02 -0.8 1.30e-01 1.00e+00f 1 - 149 8.6844476e+01 8.86e-03 3.92e-01 -3.8 1.88e-02 -0.4 1.00e+00 1.00e+00h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 150 8.6841783e+01 1.83e-01 2.40e+00 -3.8 1.02e+00 -0.9 6.58e-02 9.48e-02h 1 - 151 8.6821577e+01 5.55e-01 1.26e+00 -3.8 1.71e-01 -1.4 3.49e-01 1.00e+00f 1 - 152 8.6814686e+01 5.44e-02 2.36e-01 -3.8 4.26e-02 -0.9 8.97e-01 1.00e+00h 1 - 153 8.6795556e+01 6.04e-01 1.03e-01 -3.8 9.96e-02 -1.4 7.89e-01 1.00e+00h 1 - 154 8.6788650e+01 1.28e-01 7.26e-01 -3.8 4.00e-02 -1.0 1.00e+00 1.00e+00h 1 - 155 8.6772676e+01 4.22e-01 4.86e-01 -3.8 1.40e-01 -1.5 1.00e+00 1.00e+00h 1 - 156 8.6768531e+01 5.04e-01 2.29e-01 -3.8 5.00e-01 -1.0 4.57e-01 2.48e-01h 1 - 157 8.6754066e+01 3.39e-01 4.60e-01 -3.8 1.60e-01 -1.5 4.34e-01 1.00e+00f 1 - 158 8.6718864e+01 2.69e+00 2.08e-01 -3.8 2.06e-01 -2.0 5.55e-01 1.00e+00h 1 - 159 8.6664220e+01 1.32e+01 6.25e-01 -3.8 4.47e-01 -2.5 6.01e-01 1.00e+00h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 160 8.6653166e+01 9.16e+00 5.35e-02 -3.8 1.52e-01 -2.0 7.72e-01 1.00e+00h 1 - 161 8.6648756e+01 5.71e-01 4.98e-03 -3.8 5.51e-02 -1.6 1.00e+00 1.00e+00h 1 - 162 8.6646558e+01 5.46e-01 6.79e-02 -3.8 9.85e-01 -2.1 1.57e-01 1.67e-01h 1 - 163 8.6624374e+01 5.86e+01 3.16e-02 -3.8 6.76e-01 -2.6 8.28e-01 8.60e-01f 1 - 164 8.6623171e+01 3.93e+01 4.40e-01 -3.8 2.36e-01 -1.2 5.50e-01 3.32e-01h 1 - 165 8.6620082e+01 1.53e+00 6.03e-01 -3.8 1.25e-01 -1.7 8.89e-01 1.00e+00h 1 - 166 8.6619439e+01 1.52e+00 6.19e-01 -3.8 1.02e+02 - 7.45e-03 3.82e-03h 2 - 167 8.6610196e+01 2.85e+00 9.48e-02 -3.8 2.39e-01 -2.2 1.00e+00 1.00e+00h 1 - 168 8.6604732e+01 3.03e+00 3.72e-01 -3.8 8.64e-01 -2.7 4.83e-01 3.52e-01h 1 - 169 8.6603806e+01 9.75e-02 4.65e-03 -3.8 4.04e-02 -1.3 1.00e+00 1.00e+00h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 170 8.6601528e+01 3.61e-01 4.22e-03 -3.8 7.17e-02 -1.8 1.00e+00 1.00e+00h 1 - 171 8.6596321e+01 3.99e+00 1.52e-02 -3.8 1.74e-01 -2.3 1.00e+00 9.32e-01h 1 - 172 8.6590842e+01 2.53e+01 1.00e-02 -3.8 7.59e-01 -2.8 5.29e-01 5.40e-01f 1 - 173 8.6590112e+01 2.46e+01 1.07e-02 -3.8 8.87e+00 - 1.60e-02 2.56e-02h 1 - 174 8.6590110e+01 2.46e+01 1.07e-02 -3.8 5.14e+02 - 2.99e-06 3.87e-06h 2 - 175 8.6590094e+01 2.46e+01 7.33e+00 -3.8 3.36e+01 -1.4 2.32e-02 4.29e-04h 1 - 176 8.6584695e+01 2.01e+01 5.93e+00 -3.8 4.41e+00 - 1.91e-01 1.92e-01f 1 - 177 8.6583304e+01 7.07e-01 6.30e-01 -3.8 2.73e-01 -1.9 9.04e-01 1.00e+00h 1 - 178 8.6580498e+01 6.31e-01 5.19e-01 -3.8 3.80e+00 - 1.76e-01 1.78e-01h 1 - 179 8.6575266e+01 3.03e+00 3.31e-01 -3.8 2.99e+00 - 5.45e-01 5.18e-01f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 180 8.6575383e+01 5.03e+01 2.76e-01 -3.8 9.65e+00 - 1.42e-01 4.89e-02h 2 - 181 8.6574365e+01 4.10e+00 4.71e-02 -3.8 1.38e-01 -2.4 1.00e+00 9.97e-01h 1 - 182 8.6573544e+01 1.92e+01 1.76e-01 -3.8 1.26e+00 - 3.05e-01 3.39e-01f 1 - 183 8.6573527e+01 7.05e+01 7.03e-01 -3.8 1.22e+01 -2.9 1.57e-01 5.67e-02h 2 - 184 8.6572677e+01 4.68e+01 7.78e-01 -3.8 5.40e-01 -2.5 1.00e+00 3.36e-01h 1 - 185 8.6571385e+01 1.87e+01 2.66e-01 -3.8 6.45e-01 - 6.58e-01 6.57e-01h 1 - 186 8.6571421e+01 5.82e-01 3.32e-03 -3.8 1.02e-01 -2.0 1.00e+00 1.00e+00h 1 - 187 8.6571327e+01 1.74e-01 4.77e-03 -3.8 5.71e-02 -2.5 1.00e+00 1.00e+00h 1 - 188 8.6571106e+01 1.33e-02 4.59e-01 -3.8 1.51e-01 -3.0 7.03e-01 1.00e+00H 1 - 189 8.6570891e+01 1.28e-01 6.28e-01 -3.8 2.75e+00 - 3.96e-01 2.03e-01h 2 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 190 8.6570703e+01 1.32e-01 6.28e-01 -3.8 5.14e+00 - 1.71e-01 8.07e-02h 2 - 191 8.6570461e+01 1.93e-01 6.30e-03 -3.8 3.74e-01 -3.5 1.00e+00 1.00e+00h 1 - 192 8.6570042e+01 2.61e-01 9.76e-02 -3.8 1.89e+00 - 1.00e+00 1.00e+00H 1 - 193 8.6569989e+01 2.03e-01 6.34e-01 -3.8 1.78e+00 - 1.00e+00 2.24e-01h 3 - 194 8.6569978e+01 5.01e-03 7.45e-03 -3.8 2.49e-01 - 1.00e+00 1.00e+00h 1 - 195 8.6569941e+01 7.15e-03 2.09e-03 -3.8 2.73e-01 - 1.00e+00 1.00e+00h 1 - 196 8.6569944e+01 4.32e-05 7.02e-06 -3.8 2.40e-02 - 1.00e+00 1.00e+00h 1 - 197 8.6549442e+01 3.81e-01 1.63e+00 -5.7 2.67e+00 - 4.97e-01 9.90e-02f 1 - 198 8.6549122e+01 3.80e-01 2.25e+01 -5.7 2.07e+00 -2.1 8.63e-03 2.03e-03h 1 - 199 8.6537749e+01 3.47e-01 7.18e+01 -5.7 2.80e-01 -1.7 2.15e-01 9.48e-02f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 200 8.6502825e+01 1.65e+00 8.45e+02 -5.7 8.78e-01 -2.2 3.59e-02 2.70e-01f 1 - 201 8.6502784e+01 1.65e+00 8.46e+02 -5.7 4.46e-01 -2.7 3.30e-02 3.39e-04h 1 - 202 8.6501270e+01 4.05e+00 9.07e+02 -5.7 3.00e+01 -2.2 1.62e-04 9.59e-03f 1 - 203 8.6501261e+01 4.05e+00 9.13e+02 -5.7 1.48e+00 -2.7 5.35e-02 7.01e-05h 1 - 204 8.6497905e+01 4.08e+00 1.31e+03 -5.7 3.10e+00 -2.3 5.99e-02 3.37e-02f 1 - 205 8.6497164e+01 4.05e+00 1.30e+03 -5.7 1.98e+00 -2.8 6.39e-03 6.34e-03f 1 - 206 8.6496332e+01 4.02e+00 6.81e+03 -5.7 1.03e+00 -2.3 1.30e-01 9.27e-03f 1 - 207 8.6496359e+01 4.02e+00 2.27e+04 -5.7 5.65e+01 -1.0 8.58e-04 2.30e-05h 5 - 208r 8.6496359e+01 4.02e+00 1.00e+03 -1.9 0.00e+00 -0.6 0.00e+00 3.30e-07R 6 - 209r 8.6510762e+01 1.39e+00 9.99e+02 -1.9 3.84e+02 - 1.09e-03 9.49e-04f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 210r 8.6534373e+01 1.64e+00 9.95e+02 -1.9 5.67e+01 - 3.45e-03 1.79e-03f 1 - 211r 8.6587614e+01 3.40e+00 9.91e+02 -1.9 4.89e+01 - 4.64e-03 3.82e-03f 1 - 212r 8.6779133e+01 1.20e+02 9.68e+02 -1.9 4.11e+01 - 2.20e-02 1.10e-02f 1 - 213r 8.7303422e+01 1.20e+02 9.32e+02 -1.9 6.75e+00 -2.0 3.73e-02 3.78e-02f 1 - 214r 8.8396264e+01 1.16e+02 8.18e+02 -1.9 2.89e+00 -1.6 1.22e-01 9.94e-02f 1 - 215r 9.0927079e+01 8.19e+01 4.99e+02 -1.9 1.05e+00 -1.1 4.04e-01 3.79e-01f 1 - 216r 9.1123705e+01 7.47e+01 4.98e+02 -1.9 3.44e-01 -0.7 2.04e-02 8.89e-02f 1 - 217r 9.4842875e+01 8.62e+01 4.83e+02 -1.9 8.27e-01 -1.2 5.10e-01 1.00e+00f 1 - 218r 9.4933658e+01 3.75e+01 1.25e+02 -1.9 1.12e-01 1.9 1.00e+00 5.78e-01h 1 - 219r 9.5006290e+01 1.27e+00 8.67e+01 -1.9 4.67e-02 1.5 5.87e-01 1.00e+00h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 220r 9.5018312e+01 4.21e-02 4.45e+01 -1.9 3.12e-02 1.0 8.00e-01 1.00e+00h 1 - 221 9.4574431e+01 2.91e+00 2.54e-01 -5.7 2.27e-01 - 7.72e-01 1.00e+00F 1 - 222 9.4441882e+01 2.55e+00 2.23e-01 -5.7 4.49e-01 - 1.66e-01 9.81e-02f 1 - 223 9.4368277e+01 2.38e+00 2.71e+01 -5.7 4.99e-01 - 4.93e-01 4.87e-02f 3 - 224 9.4300978e+01 2.30e+00 4.56e+01 -5.7 5.50e-01 - 2.53e-01 2.78e-02f 4 - 225 9.4232031e+01 2.24e+00 6.56e+01 -5.7 5.67e-01 - 4.06e-01 2.39e-02f 5 - 226 9.4153489e+01 2.19e+00 7.09e+01 -5.7 5.77e-01 - 4.02e-01 2.03e-02f 5 - 227 9.4118370e+01 2.17e+00 7.40e+01 -5.7 5.96e-01 - 2.52e-01 7.11e-03f 6 - 228 9.3329902e+01 2.52e+00 6.40e+01 -5.7 7.12e-01 - 2.15e-01 1.44e-01f 1 - 229 9.3173884e+01 2.55e+00 6.36e+01 -5.7 6.98e+00 - 2.85e-02 2.78e-02f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 230 9.2539619e+01 3.66e+00 1.82e+05 -5.7 3.96e-01 -1.1 8.82e-05 2.00e-01f 1 - 231 9.2540037e+01 3.53e+00 1.75e+05 -5.7 1.15e-02 4.8 4.72e-05 3.58e-02h 1 - 232 9.2540068e+01 3.51e+00 1.75e+05 -5.7 1.02e-01 4.3 9.35e-03 4.30e-03h 1 - 233 9.2540382e+01 3.41e+00 1.70e+05 -5.7 1.34e-02 3.8 2.68e-02 2.93e-02h 1 - 234 9.2540547e+01 3.39e+00 1.69e+05 -5.7 1.05e-01 3.4 1.52e-04 5.16e-03h 1 - 235 9.2542640e+01 2.74e+00 1.36e+05 -5.7 1.01e-02 3.8 6.14e-02 1.93e-01h 1 - 236 9.2543891e+01 2.33e+00 1.16e+05 -5.7 8.22e-03 3.3 2.64e-01 1.48e-01h 1 - 237 9.2544718e+01 2.03e+00 1.01e+05 -5.7 6.29e-03 2.8 5.20e-01 1.28e-01h 1 - 238 9.2544891e+01 2.01e+00 1.00e+05 -5.7 7.70e-02 2.4 2.76e-02 9.60e-03h 1 - 239 9.2546509e+01 1.35e+00 6.70e+04 -5.7 6.37e-03 2.8 8.43e-01 3.32e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 240 9.2546437e+01 7.32e-01 3.64e+04 -5.7 3.70e-03 2.3 9.93e-01 4.57e-01h 1 - 241 9.2537404e+01 1.19e-01 5.88e+03 -5.7 2.61e-03 1.8 2.58e-02 8.38e-01h 1 - 242 9.2520402e+01 6.42e-02 3.10e+03 -5.7 4.78e-03 1.3 6.32e-03 4.72e-01f 1 - 243 9.2508233e+01 5.75e-02 2.75e+03 -5.7 1.40e-02 0.9 1.37e-03 1.15e-01f 1 - 244 9.2474151e+01 5.55e-02 2.44e+03 -5.7 3.97e-02 0.4 2.03e-02 1.10e-01f 1 - 245 9.2390686e+01 6.44e-01 2.21e+03 -5.7 2.03e-01 -0.1 1.10e-01 9.43e-02f 1 - 246 9.2351827e+01 5.78e-01 1.96e+03 -5.7 4.29e-02 0.3 4.74e-01 1.16e-01f 1 - 247 9.2294060e+01 3.29e-01 1.07e+03 -5.7 1.67e-02 0.8 2.69e-01 4.51e-01f 1 - 248 9.2256676e+01 3.03e-01 9.67e+02 -5.7 4.61e-02 0.3 1.80e-01 1.00e-01f 1 - 249 9.2193893e+01 1.83e-01 5.38e+02 -5.7 1.80e-02 0.7 2.00e-01 4.44e-01f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 250 9.2126450e+01 1.74e-01 4.50e+02 -5.7 4.97e-02 0.2 1.43e-01 1.64e-01f 1 - 251 9.2093433e+01 1.41e-01 3.54e+02 -5.7 1.94e-02 0.7 2.45e-01 2.12e-01f 1 - 252 9.2074832e+01 9.70e-02 2.41e+02 -5.7 7.38e-03 1.1 4.70e-01 3.19e-01f 1 - 253 9.2053760e+01 3.59e-03 9.12e-02 -5.7 2.76e-03 1.5 9.65e-01 1.00e+00f 1 - 254 9.1992219e+01 2.65e-02 2.09e-01 -5.7 8.16e-03 1.0 1.00e+00 9.64e-01f 1 - 255 9.1821054e+01 2.00e-01 1.60e-01 -5.7 2.32e-02 0.6 1.00e+00 9.16e-01f 1 - 256 9.1592324e+01 4.46e-01 2.60e-01 -5.7 6.06e-02 0.1 2.84e-01 4.33e-01f 1 - 257 9.1306829e+01 7.61e-01 2.38e+00 -5.7 1.43e-01 -0.4 7.60e-01 2.02e-01f 1 - 258 9.1223785e+01 7.63e-01 3.15e+00 -5.7 3.08e-01 -0.9 2.95e-01 2.46e-02f 1 - 259 9.1191581e+01 7.51e-01 2.56e+00 -5.7 1.47e-01 -0.4 3.75e-01 2.24e-02h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 260 9.1005762e+01 8.20e-01 3.03e+00 -5.7 2.82e-01 -0.9 2.56e-01 5.29e-02f 1 - 261 9.0777324e+01 9.92e-01 2.50e+00 -5.7 1.55e-01 -0.5 1.98e-01 1.55e-01f 1 - 262 9.0707585e+01 9.06e-01 2.78e+00 -5.7 7.00e-02 -0.1 1.00e+00 1.21e-01h 1 - 263 9.0602431e+01 9.10e-01 2.80e+00 -5.7 1.57e-01 -0.5 2.89e-01 6.92e-02h 1 - 264 9.0523488e+01 8.37e-01 2.63e+00 -5.7 7.43e-02 -0.1 1.00e+00 1.32e-01h 1 - 265 9.0318939e+01 1.01e+00 2.45e+00 -5.7 1.61e-01 -0.6 4.23e-01 1.31e-01f 1 - 266 9.0287913e+01 9.68e-01 4.42e+00 -5.7 7.64e-02 -0.2 1.00e+00 5.13e-02h 1 - 267 9.0038911e+01 1.32e+00 4.53e+00 -5.7 1.62e-01 -0.6 6.52e-01 1.57e-01f 1 - 268 9.0005904e+01 1.26e+00 4.84e+00 -5.7 7.81e-02 -0.2 1.00e+00 5.44e-02h 1 - 269 8.9783059e+01 1.59e+00 2.55e+00 -5.7 1.64e-01 -0.7 5.76e-01 1.43e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 270 8.9752352e+01 1.52e+00 2.07e+00 -5.7 8.03e-02 -0.3 1.00e+00 5.15e-02h 1 - 271 8.9536873e+01 1.86e+00 3.11e+00 -5.7 1.67e-01 -0.7 5.65e-01 1.41e-01h 1 - 272 8.9451999e+01 1.70e+00 5.56e+00 -5.7 8.26e-02 -0.3 1.00e+00 1.45e-01h 1 - 273 8.9241739e+01 2.03e+00 5.83e+00 -5.7 1.77e-01 -0.8 2.81e-01 1.41e-01h 1 - 274 8.9197897e+01 1.91e+00 1.23e+01 -5.7 8.19e-02 -0.4 1.00e+00 7.67e-02h 1 - 275 8.9084884e+01 1.90e+00 1.28e+01 -5.7 1.83e-01 -0.8 3.47e-01 7.72e-02h 1 - 276 8.9037720e+01 1.77e+00 1.28e+01 -5.7 8.44e-02 -0.4 3.36e-01 8.12e-02h 1 - 277 8.8860936e+01 1.79e+00 1.43e+01 -5.7 1.85e-01 -0.9 5.74e-01 1.19e-01h 1 - 278 8.8829697e+01 1.72e+00 1.88e+01 -5.7 8.11e-02 -0.5 1.00e+00 5.43e-02h 1 - 279 8.8642233e+01 2.20e+00 2.64e+01 -5.7 1.86e-01 -1.0 6.76e-01 1.28e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 280 8.8532006e+01 2.13e+00 2.71e+01 -5.7 7.44e-02 -0.5 9.35e-01 1.93e-01h 1 - 281 8.8398334e+01 2.35e+00 3.40e+01 -5.7 1.80e-01 -1.0 5.52e-01 9.40e-02h 1 - 282 8.8189424e+01 2.73e+00 3.52e+01 -5.7 4.35e-01 -1.5 2.12e-01 6.90e-02f 1 - 283 8.8085489e+01 2.76e+00 3.41e+01 -5.7 1.79e-01 -1.1 2.08e-01 7.94e-02h 1 - 284 8.7992581e+01 2.74e+00 3.69e+01 -5.7 4.46e-01 -1.5 1.75e-01 3.31e-02h 1 - 285 8.7884935e+01 2.71e+00 3.86e+01 -5.7 1.87e-01 -1.1 3.53e-01 8.72e-02h 1 - 286 8.7722859e+01 2.67e+00 3.79e+01 -5.7 4.73e-01 -1.6 1.25e-01 6.41e-02h 1 - 287 8.7669208e+01 2.57e+00 4.25e+01 -5.7 1.97e-01 -1.2 3.18e-01 5.05e-02h 1 - 288 8.7558940e+01 2.50e+00 4.23e+01 -5.7 4.80e-01 -1.6 1.42e-01 5.34e-02h 1 - 289 8.7501212e+01 2.38e+00 4.44e+01 -5.7 1.99e-01 -1.2 3.01e-01 6.72e-02h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 290 8.7427209e+01 2.30e+00 4.51e+01 -5.7 5.21e-01 -1.7 1.52e-01 4.34e-02h 1 - 291 8.7338793e+01 2.12e+00 4.16e+01 -5.7 2.09e-01 -1.3 2.00e-01 1.21e-01h 1 - 292 8.7262447e+01 2.15e+00 4.02e+01 -5.7 5.15e-01 -1.7 7.77e-02 5.36e-02h 1 - 293 8.7222828e+01 2.13e+00 5.61e+01 -5.7 2.15e-01 -1.3 4.72e-01 6.39e-02h 1 - 294 8.7182565e+01 2.12e+00 5.57e+01 -5.7 5.17e-01 -1.8 1.38e-01 3.31e-02h 1 - 295 8.7148222e+01 2.02e+00 5.89e+01 -5.7 2.17e-01 -1.4 3.45e-01 6.44e-02h 1 - 296 8.7046904e+01 1.92e+00 5.37e+01 -5.7 5.57e-01 -1.8 1.46e-01 9.61e-02h 1 - 297 8.7019153e+01 1.81e+00 5.69e+01 -5.7 2.24e-01 -1.4 3.06e-01 6.50e-02h 1 - 298 8.6944208e+01 1.73e+00 5.30e+01 -5.7 5.95e-01 -1.9 1.69e-01 8.60e-02h 1 - 299 8.6917817e+01 1.62e+00 5.94e+01 -5.7 2.45e-01 -1.5 4.03e-01 7.40e-02h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 300 8.6858168e+01 1.56e+00 6.37e+01 -5.7 6.50e-01 -1.9 3.82e-01 8.08e-02h 1 - 301 8.6824520e+01 1.42e+00 7.40e+01 -5.7 2.65e-01 -1.5 6.73e-01 1.12e-01h 1 - 302 8.6768326e+01 1.40e+00 6.69e+01 -5.7 6.63e-01 -2.0 3.29e-01 9.51e-02h 1 - 303 8.6716283e+01 1.98e+00 6.31e+01 -5.7 1.52e+00 -2.5 3.83e-02 5.35e-02h 1 - 304 8.6703081e+01 1.95e+00 6.12e+01 -5.7 6.99e-01 -2.0 2.74e-02 2.88e-02h 1 - 305 8.6677333e+01 1.98e+00 5.96e+01 -5.7 1.59e+00 -2.5 4.21e-02 3.11e-02h 1 - 306 8.6660582e+01 1.94e+00 5.82e+01 -5.7 7.29e-01 -2.1 7.27e-02 4.02e-02h 1 - 307 8.6637289e+01 1.98e+00 5.90e+01 -5.7 1.64e+00 -2.6 1.42e-01 3.24e-02h 1 - 308 8.6627987e+01 1.94e+00 6.21e+01 -5.7 7.62e-01 -2.1 2.03e-01 2.83e-02h 1 - 309 8.6592162e+01 2.07e+00 5.86e+01 -5.7 1.67e+00 -2.6 1.01e-01 6.31e-02h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 310 8.6578375e+01 1.99e+00 5.80e+01 -5.7 7.37e-01 -2.2 1.70e-01 5.24e-02h 1 - 311 8.6550705e+01 1.93e+00 5.40e+01 -5.7 1.29e+00 -2.7 2.83e-02 6.49e-02h 1 - 312 8.6541158e+01 1.87e+00 6.01e+01 -5.7 6.24e-01 -2.2 4.60e-01 4.70e-02h 1 - 313 8.6520135e+01 1.93e+00 5.61e+01 -5.7 1.10e+00 -2.7 4.94e-02 6.85e-02h 1 - 314 8.6509616e+01 1.85e+00 5.27e+01 -5.7 6.12e-01 -2.3 1.30e-01 6.85e-02h 1 - 315 8.6498636e+01 1.61e+00 4.80e+01 -5.7 2.98e-01 -1.9 3.34e-01 1.56e-01h 1 - 316 8.6486589e+01 1.56e+00 4.61e+01 -5.7 6.68e-01 -2.3 1.73e-01 9.79e-02h 1 - 317 8.6478612e+01 1.38e+00 5.30e+01 -5.7 2.98e-01 -1.9 4.72e-01 1.46e-01h 1 - 318 8.6474399e+01 1.13e+00 6.96e+01 -5.7 1.28e-01 -1.5 9.78e-01 1.85e-01h 1 - 319 8.6463924e+01 9.78e-01 5.48e+01 -5.7 3.07e-01 -2.0 3.00e-01 2.27e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 320 8.6458002e+01 6.96e-01 5.22e+01 -5.7 1.30e-01 -1.5 7.29e-01 3.14e-01h 1 - 321 8.6457949e+01 6.78e-01 5.11e+01 -5.7 2.28e-02 -0.2 4.08e-02 2.53e-02h 1 - 322 8.6455658e+01 2.67e-01 1.73e+01 -5.7 3.68e-02 -0.7 3.04e-02 6.08e-01f 1 - 323 8.6452453e+01 1.60e-01 9.79e+00 -5.7 5.82e-02 -1.2 5.36e-01 4.35e-01h 1 - 324 8.6449938e+01 1.45e-01 2.09e+01 -5.7 1.51e-01 -1.7 3.19e-01 1.43e-01h 1 - 325 8.6444208e+01 1.90e-01 3.04e+01 -5.7 3.52e-01 -2.1 2.73e-01 1.45e-01h 1 - 326 8.6435402e+01 3.95e-01 3.24e+01 -5.7 7.10e-01 -2.6 1.95e-01 1.13e-01h 1 - 327 8.6429445e+01 5.08e-01 3.40e+01 -5.7 1.21e+00 -3.1 1.08e-01 4.70e-02h 1 - 328 8.6419762e+01 1.11e+00 3.25e+01 -5.7 2.45e+00 -3.6 6.62e-02 5.65e-02h 1 - 329 8.6414435e+01 1.28e+00 3.49e+01 -5.7 1.14e+00 -3.1 1.67e-01 5.68e-02h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 330 8.6412343e+01 1.05e+00 2.47e+01 -5.7 1.61e-01 -1.8 6.68e-02 1.91e-01h 1 - 331 8.6410190e+01 9.75e-01 2.37e+01 -5.7 3.15e-01 -2.3 1.50e-01 9.63e-02h 1 - 332 8.6401940e+01 1.47e+00 1.80e+01 -5.7 6.64e-01 -2.8 1.46e-01 1.96e-01h 1 - 333 8.6397599e+01 1.68e+00 1.73e+01 -5.7 1.11e+00 -3.2 9.70e-02 6.76e-02h 1 - 334 8.6397572e+01 1.60e+00 1.62e+01 -5.7 9.94e-02 -1.0 2.22e-02 4.25e-02h 1 - 335 8.6397190e+01 1.47e+00 1.36e+01 -5.7 1.60e-01 -1.5 5.65e-03 8.57e-02h 1 - 336 8.6397001e+01 1.44e+00 1.33e+01 -5.7 1.67e-01 -2.0 1.95e-02 2.12e-02f 1 - 337 8.6394736e+01 1.32e+00 1.11e+01 -5.7 3.53e-01 -2.4 7.51e-02 1.21e-01f 1 - 338 8.6389618e+01 1.58e+00 9.54e+00 -5.7 7.12e-01 -2.9 1.53e-01 1.46e-01h 1 - 339 8.6385576e+01 1.83e+00 8.71e+00 -5.7 1.12e+00 -3.4 7.12e-02 7.89e-02h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 340 8.6381504e+01 1.90e+00 7.81e+00 -5.7 6.81e-01 -3.0 2.06e-01 1.57e-01h 1 - 341 8.6379564e+01 1.92e+00 7.65e+00 -5.7 1.06e+00 -3.4 9.77e-02 5.71e-02h 1 - 342 8.6376058e+01 2.11e+00 8.54e+00 -5.7 6.44e-01 -3.0 5.13e-01 1.74e-01f 1 - 343 8.6374371e+01 1.86e+00 7.42e+00 -5.7 3.19e-01 -2.6 3.29e-01 1.88e-01h 1 - 344 8.6373295e+01 1.38e+00 4.50e+00 -5.7 4.02e-01 -2.2 4.29e-02 2.87e-01h 1 - 345 8.6373194e+01 1.27e+00 4.11e+00 -5.7 1.27e-01 -1.7 4.63e-02 7.88e-02h 1 - 346 8.6373181e+01 1.27e+00 1.49e+02 -5.7 1.02e+00 -2.2 1.20e-01 1.90e-03h 1 - 347 8.6373060e+01 1.25e+00 1.95e+02 -5.7 3.51e+00 -1.8 2.03e-02 1.59e-02h 1 - 348 8.6370819e+01 8.54e-01 6.40e+01 -5.7 7.24e-01 -2.3 2.74e-01 5.47e-01f 1 - 349 8.6370790e+01 8.37e-01 4.69e+01 -5.7 8.33e+00 -1.8 1.76e-02 2.04e-02h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 350 8.6370781e+01 8.24e-01 2.29e+02 -5.7 1.30e+00 -0.5 7.41e-03 1.59e-02f 1 - 351 8.6370779e+01 8.23e-01 2.94e+03 -5.7 2.42e+00 1.7 1.01e-03 1.27e-04h 1 - 352 8.6370778e+01 8.23e-01 9.39e+02 -5.7 5.92e+00 2.1 2.05e-04 2.09e-05h 1 - 353 8.6370769e+01 8.23e-01 1.98e+04 -5.7 5.77e+00 2.6 1.88e-08 1.41e-04f 1 - 354 8.6370793e+01 8.23e-01 4.45e+04 -5.7 4.64e+00 2.1 4.65e-05 7.19e-04h 1 - 355 8.6370803e+01 8.22e-01 5.15e+04 -5.7 3.29e+00 1.6 3.24e-05 6.76e-04h 1 - 356 8.6370793e+01 8.17e-01 5.12e+04 -5.7 2.53e-01 1.1 6.51e-04 5.79e-03h 1 - 357 8.6370782e+01 8.15e-01 5.10e+04 -5.7 8.96e-01 0.7 4.43e-03 3.46e-03f 1 - 358 8.6370787e+01 8.13e-01 5.10e+04 -5.7 2.36e+00 0.2 2.39e-03 1.78e-03h 1 - 359 8.6370804e+01 8.11e-01 5.07e+04 -5.7 5.47e+00 -0.3 2.21e-03 3.04e-03h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 360 8.6370846e+01 8.09e-01 5.07e+04 -5.7 1.07e+01 -0.8 2.27e-03 2.09e-03h 1 - 361 8.6370897e+01 8.08e-01 5.11e+04 -5.7 2.91e+01 -1.2 1.34e-03 5.92e-04h 2 - 362 8.6370976e+01 8.06e-01 5.10e+04 -5.7 1.15e+01 -0.8 2.63e-03 2.60e-03h 1 - 363 8.6371458e+01 7.95e-01 4.86e+04 -5.7 1.24e+01 -1.3 1.23e-03 1.39e-02h 3 - 364 8.6371553e+01 7.94e-01 5.02e+04 -5.7 1.71e+01 -1.8 7.41e-03 1.08e-03h 1 - 365 8.6372020e+01 7.91e-01 4.99e+04 -5.7 1.50e+01 -2.2 4.77e-03 4.78e-03h 4 - 366 8.6372222e+01 7.90e-01 5.02e+04 -5.7 2.22e+01 -2.7 2.41e-03 7.46e-04h 6 - 367 8.6372785e+01 7.82e-01 4.84e+04 -5.7 1.32e+01 -1.4 1.07e-03 9.89e-03h 3 - 368 8.6372796e+01 7.82e-01 4.84e+04 -5.7 2.62e+00 -0.1 9.69e-04 4.81e-04h 1 - 369 8.6373178e+01 7.72e-01 4.72e+04 -5.7 7.46e+00 -0.5 3.90e-03 1.28e-02h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 370 8.6373811e+01 7.62e-01 4.69e+04 -5.7 1.12e+01 -1.0 1.50e-02 1.22e-02h 1 - 371 8.6374734e+01 7.55e-01 4.66e+04 -5.7 1.36e+01 -1.5 1.12e-02 1.00e-02h 2 - 372 8.6375236e+01 7.53e-01 4.73e+04 -5.7 1.49e+01 -2.0 7.29e-03 2.74e-03h 3 - 373 8.6375311e+01 7.53e-01 4.72e+04 -5.7 5.61e+01 -2.5 4.92e-05 3.18e-04h 5 - 374 8.6375317e+01 7.52e-01 4.73e+04 -5.7 3.16e+00 -0.2 1.33e-03 1.33e-04h 1 - 375 8.6376039e+01 7.42e-01 4.78e+04 -5.7 8.71e+00 -0.7 2.83e-02 1.45e-02h 1 - 376 8.6375782e+01 6.25e-01 3.99e+04 -5.7 2.71e-01 -1.2 1.62e-01 1.57e-01h 1 - 377 8.6375782e+01 6.25e-01 3.99e+04 -5.7 1.70e+01 -0.7 6.72e-07 3.92e-07h 2 - 378 8.6375802e+01 6.25e-01 3.99e+04 -5.7 1.99e+02 -1.2 3.85e-08 1.96e-05f 8 - 379 8.6375807e+01 6.25e-01 3.99e+04 -5.7 1.87e+01 -0.8 3.97e-03 2.23e-04h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 380 8.6375936e+01 6.25e-01 3.98e+04 -5.7 3.55e+01 -1.3 3.79e-07 5.32e-04h 6 - 381 8.6375940e+01 6.25e-01 3.98e+04 -5.7 5.68e+02 -0.9 4.74e-05 4.59e-06h 8 - 382 8.6375940e+01 6.25e-01 3.98e+04 -5.7 1.69e+00 -0.4 1.20e-02 9.50e-05h 1 - 383 8.6375970e+01 6.25e-01 3.98e+04 -5.7 3.25e+01 -0.9 2.10e-05 3.50e-04h 6 - 384r 8.6375970e+01 6.25e-01 1.00e+03 -2.5 0.00e+00 -0.5 0.00e+00 3.19e-07R 2 - 385r 8.6376914e+01 6.19e-01 1.01e+03 -2.5 2.19e+04 - 1.68e-08 1.50e-05f 1 - 386r 8.6380260e+01 2.13e-01 1.01e+03 -2.5 1.67e+00 2.0 2.54e-03 1.60e-03f 1 - 387r 8.6383547e+01 2.11e-01 9.98e+02 -2.5 2.10e-01 1.5 1.08e-02 3.07e-03f 1 - 388r 8.6391603e+01 2.04e-01 9.82e+02 -2.5 6.01e-01 1.0 2.12e-02 1.25e-02f 1 - 389r 8.6410318e+01 1.87e-01 9.48e+02 -2.5 1.63e+00 0.6 3.06e-02 3.89e-02f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 390r 8.6412433e+01 1.86e-01 9.47e+02 -2.5 1.48e+00 0.1 4.66e-04 4.60e-03f 1 - 391r 8.6413265e+01 1.85e-01 7.72e+02 -2.5 1.16e-01 0.5 2.06e-01 2.01e-03f 1 - 392r 8.6550865e+01 3.61e-01 7.55e+02 -2.5 2.00e-01 0.0 8.79e-02 3.09e-01f 1 - 393r 8.6622811e+01 6.89e-01 5.86e+02 -2.5 5.45e-01 0.5 2.45e-01 2.17e-01f 1 - 394r 8.6651118e+01 6.44e-01 5.46e+02 -2.5 8.19e-01 -0.0 4.83e-02 6.47e-02f 1 - 395r 8.6729651e+01 1.67e-01 5.16e+02 -2.5 5.66e-02 1.3 3.72e-01 1.00e+00f 1 - 396 8.6724508e+01 1.90e-01 1.42e+02 -5.7 1.07e+01 - 6.02e-02 4.65e-03h 2 - 397 8.6719046e+01 3.58e-01 1.37e+02 -5.7 9.46e+00 - 4.10e-02 6.52e-03h 2 - 398 8.6715992e+01 3.95e-01 1.29e+02 -5.7 8.06e+00 - 5.94e-02 4.77e-03h 3 - 399 8.6710761e+01 4.82e-01 1.19e+02 -5.7 6.14e+00 - 7.54e-02 9.72e-03h 3 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 400 8.6709765e+01 4.83e-01 1.08e+02 -5.7 5.75e+00 - 9.67e-02 2.13e-03h 6 - 401 8.6658585e+01 4.13e+00 9.92e+01 -5.7 5.42e+00 - 8.35e-02 1.16e-01h 1 - 402 8.6633448e+01 4.17e+00 8.01e+01 -5.7 4.05e+00 - 1.98e-01 7.38e-02h 1 - 403 8.6607986e+01 3.90e+00 6.61e+01 -5.7 2.96e+00 - 1.80e-01 8.51e-02h 1 - 404 8.6579013e+01 3.37e+00 6.00e+01 -5.7 4.04e-02 -1.0 8.93e-02 1.34e-01h 1 - 405 8.6487975e+01 1.91e+00 5.65e+01 -5.7 4.15e-02 -1.4 3.79e-02 4.34e-01f 1 - 406 8.6477429e+01 1.78e+00 5.49e+01 -5.7 1.89e+00 - 2.63e-02 7.40e-02h 1 - 407 8.6463645e+01 1.69e+00 5.43e+01 -5.7 1.60e+00 - 5.43e-03 1.08e-01h 1 - 408 8.6454352e+01 1.61e+00 3.47e+01 -5.7 1.19e+00 - 3.73e-01 8.27e-02f 1 - 409 8.6428273e+01 1.71e+00 2.79e+01 -5.7 7.01e-01 - 1.92e-01 2.58e-01f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 410 8.6428114e+01 1.70e+00 2.78e+01 -5.7 2.26e+01 - 2.46e-03 1.91e-03h 1 - 411 8.6404434e+01 1.61e+00 2.45e+01 -5.7 1.01e+00 - 1.04e-01 3.21e-01h 1 - 412 8.6377750e+01 6.62e-01 1.90e+01 -5.7 2.48e-02 -1.0 2.10e-01 5.89e-01h 1 - 413 8.6363550e+01 2.10e-01 4.87e+00 -5.7 2.08e-02 -1.5 7.48e-01 6.84e-01f 1 - 414 8.6358121e+01 7.30e-02 1.65e+00 -5.7 4.94e-02 -2.0 6.86e-01 6.59e-01f 1 - 415 8.6355714e+01 8.20e-02 4.52e+00 -5.7 8.23e-02 -2.4 2.14e-01 5.79e-01h 1 - 416 8.6355555e+01 7.94e-02 3.89e+00 -5.7 1.12e+00 - 5.49e-02 3.70e-02h 1 - 417 8.6354676e+01 1.73e-01 3.85e+00 -5.7 5.58e-01 - 2.47e-01 2.89e-01f 1 - 418 8.6354328e+01 1.69e-01 4.25e+00 -5.7 4.33e-01 - 1.28e-01 1.65e-01f 1 - 419 8.6353541e+01 2.22e-01 1.22e+01 -5.7 3.76e-01 - 1.16e-01 4.45e-01f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 420 8.6353477e+01 2.09e-01 1.31e+01 -5.7 2.03e-01 -2.9 2.03e-02 5.61e-02f 1 - 421 8.6353228e+01 1.75e-01 1.91e+01 -5.7 2.21e-01 - 1.43e-02 2.05e-01f 1 - 422 8.6353138e+01 1.55e-01 1.74e+01 -5.7 2.90e-01 -2.5 1.02e-01 1.12e-01f 1 - 423 8.6352828e+01 1.03e-01 2.81e+01 -5.7 8.34e-02 -3.0 3.33e-02 3.41e-01f 1 - 424 8.6352719e+01 9.19e-02 3.15e+01 -5.7 1.82e-01 - 2.81e-02 1.26e-01f 1 - 425 8.6352700e+01 8.75e-02 3.30e+01 -5.7 3.84e-02 -0.7 7.60e-03 4.81e-02h 1 - 426 8.6352335e+01 7.02e-02 5.38e+01 -5.7 1.49e-01 - 7.34e-03 4.63e-01f 1 - 427 8.6352342e+01 7.00e-02 5.39e+01 -5.7 1.28e+00 -1.2 2.01e-04 2.81e-03h 1 - 428 8.6352179e+01 8.67e-05 9.13e+01 -5.7 1.80e-03 0.1 5.57e-02 1.00e+00f 1 - 429 8.6352151e+01 8.26e-05 9.93e+01 -5.7 2.37e-03 -0.4 9.73e-01 3.17e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 430 8.6352046e+01 4.22e-03 1.55e-02 -5.7 7.23e-03 -0.8 1.00e+00 1.00e+00f 1 - 431 8.6351843e+01 3.60e-02 4.97e-02 -5.7 2.08e-02 -1.3 1.00e+00 1.00e+00h 1 - 432 8.6351554e+01 1.40e-01 6.73e+01 -5.7 5.50e-02 -1.8 5.66e-01 6.82e-01h 1 - 433 8.6351192e+01 3.75e-01 2.14e+02 -5.7 1.22e-01 -2.3 9.43e-01 4.42e-01f 1 - 434 8.6350481e+01 2.35e+00 1.01e+02 -5.7 2.05e-01 -2.7 5.42e-01 6.40e-01f 1 - 435 8.6350012e+01 3.84e+00 5.41e+01 -5.7 3.02e-01 -3.2 1.94e-01 7.27e-01f 1 - 436 8.6349993e+01 3.72e+00 5.24e+01 -5.7 1.48e+00 -3.7 3.20e-02 2.98e-02h 1 - 437 8.6349926e+01 3.17e+00 4.89e+01 -5.7 9.37e-01 - 2.28e-02 1.63e-01f 1 - 438 8.6349899e+01 2.30e+00 4.44e+01 -5.7 2.15e-01 -3.3 1.20e-02 2.96e-01f 1 - 439 8.6349881e+01 1.98e-02 3.26e+01 -5.7 5.04e-02 -1.9 5.57e-02 1.00e+00f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 440 8.6349873e+01 2.43e-03 1.04e-02 -5.7 5.01e-03 -1.5 1.00e+00 1.00e+00h 1 - 441 8.6349857e+01 1.43e-02 9.72e-04 -5.7 1.39e-02 -2.0 1.00e+00 1.00e+00h 1 - 442 8.6349824e+01 4.87e-02 3.49e-03 -5.7 3.88e-02 -2.5 1.00e+00 1.00e+00h 1 - 443 8.6349792e+01 4.46e-02 4.44e-02 -5.7 9.62e-02 -2.9 3.68e-01 7.26e-01h 1 - 444 8.6349759e+01 3.94e-02 4.40e-01 -5.7 1.93e-01 -3.4 5.64e-02 8.45e-01f 1 - 445 8.6349742e+01 5.40e-02 1.47e+00 -5.7 4.42e-01 - 2.42e-01 8.53e-01F 1 - 446 8.6349746e+01 3.58e-02 1.57e+00 -5.7 8.36e-02 -2.1 3.50e-02 3.36e-01h 1 - 447 8.6349737e+01 6.00e-04 1.76e+00 -5.7 5.53e-02 -1.7 2.77e-02 1.00e+00f 1 - 448 8.6349734e+01 3.40e-03 8.26e-01 -5.7 7.47e-02 - 5.03e-01 2.37e-01h 2 - 449 8.6349734e+01 3.15e-04 3.23e-02 -5.7 4.99e-03 -2.1 9.58e-01 1.00e+00h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 450 8.6349735e+01 5.86e-03 6.67e-03 -5.7 2.30e-01 - 2.13e-01 9.78e-02h 2 - 451 8.6349744e+01 3.99e-02 1.07e-01 -5.7 5.35e-02 - 3.37e-01 1.00e+00H 1 - 452 8.6349740e+01 1.28e-04 5.61e-04 -5.7 5.91e-03 -2.6 1.00e+00 1.00e+00h 1 - 453 8.6349737e+01 1.21e-03 5.62e-04 -5.7 1.05e-02 -3.1 1.00e+00 1.00e+00h 1 - 454 8.6349737e+01 3.46e-04 6.29e-05 -5.7 5.62e-03 -2.7 1.00e+00 1.00e+00h 1 - 455 8.6349738e+01 1.35e-02 2.45e-02 -5.7 4.64e-02 -3.2 3.36e-01 1.00e+00H 1 - 456 8.6349737e+01 5.64e-04 3.76e-04 -5.7 9.96e-03 - 1.00e+00 1.00e+00h 1 - 457 8.6349738e+01 7.87e-04 1.32e-04 -5.7 7.09e-03 - 1.00e+00 1.00e+00h 1 - 458 8.6349738e+01 4.22e-06 3.15e-06 -5.7 8.25e-04 - 1.00e+00 1.00e+00h 1 - 459 8.6349063e+01 1.35e-02 6.79e-01 -8.0 1.88e-01 - 1.87e-01 1.95e-01h 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 460 8.6348754e+01 1.50e-02 8.38e+00 -8.0 1.85e-01 - 3.12e-02 1.07e-01h 1 - 461 8.6348091e+01 2.49e-02 3.25e+01 -8.0 2.35e-01 - 1.35e-02 2.54e-01f 1 - 462 8.6347424e+01 3.09e-02 6.05e+01 -8.0 1.30e-01 - 1.48e-02 3.36e-01h 1 - 463 8.6347118e+01 2.72e-02 7.47e+01 -8.0 1.88e-01 - 7.75e-03 2.27e-01h 1 - 464 8.6347001e+01 2.47e-02 7.97e+01 -8.0 1.56e-01 - 6.95e-03 1.10e-01h 1 - 465 8.6346955e+01 2.36e-02 8.13e+01 -8.0 2.15e-01 - 5.39e-03 4.84e-02h 1 - 466 8.6346943e+01 2.32e-02 8.19e+01 -8.0 5.34e-01 - 4.44e-04 1.40e-02h 1 - 467 8.6346942e+01 2.32e-02 8.19e+01 -8.0 3.07e-01 - 5.71e-05 9.24e-04f 1 - 468 8.6346738e+01 1.95e-02 9.21e+01 -8.0 1.48e-01 - 1.42e-03 2.29e-01f 1 - 469 8.6346563e+01 1.46e-02 9.82e+01 -8.0 3.93e-02 -2.7 2.24e-02 2.53e-01f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 470 8.6346443e+01 1.15e-02 9.88e+01 -8.0 1.20e-01 -3.2 4.20e-02 2.23e-01h 1 - 471 8.6346274e+01 9.35e-03 9.75e+01 -8.0 3.08e-02 - 7.85e-02 3.91e-01h 1 - 472 8.6346229e+01 8.04e-03 9.67e+01 -8.0 1.99e-02 - 2.50e-02 1.58e-01h 1 - 473 8.6346165e+01 6.31e-03 9.30e+01 -8.0 1.82e-02 - 5.95e-02 2.57e-01f 1 - 474 8.6346099e+01 4.50e-03 8.79e+01 -8.0 1.57e-02 - 7.69e-02 3.47e-01f 1 - 475 8.6346040e+01 2.85e-03 1.26e+01 -8.0 1.29e-02 - 8.34e-01 4.33e-01f 1 - 476 8.6345933e+01 1.25e-03 1.71e+02 -8.0 1.54e-02 - 7.10e-02 1.00e+00f 1 - 477 8.6345931e+01 7.02e-04 1.23e+02 -8.0 7.51e-03 - 3.91e-02 4.39e-01h 1 - 478 8.6345929e+01 2.34e-04 1.75e+02 -8.0 7.85e-03 - 1.87e-02 6.68e-01f 1 - 479 8.6345928e+01 1.67e-06 1.74e+01 -8.0 1.03e-04 0.8 1.34e-01 1.00e+00f 1 -iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls - 480 8.6345928e+01 1.47e-06 1.51e+01 -8.0 8.82e-03 - 8.96e-01 1.71e-01h 2 - 481 8.6345927e+01 1.27e-04 3.34e-04 -8.0 5.26e-02 - 1.00e+00 1.00e+00h 1 - 482 8.6345927e+01 1.32e-05 4.67e-07 -8.0 3.24e-02 - 1.00e+00 1.00e+00h 1 - 483 8.6345927e+01 3.76e-08 3.05e-08 -8.0 3.91e-03 - 1.00e+00 1.00e+00h 1 - -Number of Iterations....: 483 - - (scaled) (unscaled) -Objective...............: 8.6345926934194821e+01 8.6345926934194821e+01 -Dual infeasibility......: 3.0545145007930773e-08 3.0545145007930773e-08 -Constraint violation....: 1.1530003325257951e-10 3.7638528738170862e-08 -Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 -Complementarity.........: 9.1224193410127896e-09 9.1224193410127896e-09 -Overall NLP error.......: 3.0545145007930773e-08 3.7638528738170862e-08 - - -Number of objective function evaluations = 634 -Number of objective gradient evaluations = 463 -Number of equality constraint evaluations = 634 -Number of inequality constraint evaluations = 634 -Number of equality constraint Jacobian evaluations = 486 -Number of inequality constraint Jacobian evaluations = 486 -Number of Lagrangian Hessian evaluations = 483 -Total seconds in IPOPT = 135.643 - -EXIT: Optimal Solution Found. - solver : t_proc (avg) t_wall (avg) n_eval - nlp_f | 927.70ms ( 1.46ms) 121.71ms (191.96us) 634 - nlp_g | 24.06 s ( 37.95ms) 3.14 s ( 4.95ms) 634 - nlp_grad_f | 1.35 s ( 2.92ms) 178.92ms (385.61us) 464 - nlp_hess_l | 244.97 s (509.28ms) 34.08 s ( 70.86ms) 481 - nlp_jac_g | 61.55 s (126.38ms) 8.10 s ( 16.64ms) 487 - total | 575.59 s (575.59 s) 135.64 s (135.64 s) 1 -INFO: Laptime: 85.864s -INFO: NLP solving time: 135.659s -INFO: Maximum abs(ay): 9.56m/s2 -INFO: Maximum ax: 5.54m/s2 -INFO: Minimum ax: -13.59m/s2 -INFO: Maximum total acc: 13.59m/s2 -INFO: Energy consumption: 2265.420Wh -INFO: Estimated laptime: 85.77s -INFO: Runtime from import to final trajectory was 168.29s -INFO: Minimum distance to boundaries is estimated to 2.13m. Keep in mind that the distance can also lie on the outside of the track! -WARNING: Since ggv-diagram was not given the according checks cannot be performed! -INFO: Finished export of trajectory: 10:12:06 diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/__init__.py deleted file mode 100644 index c16f28e57..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/__init__.py +++ /dev/null @@ -1 +0,0 @@ -import frictionmap.src diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/__init__.py deleted file mode 100644 index 058aad635..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -import frictionmap.src.reftrack_functions -import frictionmap.src.plot_frictionmap_data -import frictionmap.src.plot_frictionmap_grid diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/plot_frictionmap_data.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/plot_frictionmap_data.py deleted file mode 100644 index cd4574e24..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/plot_frictionmap_data.py +++ /dev/null @@ -1,166 +0,0 @@ -import numpy as np -import math -import matplotlib.pyplot as plt -from scipy.spatial import cKDTree -import os.path -import json -import frictionmap - -""" -Created by: -Leonhard Hermansdorfer - -Created on: -01.02.2019 - -Documentation: -To plot friction map data from an already existing file, adjust trackname and filenames at the bottom of this file and -run this file directly. -""" - - -def plot_tpamap_fromFile(track_name: str, - filename_tpamap: str, - filename_frictiondata: str) -> None: - """ - Documentation - This function loads the friction map file (*_tpamap.csv') and the friction data file ('*_tpadata.json') and creates - all variables necessary for plotting the friction map as a grid containing the corresponding friction data. - - Input - :param track_name: name of the race track - :param filename_tpamap: filename of the file containing the friction map ('*_tpamap.csv'') - :param filename_frictiondata: filename of the file containing the friction data ('*_tpadata.json') - - Output - --- - """ - - # Path Management -------------------------------------------------------------------------------------------------- - - path2module = os.path.dirname(os.path.abspath(__file__)).split('frictionmap')[0] - path2reftrack_file = os.path.join(path2module, 'inputs', 'tracks', track_name + '.csv') - filepath_frictionmap = os.path.join(path2module, 'inputs', 'frictionmaps', filename_tpamap) - filepath_frictiondata = os.path.join(path2module, 'inputs', 'frictionmaps', filename_frictiondata) - - # Read Files ------------------------------------------------------------------------------------------------------- - - # load reference line and calculate track boundaries - reftrack = frictionmap.src.reftrack_functions.load_reftrack(path2track=path2reftrack_file) - trackbound_right, trackbound_left = frictionmap.src.reftrack_functions.calc_trackboundaries(reftrack=reftrack) - - # load friction map - with open(filepath_frictionmap, 'rb') as fh: - map_coordinates = np.loadtxt(fh, comments='#', delimiter=';') - tpamap_loaded = cKDTree(map_coordinates) - - # load friction data - with open(filepath_frictiondata, 'r') as fh: - tpadata_dict_string = json.load(fh) - tpadata_loaded = {int(k): np.asarray(v) for k, v in tpadata_dict_string.items()} - - # call function to plot friction map and corresponding friction data - plot_tpamap_fromVariable(tpa_map=tpamap_loaded, - tpa_data=tpadata_loaded, - refline=reftrack[:, :2], - trackbound_right=trackbound_right, - trackbound_left=trackbound_left) - - -def plot_tpamap_fromVariable(tpa_map: cKDTree, - tpa_data: dict, - refline: np.array, - trackbound_right: np.array, - trackbound_left: np.array) -> None: - """ - Documentation - This function plots the friction map as a grid without the corresponding friction data. - - Input - :param tpa_map: cKDTree object containing the coordinates of the friction map - :param tpa_data: dictionary containing the friction data for each grid cell of the friction map - :param refline: array consisting of the x-,y-coordinates of the reference line - :param trackbound_right: array consisting of the x-,y-coordinates of the right track boundary - :param trackbound_left: array consisting of the x-,y-coordinates of the left track boundary - - Output - --- - """ - - print("INFO: Plotting friction map with data...") - - list_mue = [] - list_coord = [] - - # read values from dict - for index in tpa_map.indices: - list_coord.append(tpa_map.data[index]) - list_mue.append(tpa_data[index]) - - list_coord = np.array(list_coord) - - # recalculate width of grid cells of friction map (width is set by the user during map generation) - cellwidth_m = max(abs(tpa_map.data[0] - tpa_map.data[1])) - - plt.figure() - plt.plot(refline[:, 0], refline[:, 1], 'r') - plt.plot(trackbound_left[:, 0], trackbound_left[:, 1], 'b') - plt.plot(trackbound_right[:, 0], trackbound_right[:, 1], 'b') - - plt.axis('equal') - plt.xlim(np.amin(refline[:, 0]) - 100.0, np.amax(refline[:, 0]) + 100.0) - plt.ylim(np.amin(refline[:, 1]) - 100.0, np.amax(refline[:, 1]) + 100.0) - - # create contourf plot --------------------------------------------------------------------------------------------- - - x_min = math.floor(min(tpa_map.data[:, 0])) - x_max = math.ceil(max(tpa_map.data[:, 0])) - - y_min = math.floor(min(tpa_map.data[:, 1])) - y_max = math.ceil(max(tpa_map.data[:, 1])) - - x_vals = np.arange(x_min - 10.0, x_max + 9.5, cellwidth_m) - y_vals = np.arange(y_min - 10.0, y_max + 9.5, cellwidth_m) - - z = np.full((y_vals.shape[0], x_vals.shape[0]), np.nan) - - for row, mue in zip(list_coord, list_mue): - index_column = int((row[0] - min(x_vals)) / cellwidth_m) - index_row = int((-1 * row[1] + max(y_vals)) / cellwidth_m) - - z[index_row, index_column] = mue - - # change colorbar settings when only a single mue value is set globally - if min(list_mue) == max(list_mue): - con = plt.contourf(x_vals, np.flipud(y_vals), z, 1) - cbar_tickrange = np.asarray(min(list_mue)) - cbar_label = 'global mue value = ' + str(min(list_mue)[0]) - - else: - con = plt.contourf(x_vals, np.flipud(y_vals), z, - np.arange(np.round(min(list_mue) - 0.05, 1), np.round(max(list_mue) + 0.06, 1) + 0.01, 0.02)) - cbar_tickrange = np.arange(np.round(min(list_mue) - 0.05, 1), np.round(max(list_mue) + 0.06, 1) + 0.01, 0.05) - cbar_label = 'local mue values' - - # create a colorbar for the ContourSet returned by the contourf call - cbar = plt.colorbar(con, cmap='viridis') - cbar.set_ticks(cbar_tickrange.round(2).tolist()) - cbar.set_label(cbar_label) - - plt.title('friction map and data') - plt.xlabel('x in meters') - plt.ylabel('y in meters') - - plt.show() - - -# ---------------------------------------------------------------------------------------------------------------------- -# testing -------------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- -if __name__ == '__main__': - - track_name = 'berlin_2018' - filename_tpamap = 'berlin_2018_tpamap.csv' - filename_tpadata = 'berlin_2018_varmue08-12_tpadata.json' - - plot_tpamap_fromFile(track_name, filename_tpamap, filename_tpadata) diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/plot_frictionmap_grid.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/plot_frictionmap_grid.py deleted file mode 100644 index 81938066a..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/plot_frictionmap_grid.py +++ /dev/null @@ -1,120 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt -from scipy.spatial import Voronoi, voronoi_plot_2d -from scipy.spatial import cKDTree -import os.path -import frictionmap - -""" -Created by: -Leonhard Hermansdorfer - -Created on: -01.12.2018 - -Documentation: -To plot a friction map from an already existing file, adjust trackname and filenames at the bottom of this file and -run this file directly. -""" - - -def plot_voronoi_fromFile(track_name: str, - filename_frictionmap: str) -> None: - """ - Documentation - This function loads the friction map file (*_tpamap.csv') and creates all variables necessary for plotting the - friction map as a grid without the corresponding friction data. - - Input - :param track_name: name of the race track - :param filename_frictionmap: filename of the file containing the friction map ('*_tpamap.csv'') - - Output - --- - """ - - # Path Management -------------------------------------------------------------------------------------------------- - - path2module = os.path.dirname(os.path.abspath(__file__)).split('frictionmap')[0] - path2reftrack_file = os.path.join(path2module, 'inputs', 'tracks', track_name + '.csv') - filepath_frictionmap = os.path.join(path2module, 'inputs', 'frictionmaps', filename_frictionmap) - - # Read Files ------------------------------------------------------------------------------------------------------- - - # load reference line and calculate track boundaries - reftrack = frictionmap.src.reftrack_functions.load_reftrack(path2track=path2reftrack_file) - trackbound_right, trackbound_left = frictionmap.src.reftrack_functions.calc_trackboundaries(reftrack=reftrack) - - # load friction map - with open(filepath_frictionmap, 'rb') as fh: - map_coordinates = np.loadtxt(fh, comments='#', delimiter=';') - tpamap_loaded = cKDTree(map_coordinates) - - # call function to plot friction map - plot_voronoi_fromVariable(tree=tpamap_loaded, - refline=reftrack[:, :2], - trackbound_right=trackbound_right, - trackbound_left=trackbound_left) - - -def plot_voronoi_fromVariable(tree: cKDTree, - refline: np.array, - trackbound_right: np.array, - trackbound_left: np.array,) -> None: - """ - Documentation - This function plots the friction map as a grid without the corresponding friction data. - - Input - :param tree: cKDTree object containing the coordinates of the friction map - :param refline: array consisting of the x-,y-coordinates of the reference line - :param trackbound_right: array consisting of the x-,y-coordinates of the right track boundary - :param trackbound_left: array consisting of the x-,y-coordinates of the left track boundary - - Output - --- - """ - - print("INFO: Plotting friction map grid - 2 plots...") - - # plot 1 - tree_points = tree.data - - plt.figure() - plt.scatter(tree_points[:, 0], tree_points[:, 1]) - plt.plot(refline[:, 0], refline[:, 1], 'r') - - plt.axis('equal') - plt.title('grid coordinates and reference line') - plt.xlabel('x in meters') - plt.ylabel('y in meters') - - plt.show() - - # plot 2 - vor = Voronoi(tree_points[:, 0:2]) - - voronoi_plot_2d(vor, show_vertices=False) - plt.plot(refline[:, 0], refline[:, 1], 'r') - plt.plot(trackbound_left[:, 0], trackbound_left[:, 1], 'b') - plt.plot(trackbound_right[:, 0], trackbound_right[:, 1], 'b') - - plt.axis('equal') - plt.xlim(np.amin(refline[:, 0]) - 100.0, np.amax(refline[:, 0]) + 100.0) - plt.ylim(np.amin(refline[:, 1]) - 100.0, np.amax(refline[:, 1]) + 100.0) - plt.title('grid cells, reference line and track boundaries') - plt.xlabel('x in meters') - plt.ylabel('y in meters') - - plt.show() - - -# ---------------------------------------------------------------------------------------------------------------------- -# testing -------------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- -if __name__ == '__main__': - - track_name = 'modena_2019' - filename_tpamap = 'modena2019_tpamap.csv' - - plot_voronoi_fromFile(track_name, filename_tpamap) diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/reftrack_functions.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/reftrack_functions.py deleted file mode 100644 index b26f42b08..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/frictionmap/src/reftrack_functions.py +++ /dev/null @@ -1,161 +0,0 @@ -import numpy as np -import math -import matplotlib.pyplot as plt - -""" -Created by: -Leonhard Hermansdorfer - -Created on: -20.12.2018 -""" - - -def load_reftrack(path2track: str) -> np.array: - """ - Documentation - This function loads the track file. - - Input - :param path2track: absolute path to reference track file - - Output - :return reftrack reference track containing x-,y-coordinates and trackwidths to the right and left of - the reference line [x_m, y_m, trackwidth_right_m, trackwidth_left_m] - """ - - with open(path2track, 'r') as fh: - reftrack = np.genfromtxt(fh, delimiter=',') - - return reftrack - - -def check_isclosed_refline(refline: np.ndarray) -> bool: - """ - Documentation - This function checks whether the given reference line is a closed or open circuit. - - Input - :param refline: reference line [x_m, y_m] - - Output - :return bool_isclosed_refline boolean indicating whether the track is closed / a circuit (=True) or not (=False) - """ - - # user input - max_dist_isclosed = 10.0 # [m] - - # determine if reference track is expected as closed loop - dist_last2first = math.sqrt((refline[-1, 0] - refline[0, 0]) ** 2 + (refline[-1, 1] - refline[0, 1]) ** 2) - - # if track is closed, add first row of reference line at the bottom. Otherwise, extrapolate last coordinate and add - if dist_last2first <= max_dist_isclosed: - bool_isclosed_refline = True - - else: - bool_isclosed_refline = False - - return bool_isclosed_refline - - -def calc_trackboundaries(reftrack: np.ndarray) -> tuple: - """ - Documentation - This function calculates the actual coordinates of both track boundaries specified by the reference line and the - corresponding trackwidths. - - Input - :param reftrack: reference track [x_m, y_m, trackwidth_right_m, trackwidth_left_m] - - Output - :return track_boundary_right x-,y-coordinates of right trackboundary (from reference line in driving direction) - :return track_boundary_left x-,y-coordinates of left trackboundary (from reference line in driving direction) - """ - - refline_normvecs = calc_refline_normvecs(refline=reftrack[:, :2]) - track_boundary_right = reftrack[:, :2] + refline_normvecs[:, :2] * np.expand_dims(reftrack[:, 2], axis=1) - track_boundary_left = reftrack[:, :2] - refline_normvecs[:, :2] * np.expand_dims(reftrack[:, 3], axis=1) - - return track_boundary_right, track_boundary_left - - -def calc_refline_normvecs(refline: np.ndarray) -> np.array: - """ - Documentation - This function calculates the normal vectors of the reference line at each coordinate (pointing towards the right in - the direction of driving). - - Input - :param refline: reference line [x_m, y_m] - - Output - :return refline_normvecs reference line normal vectors [x_m, y_m] - """ - - bool_isclosed_refline = check_isclosed_refline(refline=refline) - - if bool_isclosed_refline: - refline = np.vstack((refline[-1], refline, refline[0])) - - refline_grad = np.gradient(refline[:, :3], axis=0) - - # z-vector for calculating cross product to get normal vector - z = np.array([0.0, 0.0, 1.0]) - - refline_crossproduct = np.cross(refline_grad, z) - - norm_factors = np.divide(1.0, np.linalg.norm(refline_crossproduct, axis=1)) - - refline_normvecs = refline_crossproduct * norm_factors[:, None] - - if bool_isclosed_refline: - refline_normvecs = np.delete(refline_normvecs, 0, axis=0) - refline_normvecs = np.delete(refline_normvecs, -1, axis=0) - - return refline_normvecs - - -def plot_refline(reftrack: np.ndarray) -> None: - """ - Documentation - This function plots the reference line and its normal vectors at each coordinate. - - Input - :param reftrack: reference track [x_m, y_m, trackwidth_right_m, trackwidth_left_m] - - Output - --- - """ - - # get normal vectors - refline_normvecs = calc_refline_normvecs(refline=reftrack[:, :2]) - - # calculate track boundaries - plt.figure() - plt.plot(reftrack[:, 0], reftrack[:, 1]) - - for row in range(0, refline_normvecs.shape[0]): - plt.plot([reftrack[row, 0], - reftrack[row, 0] + (-refline_normvecs[row, 0] * reftrack[row, 3])], - [reftrack[row, 1], - reftrack[row, 1] + (-refline_normvecs[row, 1] * reftrack[row, 3])], 'g') - - plt.plot([reftrack[row, 0], - reftrack[row, 0] + (refline_normvecs[row, 0] * reftrack[row, 2])], - [reftrack[row, 1], - reftrack[row, 1] + (refline_normvecs[row, 1] * reftrack[row, 2])], 'r') - - plt.grid() - plt.title('Reference line and normal vectors') - plt.xlabel('x in meters') - plt.ylabel('y in meters') - plt.axis('equal') - - plt.show() - - -# ---------------------------------------------------------------------------------------------------------------------- -# testing -------------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- -if __name__ == '__main__': - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/__init__.py deleted file mode 100644 index a567ee465..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/__init__.py +++ /dev/null @@ -1 +0,0 @@ -import helper_funcs_glob.src diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/__init__.py deleted file mode 100644 index b7655956f..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/__init__.py +++ /dev/null @@ -1,8 +0,0 @@ -import helper_funcs_glob.src.interp_track -import helper_funcs_glob.src.calc_min_bound_dists -import helper_funcs_glob.src.check_traj -import helper_funcs_glob.src.export_traj_race -import helper_funcs_glob.src.export_traj_ltpl -import helper_funcs_glob.src.import_track -import helper_funcs_glob.src.result_plots -import helper_funcs_glob.src.prep_track diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/calc_min_bound_dists.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/calc_min_bound_dists.py deleted file mode 100644 index aa5d824f7..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/calc_min_bound_dists.py +++ /dev/null @@ -1,71 +0,0 @@ -import numpy as np -import math - - -def calc_min_bound_dists(trajectory: np.ndarray, - bound1: np.ndarray, - bound2: np.ndarray, - length_veh: float, - width_veh: float) -> np.ndarray: - """ - Created by: - Alexander Heilmeier - - Documentation: - Calculate minimum distance between vehicle and track boundaries for every trajectory point. Vehicle dimensions are - taken into account for this calculation. Vehicle orientation is assumed to be the same as the heading of the - trajectory. - - Inputs: - trajectory: array containing the trajectory information. Required are x, y, psi for every point - bound1/2: arrays containing the track boundaries [x, y] - length_veh: real vehicle length in m - width_veh: real vehicle width in m - - Outputs: - min_dists: minimum distance to boundaries for every trajectory point - """ - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE MINIMUM DISTANCES -------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - bounds = np.vstack((bound1, bound2)) - - # calculate static vehicle edge positions [x, y] for psi = 0 - fl = np.array([-width_veh / 2, length_veh / 2]) - fr = np.array([width_veh / 2, length_veh / 2]) - rl = np.array([-width_veh / 2, -length_veh / 2]) - rr = np.array([width_veh / 2, -length_veh / 2]) - - # loop through all the raceline points - min_dists = np.zeros(trajectory.shape[0]) - mat_rot = np.zeros((2, 2)) - - for i in range(trajectory.shape[0]): - mat_rot[0, 0] = math.cos(trajectory[i, 3]) - mat_rot[0, 1] = -math.sin(trajectory[i, 3]) - mat_rot[1, 0] = math.sin(trajectory[i, 3]) - mat_rot[1, 1] = math.cos(trajectory[i, 3]) - - # calculate positions of vehicle edges - fl_ = trajectory[i, 1:3] + np.matmul(mat_rot, fl) - fr_ = trajectory[i, 1:3] + np.matmul(mat_rot, fr) - rl_ = trajectory[i, 1:3] + np.matmul(mat_rot, rl) - rr_ = trajectory[i, 1:3] + np.matmul(mat_rot, rr) - - # get minimum distances of vehicle edges to any boundary point - fl__mindist = np.sqrt(np.power(bounds[:, 0] - fl_[0], 2) + np.power(bounds[:, 1] - fl_[1], 2)) - fr__mindist = np.sqrt(np.power(bounds[:, 0] - fr_[0], 2) + np.power(bounds[:, 1] - fr_[1], 2)) - rl__mindist = np.sqrt(np.power(bounds[:, 0] - rl_[0], 2) + np.power(bounds[:, 1] - rl_[1], 2)) - rr__mindist = np.sqrt(np.power(bounds[:, 0] - rr_[0], 2) + np.power(bounds[:, 1] - rr_[1], 2)) - - # save overall minimum distance of current vehicle position - min_dists[i] = np.amin((fl__mindist, fr__mindist, rl__mindist, rr__mindist)) - - return min_dists - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/check_traj.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/check_traj.py deleted file mode 100644 index 424142095..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/check_traj.py +++ /dev/null @@ -1,144 +0,0 @@ -import numpy as np -import helper_funcs_glob - - -def check_traj(reftrack: np.ndarray, - reftrack_normvec_normalized: np.ndarray, - trajectory: np.ndarray, - ggv: np.ndarray, - ax_max_machines: np.ndarray, - v_max: float, - length_veh: float, - width_veh: float, - debug: bool, - dragcoeff: float, - mass_veh: float, - curvlim: float) -> tuple: - """ - Created by: - Alexander Heilmeier - - Documentation: - This function checks the generated trajectory in regards of minimum distance to the boundaries and maximum - curvature and accelerations. - - Inputs: - reftrack: track [x_m, y_m, w_tr_right_m, w_tr_left_m] - reftrack_normvec_normalized: normalized normal vectors on the reference line [x_m, y_m] - trajectory: trajectory to be checked [s_m, x_m, y_m, psi_rad, kappa_radpm, vx_mps, ax_mps2] - ggv: ggv-diagram to be applied: [vx, ax_max, ay_max]. Velocity in m/s, accelerations in m/s2. - ax_max_machines: longitudinal acceleration limits by the electrical motors: [vx, ax_max_machines]. Velocity - in m/s, accelerations in m/s2. They should be handed in without considering drag resistance. - v_max: Maximum longitudinal speed in m/s. - length_veh: vehicle length in m - width_veh: vehicle width in m - debug: boolean showing if debug messages should be printed - dragcoeff: [m2*kg/m3] drag coefficient containing c_w_A * rho_air * 0.5 - mass_veh: [kg] mass - curvlim: [rad/m] maximum drivable curvature - - Outputs: - bound_r: right track boundary [x_m, y_m] - bound_l: left track boundary [x_m, y_m] - """ - - # ------------------------------------------------------------------------------------------------------------------ - # CHECK VEHICLE EDGES FOR MINIMUM DISTANCE TO TRACK BOUNDARIES ----------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # calculate boundaries and interpolate them to small stepsizes (currently linear interpolation) - bound_r = reftrack[:, :2] + reftrack_normvec_normalized * np.expand_dims(reftrack[:, 2], 1) - bound_l = reftrack[:, :2] - reftrack_normvec_normalized * np.expand_dims(reftrack[:, 3], 1) - - # check boundaries for vehicle edges - bound_r_tmp = np.column_stack((bound_r, np.zeros((bound_r.shape[0], 2)))) - bound_l_tmp = np.column_stack((bound_l, np.zeros((bound_l.shape[0], 2)))) - - bound_r_interp = helper_funcs_glob.src.interp_track.interp_track(reftrack=bound_r_tmp, - stepsize_approx=1.0)[0] - bound_l_interp = helper_funcs_glob.src.interp_track.interp_track(reftrack=bound_l_tmp, - stepsize_approx=1.0)[0] - - # calculate minimum distances of every trajectory point to the boundaries - min_dists = helper_funcs_glob.src.calc_min_bound_dists.calc_min_bound_dists(trajectory=trajectory, - bound1=bound_r_interp, - bound2=bound_l_interp, - length_veh=length_veh, - width_veh=width_veh) - - # calculate overall minimum distance - min_dist = np.amin(min_dists) - - # warn if distance falls below a safety margin of 1.0 m - if min_dist < 1.0: - print("WARNING: Minimum distance to boundaries is estimated to %.2fm. Keep in mind that the distance can also" - " lie on the outside of the track!" % min_dist) - elif debug: - print("INFO: Minimum distance to boundaries is estimated to %.2fm. Keep in mind that the distance can also lie" - " on the outside of the track!" % min_dist) - - # ------------------------------------------------------------------------------------------------------------------ - # CHECK FINAL TRAJECTORY FOR MAXIMUM CURVATURE --------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # check maximum (absolute) curvature - if np.amax(np.abs(trajectory[:, 4])) > curvlim: - print("WARNING: Curvature limit is exceeded: %.3frad/m" % np.amax(np.abs(trajectory[:, 4]))) - - # ------------------------------------------------------------------------------------------------------------------ - # CHECK FINAL TRAJECTORY FOR MAXIMUM ACCELERATIONS ----------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if ggv is not None: - # transform curvature kappa into corresponding radii (abs because curvature has a sign in our convention) - radii = np.abs(np.divide(1.0, trajectory[:, 4], - out=np.full(trajectory.shape[0], np.inf), - where=trajectory[:, 4] != 0)) - - # check max. lateral accelerations - ay_profile = np.divide(np.power(trajectory[:, 5], 2), radii) - - if np.any(ay_profile > np.amax(ggv[:, 2]) + 0.1): - print("WARNING: Lateral ggv acceleration limit is exceeded: %.2fm/s2" % np.amax(ay_profile)) - - # check max. longitudinal accelerations (consider that drag is included in the velocity profile!) - ax_drag = -np.power(trajectory[:, 5], 2) * dragcoeff / mass_veh - ax_wo_drag = trajectory[:, 6] - ax_drag - - if np.any(ax_wo_drag > np.amax(ggv[:, 1]) + 0.1): - print("WARNING: Longitudinal ggv acceleration limit (positive) is exceeded: %.2fm/s2" % np.amax(ax_wo_drag)) - - if np.any(ax_wo_drag < np.amin(-ggv[:, 1]) - 0.1): - print("WARNING: Longitudinal ggv acceleration limit (negative) is exceeded: %.2fm/s2" % np.amin(ax_wo_drag)) - - # check total acceleration - a_tot = np.sqrt(np.power(ax_wo_drag, 2) + np.power(ay_profile, 2)) - - if np.any(a_tot > np.amax(ggv[:, 1:]) + 0.1): - print("WARNING: Total ggv acceleration limit is exceeded: %.2fm/s2" % np.amax(a_tot)) - - else: - print("WARNING: Since ggv-diagram was not given the according checks cannot be performed!") - - if ax_max_machines is not None: - # check max. longitudinal accelerations (consider that drag is included in the velocity profile!) - ax_drag = -np.power(trajectory[:, 5], 2) * dragcoeff / mass_veh - ax_wo_drag = trajectory[:, 6] - ax_drag - - if np.any(ax_wo_drag > np.amax(ax_max_machines[:, 1]) + 0.1): - print("WARNING: Longitudinal acceleration machine limits are exceeded: %.2fm/s2" % np.amax(ax_wo_drag)) - - # ------------------------------------------------------------------------------------------------------------------ - # CHECK FINAL TRAJECTORY FOR MAXIMUM VELOCITY ---------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if np.any(trajectory[:, 5] > v_max + 0.1): - print("WARNING: Maximum velocity of final trajectory exceeds the maximal velocity of the vehicle: %.2fm/s!" - % np.amax(trajectory[:, 5])) - - return bound_r, bound_l - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/export_traj_ltpl.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/export_traj_ltpl.py deleted file mode 100644 index bbf657073..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/export_traj_ltpl.py +++ /dev/null @@ -1,91 +0,0 @@ -import numpy as np -import uuid -import hashlib - - -def export_traj_ltpl(file_paths: dict, - spline_lengths_opt, - trajectory_opt, - reftrack, - normvec_normalized, - alpha_opt) -> None: - """ - Created by: - Tim Stahl - Alexander Heilmeier - - Documentation: - This function is used to export the generated trajectory into a file for further usage in the local trajectory - planner on the car (including map information via normal vectors and bound widths). The generated files get an - unique UUID and a hash of the ggv diagram to be able to check it later. - - The stored trajectory has the following columns: - [x_ref_m, y_ref_m, width_right_m, width_left_m, x_normvec_m, y_normvec_m, alpha_m, s_racetraj_m, psi_racetraj_rad, - kappa_racetraj_radpm, vx_racetraj_mps, ax_racetraj_mps2] - - Inputs: - file_paths: paths for input and output files {ggv_file, traj_race_export, traj_ltpl_export, lts_export} - spline_lengths_opt: lengths of the splines on the raceline in m - trajectory_opt: generated race trajectory - reftrack: track definition [x_m, y_m, w_tr_right_m, w_tr_left_m] - normvec_normalized: normalized normal vectors on the reference line [x_m, y_m] - alpha_opt: solution vector of the opt. problem containing the lateral shift in m for every ref-point - """ - - # convert trajectory to desired format - s_raceline_preinterp_cl = np.cumsum(spline_lengths_opt) - s_raceline_preinterp_cl = np.insert(s_raceline_preinterp_cl, 0, 0.0) - - psi_normvec = [] - kappa_normvec = [] - vx_normvec = [] - ax_normvec = [] - - for s in list(s_raceline_preinterp_cl[:-1]): - # get closest point on trajectory_opt - idx = (np.abs(trajectory_opt[:, 0] - s)).argmin() - - # get data at this index and append - psi_normvec.append(trajectory_opt[idx, 3]) - kappa_normvec.append(trajectory_opt[idx, 4]) - vx_normvec.append(trajectory_opt[idx, 5]) - ax_normvec.append(trajectory_opt[idx, 6]) - - traj_ltpl = np.column_stack((reftrack, - normvec_normalized, - alpha_opt, - s_raceline_preinterp_cl[:-1], - psi_normvec, - kappa_normvec, - vx_normvec, - ax_normvec)) - traj_ltpl_cl = np.vstack((traj_ltpl, traj_ltpl[0])) - traj_ltpl_cl[-1, 7] = s_raceline_preinterp_cl[-1] - - # create random UUID - rand_uuid = str(uuid.uuid4()) - - # hash ggv file with SHA1 - if "ggv_file" in file_paths: - with open(file_paths["ggv_file"], 'br') as fh: - ggv_content = fh.read() - else: - ggv_content = np.array([]) - ggv_hash = hashlib.sha1(ggv_content).hexdigest() - - # write UUID and GGV hash into file - with open(file_paths["traj_ltpl_export"], 'w') as fh: - fh.write("# " + rand_uuid + "\n") - fh.write("# " + ggv_hash + "\n") - - # export trajectory data for local planner - header = "x_ref_m; y_ref_m; width_right_m; width_left_m; x_normvec_m; y_normvec_m; " \ - "alpha_m; s_racetraj_m; psi_racetraj_rad; kappa_racetraj_radpm; vx_racetraj_mps; ax_racetraj_mps2" - fmt = "%.7f; %.7f; %.7f; %.7f; %.7f; %.7f; %.7f; %.7f; %.7f; %.7f; %.7f; %.7f" - with open(file_paths["traj_ltpl_export"], 'ab') as fh: - np.savetxt(fh, traj_ltpl, fmt=fmt, header=header) - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/export_traj_race.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/export_traj_race.py deleted file mode 100644 index cffe6e9d8..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/export_traj_race.py +++ /dev/null @@ -1,46 +0,0 @@ -import numpy as np -import uuid -import hashlib - - -def export_traj_race(file_paths: dict, - traj_race: np.ndarray) -> None: - """ - Created by: - Alexander Heilmeier - - Documentation: - This function is used to export the generated trajectory into a file. The generated files get an unique UUID and a - hash of the ggv diagram to be able to check it later. - - Inputs: - file_paths: paths for input and output files {ggv_file, traj_race_export, traj_ltpl_export, lts_export} - traj_race: race trajectory [s_m, x_m, y_m, psi_rad, kappa_radpm, vx_mps, ax_mps2] - """ - - # create random UUID - rand_uuid = str(uuid.uuid4()) - - # hash ggv file with SHA1 - if "ggv_file" in file_paths: - with open(file_paths["ggv_file"], 'br') as fh: - ggv_content = fh.read() - else: - ggv_content = np.array([]) - ggv_hash = hashlib.sha1(ggv_content).hexdigest() - - # write UUID and GGV hash into file - with open(file_paths["traj_race_export"], 'w') as fh: - fh.write("# " + rand_uuid + "\n") - fh.write("# " + ggv_hash + "\n") - - # export race trajectory - header = "s_m; x_m; y_m; psi_rad; kappa_radpm; vx_mps; ax_mps2" - fmt = "%.7f; %.7f; %.7f; %.7f; %.7f; %.7f; %.7f" - with open(file_paths["traj_race_export"], 'ab') as fh: - np.savetxt(fh, traj_race, fmt=fmt, header=header) - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/import_track.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/import_track.py deleted file mode 100644 index 0716770ad..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/import_track.py +++ /dev/null @@ -1,75 +0,0 @@ -import numpy as np - - -def import_track(file_path: str, - imp_opts: dict, - width_veh: float) -> np.ndarray: - """ - Created by: - Alexander Heilmeier - Modified by: - Thomas Herrmann - - Documentation: - This function includes the algorithm part connected to the import of the track. - - Inputs: - file_path: file path of track.csv containing [x_m,y_m,w_tr_right_m,w_tr_left_m] - imp_opts: import options showing if a new starting point should be set or if the direction should be reversed - width_veh: vehicle width required to check against track width - - Outputs: - reftrack_imp: imported track [x_m, y_m, w_tr_right_m, w_tr_left_m] - """ - - # load data from csv file - csv_data_temp = np.loadtxt(file_path, comments='#', delimiter=',') - - # get coords and track widths out of array - if np.shape(csv_data_temp)[1] == 3: - refline_ = csv_data_temp[:, 0:2] - w_tr_r = csv_data_temp[:, 2] / 2 - w_tr_l = w_tr_r - - elif np.shape(csv_data_temp)[1] == 4: - refline_ = csv_data_temp[:, 0:2] - w_tr_r = csv_data_temp[:, 2] - w_tr_l = csv_data_temp[:, 3] - - elif np.shape(csv_data_temp)[1] == 5: # omit z coordinate in this case - refline_ = csv_data_temp[:, 0:2] - w_tr_r = csv_data_temp[:, 3] - w_tr_l = csv_data_temp[:, 4] - - else: - raise IOError("Track file cannot be read!") - - refline_ = np.tile(refline_, (imp_opts["num_laps"], 1)) - w_tr_r = np.tile(w_tr_r, imp_opts["num_laps"]) - w_tr_l = np.tile(w_tr_l, imp_opts["num_laps"]) - - # assemble to a single array - reftrack_imp = np.column_stack((refline_, w_tr_r, w_tr_l)) - - # check if imported centerline should be flipped, i.e. reverse direction - if imp_opts["flip_imp_track"]: - reftrack_imp = np.flipud(reftrack_imp) - - # check if imported centerline should be reordered for a new starting point - if imp_opts["set_new_start"]: - ind_start = np.argmin(np.power(reftrack_imp[:, 0] - imp_opts["new_start"][0], 2) - + np.power(reftrack_imp[:, 1] - imp_opts["new_start"][1], 2)) - reftrack_imp = np.roll(reftrack_imp, reftrack_imp.shape[0] - ind_start, axis=0) - - # check minimum track width for vehicle width plus a small safety margin - w_tr_min = np.amin(reftrack_imp[:, 2] + reftrack_imp[:, 3]) - - if w_tr_min < width_veh + 0.5: - print("WARNING: Minimum track width %.2fm is close to or smaller than vehicle width!" % np.amin(w_tr_min)) - - return reftrack_imp - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/interp_track.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/interp_track.py deleted file mode 100644 index 31be05409..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/interp_track.py +++ /dev/null @@ -1,54 +0,0 @@ -import numpy as np -import math - - -def interp_track(reftrack: np.ndarray, - stepsize_approx: float = 1.0) -> np.ndarray: - """ - Created by: - Alexander Heilmeier - - Documentation: - Use linear interpolation between track points to create new points with equal distances. - - Inputs: - reftrack: array containing the track information that shell be interpolated [x, y, w_tr_right, w_tr_left]. - stepsize_approx: desired stepsize for the interpolation - - Outputs: - reftrack_interp: interpolated reference track (unclosed) - """ - - # ------------------------------------------------------------------------------------------------------------------ - # FUNCTION BODY ---------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - reftrack_cl = np.vstack((reftrack, reftrack[0])) - - # calculate element lengths (euclidian distance) - el_lenghts = np.sqrt(np.sum(np.power(np.diff(reftrack_cl[:, :2], axis=0), 2), axis=1)) - - # sum up total distance (from start) to every element - dists_cum = np.cumsum(el_lenghts) - dists_cum = np.insert(dists_cum, 0, 0.0) - - # calculate desired lenghts depending on specified stepsize (+1 because last element is included) - no_points_interp = math.ceil(dists_cum[-1] / stepsize_approx) + 1 - dists_interp = np.linspace(0.0, dists_cum[-1], no_points_interp) - - # interpolate closed track points - reftrack_interp_cl = np.zeros((no_points_interp, 4)) - reftrack_interp_cl[:, 0] = np.interp(dists_interp, dists_cum, reftrack_cl[:, 0]) - reftrack_interp_cl[:, 1] = np.interp(dists_interp, dists_cum, reftrack_cl[:, 1]) - reftrack_interp_cl[:, 2] = np.interp(dists_interp, dists_cum, reftrack_cl[:, 2]) - reftrack_interp_cl[:, 3] = np.interp(dists_interp, dists_cum, reftrack_cl[:, 3]) - - # remove closed points - reftrack_interp = reftrack_interp_cl[:-1] - - return reftrack_interp - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/prep_track.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/prep_track.py deleted file mode 100644 index 389d597cf..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/prep_track.py +++ /dev/null @@ -1,109 +0,0 @@ -import numpy as np -import trajectory_planning_helpers as tph -import sys -import matplotlib.pyplot as plt - - -def prep_track(reftrack_imp: np.ndarray, - reg_smooth_opts: dict, - stepsize_opts: dict, - debug: bool = True, - min_width: float = None) -> tuple: - """ - Created by: - Alexander Heilmeier - - Documentation: - This function prepares the inserted reference track for optimization. - - Inputs: - reftrack_imp: imported track [x_m, y_m, w_tr_right_m, w_tr_left_m] - reg_smooth_opts: parameters for the spline approximation - stepsize_opts: dict containing the stepsizes before spline approximation and after spline interpolation - debug: boolean showing if debug messages should be printed - min_width: [m] minimum enforced track width (None to deactivate) - - Outputs: - reftrack_interp: track after smoothing and interpolation [x_m, y_m, w_tr_right_m, w_tr_left_m] - normvec_normalized_interp: normalized normal vectors on the reference line [x_m, y_m] - a_interp: LES coefficients when calculating the splines - coeffs_x_interp: spline coefficients of the x-component - coeffs_y_interp: spline coefficients of the y-component - """ - - # ------------------------------------------------------------------------------------------------------------------ - # INTERPOLATE REFTRACK AND CALCULATE INITIAL SPLINES --------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # smoothing and interpolating reference track - reftrack_interp = tph.spline_approximation. \ - spline_approximation(track=reftrack_imp, - k_reg=reg_smooth_opts["k_reg"], - s_reg=reg_smooth_opts["s_reg"], - stepsize_prep=stepsize_opts["stepsize_prep"], - stepsize_reg=stepsize_opts["stepsize_reg"], - debug=debug) - - # calculate splines - refpath_interp_cl = np.vstack((reftrack_interp[:, :2], reftrack_interp[0, :2])) - - coeffs_x_interp, coeffs_y_interp, a_interp, normvec_normalized_interp = tph.calc_splines.\ - calc_splines(path=refpath_interp_cl) - - # ------------------------------------------------------------------------------------------------------------------ - # CHECK SPLINE NORMALS FOR CROSSING POINTS ------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - normals_crossing = tph.check_normals_crossing.check_normals_crossing(track=reftrack_interp, - normvec_normalized=normvec_normalized_interp, - horizon=10) - - if normals_crossing: - bound_1_tmp = reftrack_interp[:, :2] + normvec_normalized_interp * np.expand_dims(reftrack_interp[:, 2], axis=1) - bound_2_tmp = reftrack_interp[:, :2] - normvec_normalized_interp * np.expand_dims(reftrack_interp[:, 3], axis=1) - - plt.figure() - - plt.plot(reftrack_interp[:, 0], reftrack_interp[:, 1], 'k-') - for i in range(bound_1_tmp.shape[0]): - temp = np.vstack((bound_1_tmp[i], bound_2_tmp[i])) - plt.plot(temp[:, 0], temp[:, 1], "r-", linewidth=0.7) - - plt.grid() - ax = plt.gca() - ax.set_aspect("equal", "datalim") - plt.xlabel("east in m") - plt.ylabel("north in m") - plt.title("Error: at least one pair of normals is crossed!") - - plt.show() - - raise IOError("At least two spline normals are crossed, check input or increase smoothing factor!") - - # ------------------------------------------------------------------------------------------------------------------ - # ENFORCE MINIMUM TRACK WIDTH (INFLATE TIGHTER SECTIONS UNTIL REACHED) --------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - manipulated_track_width = False - - if min_width is not None: - for i in range(reftrack_interp.shape[0]): - cur_width = reftrack_interp[i, 2] + reftrack_interp[i, 3] - - if cur_width < min_width: - manipulated_track_width = True - - # inflate to both sides equally - reftrack_interp[i, 2] += (min_width - cur_width) / 2 - reftrack_interp[i, 3] += (min_width - cur_width) / 2 - - if manipulated_track_width: - print("WARNING: Track region was smaller than requested minimum track width -> Applied artificial inflation in" - " order to match the requirements!", file=sys.stderr) - - return reftrack_interp, normvec_normalized_interp, a_interp, coeffs_x_interp, coeffs_y_interp - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/result_plots.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/result_plots.py deleted file mode 100644 index 09b46d12e..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/helper_funcs_glob/src/result_plots.py +++ /dev/null @@ -1,158 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt -from mpl_toolkits.mplot3d import Axes3D -import trajectory_planning_helpers - - -def result_plots(plot_opts: dict, - width_veh_opt: float, - width_veh_real: float, - refline: np.ndarray, - bound1_imp: np.ndarray, - bound2_imp: np.ndarray, - bound1_interp: np.ndarray, - bound2_interp: np.ndarray, - trajectory: np.ndarray) -> None: - """ - Created by: - Alexander Heilmeier - - Documentation: - This function plots several figures containing relevant trajectory information after trajectory optimization. - - Inputs: - plot_opts: dict containing the information which figures to plot - width_veh_opt: vehicle width used during optimization in m - width_veh_real: real vehicle width in m - refline: contains the reference line coordinates [x_m, y_m] - bound1_imp: first track boundary (as imported) (mostly right) [x_m, y_m] - bound2_imp: second track boundary (as imported) (mostly left) [x_m, y_m] - bound1_interp: first track boundary (interpolated) (mostly right) [x_m, y_m] - bound2_interp: second track boundary (interpolated) (mostly left) [x_m, y_m] - trajectory: trajectory data [s_m, x_m, y_m, psi_rad, kappa_radpm, vx_mps, ax_mps2] - """ - - if plot_opts["raceline"]: - # calculate vehicle boundary points (including safety margin in vehicle width) - normvec_normalized_opt = trajectory_planning_helpers.calc_normal_vectors.\ - calc_normal_vectors(trajectory[:, 3]) - - veh_bound1_virt = trajectory[:, 1:3] + normvec_normalized_opt * width_veh_opt / 2 - veh_bound2_virt = trajectory[:, 1:3] - normvec_normalized_opt * width_veh_opt / 2 - - veh_bound1_real = trajectory[:, 1:3] + normvec_normalized_opt * width_veh_real / 2 - veh_bound2_real = trajectory[:, 1:3] - normvec_normalized_opt * width_veh_real / 2 - - point1_arrow = refline[0] - point2_arrow = refline[3] - vec_arrow = point2_arrow - point1_arrow - - # plot track including optimized path - plt.figure() - plt.plot(refline[:, 0], refline[:, 1], "k--", linewidth=0.7) - plt.plot(veh_bound1_virt[:, 0], veh_bound1_virt[:, 1], "b", linewidth=0.5) - plt.plot(veh_bound2_virt[:, 0], veh_bound2_virt[:, 1], "b", linewidth=0.5) - plt.plot(veh_bound1_real[:, 0], veh_bound1_real[:, 1], "c", linewidth=0.5) - plt.plot(veh_bound2_real[:, 0], veh_bound2_real[:, 1], "c", linewidth=0.5) - plt.plot(bound1_interp[:, 0], bound1_interp[:, 1], "k-", linewidth=0.7) - plt.plot(bound2_interp[:, 0], bound2_interp[:, 1], "k-", linewidth=0.7) - plt.plot(trajectory[:, 1], trajectory[:, 2], "r-", linewidth=1.5) - - if plot_opts["imported_bounds"] and bound1_imp is not None and bound2_imp is not None: - plt.plot(bound1_imp[:, 0], bound1_imp[:, 1], "y-", linewidth=0.7) - plt.plot(bound2_imp[:, 0], bound2_imp[:, 1], "y-", linewidth=0.7) - - plt.grid() - ax = plt.gca() - ax.arrow(point1_arrow[0], point1_arrow[1], vec_arrow[0], vec_arrow[1], - head_width=7.0, head_length=7.0, fc='g', ec='g') - ax.set_aspect("equal", "datalim") - plt.xlabel("east in m") - plt.ylabel("north in m") - plt.show() - - if plot_opts["raceline_curv"]: - # plot curvature profile - plt.figure() - plt.plot(trajectory[:, 0], trajectory[:, 4]) - plt.grid() - plt.xlabel("distance in m") - plt.ylabel("curvature in rad/m") - plt.show() - - if plot_opts["racetraj_vel_3d"]: - scale_x = 1.0 - scale_y = 1.0 - scale_z = 0.3 # scale z axis such that it does not appear stretched - - # create 3d plot - fig = plt.figure() - ax = fig.gca(projection='3d') - - # recast get_proj function to use scaling factors for the axes - ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), np.diag([scale_x, scale_y, scale_z, 1.0])) - - # plot raceline and boundaries - ax.plot(refline[:, 0], refline[:, 1], "k--", linewidth=0.7) - ax.plot(bound1_interp[:, 0], bound1_interp[:, 1], 0.0, "k-", linewidth=0.7) - ax.plot(bound2_interp[:, 0], bound2_interp[:, 1], 0.0, "k-", linewidth=0.7) - ax.plot(trajectory[:, 1], trajectory[:, 2], "r-", linewidth=0.7) - - ax.grid() - ax.set_aspect("auto") - ax.set_xlabel("east in m") - ax.set_ylabel("north in m") - - # plot velocity profile in 3D - ax.plot(trajectory[:, 1], trajectory[:, 2], trajectory[:, 5], color="k") - ax.set_zlabel("velocity in m/s") - - # plot vertical lines visualizing acceleration and deceleration zones - ind_stepsize = int(np.round(plot_opts["racetraj_vel_3d_stepsize"] / trajectory[1, 0] - trajectory[0, 0])) - if ind_stepsize < 1: - ind_stepsize = 1 - - cur_ind = 0 - no_points_traj_vdc = np.shape(trajectory)[0] - - while cur_ind < no_points_traj_vdc - 1: - x_tmp = [trajectory[cur_ind, 1], trajectory[cur_ind, 1]] - y_tmp = [trajectory[cur_ind, 2], trajectory[cur_ind, 2]] - z_tmp = [0.0, trajectory[cur_ind, 5]] # plot line with height depending on velocity - - # get proper color for line depending on acceleration - if trajectory[cur_ind, 6] > 0.0: - col = "g" - elif trajectory[cur_ind, 6] < 0.0: - col = "r" - else: - col = "gray" - - # plot line - ax.plot(x_tmp, y_tmp, z_tmp, color=col) - - # increment index - cur_ind += ind_stepsize - - plt.show() - - if plot_opts["spline_normals"]: - plt.figure() - - plt.plot(refline[:, 0], refline[:, 1], 'k-') - for i in range(bound1_interp.shape[0]): - temp = np.vstack((bound1_interp[i], bound2_interp[i])) - plt.plot(temp[:, 0], temp[:, 1], "r-", linewidth=0.7) - - plt.grid() - ax = plt.gca() - ax.set_aspect("equal", "datalim") - plt.xlabel("east in m") - plt.ylabel("north in m") - - plt.show() - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == 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--49.0000;-179.5000 --49.0000;-179.0000 --49.0000;-178.5000 --49.0000;-178.0000 --49.0000;-177.5000 --49.0000;-177.0000 --49.0000;-176.5000 --49.0000;-176.0000 --49.0000;-175.5000 --49.0000;-175.0000 --49.0000;-174.5000 --49.0000;-174.0000 --49.0000;-173.5000 --48.5000;-187.0000 --48.5000;-186.5000 --48.5000;-186.0000 --48.5000;-185.5000 --48.5000;-185.0000 --48.5000;-184.5000 --48.5000;-184.0000 --48.5000;-183.5000 --48.5000;-183.0000 --48.5000;-182.5000 --48.5000;-182.0000 --48.5000;-181.5000 --48.5000;-181.0000 --48.5000;-180.5000 --48.5000;-180.0000 --48.5000;-179.5000 --48.5000;-179.0000 --48.5000;-178.5000 --48.5000;-178.0000 --48.5000;-177.5000 --48.5000;-177.0000 --48.5000;-176.5000 --48.5000;-176.0000 --48.5000;-175.5000 --48.5000;-175.0000 --48.5000;-174.5000 --48.5000;-174.0000 --48.5000;-173.5000 --48.5000;-173.0000 --48.5000;-172.5000 --48.5000;-172.0000 --48.5000;-171.5000 --48.5000;-171.0000 --48.5000;-170.5000 --48.5000;-170.0000 --48.5000;-169.5000 --48.5000;-169.0000 --48.5000;-168.5000 --48.5000;-168.0000 --48.5000;-167.5000 --48.5000;-167.0000 --48.5000;-166.5000 --48.0000;-189.5000 --48.0000;-189.0000 --48.0000;-188.5000 --48.0000;-188.0000 --48.0000;-187.5000 --48.0000;-187.0000 --48.0000;-186.5000 --48.0000;-186.0000 --48.0000;-185.5000 --48.0000;-185.0000 --48.0000;-184.5000 --48.0000;-184.0000 --48.0000;-183.5000 --48.0000;-183.0000 --48.0000;-182.5000 --48.0000;-182.0000 --48.0000;-181.5000 --48.0000;-181.0000 --48.0000;-180.5000 --48.0000;-180.0000 --48.0000;-179.5000 --48.0000;-179.0000 --48.0000;-178.5000 --48.0000;-178.0000 --48.0000;-177.5000 --48.0000;-177.0000 --48.0000;-176.5000 --48.0000;-176.0000 --48.0000;-175.5000 --48.0000;-175.0000 --48.0000;-174.5000 --48.0000;-174.0000 --48.0000;-173.5000 --48.0000;-173.0000 --48.0000;-172.5000 --48.0000;-172.0000 --48.0000;-171.5000 --48.0000;-171.0000 --48.0000;-170.5000 --48.0000;-170.0000 --48.0000;-169.5000 --48.0000;-169.0000 --48.0000;-168.5000 --48.0000;-168.0000 --48.0000;-167.5000 --48.0000;-167.0000 --48.0000;-166.5000 --48.0000;-166.0000 --48.0000;-165.5000 --48.0000;-165.0000 --48.0000;-164.5000 --48.0000;-164.0000 --48.0000;-163.5000 --48.0000;-163.0000 --48.0000;-162.5000 --48.0000;-162.0000 --48.0000;-161.5000 --47.5000;-192.0000 --47.5000;-191.5000 --47.5000;-191.0000 --47.5000;-190.5000 --47.5000;-190.0000 --47.5000;-189.5000 --47.5000;-189.0000 --47.5000;-188.5000 --47.5000;-188.0000 --47.5000;-187.5000 --47.5000;-187.0000 --47.5000;-186.5000 --47.5000;-186.0000 --47.5000;-185.5000 --47.5000;-185.0000 --47.5000;-184.5000 --47.5000;-184.0000 --47.5000;-183.5000 --47.5000;-183.0000 --47.5000;-182.5000 --47.5000;-182.0000 --47.5000;-181.5000 --47.5000;-181.0000 --47.5000;-180.5000 --47.5000;-180.0000 --47.5000;-179.5000 --47.5000;-179.0000 --47.5000;-178.5000 --47.5000;-178.0000 --47.5000;-177.5000 --47.5000;-177.0000 --47.5000;-176.5000 --47.5000;-176.0000 --47.5000;-175.5000 --47.5000;-175.0000 --47.5000;-174.5000 --47.5000;-174.0000 --47.5000;-173.5000 --47.5000;-173.0000 --47.5000;-172.5000 --47.5000;-172.0000 --47.5000;-171.5000 --47.5000;-171.0000 --47.5000;-170.5000 --47.5000;-170.0000 --47.5000;-169.5000 --47.5000;-169.0000 --47.5000;-168.5000 --47.5000;-168.0000 --47.5000;-167.5000 --47.5000;-167.0000 --47.5000;-166.5000 --47.5000;-166.0000 --47.5000;-165.5000 --47.5000;-165.0000 --47.5000;-164.5000 --47.5000;-164.0000 --47.5000;-163.5000 --47.5000;-163.0000 --47.5000;-162.5000 --47.5000;-162.0000 --47.5000;-161.5000 --47.5000;-161.0000 --47.5000;-160.5000 --47.5000;-160.0000 --47.5000;-159.5000 --47.5000;-159.0000 --47.5000;-158.5000 --47.5000;-158.0000 --47.5000;-157.5000 --47.5000;-157.0000 --47.5000;-156.5000 --47.0000;-193.5000 --47.0000;-193.0000 --47.0000;-192.5000 --47.0000;-192.0000 --47.0000;-191.5000 --47.0000;-191.0000 --47.0000;-190.5000 --47.0000;-190.0000 --47.0000;-189.5000 --47.0000;-189.0000 --47.0000;-188.5000 --47.0000;-188.0000 --47.0000;-187.5000 --47.0000;-187.0000 --47.0000;-186.5000 --47.0000;-186.0000 --47.0000;-185.5000 --47.0000;-185.0000 --47.0000;-184.5000 --47.0000;-184.0000 --47.0000;-183.5000 --47.0000;-183.0000 --47.0000;-182.5000 --47.0000;-182.0000 --47.0000;-181.5000 --47.0000;-181.0000 --47.0000;-180.5000 --47.0000;-180.0000 --47.0000;-179.5000 --47.0000;-179.0000 --47.0000;-178.5000 --47.0000;-178.0000 --47.0000;-177.5000 --47.0000;-177.0000 --47.0000;-176.5000 --47.0000;-176.0000 --47.0000;-175.5000 --47.0000;-175.0000 --47.0000;-174.5000 --47.0000;-174.0000 --47.0000;-173.5000 --47.0000;-173.0000 --47.0000;-172.5000 --47.0000;-172.0000 --47.0000;-171.5000 --47.0000;-171.0000 --47.0000;-170.5000 --47.0000;-170.0000 --47.0000;-169.5000 --47.0000;-169.0000 --47.0000;-168.5000 --47.0000;-168.0000 --47.0000;-167.5000 --47.0000;-167.0000 --47.0000;-166.5000 --47.0000;-166.0000 --47.0000;-165.5000 --47.0000;-165.0000 --47.0000;-164.5000 --47.0000;-164.0000 --47.0000;-163.5000 --47.0000;-163.0000 --47.0000;-162.5000 --47.0000;-162.0000 --47.0000;-161.5000 --47.0000;-161.0000 --47.0000;-160.5000 --47.0000;-160.0000 --47.0000;-159.5000 --47.0000;-159.0000 --47.0000;-158.5000 --47.0000;-158.0000 --47.0000;-157.5000 --47.0000;-157.0000 --47.0000;-156.5000 --47.0000;-156.0000 --47.0000;-155.5000 --47.0000;-155.0000 --47.0000;-154.5000 --47.0000;-154.0000 --47.0000;-153.5000 --47.0000;-153.0000 --47.0000;-152.5000 --46.5000;-195.0000 --46.5000;-194.5000 --46.5000;-194.0000 --46.5000;-193.5000 --46.5000;-193.0000 --46.5000;-192.5000 --46.5000;-192.0000 --46.5000;-191.5000 --46.5000;-191.0000 --46.5000;-190.5000 --46.5000;-190.0000 --46.5000;-189.5000 --46.5000;-189.0000 --46.5000;-188.5000 --46.5000;-188.0000 --46.5000;-187.5000 --46.5000;-187.0000 --46.5000;-186.5000 --46.5000;-186.0000 --46.5000;-185.5000 --46.5000;-185.0000 --46.5000;-184.5000 --46.5000;-184.0000 --46.5000;-183.5000 --46.5000;-183.0000 --46.5000;-182.5000 --46.5000;-182.0000 --46.5000;-181.5000 --46.5000;-181.0000 --46.5000;-180.5000 --46.5000;-180.0000 --46.5000;-179.5000 --46.5000;-179.0000 --46.5000;-178.5000 --46.5000;-178.0000 --46.5000;-177.5000 --46.5000;-177.0000 --46.5000;-176.5000 --46.5000;-176.0000 --46.5000;-175.5000 --46.5000;-175.0000 --46.5000;-174.5000 --46.5000;-174.0000 --46.5000;-173.5000 --46.5000;-173.0000 --46.5000;-172.5000 --46.5000;-172.0000 --46.5000;-171.5000 --46.5000;-171.0000 --46.5000;-170.5000 --46.5000;-170.0000 --46.5000;-169.5000 --46.5000;-169.0000 --46.5000;-168.5000 --46.5000;-168.0000 --46.5000;-167.5000 --46.5000;-167.0000 --46.5000;-166.5000 --46.5000;-166.0000 --46.5000;-165.5000 --46.5000;-165.0000 --46.5000;-164.5000 --46.5000;-164.0000 --46.5000;-163.5000 --46.5000;-163.0000 --46.5000;-162.5000 --46.5000;-162.0000 --46.5000;-161.5000 --46.5000;-161.0000 --46.5000;-160.5000 --46.5000;-160.0000 --46.5000;-159.5000 --46.5000;-159.0000 --46.5000;-158.5000 --46.5000;-158.0000 --46.5000;-157.5000 --46.5000;-157.0000 --46.5000;-156.5000 --46.5000;-156.0000 --46.5000;-155.5000 --46.5000;-155.0000 --46.5000;-154.5000 --46.5000;-154.0000 --46.5000;-153.5000 --46.5000;-153.0000 --46.5000;-152.5000 --46.5000;-152.0000 --46.5000;-151.5000 --46.5000;-151.0000 --46.5000;-150.5000 --46.5000;-150.0000 --46.5000;-149.5000 --46.5000;-149.0000 --46.5000;-148.5000 --46.0000;-196.5000 --46.0000;-196.0000 --46.0000;-195.5000 --46.0000;-195.0000 --46.0000;-194.5000 --46.0000;-194.0000 --46.0000;-193.5000 --46.0000;-193.0000 --46.0000;-192.5000 --46.0000;-192.0000 --46.0000;-191.5000 --46.0000;-191.0000 --46.0000;-190.5000 --46.0000;-190.0000 --46.0000;-189.5000 --46.0000;-189.0000 --46.0000;-188.5000 --46.0000;-188.0000 --46.0000;-187.5000 --46.0000;-187.0000 --46.0000;-186.5000 --46.0000;-186.0000 --46.0000;-185.5000 --46.0000;-185.0000 --46.0000;-184.5000 --46.0000;-184.0000 --46.0000;-183.5000 --46.0000;-183.0000 --46.0000;-182.5000 --46.0000;-182.0000 --46.0000;-181.5000 --46.0000;-181.0000 --46.0000;-180.5000 --46.0000;-180.0000 --46.0000;-179.5000 --46.0000;-179.0000 --46.0000;-178.5000 --46.0000;-178.0000 --46.0000;-177.5000 --46.0000;-177.0000 --46.0000;-176.5000 --46.0000;-176.0000 --46.0000;-175.5000 --46.0000;-175.0000 --46.0000;-174.5000 --46.0000;-174.0000 --46.0000;-173.5000 --46.0000;-173.0000 --46.0000;-172.5000 --46.0000;-172.0000 --46.0000;-171.5000 --46.0000;-171.0000 --46.0000;-170.5000 --46.0000;-170.0000 --46.0000;-169.5000 --46.0000;-169.0000 --46.0000;-168.5000 --46.0000;-168.0000 --46.0000;-167.5000 --46.0000;-167.0000 --46.0000;-166.5000 --46.0000;-166.0000 --46.0000;-165.5000 --46.0000;-165.0000 --46.0000;-164.5000 --46.0000;-164.0000 --46.0000;-163.5000 --46.0000;-163.0000 --46.0000;-162.5000 --46.0000;-162.0000 --46.0000;-161.5000 --46.0000;-161.0000 --46.0000;-160.5000 --46.0000;-160.0000 --46.0000;-159.5000 --46.0000;-159.0000 --46.0000;-158.5000 --46.0000;-158.0000 --46.0000;-157.5000 --46.0000;-157.0000 --46.0000;-156.5000 --46.0000;-156.0000 --46.0000;-155.5000 --46.0000;-155.0000 --46.0000;-154.5000 --46.0000;-154.0000 --46.0000;-153.5000 --46.0000;-153.0000 --46.0000;-152.5000 --46.0000;-152.0000 --46.0000;-151.5000 --46.0000;-151.0000 --46.0000;-150.5000 --46.0000;-150.0000 --46.0000;-149.5000 --46.0000;-149.0000 --46.0000;-148.5000 --46.0000;-148.0000 --46.0000;-147.5000 --46.0000;-147.0000 --46.0000;-146.5000 --46.0000;-146.0000 --46.0000;-145.5000 --46.0000;-145.0000 --46.0000;-144.5000 --45.5000;-198.0000 --45.5000;-197.5000 --45.5000;-197.0000 --45.5000;-196.5000 --45.5000;-196.0000 --45.5000;-195.5000 --45.5000;-195.0000 --45.5000;-194.5000 --45.5000;-194.0000 --45.5000;-193.5000 --45.5000;-193.0000 --45.5000;-192.5000 --45.5000;-192.0000 --45.5000;-191.5000 --45.5000;-191.0000 --45.5000;-190.5000 --45.5000;-190.0000 --45.5000;-189.5000 --45.5000;-189.0000 --45.5000;-188.5000 --45.5000;-188.0000 --45.5000;-187.5000 --45.5000;-187.0000 --45.5000;-186.5000 --45.5000;-186.0000 --45.5000;-185.5000 --45.5000;-185.0000 --45.5000;-184.5000 --45.5000;-184.0000 --45.5000;-183.5000 --45.5000;-183.0000 --45.5000;-182.5000 --45.5000;-182.0000 --45.5000;-181.5000 --45.5000;-181.0000 --45.5000;-180.5000 --45.5000;-180.0000 --45.5000;-179.5000 --45.5000;-179.0000 --45.5000;-178.5000 --45.5000;-178.0000 --45.5000;-177.5000 --45.5000;-177.0000 --45.5000;-176.5000 --45.5000;-176.0000 --45.5000;-175.5000 --45.5000;-175.0000 --45.5000;-174.5000 --45.5000;-174.0000 --45.5000;-173.5000 --45.5000;-173.0000 --45.5000;-172.5000 --45.5000;-172.0000 --45.5000;-171.5000 --45.5000;-171.0000 --45.5000;-170.5000 --45.5000;-170.0000 --45.5000;-169.5000 --45.5000;-169.0000 --45.5000;-168.5000 --45.5000;-168.0000 --45.5000;-167.5000 --45.5000;-167.0000 --45.5000;-166.5000 --45.5000;-166.0000 --45.5000;-165.5000 --45.5000;-165.0000 --45.5000;-164.5000 --45.5000;-164.0000 --45.5000;-163.5000 --45.5000;-163.0000 --45.5000;-162.5000 --45.5000;-162.0000 --45.5000;-161.5000 --45.5000;-161.0000 --45.5000;-160.5000 --45.5000;-160.0000 --45.5000;-159.5000 --45.5000;-159.0000 --45.5000;-158.5000 --45.5000;-158.0000 --45.5000;-157.5000 --45.5000;-157.0000 --45.5000;-156.5000 --45.5000;-156.0000 --45.5000;-155.5000 --45.5000;-155.0000 --45.5000;-154.5000 --45.5000;-154.0000 --45.5000;-153.5000 --45.5000;-153.0000 --45.5000;-152.5000 --45.5000;-152.0000 --45.5000;-151.5000 --45.5000;-151.0000 --45.5000;-150.5000 --45.5000;-150.0000 --45.5000;-149.5000 --45.5000;-149.0000 --45.5000;-148.5000 --45.5000;-148.0000 --45.5000;-147.5000 --45.5000;-147.0000 --45.5000;-146.5000 --45.5000;-146.0000 --45.5000;-145.5000 --45.5000;-145.0000 --45.5000;-144.5000 --45.5000;-144.0000 --45.5000;-143.5000 --45.5000;-143.0000 --45.5000;-142.5000 --45.5000;-142.0000 --45.5000;-141.5000 --45.5000;-141.0000 --45.0000;-199.0000 --45.0000;-198.5000 --45.0000;-198.0000 --45.0000;-197.5000 --45.0000;-197.0000 --45.0000;-196.5000 --45.0000;-196.0000 --45.0000;-195.5000 --45.0000;-195.0000 --45.0000;-194.5000 --45.0000;-194.0000 --45.0000;-193.5000 --45.0000;-193.0000 --45.0000;-192.5000 --45.0000;-192.0000 --45.0000;-191.5000 --45.0000;-191.0000 --45.0000;-190.5000 --45.0000;-190.0000 --45.0000;-189.5000 --45.0000;-189.0000 --45.0000;-188.5000 --45.0000;-188.0000 --45.0000;-187.5000 --45.0000;-187.0000 --45.0000;-186.5000 --45.0000;-186.0000 --45.0000;-185.5000 --45.0000;-185.0000 --45.0000;-184.5000 --45.0000;-184.0000 --45.0000;-183.5000 --45.0000;-183.0000 --45.0000;-182.5000 --45.0000;-182.0000 --45.0000;-181.5000 --45.0000;-181.0000 --45.0000;-180.5000 --45.0000;-180.0000 --45.0000;-179.5000 --45.0000;-179.0000 --45.0000;-178.5000 --45.0000;-178.0000 --45.0000;-177.5000 --45.0000;-177.0000 --45.0000;-176.5000 --45.0000;-176.0000 --45.0000;-175.5000 --45.0000;-175.0000 --45.0000;-174.5000 --45.0000;-174.0000 --45.0000;-173.5000 --45.0000;-173.0000 --45.0000;-172.5000 --45.0000;-172.0000 --45.0000;-171.5000 --45.0000;-171.0000 --45.0000;-170.5000 --45.0000;-170.0000 --45.0000;-169.5000 --45.0000;-169.0000 --45.0000;-168.5000 --45.0000;-168.0000 --45.0000;-167.5000 --45.0000;-167.0000 --45.0000;-166.5000 --45.0000;-166.0000 --45.0000;-165.5000 --45.0000;-165.0000 --45.0000;-164.5000 --45.0000;-164.0000 --45.0000;-163.5000 --45.0000;-163.0000 --45.0000;-162.5000 --45.0000;-162.0000 --45.0000;-161.5000 --45.0000;-161.0000 --45.0000;-160.5000 --45.0000;-160.0000 --45.0000;-159.5000 --45.0000;-159.0000 --45.0000;-158.5000 --45.0000;-158.0000 --45.0000;-157.5000 --45.0000;-157.0000 --45.0000;-156.5000 --45.0000;-156.0000 --45.0000;-155.5000 --45.0000;-155.0000 --45.0000;-154.5000 --45.0000;-154.0000 --45.0000;-153.5000 --45.0000;-153.0000 --45.0000;-152.5000 --45.0000;-152.0000 --45.0000;-151.5000 --45.0000;-151.0000 --45.0000;-150.5000 --45.0000;-150.0000 --45.0000;-149.5000 --45.0000;-149.0000 --45.0000;-148.5000 --45.0000;-148.0000 --45.0000;-147.5000 --45.0000;-147.0000 --45.0000;-146.5000 --45.0000;-146.0000 --45.0000;-145.5000 --45.0000;-145.0000 --45.0000;-144.5000 --45.0000;-144.0000 --45.0000;-143.5000 --45.0000;-143.0000 --45.0000;-142.5000 --45.0000;-142.0000 --45.0000;-141.5000 --45.0000;-141.0000 --45.0000;-140.5000 --45.0000;-140.0000 --45.0000;-139.5000 --45.0000;-139.0000 --45.0000;-138.5000 --45.0000;-138.0000 --45.0000;-137.5000 --45.0000;-137.0000 --44.5000;-200.0000 --44.5000;-199.5000 --44.5000;-199.0000 --44.5000;-198.5000 --44.5000;-198.0000 --44.5000;-197.5000 --44.5000;-197.0000 --44.5000;-196.5000 --44.5000;-196.0000 --44.5000;-195.5000 --44.5000;-195.0000 --44.5000;-194.5000 --44.5000;-194.0000 --44.5000;-193.5000 --44.5000;-193.0000 --44.5000;-192.5000 --44.5000;-192.0000 --44.5000;-191.5000 --44.5000;-191.0000 --44.5000;-190.5000 --44.5000;-190.0000 --44.5000;-189.5000 --44.5000;-189.0000 --44.5000;-188.5000 --44.5000;-188.0000 --44.5000;-187.5000 --44.5000;-187.0000 --44.5000;-186.5000 --44.5000;-186.0000 --44.5000;-185.5000 --44.5000;-185.0000 --44.5000;-184.5000 --44.5000;-184.0000 --44.5000;-183.5000 --44.5000;-183.0000 --44.5000;-182.5000 --44.5000;-182.0000 --44.5000;-181.5000 --44.5000;-181.0000 --44.5000;-180.5000 --44.5000;-180.0000 --44.5000;-179.5000 --44.5000;-179.0000 --44.5000;-178.5000 --44.5000;-178.0000 --44.5000;-177.5000 --44.5000;-177.0000 --44.5000;-176.5000 --44.5000;-176.0000 --44.5000;-175.5000 --44.5000;-175.0000 --44.5000;-174.5000 --44.5000;-174.0000 --44.5000;-173.5000 --44.5000;-173.0000 --44.5000;-172.5000 --44.5000;-172.0000 --44.5000;-171.5000 --44.5000;-171.0000 --44.5000;-170.5000 --44.5000;-170.0000 --44.5000;-169.5000 --44.5000;-169.0000 --44.5000;-168.5000 --44.5000;-168.0000 --44.5000;-167.5000 --44.5000;-167.0000 --44.5000;-166.5000 --44.5000;-166.0000 --44.5000;-165.5000 --44.5000;-165.0000 --44.5000;-164.5000 --44.5000;-164.0000 --44.5000;-163.5000 --44.5000;-163.0000 --44.5000;-162.5000 --44.5000;-162.0000 --44.5000;-161.5000 --44.5000;-161.0000 --44.5000;-160.5000 --44.5000;-160.0000 --44.5000;-159.5000 --44.5000;-159.0000 --44.5000;-158.5000 --44.5000;-158.0000 --44.5000;-157.5000 --44.5000;-157.0000 --44.5000;-156.5000 --44.5000;-156.0000 --44.5000;-155.5000 --44.5000;-155.0000 --44.5000;-154.5000 --44.5000;-154.0000 --44.5000;-153.5000 --44.5000;-153.0000 --44.5000;-152.5000 --44.5000;-152.0000 --44.5000;-151.5000 --44.5000;-151.0000 --44.5000;-150.5000 --44.5000;-150.0000 --44.5000;-149.5000 --44.5000;-149.0000 --44.5000;-148.5000 --44.5000;-148.0000 --44.5000;-147.5000 --44.5000;-147.0000 --44.5000;-146.5000 --44.5000;-146.0000 --44.5000;-145.5000 --44.5000;-145.0000 --44.5000;-144.5000 --44.5000;-144.0000 --44.5000;-143.5000 --44.5000;-143.0000 --44.5000;-142.5000 --44.5000;-142.0000 --44.5000;-141.5000 --44.5000;-141.0000 --44.5000;-140.5000 --44.5000;-140.0000 --44.5000;-139.5000 --44.5000;-139.0000 --44.5000;-138.5000 --44.5000;-138.0000 --44.5000;-137.5000 --44.5000;-137.0000 --44.5000;-136.5000 --44.5000;-136.0000 --44.5000;-135.5000 --44.5000;-135.0000 --44.5000;-134.5000 --44.5000;-134.0000 --44.0000;-201.0000 --44.0000;-200.5000 --44.0000;-200.0000 --44.0000;-199.5000 --44.0000;-199.0000 --44.0000;-198.5000 --44.0000;-198.0000 --44.0000;-197.5000 --44.0000;-197.0000 --44.0000;-196.5000 --44.0000;-196.0000 --44.0000;-195.5000 --44.0000;-195.0000 --44.0000;-194.5000 --44.0000;-194.0000 --44.0000;-193.5000 --44.0000;-193.0000 --44.0000;-192.5000 --44.0000;-192.0000 --44.0000;-191.5000 --44.0000;-191.0000 --44.0000;-190.5000 --44.0000;-190.0000 --44.0000;-189.5000 --44.0000;-189.0000 --44.0000;-188.5000 --44.0000;-188.0000 --44.0000;-187.5000 --44.0000;-187.0000 --44.0000;-186.5000 --44.0000;-186.0000 --44.0000;-185.5000 --44.0000;-185.0000 --44.0000;-184.5000 --44.0000;-184.0000 --44.0000;-183.5000 --44.0000;-183.0000 --44.0000;-182.5000 --44.0000;-182.0000 --44.0000;-181.5000 --44.0000;-181.0000 --44.0000;-180.5000 --44.0000;-180.0000 --44.0000;-179.5000 --44.0000;-179.0000 --44.0000;-178.5000 --44.0000;-178.0000 --44.0000;-177.5000 --44.0000;-177.0000 --44.0000;-176.5000 --44.0000;-176.0000 --44.0000;-175.5000 --44.0000;-175.0000 --44.0000;-174.5000 --44.0000;-174.0000 --44.0000;-173.5000 --44.0000;-173.0000 --44.0000;-172.5000 --44.0000;-172.0000 --44.0000;-171.5000 --44.0000;-171.0000 --44.0000;-170.5000 --44.0000;-170.0000 --44.0000;-169.5000 --44.0000;-169.0000 --44.0000;-168.5000 --44.0000;-168.0000 --44.0000;-167.5000 --44.0000;-167.0000 --44.0000;-166.5000 --44.0000;-166.0000 --44.0000;-165.5000 --44.0000;-165.0000 --44.0000;-164.5000 --44.0000;-164.0000 --44.0000;-163.5000 --44.0000;-163.0000 --44.0000;-162.5000 --44.0000;-162.0000 --44.0000;-161.5000 --44.0000;-161.0000 --44.0000;-160.5000 --44.0000;-160.0000 --44.0000;-159.5000 --44.0000;-159.0000 --44.0000;-158.5000 --44.0000;-158.0000 --44.0000;-157.5000 --44.0000;-157.0000 --44.0000;-156.5000 --44.0000;-156.0000 --44.0000;-155.5000 --44.0000;-155.0000 --44.0000;-154.5000 --44.0000;-154.0000 --44.0000;-153.5000 --44.0000;-153.0000 --44.0000;-152.5000 --44.0000;-152.0000 --44.0000;-151.5000 --44.0000;-151.0000 --44.0000;-150.5000 --44.0000;-150.0000 --44.0000;-149.5000 --44.0000;-149.0000 --44.0000;-148.5000 --44.0000;-148.0000 --44.0000;-147.5000 --44.0000;-147.0000 --44.0000;-146.5000 --44.0000;-146.0000 --44.0000;-145.5000 --44.0000;-145.0000 --44.0000;-144.5000 --44.0000;-144.0000 --44.0000;-143.5000 --44.0000;-143.0000 --44.0000;-142.5000 --44.0000;-142.0000 --44.0000;-141.5000 --44.0000;-141.0000 --44.0000;-140.5000 --44.0000;-140.0000 --44.0000;-139.5000 --44.0000;-139.0000 --44.0000;-138.5000 --44.0000;-138.0000 --44.0000;-137.5000 --44.0000;-137.0000 --44.0000;-136.5000 --44.0000;-136.0000 --44.0000;-135.5000 --44.0000;-135.0000 --44.0000;-134.5000 --44.0000;-134.0000 --44.0000;-133.5000 --44.0000;-133.0000 --44.0000;-132.5000 --44.0000;-132.0000 --44.0000;-131.5000 --44.0000;-131.0000 --44.0000;-130.5000 --43.5000;-202.0000 --43.5000;-201.5000 --43.5000;-201.0000 --43.5000;-200.5000 --43.5000;-200.0000 --43.5000;-199.5000 --43.5000;-199.0000 --43.5000;-198.5000 --43.5000;-198.0000 --43.5000;-197.5000 --43.5000;-197.0000 --43.5000;-196.5000 --43.5000;-196.0000 --43.5000;-195.5000 --43.5000;-195.0000 --43.5000;-194.5000 --43.5000;-194.0000 --43.5000;-193.5000 --43.5000;-193.0000 --43.5000;-192.5000 --43.5000;-192.0000 --43.5000;-191.5000 --43.5000;-191.0000 --43.5000;-190.5000 --43.5000;-190.0000 --43.5000;-189.5000 --43.5000;-189.0000 --43.5000;-188.5000 --43.5000;-188.0000 --43.5000;-187.5000 --43.5000;-187.0000 --43.5000;-186.5000 --43.5000;-186.0000 --43.5000;-185.5000 --43.5000;-185.0000 --43.5000;-184.5000 --43.5000;-184.0000 --43.5000;-183.5000 --43.5000;-183.0000 --43.5000;-182.5000 --43.5000;-182.0000 --43.5000;-181.5000 --43.5000;-181.0000 --43.5000;-180.5000 --43.5000;-180.0000 --43.5000;-179.5000 --43.5000;-179.0000 --43.5000;-178.5000 --43.5000;-178.0000 --43.5000;-177.5000 --43.5000;-177.0000 --43.5000;-176.5000 --43.5000;-176.0000 --43.5000;-175.5000 --43.5000;-175.0000 --43.5000;-174.5000 --43.5000;-174.0000 --43.5000;-173.5000 --43.5000;-173.0000 --43.5000;-172.5000 --43.5000;-172.0000 --43.5000;-171.5000 --43.5000;-171.0000 --43.5000;-170.5000 --43.5000;-170.0000 --43.5000;-169.5000 --43.5000;-169.0000 --43.5000;-168.5000 --43.5000;-168.0000 --43.5000;-167.5000 --43.5000;-167.0000 --43.5000;-166.5000 --43.5000;-166.0000 --43.5000;-165.5000 --43.5000;-165.0000 --43.5000;-164.5000 --43.5000;-164.0000 --43.5000;-163.5000 --43.5000;-163.0000 --43.5000;-162.5000 --43.5000;-162.0000 --43.5000;-161.5000 --43.5000;-161.0000 --43.5000;-160.5000 --43.5000;-160.0000 --43.5000;-159.5000 --43.5000;-159.0000 --43.5000;-158.5000 --43.5000;-158.0000 --43.5000;-157.5000 --43.5000;-157.0000 --43.5000;-156.5000 --43.5000;-156.0000 --43.5000;-155.5000 --43.5000;-155.0000 --43.5000;-154.5000 --43.5000;-154.0000 --43.5000;-153.5000 --43.5000;-153.0000 --43.5000;-152.5000 --43.5000;-152.0000 --43.5000;-151.5000 --43.5000;-151.0000 --43.5000;-150.5000 --43.5000;-150.0000 --43.5000;-149.5000 --43.5000;-149.0000 --43.5000;-148.5000 --43.5000;-148.0000 --43.5000;-147.5000 --43.5000;-147.0000 --43.5000;-146.5000 --43.5000;-146.0000 --43.5000;-145.5000 --43.5000;-145.0000 --43.5000;-144.5000 --43.5000;-144.0000 --43.5000;-143.5000 --43.5000;-143.0000 --43.5000;-142.5000 --43.5000;-142.0000 --43.5000;-141.5000 --43.5000;-141.0000 --43.5000;-140.5000 --43.5000;-140.0000 --43.5000;-139.5000 --43.5000;-139.0000 --43.5000;-138.5000 --43.5000;-138.0000 --43.5000;-137.5000 --43.5000;-137.0000 --43.5000;-136.5000 --43.5000;-136.0000 --43.5000;-135.5000 --43.5000;-135.0000 --43.5000;-134.5000 --43.5000;-134.0000 --43.5000;-133.5000 --43.5000;-133.0000 --43.5000;-132.5000 --43.5000;-132.0000 --43.5000;-131.5000 --43.5000;-131.0000 --43.5000;-130.5000 --43.5000;-130.0000 --43.5000;-129.5000 --43.5000;-129.0000 --43.5000;-128.5000 --43.5000;-128.0000 --43.5000;-127.5000 --43.0000;-203.0000 --43.0000;-202.5000 --43.0000;-202.0000 --43.0000;-201.5000 --43.0000;-201.0000 --43.0000;-200.5000 --43.0000;-200.0000 --43.0000;-199.5000 --43.0000;-199.0000 --43.0000;-198.5000 --43.0000;-198.0000 --43.0000;-197.5000 --43.0000;-197.0000 --43.0000;-196.5000 --43.0000;-196.0000 --43.0000;-195.5000 --43.0000;-195.0000 --43.0000;-194.5000 --43.0000;-194.0000 --43.0000;-193.5000 --43.0000;-193.0000 --43.0000;-192.5000 --43.0000;-192.0000 --43.0000;-191.5000 --43.0000;-191.0000 --43.0000;-190.5000 --43.0000;-190.0000 --43.0000;-189.5000 --43.0000;-189.0000 --43.0000;-188.5000 --43.0000;-188.0000 --43.0000;-187.5000 --43.0000;-187.0000 --43.0000;-186.5000 --43.0000;-186.0000 --43.0000;-185.5000 --43.0000;-185.0000 --43.0000;-184.5000 --43.0000;-184.0000 --43.0000;-183.5000 --43.0000;-183.0000 --43.0000;-182.5000 --43.0000;-182.0000 --43.0000;-181.5000 --43.0000;-181.0000 --43.0000;-180.5000 --43.0000;-180.0000 --43.0000;-179.5000 --43.0000;-179.0000 --43.0000;-178.5000 --43.0000;-178.0000 --43.0000;-177.5000 --43.0000;-177.0000 --43.0000;-176.5000 --43.0000;-176.0000 --43.0000;-175.5000 --43.0000;-175.0000 --43.0000;-174.5000 --43.0000;-174.0000 --43.0000;-173.5000 --43.0000;-173.0000 --43.0000;-172.5000 --43.0000;-172.0000 --43.0000;-171.5000 --43.0000;-171.0000 --43.0000;-170.5000 --43.0000;-170.0000 --43.0000;-169.5000 --43.0000;-169.0000 --43.0000;-168.5000 --43.0000;-168.0000 --43.0000;-167.5000 --43.0000;-167.0000 --43.0000;-166.5000 --43.0000;-166.0000 --43.0000;-165.5000 --43.0000;-165.0000 --43.0000;-164.5000 --43.0000;-164.0000 --43.0000;-163.5000 --43.0000;-163.0000 --43.0000;-162.5000 --43.0000;-162.0000 --43.0000;-161.5000 --43.0000;-161.0000 --43.0000;-160.5000 --43.0000;-160.0000 --43.0000;-159.5000 --43.0000;-159.0000 --43.0000;-158.5000 --43.0000;-158.0000 --43.0000;-157.5000 --43.0000;-157.0000 --43.0000;-156.5000 --43.0000;-156.0000 --43.0000;-155.5000 --43.0000;-155.0000 --43.0000;-154.5000 --43.0000;-154.0000 --43.0000;-153.5000 --43.0000;-153.0000 --43.0000;-152.5000 --43.0000;-152.0000 --43.0000;-151.5000 --43.0000;-151.0000 --43.0000;-150.5000 --43.0000;-150.0000 --43.0000;-149.5000 --43.0000;-149.0000 --43.0000;-148.5000 --43.0000;-148.0000 --43.0000;-147.5000 --43.0000;-147.0000 --43.0000;-146.5000 --43.0000;-146.0000 --43.0000;-145.5000 --43.0000;-145.0000 --43.0000;-144.5000 --43.0000;-144.0000 --43.0000;-143.5000 --43.0000;-143.0000 --43.0000;-142.5000 --43.0000;-142.0000 --43.0000;-141.5000 --43.0000;-141.0000 --43.0000;-140.5000 --43.0000;-140.0000 --43.0000;-139.5000 --43.0000;-139.0000 --43.0000;-138.5000 --43.0000;-138.0000 --43.0000;-137.5000 --43.0000;-137.0000 --43.0000;-136.5000 --43.0000;-136.0000 --43.0000;-135.5000 --43.0000;-135.0000 --43.0000;-134.5000 --43.0000;-134.0000 --43.0000;-133.5000 --43.0000;-133.0000 --43.0000;-132.5000 --43.0000;-132.0000 --43.0000;-131.5000 --43.0000;-131.0000 --43.0000;-130.5000 --43.0000;-130.0000 --43.0000;-129.5000 --43.0000;-129.0000 --43.0000;-128.5000 --43.0000;-128.0000 --43.0000;-127.5000 --43.0000;-127.0000 --43.0000;-126.5000 --43.0000;-126.0000 --43.0000;-125.5000 --43.0000;-125.0000 --43.0000;-124.5000 --42.5000;-204.0000 --42.5000;-203.5000 --42.5000;-203.0000 --42.5000;-202.5000 --42.5000;-202.0000 --42.5000;-201.5000 --42.5000;-201.0000 --42.5000;-200.5000 --42.5000;-200.0000 --42.5000;-199.5000 --42.5000;-199.0000 --42.5000;-198.5000 --42.5000;-198.0000 --42.5000;-197.5000 --42.5000;-197.0000 --42.5000;-196.5000 --42.5000;-196.0000 --42.5000;-195.5000 --42.5000;-195.0000 --42.5000;-194.5000 --42.5000;-194.0000 --42.5000;-193.5000 --42.5000;-193.0000 --42.5000;-192.5000 --42.5000;-192.0000 --42.5000;-191.5000 --42.5000;-191.0000 --42.5000;-190.5000 --42.5000;-190.0000 --42.5000;-189.5000 --42.5000;-189.0000 --42.5000;-188.5000 --42.5000;-188.0000 --42.5000;-187.5000 --42.5000;-187.0000 --42.5000;-186.5000 --42.5000;-186.0000 --42.5000;-185.5000 --42.5000;-185.0000 --42.5000;-184.5000 --42.5000;-184.0000 --42.5000;-183.5000 --42.5000;-183.0000 --42.5000;-182.5000 --42.5000;-182.0000 --42.5000;-181.5000 --42.5000;-181.0000 --42.5000;-180.5000 --42.5000;-180.0000 --42.5000;-179.5000 --42.5000;-179.0000 --42.5000;-178.5000 --42.5000;-178.0000 --42.5000;-177.5000 --42.5000;-177.0000 --42.5000;-176.5000 --42.5000;-176.0000 --42.5000;-175.5000 --42.5000;-175.0000 --42.5000;-174.5000 --42.5000;-174.0000 --42.5000;-173.5000 --42.5000;-173.0000 --42.5000;-172.5000 --42.5000;-172.0000 --42.5000;-171.5000 --42.5000;-171.0000 --42.5000;-170.5000 --42.5000;-170.0000 --42.5000;-169.5000 --42.5000;-169.0000 --42.5000;-168.5000 --42.5000;-168.0000 --42.5000;-167.5000 --42.5000;-167.0000 --42.5000;-166.5000 --42.5000;-166.0000 --42.5000;-165.5000 --42.5000;-165.0000 --42.5000;-164.5000 --42.5000;-164.0000 --42.5000;-163.5000 --42.5000;-163.0000 --42.5000;-162.5000 --42.5000;-162.0000 --42.5000;-161.5000 --42.5000;-161.0000 --42.5000;-160.5000 --42.5000;-160.0000 --42.5000;-159.5000 --42.5000;-159.0000 --42.5000;-158.5000 --42.5000;-158.0000 --42.5000;-157.5000 --42.5000;-157.0000 --42.5000;-156.5000 --42.5000;-156.0000 --42.5000;-155.5000 --42.5000;-155.0000 --42.5000;-154.5000 --42.5000;-154.0000 --42.5000;-153.5000 --42.5000;-153.0000 --42.5000;-152.5000 --42.5000;-152.0000 --42.5000;-151.5000 --42.5000;-151.0000 --42.5000;-150.5000 --42.5000;-150.0000 --42.5000;-149.5000 --42.5000;-149.0000 --42.5000;-148.5000 --42.5000;-148.0000 --42.5000;-147.5000 --42.5000;-147.0000 --42.5000;-146.5000 --42.5000;-146.0000 --42.5000;-145.5000 --42.5000;-145.0000 --42.5000;-144.5000 --42.5000;-144.0000 --42.5000;-143.5000 --42.5000;-143.0000 --42.5000;-142.5000 --42.5000;-142.0000 --42.5000;-141.5000 --42.5000;-141.0000 --42.5000;-140.5000 --42.5000;-140.0000 --42.5000;-139.5000 --42.5000;-139.0000 --42.5000;-138.5000 --42.5000;-138.0000 --42.5000;-137.5000 --42.5000;-137.0000 --42.5000;-136.5000 --42.5000;-136.0000 --42.5000;-135.5000 --42.5000;-135.0000 --42.5000;-134.5000 --42.5000;-134.0000 --42.5000;-133.5000 --42.5000;-133.0000 --42.5000;-132.5000 --42.5000;-132.0000 --42.5000;-131.5000 --42.5000;-131.0000 --42.5000;-130.5000 --42.5000;-130.0000 --42.5000;-129.5000 --42.5000;-129.0000 --42.5000;-128.5000 --42.5000;-128.0000 --42.5000;-127.5000 --42.5000;-127.0000 --42.5000;-126.5000 --42.5000;-126.0000 --42.5000;-125.5000 --42.5000;-125.0000 --42.5000;-124.5000 --42.5000;-124.0000 --42.5000;-123.5000 --42.5000;-123.0000 --42.5000;-122.5000 --42.5000;-122.0000 --42.0000;-204.5000 --42.0000;-204.0000 --42.0000;-203.5000 --42.0000;-203.0000 --42.0000;-202.5000 --42.0000;-202.0000 --42.0000;-201.5000 --42.0000;-201.0000 --42.0000;-200.5000 --42.0000;-200.0000 --42.0000;-199.5000 --42.0000;-199.0000 --42.0000;-198.5000 --42.0000;-198.0000 --42.0000;-197.5000 --42.0000;-197.0000 --42.0000;-196.5000 --42.0000;-196.0000 --42.0000;-195.5000 --42.0000;-195.0000 --42.0000;-194.5000 --42.0000;-194.0000 --42.0000;-193.5000 --42.0000;-193.0000 --42.0000;-192.5000 --42.0000;-192.0000 --42.0000;-191.5000 --42.0000;-191.0000 --42.0000;-190.5000 --42.0000;-190.0000 --42.0000;-189.5000 --42.0000;-189.0000 --42.0000;-188.5000 --42.0000;-188.0000 --42.0000;-187.5000 --42.0000;-187.0000 --42.0000;-186.5000 --42.0000;-186.0000 --42.0000;-185.5000 --42.0000;-185.0000 --42.0000;-184.5000 --42.0000;-184.0000 --42.0000;-183.5000 --42.0000;-183.0000 --42.0000;-182.5000 --42.0000;-182.0000 --42.0000;-181.5000 --42.0000;-181.0000 --42.0000;-180.5000 --42.0000;-180.0000 --42.0000;-179.5000 --42.0000;-179.0000 --42.0000;-178.5000 --42.0000;-178.0000 --42.0000;-177.5000 --42.0000;-177.0000 --42.0000;-176.5000 --42.0000;-176.0000 --42.0000;-175.5000 --42.0000;-175.0000 --42.0000;-174.5000 --42.0000;-174.0000 --42.0000;-173.5000 --42.0000;-173.0000 --42.0000;-172.5000 --42.0000;-172.0000 --42.0000;-171.5000 --42.0000;-171.0000 --42.0000;-170.5000 --42.0000;-170.0000 --42.0000;-169.5000 --42.0000;-169.0000 --42.0000;-168.5000 --42.0000;-168.0000 --42.0000;-167.5000 --42.0000;-167.0000 --42.0000;-166.5000 --42.0000;-166.0000 --42.0000;-165.5000 --42.0000;-165.0000 --42.0000;-164.5000 --42.0000;-164.0000 --42.0000;-163.5000 --42.0000;-163.0000 --42.0000;-162.5000 --42.0000;-162.0000 --42.0000;-161.5000 --42.0000;-161.0000 --42.0000;-160.5000 --42.0000;-160.0000 --42.0000;-159.5000 --42.0000;-159.0000 --42.0000;-158.5000 --42.0000;-158.0000 --42.0000;-157.5000 --42.0000;-157.0000 --42.0000;-156.5000 --42.0000;-156.0000 --42.0000;-155.5000 --42.0000;-155.0000 --42.0000;-154.5000 --42.0000;-154.0000 --42.0000;-153.5000 --42.0000;-153.0000 --42.0000;-152.5000 --42.0000;-152.0000 --42.0000;-151.5000 --42.0000;-151.0000 --42.0000;-150.5000 --42.0000;-150.0000 --42.0000;-149.5000 --42.0000;-149.0000 --42.0000;-148.5000 --42.0000;-148.0000 --42.0000;-147.5000 --42.0000;-147.0000 --42.0000;-146.5000 --42.0000;-146.0000 --42.0000;-145.5000 --42.0000;-145.0000 --42.0000;-144.5000 --42.0000;-144.0000 --42.0000;-143.5000 --42.0000;-143.0000 --42.0000;-142.5000 --42.0000;-142.0000 --42.0000;-141.5000 --42.0000;-141.0000 --42.0000;-140.5000 --42.0000;-140.0000 --42.0000;-139.5000 --42.0000;-139.0000 --42.0000;-138.5000 --42.0000;-138.0000 --42.0000;-137.5000 --42.0000;-137.0000 --42.0000;-136.5000 --42.0000;-136.0000 --42.0000;-135.5000 --42.0000;-135.0000 --42.0000;-134.5000 --42.0000;-134.0000 --42.0000;-133.5000 --42.0000;-133.0000 --42.0000;-132.5000 --42.0000;-132.0000 --42.0000;-131.5000 --42.0000;-131.0000 --42.0000;-130.5000 --42.0000;-130.0000 --42.0000;-129.5000 --42.0000;-129.0000 --42.0000;-128.5000 --42.0000;-128.0000 --42.0000;-127.5000 --42.0000;-127.0000 --42.0000;-126.5000 --42.0000;-126.0000 --42.0000;-125.5000 --42.0000;-125.0000 --42.0000;-124.5000 --42.0000;-124.0000 --42.0000;-123.5000 --42.0000;-123.0000 --42.0000;-122.5000 --42.0000;-122.0000 --42.0000;-121.5000 --42.0000;-121.0000 --42.0000;-120.5000 --42.0000;-120.0000 --42.0000;-119.5000 --41.5000;-205.5000 --41.5000;-205.0000 --41.5000;-204.5000 --41.5000;-204.0000 --41.5000;-203.5000 --41.5000;-203.0000 --41.5000;-202.5000 --41.5000;-202.0000 --41.5000;-201.5000 --41.5000;-201.0000 --41.5000;-200.5000 --41.5000;-200.0000 --41.5000;-199.5000 --41.5000;-199.0000 --41.5000;-198.5000 --41.5000;-198.0000 --41.5000;-197.5000 --41.5000;-197.0000 --41.5000;-196.5000 --41.5000;-196.0000 --41.5000;-195.5000 --41.5000;-195.0000 --41.5000;-194.5000 --41.5000;-194.0000 --41.5000;-193.5000 --41.5000;-193.0000 --41.5000;-192.5000 --41.5000;-192.0000 --41.5000;-191.5000 --41.5000;-191.0000 --41.5000;-190.5000 --41.5000;-190.0000 --41.5000;-189.5000 --41.5000;-189.0000 --41.5000;-188.5000 --41.5000;-188.0000 --41.5000;-187.5000 --41.5000;-187.0000 --41.5000;-186.5000 --41.5000;-186.0000 --41.5000;-185.5000 --41.5000;-185.0000 --41.5000;-184.5000 --41.5000;-184.0000 --41.5000;-183.5000 --41.5000;-183.0000 --41.5000;-182.5000 --41.5000;-182.0000 --41.5000;-181.5000 --41.5000;-181.0000 --41.5000;-180.5000 --41.5000;-180.0000 --41.5000;-179.5000 --41.5000;-179.0000 --41.5000;-178.5000 --41.5000;-178.0000 --41.5000;-177.5000 --41.5000;-177.0000 --41.5000;-176.5000 --41.5000;-176.0000 --41.5000;-175.5000 --41.5000;-175.0000 --41.5000;-174.5000 --41.5000;-174.0000 --41.5000;-173.5000 --41.5000;-173.0000 --41.5000;-172.5000 --41.5000;-172.0000 --41.5000;-171.5000 --41.5000;-171.0000 --41.5000;-170.5000 --41.5000;-170.0000 --41.5000;-169.5000 --41.5000;-169.0000 --41.5000;-168.5000 --41.5000;-168.0000 --41.5000;-167.5000 --41.5000;-167.0000 --41.5000;-166.5000 --41.5000;-166.0000 --41.5000;-165.5000 --41.5000;-165.0000 --41.5000;-164.5000 --41.5000;-164.0000 --41.5000;-163.5000 --41.5000;-163.0000 --41.5000;-162.5000 --41.5000;-162.0000 --41.5000;-161.5000 --41.5000;-161.0000 --41.5000;-160.5000 --41.5000;-160.0000 --41.5000;-159.5000 --41.5000;-159.0000 --41.5000;-158.5000 --41.5000;-158.0000 --41.5000;-157.5000 --41.5000;-157.0000 --41.5000;-156.5000 --41.5000;-156.0000 --41.5000;-155.5000 --41.5000;-155.0000 --41.5000;-154.5000 --41.5000;-154.0000 --41.5000;-153.5000 --41.5000;-153.0000 --41.5000;-152.5000 --41.5000;-152.0000 --41.5000;-151.5000 --41.5000;-151.0000 --41.5000;-150.5000 --41.5000;-150.0000 --41.5000;-149.5000 --41.5000;-149.0000 --41.5000;-148.5000 --41.5000;-148.0000 --41.5000;-147.5000 --41.5000;-147.0000 --41.5000;-146.5000 --41.5000;-146.0000 --41.5000;-145.5000 --41.5000;-145.0000 --41.5000;-144.5000 --41.5000;-144.0000 --41.5000;-143.5000 --41.5000;-143.0000 --41.5000;-142.5000 --41.5000;-142.0000 --41.5000;-141.5000 --41.5000;-141.0000 --41.5000;-140.5000 --41.5000;-140.0000 --41.5000;-139.5000 --41.5000;-139.0000 --41.5000;-138.5000 --41.5000;-138.0000 --41.5000;-137.5000 --41.5000;-137.0000 --41.5000;-136.5000 --41.5000;-136.0000 --41.5000;-135.5000 --41.5000;-135.0000 --41.5000;-134.5000 --41.5000;-134.0000 --41.5000;-133.5000 --41.5000;-133.0000 --41.5000;-132.5000 --41.5000;-132.0000 --41.5000;-131.5000 --41.5000;-131.0000 --41.5000;-130.5000 --41.5000;-130.0000 --41.5000;-129.5000 --41.5000;-129.0000 --41.5000;-128.5000 --41.5000;-128.0000 --41.5000;-127.5000 --41.5000;-127.0000 --41.5000;-126.5000 --41.5000;-126.0000 --41.5000;-125.5000 --41.5000;-125.0000 --41.5000;-124.5000 --41.5000;-124.0000 --41.5000;-123.5000 --41.5000;-123.0000 --41.5000;-122.5000 --41.5000;-122.0000 --41.5000;-121.5000 --41.5000;-121.0000 --41.5000;-120.5000 --41.5000;-120.0000 --41.5000;-119.5000 --41.5000;-119.0000 --41.5000;-118.5000 --41.5000;-118.0000 --41.5000;-117.5000 --41.5000;-117.0000 --41.0000;-206.0000 --41.0000;-205.5000 --41.0000;-205.0000 --41.0000;-204.5000 --41.0000;-204.0000 --41.0000;-203.5000 --41.0000;-203.0000 --41.0000;-202.5000 --41.0000;-202.0000 --41.0000;-201.5000 --41.0000;-201.0000 --41.0000;-200.5000 --41.0000;-200.0000 --41.0000;-199.5000 --41.0000;-199.0000 --41.0000;-198.5000 --41.0000;-198.0000 --41.0000;-197.5000 --41.0000;-197.0000 --41.0000;-196.5000 --41.0000;-196.0000 --41.0000;-195.5000 --41.0000;-195.0000 --41.0000;-194.5000 --41.0000;-194.0000 --41.0000;-193.5000 --41.0000;-193.0000 --41.0000;-192.5000 --41.0000;-192.0000 --41.0000;-191.5000 --41.0000;-191.0000 --41.0000;-190.5000 --41.0000;-190.0000 --41.0000;-189.5000 --41.0000;-189.0000 --41.0000;-188.5000 --41.0000;-188.0000 --41.0000;-187.5000 --41.0000;-187.0000 --41.0000;-186.5000 --41.0000;-186.0000 --41.0000;-185.5000 --41.0000;-185.0000 --41.0000;-184.5000 --41.0000;-184.0000 --41.0000;-183.5000 --41.0000;-183.0000 --41.0000;-182.5000 --41.0000;-182.0000 --41.0000;-181.5000 --41.0000;-181.0000 --41.0000;-180.5000 --41.0000;-180.0000 --41.0000;-179.5000 --41.0000;-179.0000 --41.0000;-178.5000 --41.0000;-178.0000 --41.0000;-177.5000 --41.0000;-177.0000 --41.0000;-176.5000 --41.0000;-176.0000 --41.0000;-175.5000 --41.0000;-175.0000 --41.0000;-174.5000 --41.0000;-174.0000 --41.0000;-173.5000 --41.0000;-173.0000 --41.0000;-172.5000 --41.0000;-172.0000 --41.0000;-171.5000 --41.0000;-171.0000 --41.0000;-170.5000 --41.0000;-170.0000 --41.0000;-169.5000 --41.0000;-169.0000 --41.0000;-168.5000 --41.0000;-168.0000 --41.0000;-167.5000 --41.0000;-167.0000 --41.0000;-166.5000 --41.0000;-166.0000 --41.0000;-165.5000 --41.0000;-165.0000 --41.0000;-164.5000 --41.0000;-164.0000 --41.0000;-163.5000 --41.0000;-163.0000 --41.0000;-162.5000 --41.0000;-162.0000 --41.0000;-161.5000 --41.0000;-161.0000 --41.0000;-160.5000 --41.0000;-160.0000 --41.0000;-159.5000 --41.0000;-159.0000 --41.0000;-158.5000 --41.0000;-158.0000 --41.0000;-157.5000 --41.0000;-157.0000 --41.0000;-156.5000 --41.0000;-156.0000 --41.0000;-155.5000 --41.0000;-155.0000 --41.0000;-154.5000 --41.0000;-154.0000 --41.0000;-153.5000 --41.0000;-153.0000 --41.0000;-152.5000 --41.0000;-152.0000 --41.0000;-151.5000 --41.0000;-151.0000 --41.0000;-150.5000 --41.0000;-150.0000 --41.0000;-149.5000 --41.0000;-149.0000 --41.0000;-148.5000 --41.0000;-148.0000 --41.0000;-147.5000 --41.0000;-147.0000 --41.0000;-146.5000 --41.0000;-146.0000 --41.0000;-145.5000 --41.0000;-145.0000 --41.0000;-144.5000 --41.0000;-144.0000 --41.0000;-143.5000 --41.0000;-143.0000 --41.0000;-142.5000 --41.0000;-142.0000 --41.0000;-141.5000 --41.0000;-141.0000 --41.0000;-140.5000 --41.0000;-140.0000 --41.0000;-139.5000 --41.0000;-139.0000 --41.0000;-138.5000 --41.0000;-138.0000 --41.0000;-137.5000 --41.0000;-137.0000 --41.0000;-136.5000 --41.0000;-136.0000 --41.0000;-135.5000 --41.0000;-135.0000 --41.0000;-134.5000 --41.0000;-134.0000 --41.0000;-133.5000 --41.0000;-133.0000 --41.0000;-132.5000 --41.0000;-132.0000 --41.0000;-131.5000 --41.0000;-131.0000 --41.0000;-130.5000 --41.0000;-130.0000 --41.0000;-129.5000 --41.0000;-129.0000 --41.0000;-128.5000 --41.0000;-128.0000 --41.0000;-127.5000 --41.0000;-127.0000 --41.0000;-126.5000 --41.0000;-126.0000 --41.0000;-125.5000 --41.0000;-125.0000 --41.0000;-124.5000 --41.0000;-124.0000 --41.0000;-123.5000 --41.0000;-123.0000 --41.0000;-122.5000 --41.0000;-122.0000 --41.0000;-121.5000 --41.0000;-121.0000 --41.0000;-120.5000 --41.0000;-120.0000 --41.0000;-119.5000 --41.0000;-119.0000 --41.0000;-118.5000 --41.0000;-118.0000 --41.0000;-117.5000 --41.0000;-117.0000 --41.0000;-116.5000 --41.0000;-116.0000 --41.0000;-115.5000 --41.0000;-115.0000 --40.5000;-207.0000 --40.5000;-206.5000 --40.5000;-206.0000 --40.5000;-205.5000 --40.5000;-205.0000 --40.5000;-204.5000 --40.5000;-204.0000 --40.5000;-203.5000 --40.5000;-203.0000 --40.5000;-202.5000 --40.5000;-202.0000 --40.5000;-201.5000 --40.5000;-201.0000 --40.5000;-200.5000 --40.5000;-200.0000 --40.5000;-199.5000 --40.5000;-199.0000 --40.5000;-198.5000 --40.5000;-198.0000 --40.5000;-197.5000 --40.5000;-197.0000 --40.5000;-196.5000 --40.5000;-196.0000 --40.5000;-195.5000 --40.5000;-195.0000 --40.5000;-194.5000 --40.5000;-194.0000 --40.5000;-193.5000 --40.5000;-193.0000 --40.5000;-192.5000 --40.5000;-192.0000 --40.5000;-191.5000 --40.5000;-191.0000 --40.5000;-190.5000 --40.5000;-190.0000 --40.5000;-189.5000 --40.5000;-189.0000 --40.5000;-188.5000 --40.5000;-188.0000 --40.5000;-187.5000 --40.5000;-187.0000 --40.5000;-186.5000 --40.5000;-186.0000 --40.5000;-185.5000 --40.5000;-185.0000 --40.5000;-184.5000 --40.5000;-184.0000 --40.5000;-183.5000 --40.5000;-183.0000 --40.5000;-182.5000 --40.5000;-182.0000 --40.5000;-181.5000 --40.5000;-181.0000 --40.5000;-180.5000 --40.5000;-180.0000 --40.5000;-179.5000 --40.5000;-179.0000 --40.5000;-178.5000 --40.5000;-178.0000 --40.5000;-177.5000 --40.5000;-177.0000 --40.5000;-176.5000 --40.5000;-176.0000 --40.5000;-175.5000 --40.5000;-175.0000 --40.5000;-174.5000 --40.5000;-174.0000 --40.5000;-173.5000 --40.5000;-173.0000 --40.5000;-172.5000 --40.5000;-172.0000 --40.5000;-171.5000 --40.5000;-171.0000 --40.5000;-170.5000 --40.5000;-170.0000 --40.5000;-169.5000 --40.5000;-169.0000 --40.5000;-168.5000 --40.5000;-168.0000 --40.5000;-167.5000 --40.5000;-167.0000 --40.5000;-166.5000 --40.5000;-166.0000 --40.5000;-165.5000 --40.5000;-165.0000 --40.5000;-164.5000 --40.5000;-164.0000 --40.5000;-163.5000 --40.5000;-163.0000 --40.5000;-162.5000 --40.5000;-162.0000 --40.5000;-161.5000 --40.5000;-161.0000 --40.5000;-160.5000 --40.5000;-160.0000 --40.5000;-159.5000 --40.5000;-159.0000 --40.5000;-158.5000 --40.5000;-158.0000 --40.5000;-157.5000 --40.5000;-157.0000 --40.5000;-156.5000 --40.5000;-156.0000 --40.5000;-155.5000 --40.5000;-155.0000 --40.5000;-154.5000 --40.5000;-154.0000 --40.5000;-153.5000 --40.5000;-153.0000 --40.5000;-152.5000 --40.5000;-152.0000 --40.5000;-151.5000 --40.5000;-151.0000 --40.5000;-150.5000 --40.5000;-150.0000 --40.5000;-149.5000 --40.5000;-149.0000 --40.5000;-148.5000 --40.5000;-148.0000 --40.5000;-147.5000 --40.5000;-147.0000 --40.5000;-146.5000 --40.5000;-146.0000 --40.5000;-145.5000 --40.5000;-145.0000 --40.5000;-144.5000 --40.5000;-144.0000 --40.5000;-143.5000 --40.5000;-143.0000 --40.5000;-142.5000 --40.5000;-142.0000 --40.5000;-141.5000 --40.5000;-141.0000 --40.5000;-140.5000 --40.5000;-140.0000 --40.5000;-139.5000 --40.5000;-139.0000 --40.5000;-138.5000 --40.5000;-138.0000 --40.5000;-137.5000 --40.5000;-137.0000 --40.5000;-136.5000 --40.5000;-136.0000 --40.5000;-135.5000 --40.5000;-135.0000 --40.5000;-134.5000 --40.5000;-134.0000 --40.5000;-133.5000 --40.5000;-133.0000 --40.5000;-132.5000 --40.5000;-132.0000 --40.5000;-131.5000 --40.5000;-131.0000 --40.5000;-130.5000 --40.5000;-130.0000 --40.5000;-129.5000 --40.5000;-129.0000 --40.5000;-128.5000 --40.5000;-128.0000 --40.5000;-127.5000 --40.5000;-127.0000 --40.5000;-126.5000 --40.5000;-126.0000 --40.5000;-125.5000 --40.5000;-125.0000 --40.5000;-124.5000 --40.5000;-124.0000 --40.5000;-123.5000 --40.5000;-123.0000 --40.5000;-122.5000 --40.5000;-122.0000 --40.5000;-121.5000 --40.5000;-121.0000 --40.5000;-120.5000 --40.5000;-120.0000 --40.5000;-119.5000 --40.5000;-119.0000 --40.5000;-118.5000 --40.5000;-118.0000 --40.5000;-117.5000 --40.5000;-117.0000 --40.5000;-116.5000 --40.5000;-116.0000 --40.5000;-115.5000 --40.5000;-115.0000 --40.5000;-114.5000 --40.5000;-114.0000 --40.5000;-113.5000 --40.5000;-113.0000 --40.5000;-112.5000 --40.0000;-207.5000 --40.0000;-207.0000 --40.0000;-206.5000 --40.0000;-206.0000 --40.0000;-205.5000 --40.0000;-205.0000 --40.0000;-204.5000 --40.0000;-204.0000 --40.0000;-203.5000 --40.0000;-203.0000 --40.0000;-202.5000 --40.0000;-202.0000 --40.0000;-201.5000 --40.0000;-201.0000 --40.0000;-200.5000 --40.0000;-200.0000 --40.0000;-199.5000 --40.0000;-199.0000 --40.0000;-198.5000 --40.0000;-198.0000 --40.0000;-197.5000 --40.0000;-197.0000 --40.0000;-196.5000 --40.0000;-196.0000 --40.0000;-195.5000 --40.0000;-195.0000 --40.0000;-194.5000 --40.0000;-194.0000 --40.0000;-193.5000 --40.0000;-193.0000 --40.0000;-192.5000 --40.0000;-192.0000 --40.0000;-191.5000 --40.0000;-191.0000 --40.0000;-190.5000 --40.0000;-190.0000 --40.0000;-189.5000 --40.0000;-189.0000 --40.0000;-188.5000 --40.0000;-188.0000 --40.0000;-187.5000 --40.0000;-187.0000 --40.0000;-186.5000 --40.0000;-186.0000 --40.0000;-185.5000 --40.0000;-185.0000 --40.0000;-184.5000 --40.0000;-184.0000 --40.0000;-183.5000 --40.0000;-183.0000 --40.0000;-182.5000 --40.0000;-182.0000 --40.0000;-181.5000 --40.0000;-181.0000 --40.0000;-180.5000 --40.0000;-180.0000 --40.0000;-179.5000 --40.0000;-179.0000 --40.0000;-178.5000 --40.0000;-178.0000 --40.0000;-177.5000 --40.0000;-177.0000 --40.0000;-176.5000 --40.0000;-176.0000 --40.0000;-175.5000 --40.0000;-175.0000 --40.0000;-174.5000 --40.0000;-174.0000 --40.0000;-173.5000 --40.0000;-173.0000 --40.0000;-172.5000 --40.0000;-172.0000 --40.0000;-171.5000 --40.0000;-171.0000 --40.0000;-170.5000 --40.0000;-170.0000 --40.0000;-169.5000 --40.0000;-169.0000 --40.0000;-168.5000 --40.0000;-168.0000 --40.0000;-167.5000 --40.0000;-167.0000 --40.0000;-166.5000 --40.0000;-166.0000 --40.0000;-165.5000 --40.0000;-165.0000 --40.0000;-164.5000 --40.0000;-164.0000 --40.0000;-163.5000 --40.0000;-163.0000 --40.0000;-162.5000 --40.0000;-162.0000 --40.0000;-161.5000 --40.0000;-161.0000 --40.0000;-160.5000 --40.0000;-160.0000 --40.0000;-159.5000 --40.0000;-159.0000 --40.0000;-158.5000 --40.0000;-158.0000 --40.0000;-157.5000 --40.0000;-157.0000 --40.0000;-156.5000 --40.0000;-156.0000 --40.0000;-155.5000 --40.0000;-155.0000 --40.0000;-154.5000 --40.0000;-154.0000 --40.0000;-153.5000 --40.0000;-153.0000 --40.0000;-152.5000 --40.0000;-152.0000 --40.0000;-151.5000 --40.0000;-151.0000 --40.0000;-150.5000 --40.0000;-150.0000 --40.0000;-149.5000 --40.0000;-149.0000 --40.0000;-148.5000 --40.0000;-148.0000 --40.0000;-147.5000 --40.0000;-147.0000 --40.0000;-146.5000 --40.0000;-146.0000 --40.0000;-145.5000 --40.0000;-145.0000 --40.0000;-144.5000 --40.0000;-144.0000 --40.0000;-143.5000 --40.0000;-143.0000 --40.0000;-142.5000 --40.0000;-142.0000 --40.0000;-141.5000 --40.0000;-141.0000 --40.0000;-140.5000 --40.0000;-140.0000 --40.0000;-139.5000 --40.0000;-139.0000 --40.0000;-138.5000 --40.0000;-138.0000 --40.0000;-137.5000 --40.0000;-137.0000 --40.0000;-136.5000 --40.0000;-136.0000 --40.0000;-135.5000 --40.0000;-135.0000 --40.0000;-134.5000 --40.0000;-134.0000 --40.0000;-133.5000 --40.0000;-133.0000 --40.0000;-132.5000 --40.0000;-132.0000 --40.0000;-131.5000 --40.0000;-131.0000 --40.0000;-130.5000 --40.0000;-130.0000 --40.0000;-129.5000 --40.0000;-129.0000 --40.0000;-128.5000 --40.0000;-128.0000 --40.0000;-127.5000 --40.0000;-127.0000 --40.0000;-126.5000 --40.0000;-126.0000 --40.0000;-125.5000 --40.0000;-125.0000 --40.0000;-124.5000 --40.0000;-124.0000 --40.0000;-123.5000 --40.0000;-123.0000 --40.0000;-122.5000 --40.0000;-122.0000 --40.0000;-121.5000 --40.0000;-121.0000 --40.0000;-120.5000 --40.0000;-120.0000 --40.0000;-119.5000 --40.0000;-119.0000 --40.0000;-118.5000 --40.0000;-118.0000 --40.0000;-117.5000 --40.0000;-117.0000 --40.0000;-116.5000 --40.0000;-116.0000 --40.0000;-115.5000 --40.0000;-115.0000 --40.0000;-114.5000 --40.0000;-114.0000 --40.0000;-113.5000 --40.0000;-113.0000 --40.0000;-112.5000 --40.0000;-112.0000 --40.0000;-111.5000 --40.0000;-111.0000 --40.0000;-110.5000 --39.5000;-208.0000 --39.5000;-207.5000 --39.5000;-207.0000 --39.5000;-206.5000 --39.5000;-206.0000 --39.5000;-205.5000 --39.5000;-205.0000 --39.5000;-204.5000 --39.5000;-204.0000 --39.5000;-203.5000 --39.5000;-203.0000 --39.5000;-202.5000 --39.5000;-202.0000 --39.5000;-201.5000 --39.5000;-201.0000 --39.5000;-200.5000 --39.5000;-200.0000 --39.5000;-199.5000 --39.5000;-199.0000 --39.5000;-198.5000 --39.5000;-198.0000 --39.5000;-197.5000 --39.5000;-197.0000 --39.5000;-196.5000 --39.5000;-196.0000 --39.5000;-195.5000 --39.5000;-195.0000 --39.5000;-194.5000 --39.5000;-194.0000 --39.5000;-193.5000 --39.5000;-193.0000 --39.5000;-192.5000 --39.5000;-192.0000 --39.5000;-191.5000 --39.5000;-191.0000 --39.5000;-190.5000 --39.5000;-190.0000 --39.5000;-189.5000 --39.5000;-189.0000 --39.5000;-188.5000 --39.5000;-188.0000 --39.5000;-187.5000 --39.5000;-187.0000 --39.5000;-186.5000 --39.5000;-186.0000 --39.5000;-185.5000 --39.5000;-185.0000 --39.5000;-184.5000 --39.5000;-184.0000 --39.5000;-183.5000 --39.5000;-183.0000 --39.5000;-182.5000 --39.5000;-182.0000 --39.5000;-181.5000 --39.5000;-181.0000 --39.5000;-180.5000 --39.5000;-180.0000 --39.5000;-179.5000 --39.5000;-179.0000 --39.5000;-178.5000 --39.5000;-178.0000 --39.5000;-177.5000 --39.5000;-177.0000 --39.5000;-176.5000 --39.5000;-176.0000 --39.5000;-175.5000 --39.5000;-175.0000 --39.5000;-174.5000 --39.5000;-174.0000 --39.5000;-173.5000 --39.5000;-173.0000 --39.5000;-172.5000 --39.5000;-172.0000 --39.5000;-171.5000 --39.5000;-171.0000 --39.5000;-170.5000 --39.5000;-170.0000 --39.5000;-169.5000 --39.5000;-169.0000 --39.5000;-168.5000 --39.5000;-168.0000 --39.5000;-167.5000 --39.5000;-167.0000 --39.5000;-166.5000 --39.5000;-166.0000 --39.5000;-165.5000 --39.5000;-165.0000 --39.5000;-164.5000 --39.5000;-164.0000 --39.5000;-163.5000 --39.5000;-163.0000 --39.5000;-162.5000 --39.5000;-162.0000 --39.5000;-161.5000 --39.5000;-161.0000 --39.5000;-160.5000 --39.5000;-160.0000 --39.5000;-159.5000 --39.5000;-159.0000 --39.5000;-158.5000 --39.5000;-158.0000 --39.5000;-157.5000 --39.5000;-157.0000 --39.5000;-156.5000 --39.5000;-156.0000 --39.5000;-155.5000 --39.5000;-155.0000 --39.5000;-154.5000 --39.5000;-154.0000 --39.5000;-153.5000 --39.5000;-153.0000 --39.5000;-152.5000 --39.5000;-152.0000 --39.5000;-151.5000 --39.5000;-151.0000 --39.5000;-150.5000 --39.5000;-150.0000 --39.5000;-149.5000 --39.5000;-149.0000 --39.5000;-148.5000 --39.5000;-148.0000 --39.5000;-147.5000 --39.5000;-147.0000 --39.5000;-146.5000 --39.5000;-146.0000 --39.5000;-145.5000 --39.5000;-145.0000 --39.5000;-144.5000 --39.5000;-144.0000 --39.5000;-143.5000 --39.5000;-143.0000 --39.5000;-142.5000 --39.5000;-142.0000 --39.5000;-141.5000 --39.5000;-141.0000 --39.5000;-140.5000 --39.5000;-140.0000 --39.5000;-139.5000 --39.5000;-139.0000 --39.5000;-138.5000 --39.5000;-138.0000 --39.5000;-137.5000 --39.5000;-137.0000 --39.5000;-136.5000 --39.5000;-136.0000 --39.5000;-135.5000 --39.5000;-135.0000 --39.5000;-134.5000 --39.5000;-134.0000 --39.5000;-133.5000 --39.5000;-133.0000 --39.5000;-132.5000 --39.5000;-132.0000 --39.5000;-131.5000 --39.5000;-131.0000 --39.5000;-130.5000 --39.5000;-130.0000 --39.5000;-129.5000 --39.5000;-129.0000 --39.5000;-128.5000 --39.5000;-128.0000 --39.5000;-127.5000 --39.5000;-127.0000 --39.5000;-126.5000 --39.5000;-126.0000 --39.5000;-125.5000 --39.5000;-125.0000 --39.5000;-124.5000 --39.5000;-124.0000 --39.5000;-123.5000 --39.5000;-123.0000 --39.5000;-122.5000 --39.5000;-122.0000 --39.5000;-121.5000 --39.5000;-121.0000 --39.5000;-120.5000 --39.5000;-120.0000 --39.5000;-119.5000 --39.5000;-119.0000 --39.5000;-118.5000 --39.5000;-118.0000 --39.5000;-117.5000 --39.5000;-117.0000 --39.5000;-116.5000 --39.5000;-116.0000 --39.5000;-115.5000 --39.5000;-115.0000 --39.5000;-114.5000 --39.5000;-114.0000 --39.5000;-113.5000 --39.5000;-113.0000 --39.5000;-112.5000 --39.5000;-112.0000 --39.5000;-111.5000 --39.5000;-111.0000 --39.5000;-110.5000 --39.5000;-110.0000 --39.5000;-109.5000 --39.5000;-109.0000 --39.5000;-108.5000 --39.0000;-209.0000 --39.0000;-208.5000 --39.0000;-208.0000 --39.0000;-207.5000 --39.0000;-207.0000 --39.0000;-206.5000 --39.0000;-206.0000 --39.0000;-205.5000 --39.0000;-205.0000 --39.0000;-204.5000 --39.0000;-204.0000 --39.0000;-203.5000 --39.0000;-203.0000 --39.0000;-202.5000 --39.0000;-202.0000 --39.0000;-201.5000 --39.0000;-201.0000 --39.0000;-200.5000 --39.0000;-200.0000 --39.0000;-199.5000 --39.0000;-199.0000 --39.0000;-198.5000 --39.0000;-198.0000 --39.0000;-197.5000 --39.0000;-197.0000 --39.0000;-196.5000 --39.0000;-196.0000 --39.0000;-195.5000 --39.0000;-195.0000 --39.0000;-194.5000 --39.0000;-194.0000 --39.0000;-193.5000 --39.0000;-193.0000 --39.0000;-192.5000 --39.0000;-192.0000 --39.0000;-191.5000 --39.0000;-191.0000 --39.0000;-190.5000 --39.0000;-190.0000 --39.0000;-189.5000 --39.0000;-189.0000 --39.0000;-188.5000 --39.0000;-188.0000 --39.0000;-187.5000 --39.0000;-187.0000 --39.0000;-186.5000 --39.0000;-186.0000 --39.0000;-185.5000 --39.0000;-185.0000 --39.0000;-184.5000 --39.0000;-184.0000 --39.0000;-183.5000 --39.0000;-183.0000 --39.0000;-182.5000 --39.0000;-182.0000 --39.0000;-181.5000 --39.0000;-181.0000 --39.0000;-180.5000 --39.0000;-180.0000 --39.0000;-179.5000 --39.0000;-179.0000 --39.0000;-178.5000 --39.0000;-178.0000 --39.0000;-177.5000 --39.0000;-177.0000 --39.0000;-176.5000 --39.0000;-176.0000 --39.0000;-175.5000 --39.0000;-175.0000 --39.0000;-174.5000 --39.0000;-174.0000 --39.0000;-173.5000 --39.0000;-173.0000 --39.0000;-172.5000 --39.0000;-172.0000 --39.0000;-171.5000 --39.0000;-171.0000 --39.0000;-170.5000 --39.0000;-170.0000 --39.0000;-169.5000 --39.0000;-169.0000 --39.0000;-168.5000 --39.0000;-168.0000 --39.0000;-167.5000 --39.0000;-167.0000 --39.0000;-166.5000 --39.0000;-166.0000 --39.0000;-165.5000 --39.0000;-165.0000 --39.0000;-164.5000 --39.0000;-164.0000 --39.0000;-163.5000 --39.0000;-163.0000 --39.0000;-162.5000 --39.0000;-162.0000 --39.0000;-161.5000 --39.0000;-161.0000 --39.0000;-160.5000 --39.0000;-160.0000 --39.0000;-159.5000 --39.0000;-159.0000 --39.0000;-158.5000 --39.0000;-158.0000 --39.0000;-157.5000 --39.0000;-157.0000 --39.0000;-156.5000 --39.0000;-156.0000 --39.0000;-155.5000 --39.0000;-155.0000 --39.0000;-154.5000 --39.0000;-154.0000 --39.0000;-153.5000 --39.0000;-153.0000 --39.0000;-152.5000 --39.0000;-152.0000 --39.0000;-151.5000 --39.0000;-151.0000 --39.0000;-150.5000 --39.0000;-150.0000 --39.0000;-149.5000 --39.0000;-149.0000 --39.0000;-148.5000 --39.0000;-148.0000 --39.0000;-147.5000 --39.0000;-147.0000 --39.0000;-146.5000 --39.0000;-146.0000 --39.0000;-145.5000 --39.0000;-145.0000 --39.0000;-144.5000 --39.0000;-144.0000 --39.0000;-143.5000 --39.0000;-143.0000 --39.0000;-142.5000 --39.0000;-142.0000 --39.0000;-141.5000 --39.0000;-141.0000 --39.0000;-140.5000 --39.0000;-140.0000 --39.0000;-139.5000 --39.0000;-139.0000 --39.0000;-138.5000 --39.0000;-138.0000 --39.0000;-137.5000 --39.0000;-137.0000 --39.0000;-136.5000 --39.0000;-136.0000 --39.0000;-135.5000 --39.0000;-135.0000 --39.0000;-134.5000 --39.0000;-134.0000 --39.0000;-133.5000 --39.0000;-133.0000 --39.0000;-132.5000 --39.0000;-132.0000 --39.0000;-131.5000 --39.0000;-131.0000 --39.0000;-130.5000 --39.0000;-130.0000 --39.0000;-129.5000 --39.0000;-129.0000 --39.0000;-128.5000 --39.0000;-128.0000 --39.0000;-127.5000 --39.0000;-127.0000 --39.0000;-126.5000 --39.0000;-126.0000 --39.0000;-125.5000 --39.0000;-125.0000 --39.0000;-124.5000 --39.0000;-124.0000 --39.0000;-123.5000 --39.0000;-123.0000 --39.0000;-122.5000 --39.0000;-122.0000 --39.0000;-121.5000 --39.0000;-121.0000 --39.0000;-120.5000 --39.0000;-120.0000 --39.0000;-119.5000 --39.0000;-119.0000 --39.0000;-118.5000 --39.0000;-118.0000 --39.0000;-117.5000 --39.0000;-117.0000 --39.0000;-116.5000 --39.0000;-116.0000 --39.0000;-115.5000 --39.0000;-115.0000 --39.0000;-114.5000 --39.0000;-114.0000 --39.0000;-113.5000 --39.0000;-113.0000 --39.0000;-112.5000 --39.0000;-112.0000 --39.0000;-111.5000 --39.0000;-111.0000 --39.0000;-110.5000 --39.0000;-110.0000 --39.0000;-109.5000 --39.0000;-109.0000 --39.0000;-108.5000 --39.0000;-108.0000 --39.0000;-107.5000 --39.0000;-107.0000 --39.0000;-106.5000 --38.5000;-209.5000 --38.5000;-209.0000 --38.5000;-208.5000 --38.5000;-208.0000 --38.5000;-207.5000 --38.5000;-207.0000 --38.5000;-206.5000 --38.5000;-206.0000 --38.5000;-205.5000 --38.5000;-205.0000 --38.5000;-204.5000 --38.5000;-204.0000 --38.5000;-203.5000 --38.5000;-203.0000 --38.5000;-202.5000 --38.5000;-202.0000 --38.5000;-201.5000 --38.5000;-201.0000 --38.5000;-200.5000 --38.5000;-200.0000 --38.5000;-199.5000 --38.5000;-199.0000 --38.5000;-198.5000 --38.5000;-198.0000 --38.5000;-197.5000 --38.5000;-197.0000 --38.5000;-196.5000 --38.5000;-196.0000 --38.5000;-195.5000 --38.5000;-195.0000 --38.5000;-194.5000 --38.5000;-194.0000 --38.5000;-193.5000 --38.5000;-193.0000 --38.5000;-192.5000 --38.5000;-192.0000 --38.5000;-191.5000 --38.5000;-191.0000 --38.5000;-190.5000 --38.5000;-190.0000 --38.5000;-189.5000 --38.5000;-189.0000 --38.5000;-188.5000 --38.5000;-188.0000 --38.5000;-187.5000 --38.5000;-187.0000 --38.5000;-186.5000 --38.5000;-186.0000 --38.5000;-185.5000 --38.5000;-185.0000 --38.5000;-184.5000 --38.5000;-184.0000 --38.5000;-183.5000 --38.5000;-183.0000 --38.5000;-182.5000 --38.5000;-182.0000 --38.5000;-181.5000 --38.5000;-181.0000 --38.5000;-180.5000 --38.5000;-180.0000 --38.5000;-179.5000 --38.5000;-179.0000 --38.5000;-178.5000 --38.5000;-178.0000 --38.5000;-177.5000 --38.5000;-177.0000 --38.5000;-176.5000 --38.5000;-176.0000 --38.5000;-175.5000 --38.5000;-175.0000 --38.5000;-174.5000 --38.5000;-174.0000 --38.5000;-173.5000 --38.5000;-173.0000 --38.5000;-172.5000 --38.5000;-172.0000 --38.5000;-171.5000 --38.5000;-171.0000 --38.5000;-170.5000 --38.5000;-170.0000 --38.5000;-169.5000 --38.5000;-169.0000 --38.5000;-168.5000 --38.5000;-168.0000 --38.5000;-167.5000 --38.5000;-167.0000 --38.5000;-166.5000 --38.5000;-166.0000 --38.5000;-165.5000 --38.5000;-165.0000 --38.5000;-164.5000 --38.5000;-164.0000 --38.5000;-163.5000 --38.5000;-163.0000 --38.5000;-162.5000 --38.5000;-162.0000 --38.5000;-161.5000 --38.5000;-161.0000 --38.5000;-160.5000 --38.5000;-160.0000 --38.5000;-159.5000 --38.5000;-159.0000 --38.5000;-158.5000 --38.5000;-158.0000 --38.5000;-157.5000 --38.5000;-157.0000 --38.5000;-156.5000 --38.5000;-156.0000 --38.5000;-155.5000 --38.5000;-155.0000 --38.5000;-154.5000 --38.5000;-154.0000 --38.5000;-153.5000 --38.5000;-153.0000 --38.5000;-152.5000 --38.5000;-152.0000 --38.5000;-151.5000 --38.5000;-151.0000 --38.5000;-150.5000 --38.5000;-150.0000 --38.5000;-149.5000 --38.5000;-149.0000 --38.5000;-148.5000 --38.5000;-148.0000 --38.5000;-147.5000 --38.5000;-147.0000 --38.5000;-146.5000 --38.5000;-146.0000 --38.5000;-145.5000 --38.5000;-145.0000 --38.5000;-144.5000 --38.5000;-144.0000 --38.5000;-143.5000 --38.5000;-143.0000 --38.5000;-142.5000 --38.5000;-142.0000 --38.5000;-141.5000 --38.5000;-141.0000 --38.5000;-140.5000 --38.5000;-140.0000 --38.5000;-139.5000 --38.5000;-139.0000 --38.5000;-138.5000 --38.5000;-138.0000 --38.5000;-137.5000 --38.5000;-137.0000 --38.5000;-136.5000 --38.5000;-136.0000 --38.5000;-135.5000 --38.5000;-135.0000 --38.5000;-134.5000 --38.5000;-134.0000 --38.5000;-133.5000 --38.5000;-133.0000 --38.5000;-132.5000 --38.5000;-132.0000 --38.5000;-131.5000 --38.5000;-131.0000 --38.5000;-130.5000 --38.5000;-130.0000 --38.5000;-129.5000 --38.5000;-129.0000 --38.5000;-128.5000 --38.5000;-128.0000 --38.5000;-127.5000 --38.5000;-127.0000 --38.5000;-126.5000 --38.5000;-126.0000 --38.5000;-125.5000 --38.5000;-125.0000 --38.5000;-124.5000 --38.5000;-124.0000 --38.5000;-123.5000 --38.5000;-123.0000 --38.5000;-122.5000 --38.5000;-122.0000 --38.5000;-121.5000 --38.5000;-121.0000 --38.5000;-120.5000 --38.5000;-120.0000 --38.5000;-119.5000 --38.5000;-119.0000 --38.5000;-118.5000 --38.5000;-118.0000 --38.5000;-117.5000 --38.5000;-117.0000 --38.5000;-116.5000 --38.5000;-116.0000 --38.5000;-115.5000 --38.5000;-115.0000 --38.5000;-114.5000 --38.5000;-114.0000 --38.5000;-113.5000 --38.5000;-113.0000 --38.5000;-112.5000 --38.5000;-112.0000 --38.5000;-111.5000 --38.5000;-111.0000 --38.5000;-110.5000 --38.5000;-110.0000 --38.5000;-109.5000 --38.5000;-109.0000 --38.5000;-108.5000 --38.5000;-108.0000 --38.5000;-107.5000 --38.5000;-107.0000 --38.5000;-106.5000 --38.5000;-106.0000 --38.5000;-105.5000 --38.5000;-105.0000 --38.5000;-104.5000 --38.0000;-210.0000 --38.0000;-209.5000 --38.0000;-209.0000 --38.0000;-208.5000 --38.0000;-208.0000 --38.0000;-207.5000 --38.0000;-207.0000 --38.0000;-206.5000 --38.0000;-206.0000 --38.0000;-205.5000 --38.0000;-205.0000 --38.0000;-204.5000 --38.0000;-204.0000 --38.0000;-203.5000 --38.0000;-203.0000 --38.0000;-202.5000 --38.0000;-202.0000 --38.0000;-201.5000 --38.0000;-201.0000 --38.0000;-200.5000 --38.0000;-200.0000 --38.0000;-199.5000 --38.0000;-199.0000 --38.0000;-198.5000 --38.0000;-198.0000 --38.0000;-197.5000 --38.0000;-197.0000 --38.0000;-196.5000 --38.0000;-196.0000 --38.0000;-195.5000 --38.0000;-195.0000 --38.0000;-194.5000 --38.0000;-194.0000 --38.0000;-193.5000 --38.0000;-193.0000 --38.0000;-192.5000 --38.0000;-192.0000 --38.0000;-191.5000 --38.0000;-191.0000 --38.0000;-190.5000 --38.0000;-190.0000 --38.0000;-189.5000 --38.0000;-189.0000 --38.0000;-188.5000 --38.0000;-188.0000 --38.0000;-187.5000 --38.0000;-187.0000 --38.0000;-186.5000 --38.0000;-186.0000 --38.0000;-185.5000 --38.0000;-185.0000 --38.0000;-184.5000 --38.0000;-184.0000 --38.0000;-183.5000 --38.0000;-183.0000 --38.0000;-182.5000 --38.0000;-182.0000 --38.0000;-181.5000 --38.0000;-181.0000 --38.0000;-180.5000 --38.0000;-180.0000 --38.0000;-179.5000 --38.0000;-179.0000 --38.0000;-178.5000 --38.0000;-178.0000 --38.0000;-177.5000 --38.0000;-177.0000 --38.0000;-176.5000 --38.0000;-176.0000 --38.0000;-175.5000 --38.0000;-175.0000 --38.0000;-174.5000 --38.0000;-174.0000 --38.0000;-173.5000 --38.0000;-173.0000 --38.0000;-172.5000 --38.0000;-172.0000 --38.0000;-171.5000 --38.0000;-171.0000 --38.0000;-170.5000 --38.0000;-170.0000 --38.0000;-169.5000 --38.0000;-169.0000 --38.0000;-168.5000 --38.0000;-168.0000 --38.0000;-167.5000 --38.0000;-167.0000 --38.0000;-166.5000 --38.0000;-166.0000 --38.0000;-165.5000 --38.0000;-165.0000 --38.0000;-164.5000 --38.0000;-164.0000 --38.0000;-163.5000 --38.0000;-163.0000 --38.0000;-162.5000 --38.0000;-162.0000 --38.0000;-161.5000 --38.0000;-161.0000 --38.0000;-160.5000 --38.0000;-160.0000 --38.0000;-159.5000 --38.0000;-159.0000 --38.0000;-158.5000 --38.0000;-158.0000 --38.0000;-157.5000 --38.0000;-157.0000 --38.0000;-156.5000 --38.0000;-156.0000 --38.0000;-155.5000 --38.0000;-155.0000 --38.0000;-154.5000 --38.0000;-154.0000 --38.0000;-153.5000 --38.0000;-153.0000 --38.0000;-152.5000 --38.0000;-152.0000 --38.0000;-151.5000 --38.0000;-151.0000 --38.0000;-150.5000 --38.0000;-150.0000 --38.0000;-149.5000 --38.0000;-149.0000 --38.0000;-148.5000 --38.0000;-148.0000 --38.0000;-147.5000 --38.0000;-147.0000 --38.0000;-146.5000 --38.0000;-146.0000 --38.0000;-145.5000 --38.0000;-145.0000 --38.0000;-144.5000 --38.0000;-144.0000 --38.0000;-143.5000 --38.0000;-143.0000 --38.0000;-142.5000 --38.0000;-142.0000 --38.0000;-141.5000 --38.0000;-141.0000 --38.0000;-140.5000 --38.0000;-140.0000 --38.0000;-139.5000 --38.0000;-139.0000 --38.0000;-138.5000 --38.0000;-138.0000 --38.0000;-137.5000 --38.0000;-137.0000 --38.0000;-136.5000 --38.0000;-136.0000 --38.0000;-135.5000 --38.0000;-135.0000 --38.0000;-134.5000 --38.0000;-134.0000 --38.0000;-133.5000 --38.0000;-133.0000 --38.0000;-132.5000 --38.0000;-132.0000 --38.0000;-131.5000 --38.0000;-131.0000 --38.0000;-130.5000 --38.0000;-130.0000 --38.0000;-129.5000 --38.0000;-129.0000 --38.0000;-128.5000 --38.0000;-128.0000 --38.0000;-127.5000 --38.0000;-127.0000 --38.0000;-126.5000 --38.0000;-126.0000 --38.0000;-125.5000 --38.0000;-125.0000 --38.0000;-124.5000 --38.0000;-124.0000 --38.0000;-123.5000 --38.0000;-123.0000 --38.0000;-122.5000 --38.0000;-122.0000 --38.0000;-121.5000 --38.0000;-121.0000 --38.0000;-120.5000 --38.0000;-120.0000 --38.0000;-119.5000 --38.0000;-119.0000 --38.0000;-118.5000 --38.0000;-118.0000 --38.0000;-117.5000 --38.0000;-117.0000 --38.0000;-116.5000 --38.0000;-116.0000 --38.0000;-115.5000 --38.0000;-115.0000 --38.0000;-114.5000 --38.0000;-114.0000 --38.0000;-113.5000 --38.0000;-113.0000 --38.0000;-112.5000 --38.0000;-112.0000 --38.0000;-111.5000 --38.0000;-111.0000 --38.0000;-110.5000 --38.0000;-110.0000 --38.0000;-109.5000 --38.0000;-109.0000 --38.0000;-108.5000 --38.0000;-108.0000 --38.0000;-107.5000 --38.0000;-107.0000 --38.0000;-106.5000 --38.0000;-106.0000 --38.0000;-105.5000 --38.0000;-105.0000 --38.0000;-104.5000 --38.0000;-104.0000 --38.0000;-103.5000 --38.0000;-103.0000 --38.0000;-102.5000 --37.5000;-210.5000 --37.5000;-210.0000 --37.5000;-209.5000 --37.5000;-209.0000 --37.5000;-208.5000 --37.5000;-208.0000 --37.5000;-207.5000 --37.5000;-207.0000 --37.5000;-206.5000 --37.5000;-206.0000 --37.5000;-205.5000 --37.5000;-205.0000 --37.5000;-204.5000 --37.5000;-204.0000 --37.5000;-203.5000 --37.5000;-203.0000 --37.5000;-202.5000 --37.5000;-202.0000 --37.5000;-201.5000 --37.5000;-201.0000 --37.5000;-200.5000 --37.5000;-200.0000 --37.5000;-199.5000 --37.5000;-199.0000 --37.5000;-198.5000 --37.5000;-198.0000 --37.5000;-197.5000 --37.5000;-197.0000 --37.5000;-196.5000 --37.5000;-196.0000 --37.5000;-195.5000 --37.5000;-195.0000 --37.5000;-194.5000 --37.5000;-194.0000 --37.5000;-193.5000 --37.5000;-193.0000 --37.5000;-192.5000 --37.5000;-192.0000 --37.5000;-191.5000 --37.5000;-191.0000 --37.5000;-190.5000 --37.5000;-190.0000 --37.5000;-189.5000 --37.5000;-189.0000 --37.5000;-188.5000 --37.5000;-188.0000 --37.5000;-187.5000 --37.5000;-187.0000 --37.5000;-186.5000 --37.5000;-186.0000 --37.5000;-185.5000 --37.5000;-185.0000 --37.5000;-184.5000 --37.5000;-184.0000 --37.5000;-183.5000 --37.5000;-183.0000 --37.5000;-182.5000 --37.5000;-182.0000 --37.5000;-181.5000 --37.5000;-181.0000 --37.5000;-180.5000 --37.5000;-180.0000 --37.5000;-179.5000 --37.5000;-179.0000 --37.5000;-178.5000 --37.5000;-178.0000 --37.5000;-177.5000 --37.5000;-177.0000 --37.5000;-176.5000 --37.5000;-176.0000 --37.5000;-175.5000 --37.5000;-175.0000 --37.5000;-174.5000 --37.5000;-174.0000 --37.5000;-173.5000 --37.5000;-173.0000 --37.5000;-172.5000 --37.5000;-172.0000 --37.5000;-171.5000 --37.5000;-171.0000 --37.5000;-170.5000 --37.5000;-170.0000 --37.5000;-169.5000 --37.5000;-169.0000 --37.5000;-168.5000 --37.5000;-168.0000 --37.5000;-167.5000 --37.5000;-167.0000 --37.5000;-166.5000 --37.5000;-166.0000 --37.5000;-165.5000 --37.5000;-165.0000 --37.5000;-164.5000 --37.5000;-164.0000 --37.5000;-163.5000 --37.5000;-163.0000 --37.5000;-162.5000 --37.5000;-162.0000 --37.5000;-161.5000 --37.5000;-161.0000 --37.5000;-160.5000 --37.5000;-160.0000 --37.5000;-159.5000 --37.5000;-159.0000 --37.5000;-158.5000 --37.5000;-158.0000 --37.5000;-157.5000 --37.5000;-157.0000 --37.5000;-156.5000 --37.5000;-156.0000 --37.5000;-155.5000 --37.5000;-155.0000 --37.5000;-154.5000 --37.5000;-154.0000 --37.5000;-153.5000 --37.5000;-153.0000 --37.5000;-152.5000 --37.5000;-152.0000 --37.5000;-151.5000 --37.5000;-151.0000 --37.5000;-150.5000 --37.5000;-150.0000 --37.5000;-149.5000 --37.5000;-149.0000 --37.5000;-148.5000 --37.5000;-148.0000 --37.5000;-147.5000 --37.5000;-147.0000 --37.5000;-146.5000 --37.5000;-146.0000 --37.5000;-145.5000 --37.5000;-145.0000 --37.5000;-144.5000 --37.5000;-144.0000 --37.5000;-143.5000 --37.5000;-143.0000 --37.5000;-142.5000 --37.5000;-142.0000 --37.5000;-141.5000 --37.5000;-141.0000 --37.5000;-140.5000 --37.5000;-140.0000 --37.5000;-139.5000 --37.5000;-139.0000 --37.5000;-138.5000 --37.5000;-138.0000 --37.5000;-137.5000 --37.5000;-137.0000 --37.5000;-136.5000 --37.5000;-136.0000 --37.5000;-135.5000 --37.5000;-135.0000 --37.5000;-134.5000 --37.5000;-134.0000 --37.5000;-133.5000 --37.5000;-133.0000 --37.5000;-132.5000 --37.5000;-132.0000 --37.5000;-131.5000 --37.5000;-131.0000 --37.5000;-130.5000 --37.5000;-130.0000 --37.5000;-129.5000 --37.5000;-129.0000 --37.5000;-128.5000 --37.5000;-128.0000 --37.5000;-127.5000 --37.5000;-127.0000 --37.5000;-126.5000 --37.5000;-126.0000 --37.5000;-125.5000 --37.5000;-125.0000 --37.5000;-124.5000 --37.5000;-124.0000 --37.5000;-123.5000 --37.5000;-123.0000 --37.5000;-122.5000 --37.5000;-122.0000 --37.5000;-121.5000 --37.5000;-121.0000 --37.5000;-120.5000 --37.5000;-120.0000 --37.5000;-119.5000 --37.5000;-119.0000 --37.5000;-118.5000 --37.5000;-118.0000 --37.5000;-117.5000 --37.5000;-117.0000 --37.5000;-116.5000 --37.5000;-116.0000 --37.5000;-115.5000 --37.5000;-115.0000 --37.5000;-114.5000 --37.5000;-114.0000 --37.5000;-113.5000 --37.5000;-113.0000 --37.5000;-112.5000 --37.5000;-112.0000 --37.5000;-111.5000 --37.5000;-111.0000 --37.5000;-110.5000 --37.5000;-110.0000 --37.5000;-109.5000 --37.5000;-109.0000 --37.5000;-108.5000 --37.5000;-108.0000 --37.5000;-107.5000 --37.5000;-107.0000 --37.5000;-106.5000 --37.5000;-106.0000 --37.5000;-105.5000 --37.5000;-105.0000 --37.5000;-104.5000 --37.5000;-104.0000 --37.5000;-103.5000 --37.5000;-103.0000 --37.5000;-102.5000 --37.5000;-102.0000 --37.5000;-101.5000 --37.5000;-101.0000 --37.5000;-100.5000 --37.0000;-211.0000 --37.0000;-210.5000 --37.0000;-210.0000 --37.0000;-209.5000 --37.0000;-209.0000 --37.0000;-208.5000 --37.0000;-208.0000 --37.0000;-207.5000 --37.0000;-207.0000 --37.0000;-206.5000 --37.0000;-206.0000 --37.0000;-205.5000 --37.0000;-205.0000 --37.0000;-204.5000 --37.0000;-204.0000 --37.0000;-203.5000 --37.0000;-203.0000 --37.0000;-202.5000 --37.0000;-202.0000 --37.0000;-201.5000 --37.0000;-201.0000 --37.0000;-200.5000 --37.0000;-200.0000 --37.0000;-199.5000 --37.0000;-199.0000 --37.0000;-198.5000 --37.0000;-198.0000 --37.0000;-197.5000 --37.0000;-197.0000 --37.0000;-196.5000 --37.0000;-196.0000 --37.0000;-195.5000 --37.0000;-195.0000 --37.0000;-194.5000 --37.0000;-194.0000 --37.0000;-193.5000 --37.0000;-193.0000 --37.0000;-192.5000 --37.0000;-192.0000 --37.0000;-191.5000 --37.0000;-191.0000 --37.0000;-190.5000 --37.0000;-190.0000 --37.0000;-189.5000 --37.0000;-189.0000 --37.0000;-188.5000 --37.0000;-188.0000 --37.0000;-187.5000 --37.0000;-187.0000 --37.0000;-186.5000 --37.0000;-186.0000 --37.0000;-185.5000 --37.0000;-185.0000 --37.0000;-184.5000 --37.0000;-184.0000 --37.0000;-183.5000 --37.0000;-183.0000 --37.0000;-182.5000 --37.0000;-182.0000 --37.0000;-181.5000 --37.0000;-181.0000 --37.0000;-180.5000 --37.0000;-180.0000 --37.0000;-179.5000 --37.0000;-179.0000 --37.0000;-178.5000 --37.0000;-178.0000 --37.0000;-177.5000 --37.0000;-177.0000 --37.0000;-176.5000 --37.0000;-176.0000 --37.0000;-175.5000 --37.0000;-175.0000 --37.0000;-174.5000 --37.0000;-174.0000 --37.0000;-173.5000 --37.0000;-173.0000 --37.0000;-172.5000 --37.0000;-172.0000 --37.0000;-171.5000 --37.0000;-171.0000 --37.0000;-170.5000 --37.0000;-170.0000 --37.0000;-169.5000 --37.0000;-169.0000 --37.0000;-168.5000 --37.0000;-168.0000 --37.0000;-167.5000 --37.0000;-167.0000 --37.0000;-166.5000 --37.0000;-166.0000 --37.0000;-165.5000 --37.0000;-165.0000 --37.0000;-164.5000 --37.0000;-164.0000 --37.0000;-163.5000 --37.0000;-163.0000 --37.0000;-162.5000 --37.0000;-162.0000 --37.0000;-161.5000 --37.0000;-161.0000 --37.0000;-160.5000 --37.0000;-160.0000 --37.0000;-159.5000 --37.0000;-159.0000 --37.0000;-158.5000 --37.0000;-158.0000 --37.0000;-157.5000 --37.0000;-157.0000 --37.0000;-156.5000 --37.0000;-156.0000 --37.0000;-155.5000 --37.0000;-155.0000 --37.0000;-154.5000 --37.0000;-154.0000 --37.0000;-153.5000 --37.0000;-153.0000 --37.0000;-152.5000 --37.0000;-152.0000 --37.0000;-151.5000 --37.0000;-151.0000 --37.0000;-150.5000 --37.0000;-150.0000 --37.0000;-149.5000 --37.0000;-149.0000 --37.0000;-148.5000 --37.0000;-148.0000 --37.0000;-147.5000 --37.0000;-147.0000 --37.0000;-146.5000 --37.0000;-146.0000 --37.0000;-145.5000 --37.0000;-145.0000 --37.0000;-144.5000 --37.0000;-144.0000 --37.0000;-143.5000 --37.0000;-143.0000 --37.0000;-142.5000 --37.0000;-142.0000 --37.0000;-141.5000 --37.0000;-141.0000 --37.0000;-140.5000 --37.0000;-140.0000 --37.0000;-139.5000 --37.0000;-139.0000 --37.0000;-138.5000 --37.0000;-138.0000 --37.0000;-137.5000 --37.0000;-137.0000 --37.0000;-136.5000 --37.0000;-136.0000 --37.0000;-135.5000 --37.0000;-135.0000 --37.0000;-134.5000 --37.0000;-134.0000 --37.0000;-133.5000 --37.0000;-133.0000 --37.0000;-132.5000 --37.0000;-132.0000 --37.0000;-131.5000 --37.0000;-131.0000 --37.0000;-130.5000 --37.0000;-130.0000 --37.0000;-129.5000 --37.0000;-129.0000 --37.0000;-128.5000 --37.0000;-128.0000 --37.0000;-127.5000 --37.0000;-127.0000 --37.0000;-126.5000 --37.0000;-126.0000 --37.0000;-125.5000 --37.0000;-125.0000 --37.0000;-124.5000 --37.0000;-124.0000 --37.0000;-123.5000 --37.0000;-123.0000 --37.0000;-122.5000 --37.0000;-122.0000 --37.0000;-121.5000 --37.0000;-121.0000 --37.0000;-120.5000 --37.0000;-120.0000 --37.0000;-119.5000 --37.0000;-119.0000 --37.0000;-118.5000 --37.0000;-118.0000 --37.0000;-117.5000 --37.0000;-117.0000 --37.0000;-116.5000 --37.0000;-116.0000 --37.0000;-115.5000 --37.0000;-115.0000 --37.0000;-114.5000 --37.0000;-114.0000 --37.0000;-113.5000 --37.0000;-113.0000 --37.0000;-112.5000 --37.0000;-112.0000 --37.0000;-111.5000 --37.0000;-111.0000 --37.0000;-110.5000 --37.0000;-110.0000 --37.0000;-109.5000 --37.0000;-109.0000 --37.0000;-108.5000 --37.0000;-108.0000 --37.0000;-107.5000 --37.0000;-107.0000 --37.0000;-106.5000 --37.0000;-106.0000 --37.0000;-105.5000 --37.0000;-105.0000 --37.0000;-104.5000 --37.0000;-104.0000 --37.0000;-103.5000 --37.0000;-103.0000 --37.0000;-102.5000 --37.0000;-102.0000 --37.0000;-101.5000 --37.0000;-101.0000 --37.0000;-100.5000 --37.0000;-100.0000 --37.0000;-99.5000 --37.0000;-99.0000 --37.0000;-98.5000 --36.5000;-211.5000 --36.5000;-211.0000 --36.5000;-210.5000 --36.5000;-210.0000 --36.5000;-209.5000 --36.5000;-209.0000 --36.5000;-208.5000 --36.5000;-208.0000 --36.5000;-207.5000 --36.5000;-207.0000 --36.5000;-206.5000 --36.5000;-206.0000 --36.5000;-205.5000 --36.5000;-205.0000 --36.5000;-204.5000 --36.5000;-204.0000 --36.5000;-203.5000 --36.5000;-203.0000 --36.5000;-202.5000 --36.5000;-202.0000 --36.5000;-201.5000 --36.5000;-201.0000 --36.5000;-200.5000 --36.5000;-200.0000 --36.5000;-199.5000 --36.5000;-199.0000 --36.5000;-198.5000 --36.5000;-198.0000 --36.5000;-197.5000 --36.5000;-197.0000 --36.5000;-196.5000 --36.5000;-196.0000 --36.5000;-195.5000 --36.5000;-195.0000 --36.5000;-194.5000 --36.5000;-194.0000 --36.5000;-193.5000 --36.5000;-193.0000 --36.5000;-192.5000 --36.5000;-192.0000 --36.5000;-191.5000 --36.5000;-191.0000 --36.5000;-190.5000 --36.5000;-190.0000 --36.5000;-189.5000 --36.5000;-189.0000 --36.5000;-188.5000 --36.5000;-188.0000 --36.5000;-187.5000 --36.5000;-187.0000 --36.5000;-186.5000 --36.5000;-186.0000 --36.5000;-185.5000 --36.5000;-185.0000 --36.5000;-184.5000 --36.5000;-184.0000 --36.5000;-183.5000 --36.5000;-183.0000 --36.5000;-182.5000 --36.5000;-182.0000 --36.5000;-181.5000 --36.5000;-181.0000 --36.5000;-180.5000 --36.5000;-180.0000 --36.5000;-179.5000 --36.5000;-179.0000 --36.5000;-178.5000 --36.5000;-178.0000 --36.5000;-177.5000 --36.5000;-177.0000 --36.5000;-176.5000 --36.5000;-176.0000 --36.5000;-175.5000 --36.5000;-175.0000 --36.5000;-174.5000 --36.5000;-174.0000 --36.5000;-173.5000 --36.5000;-173.0000 --36.5000;-172.5000 --36.5000;-172.0000 --36.5000;-171.5000 --36.5000;-171.0000 --36.5000;-170.5000 --36.5000;-170.0000 --36.5000;-169.5000 --36.5000;-169.0000 --36.5000;-168.5000 --36.5000;-168.0000 --36.5000;-167.5000 --36.5000;-167.0000 --36.5000;-166.5000 --36.5000;-166.0000 --36.5000;-165.5000 --36.5000;-165.0000 --36.5000;-164.5000 --36.5000;-164.0000 --36.5000;-163.5000 --36.5000;-163.0000 --36.5000;-162.5000 --36.5000;-162.0000 --36.5000;-161.5000 --36.5000;-161.0000 --36.5000;-160.5000 --36.5000;-160.0000 --36.5000;-159.5000 --36.5000;-159.0000 --36.5000;-158.5000 --36.5000;-158.0000 --36.5000;-157.5000 --36.5000;-157.0000 --36.5000;-156.5000 --36.5000;-156.0000 --36.5000;-155.5000 --36.5000;-155.0000 --36.5000;-154.5000 --36.5000;-154.0000 --36.5000;-153.5000 --36.5000;-153.0000 --36.5000;-152.5000 --36.5000;-152.0000 --36.5000;-151.5000 --36.5000;-151.0000 --36.5000;-150.5000 --36.5000;-150.0000 --36.5000;-149.5000 --36.5000;-149.0000 --36.5000;-148.5000 --36.5000;-148.0000 --36.5000;-147.5000 --36.5000;-147.0000 --36.5000;-146.5000 --36.5000;-146.0000 --36.5000;-145.5000 --36.5000;-145.0000 --36.5000;-144.5000 --36.5000;-144.0000 --36.5000;-143.5000 --36.5000;-143.0000 --36.5000;-142.5000 --36.5000;-142.0000 --36.5000;-141.5000 --36.5000;-141.0000 --36.5000;-140.5000 --36.5000;-140.0000 --36.5000;-139.5000 --36.5000;-139.0000 --36.5000;-138.5000 --36.5000;-138.0000 --36.5000;-137.5000 --36.5000;-137.0000 --36.5000;-136.5000 --36.5000;-136.0000 --36.5000;-135.5000 --36.5000;-135.0000 --36.5000;-134.5000 --36.5000;-134.0000 --36.5000;-133.5000 --36.5000;-133.0000 --36.5000;-132.5000 --36.5000;-132.0000 --36.5000;-131.5000 --36.5000;-131.0000 --36.5000;-130.5000 --36.5000;-130.0000 --36.5000;-129.5000 --36.5000;-129.0000 --36.5000;-128.5000 --36.5000;-128.0000 --36.5000;-127.5000 --36.5000;-127.0000 --36.5000;-126.5000 --36.5000;-126.0000 --36.5000;-125.5000 --36.5000;-125.0000 --36.5000;-124.5000 --36.5000;-124.0000 --36.5000;-123.5000 --36.5000;-123.0000 --36.5000;-122.5000 --36.5000;-122.0000 --36.5000;-121.5000 --36.5000;-121.0000 --36.5000;-120.5000 --36.5000;-120.0000 --36.5000;-119.5000 --36.5000;-119.0000 --36.5000;-118.5000 --36.5000;-118.0000 --36.5000;-117.5000 --36.5000;-117.0000 --36.5000;-116.5000 --36.5000;-116.0000 --36.5000;-115.5000 --36.5000;-115.0000 --36.5000;-114.5000 --36.5000;-114.0000 --36.5000;-113.5000 --36.5000;-113.0000 --36.5000;-112.5000 --36.5000;-112.0000 --36.5000;-111.5000 --36.5000;-111.0000 --36.5000;-110.5000 --36.5000;-110.0000 --36.5000;-109.5000 --36.5000;-109.0000 --36.5000;-108.5000 --36.5000;-108.0000 --36.5000;-107.5000 --36.5000;-107.0000 --36.5000;-106.5000 --36.5000;-106.0000 --36.5000;-105.5000 --36.5000;-105.0000 --36.5000;-104.5000 --36.5000;-104.0000 --36.5000;-103.5000 --36.5000;-103.0000 --36.5000;-102.5000 --36.5000;-102.0000 --36.5000;-101.5000 --36.5000;-101.0000 --36.5000;-100.5000 --36.5000;-100.0000 --36.5000;-99.5000 --36.5000;-99.0000 --36.5000;-98.5000 --36.5000;-98.0000 --36.5000;-97.5000 --36.5000;-97.0000 --36.5000;-96.5000 --36.0000;-212.0000 --36.0000;-211.5000 --36.0000;-211.0000 --36.0000;-210.5000 --36.0000;-210.0000 --36.0000;-209.5000 --36.0000;-209.0000 --36.0000;-208.5000 --36.0000;-208.0000 --36.0000;-207.5000 --36.0000;-207.0000 --36.0000;-206.5000 --36.0000;-206.0000 --36.0000;-205.5000 --36.0000;-205.0000 --36.0000;-204.5000 --36.0000;-204.0000 --36.0000;-203.5000 --36.0000;-203.0000 --36.0000;-202.5000 --36.0000;-202.0000 --36.0000;-201.5000 --36.0000;-201.0000 --36.0000;-200.5000 --36.0000;-200.0000 --36.0000;-199.5000 --36.0000;-199.0000 --36.0000;-198.5000 --36.0000;-198.0000 --36.0000;-197.5000 --36.0000;-197.0000 --36.0000;-196.5000 --36.0000;-196.0000 --36.0000;-195.5000 --36.0000;-195.0000 --36.0000;-194.5000 --36.0000;-194.0000 --36.0000;-193.5000 --36.0000;-193.0000 --36.0000;-192.5000 --36.0000;-192.0000 --36.0000;-191.5000 --36.0000;-191.0000 --36.0000;-190.5000 --36.0000;-190.0000 --36.0000;-189.5000 --36.0000;-189.0000 --36.0000;-188.5000 --36.0000;-188.0000 --36.0000;-187.5000 --36.0000;-187.0000 --36.0000;-186.5000 --36.0000;-186.0000 --36.0000;-185.5000 --36.0000;-185.0000 --36.0000;-184.5000 --36.0000;-184.0000 --36.0000;-183.5000 --36.0000;-183.0000 --36.0000;-182.5000 --36.0000;-182.0000 --36.0000;-181.5000 --36.0000;-181.0000 --36.0000;-180.5000 --36.0000;-180.0000 --36.0000;-179.5000 --36.0000;-179.0000 --36.0000;-178.5000 --36.0000;-178.0000 --36.0000;-177.5000 --36.0000;-177.0000 --36.0000;-176.5000 --36.0000;-176.0000 --36.0000;-175.5000 --36.0000;-175.0000 --36.0000;-174.5000 --36.0000;-174.0000 --36.0000;-173.5000 --36.0000;-173.0000 --36.0000;-172.5000 --36.0000;-172.0000 --36.0000;-171.5000 --36.0000;-171.0000 --36.0000;-170.5000 --36.0000;-170.0000 --36.0000;-169.5000 --36.0000;-169.0000 --36.0000;-168.5000 --36.0000;-168.0000 --36.0000;-167.5000 --36.0000;-167.0000 --36.0000;-166.5000 --36.0000;-166.0000 --36.0000;-165.5000 --36.0000;-165.0000 --36.0000;-164.5000 --36.0000;-164.0000 --36.0000;-163.5000 --36.0000;-163.0000 --36.0000;-162.5000 --36.0000;-162.0000 --36.0000;-161.5000 --36.0000;-161.0000 --36.0000;-160.5000 --36.0000;-160.0000 --36.0000;-159.5000 --36.0000;-159.0000 --36.0000;-158.5000 --36.0000;-158.0000 --36.0000;-157.5000 --36.0000;-157.0000 --36.0000;-156.5000 --36.0000;-156.0000 --36.0000;-155.5000 --36.0000;-155.0000 --36.0000;-154.5000 --36.0000;-154.0000 --36.0000;-153.5000 --36.0000;-153.0000 --36.0000;-152.5000 --36.0000;-152.0000 --36.0000;-151.5000 --36.0000;-151.0000 --36.0000;-150.5000 --36.0000;-150.0000 --36.0000;-149.5000 --36.0000;-149.0000 --36.0000;-148.5000 --36.0000;-148.0000 --36.0000;-147.5000 --36.0000;-147.0000 --36.0000;-146.5000 --36.0000;-146.0000 --36.0000;-145.5000 --36.0000;-145.0000 --36.0000;-144.5000 --36.0000;-144.0000 --36.0000;-143.5000 --36.0000;-143.0000 --36.0000;-142.5000 --36.0000;-142.0000 --36.0000;-141.5000 --36.0000;-141.0000 --36.0000;-140.5000 --36.0000;-140.0000 --36.0000;-139.5000 --36.0000;-139.0000 --36.0000;-138.5000 --36.0000;-138.0000 --36.0000;-137.5000 --36.0000;-137.0000 --36.0000;-136.5000 --36.0000;-136.0000 --36.0000;-135.5000 --36.0000;-135.0000 --36.0000;-134.5000 --36.0000;-134.0000 --36.0000;-133.5000 --36.0000;-133.0000 --36.0000;-132.5000 --36.0000;-132.0000 --36.0000;-131.5000 --36.0000;-131.0000 --36.0000;-130.5000 --36.0000;-130.0000 --36.0000;-129.5000 --36.0000;-129.0000 --36.0000;-128.5000 --36.0000;-128.0000 --36.0000;-127.5000 --36.0000;-127.0000 --36.0000;-126.5000 --36.0000;-126.0000 --36.0000;-125.5000 --36.0000;-125.0000 --36.0000;-124.5000 --36.0000;-124.0000 --36.0000;-123.5000 --36.0000;-123.0000 --36.0000;-122.5000 --36.0000;-122.0000 --36.0000;-121.5000 --36.0000;-121.0000 --36.0000;-120.5000 --36.0000;-120.0000 --36.0000;-119.5000 --36.0000;-119.0000 --36.0000;-118.5000 --36.0000;-118.0000 --36.0000;-117.5000 --36.0000;-117.0000 --36.0000;-116.5000 --36.0000;-116.0000 --36.0000;-115.5000 --36.0000;-115.0000 --36.0000;-114.5000 --36.0000;-114.0000 --36.0000;-113.5000 --36.0000;-113.0000 --36.0000;-112.5000 --36.0000;-112.0000 --36.0000;-111.5000 --36.0000;-111.0000 --36.0000;-110.5000 --36.0000;-110.0000 --36.0000;-109.5000 --36.0000;-109.0000 --36.0000;-108.5000 --36.0000;-108.0000 --36.0000;-107.5000 --36.0000;-107.0000 --36.0000;-106.5000 --36.0000;-106.0000 --36.0000;-105.5000 --36.0000;-105.0000 --36.0000;-104.5000 --36.0000;-104.0000 --36.0000;-103.5000 --36.0000;-103.0000 --36.0000;-102.5000 --36.0000;-102.0000 --36.0000;-101.5000 --36.0000;-101.0000 --36.0000;-100.5000 --36.0000;-100.0000 --36.0000;-99.5000 --36.0000;-99.0000 --36.0000;-98.5000 --36.0000;-98.0000 --36.0000;-97.5000 --36.0000;-97.0000 --36.0000;-96.5000 --36.0000;-96.0000 --36.0000;-95.5000 --36.0000;-95.0000 --35.5000;-212.5000 --35.5000;-212.0000 --35.5000;-211.5000 --35.5000;-211.0000 --35.5000;-210.5000 --35.5000;-210.0000 --35.5000;-209.5000 --35.5000;-209.0000 --35.5000;-208.5000 --35.5000;-208.0000 --35.5000;-207.5000 --35.5000;-207.0000 --35.5000;-206.5000 --35.5000;-206.0000 --35.5000;-205.5000 --35.5000;-205.0000 --35.5000;-204.5000 --35.5000;-204.0000 --35.5000;-203.5000 --35.5000;-203.0000 --35.5000;-202.5000 --35.5000;-202.0000 --35.5000;-201.5000 --35.5000;-201.0000 --35.5000;-200.5000 --35.5000;-200.0000 --35.5000;-199.5000 --35.5000;-199.0000 --35.5000;-198.5000 --35.5000;-198.0000 --35.5000;-197.5000 --35.5000;-197.0000 --35.5000;-196.5000 --35.5000;-196.0000 --35.5000;-195.5000 --35.5000;-195.0000 --35.5000;-194.5000 --35.5000;-194.0000 --35.5000;-193.5000 --35.5000;-193.0000 --35.5000;-192.5000 --35.5000;-192.0000 --35.5000;-191.5000 --35.5000;-191.0000 --35.5000;-190.5000 --35.5000;-190.0000 --35.5000;-189.5000 --35.5000;-189.0000 --35.5000;-188.5000 --35.5000;-188.0000 --35.5000;-187.5000 --35.5000;-187.0000 --35.5000;-186.5000 --35.5000;-186.0000 --35.5000;-185.5000 --35.5000;-185.0000 --35.5000;-184.5000 --35.5000;-184.0000 --35.5000;-183.5000 --35.5000;-183.0000 --35.5000;-182.5000 --35.5000;-182.0000 --35.5000;-181.5000 --35.5000;-181.0000 --35.5000;-180.5000 --35.5000;-180.0000 --35.5000;-179.5000 --35.5000;-179.0000 --35.5000;-178.5000 --35.5000;-178.0000 --35.5000;-177.5000 --35.5000;-177.0000 --35.5000;-176.5000 --35.5000;-176.0000 --35.5000;-175.5000 --35.5000;-175.0000 --35.5000;-174.5000 --35.5000;-174.0000 --35.5000;-173.5000 --35.5000;-173.0000 --35.5000;-172.5000 --35.5000;-172.0000 --35.5000;-171.5000 --35.5000;-171.0000 --35.5000;-170.5000 --35.5000;-170.0000 --35.5000;-169.5000 --35.5000;-169.0000 --35.5000;-168.5000 --35.5000;-168.0000 --35.5000;-167.5000 --35.5000;-167.0000 --35.5000;-166.5000 --35.5000;-166.0000 --35.5000;-165.5000 --35.5000;-165.0000 --35.5000;-164.5000 --35.5000;-164.0000 --35.5000;-163.5000 --35.5000;-163.0000 --35.5000;-162.5000 --35.5000;-162.0000 --35.5000;-161.5000 --35.5000;-161.0000 --35.5000;-160.5000 --35.5000;-160.0000 --35.5000;-159.5000 --35.5000;-159.0000 --35.5000;-158.5000 --35.5000;-158.0000 --35.5000;-157.5000 --35.5000;-157.0000 --35.5000;-156.5000 --35.5000;-156.0000 --35.5000;-155.5000 --35.5000;-155.0000 --35.5000;-154.5000 --35.5000;-154.0000 --35.5000;-153.5000 --35.5000;-153.0000 --35.5000;-152.5000 --35.5000;-152.0000 --35.5000;-151.5000 --35.5000;-151.0000 --35.5000;-150.5000 --35.5000;-150.0000 --35.5000;-149.5000 --35.5000;-149.0000 --35.5000;-148.5000 --35.5000;-148.0000 --35.5000;-147.5000 --35.5000;-147.0000 --35.5000;-146.5000 --35.5000;-146.0000 --35.5000;-145.5000 --35.5000;-145.0000 --35.5000;-144.5000 --35.5000;-144.0000 --35.5000;-143.5000 --35.5000;-143.0000 --35.5000;-142.5000 --35.5000;-142.0000 --35.5000;-141.5000 --35.5000;-141.0000 --35.5000;-140.5000 --35.5000;-140.0000 --35.5000;-139.5000 --35.5000;-139.0000 --35.5000;-138.5000 --35.5000;-138.0000 --35.5000;-137.5000 --35.5000;-137.0000 --35.5000;-136.5000 --35.5000;-136.0000 --35.5000;-135.5000 --35.5000;-135.0000 --35.5000;-134.5000 --35.5000;-134.0000 --35.5000;-133.5000 --35.5000;-133.0000 --35.5000;-132.5000 --35.5000;-132.0000 --35.5000;-131.5000 --35.5000;-131.0000 --35.5000;-130.5000 --35.5000;-130.0000 --35.5000;-129.5000 --35.5000;-129.0000 --35.5000;-128.5000 --35.5000;-128.0000 --35.5000;-127.5000 --35.5000;-127.0000 --35.5000;-126.5000 --35.5000;-126.0000 --35.5000;-125.5000 --35.5000;-125.0000 --35.5000;-124.5000 --35.5000;-124.0000 --35.5000;-123.5000 --35.5000;-123.0000 --35.5000;-122.5000 --35.5000;-122.0000 --35.5000;-121.5000 --35.5000;-121.0000 --35.5000;-120.5000 --35.5000;-120.0000 --35.5000;-119.5000 --35.5000;-119.0000 --35.5000;-118.5000 --35.5000;-118.0000 --35.5000;-117.5000 --35.5000;-117.0000 --35.5000;-116.5000 --35.5000;-116.0000 --35.5000;-115.5000 --35.5000;-115.0000 --35.5000;-114.5000 --35.5000;-114.0000 --35.5000;-113.5000 --35.5000;-113.0000 --35.5000;-112.5000 --35.5000;-112.0000 --35.5000;-111.5000 --35.5000;-111.0000 --35.5000;-110.5000 --35.5000;-110.0000 --35.5000;-109.5000 --35.5000;-109.0000 --35.5000;-108.5000 --35.5000;-108.0000 --35.5000;-107.5000 --35.5000;-107.0000 --35.5000;-106.5000 --35.5000;-106.0000 --35.5000;-105.5000 --35.5000;-105.0000 --35.5000;-104.5000 --35.5000;-104.0000 --35.5000;-103.5000 --35.5000;-103.0000 --35.5000;-102.5000 --35.5000;-102.0000 --35.5000;-101.5000 --35.5000;-101.0000 --35.5000;-100.5000 --35.5000;-100.0000 --35.5000;-99.5000 --35.5000;-99.0000 --35.5000;-98.5000 --35.5000;-98.0000 --35.5000;-97.5000 --35.5000;-97.0000 --35.5000;-96.5000 --35.5000;-96.0000 --35.5000;-95.5000 --35.5000;-95.0000 --35.5000;-94.5000 --35.5000;-94.0000 --35.5000;-93.5000 --35.5000;-93.0000 --35.0000;-213.0000 --35.0000;-212.5000 --35.0000;-212.0000 --35.0000;-211.5000 --35.0000;-211.0000 --35.0000;-210.5000 --35.0000;-210.0000 --35.0000;-209.5000 --35.0000;-209.0000 --35.0000;-208.5000 --35.0000;-208.0000 --35.0000;-207.5000 --35.0000;-207.0000 --35.0000;-206.5000 --35.0000;-206.0000 --35.0000;-205.5000 --35.0000;-205.0000 --35.0000;-204.5000 --35.0000;-204.0000 --35.0000;-203.5000 --35.0000;-203.0000 --35.0000;-202.5000 --35.0000;-202.0000 --35.0000;-201.5000 --35.0000;-201.0000 --35.0000;-200.5000 --35.0000;-200.0000 --35.0000;-199.5000 --35.0000;-199.0000 --35.0000;-198.5000 --35.0000;-198.0000 --35.0000;-197.5000 --35.0000;-197.0000 --35.0000;-196.5000 --35.0000;-196.0000 --35.0000;-195.5000 --35.0000;-195.0000 --35.0000;-194.5000 --35.0000;-194.0000 --35.0000;-193.5000 --35.0000;-193.0000 --35.0000;-192.5000 --35.0000;-192.0000 --35.0000;-191.5000 --35.0000;-191.0000 --35.0000;-190.5000 --35.0000;-190.0000 --35.0000;-189.5000 --35.0000;-189.0000 --35.0000;-188.5000 --35.0000;-188.0000 --35.0000;-187.5000 --35.0000;-187.0000 --35.0000;-186.5000 --35.0000;-186.0000 --35.0000;-185.5000 --35.0000;-185.0000 --35.0000;-184.5000 --35.0000;-184.0000 --35.0000;-183.5000 --35.0000;-183.0000 --35.0000;-182.5000 --35.0000;-182.0000 --35.0000;-181.5000 --35.0000;-181.0000 --35.0000;-180.5000 --35.0000;-180.0000 --35.0000;-179.5000 --35.0000;-179.0000 --35.0000;-178.5000 --35.0000;-178.0000 --35.0000;-177.5000 --35.0000;-177.0000 --35.0000;-176.5000 --35.0000;-176.0000 --35.0000;-175.5000 --35.0000;-175.0000 --35.0000;-174.5000 --35.0000;-174.0000 --35.0000;-173.5000 --35.0000;-173.0000 --35.0000;-172.5000 --35.0000;-172.0000 --35.0000;-171.5000 --35.0000;-171.0000 --35.0000;-170.5000 --35.0000;-170.0000 --35.0000;-169.5000 --35.0000;-169.0000 --35.0000;-168.5000 --35.0000;-168.0000 --35.0000;-167.5000 --35.0000;-167.0000 --35.0000;-166.5000 --35.0000;-166.0000 --35.0000;-165.5000 --35.0000;-165.0000 --35.0000;-164.5000 --35.0000;-164.0000 --35.0000;-163.5000 --35.0000;-163.0000 --35.0000;-162.5000 --35.0000;-162.0000 --35.0000;-161.5000 --35.0000;-161.0000 --35.0000;-160.5000 --35.0000;-160.0000 --35.0000;-159.5000 --35.0000;-159.0000 --35.0000;-158.5000 --35.0000;-158.0000 --35.0000;-157.5000 --35.0000;-157.0000 --35.0000;-156.5000 --35.0000;-156.0000 --35.0000;-155.5000 --35.0000;-155.0000 --35.0000;-154.5000 --35.0000;-154.0000 --35.0000;-153.5000 --35.0000;-153.0000 --35.0000;-152.5000 --35.0000;-152.0000 --35.0000;-151.5000 --35.0000;-151.0000 --35.0000;-150.5000 --35.0000;-150.0000 --35.0000;-149.5000 --35.0000;-149.0000 --35.0000;-148.5000 --35.0000;-148.0000 --35.0000;-147.5000 --35.0000;-147.0000 --35.0000;-146.5000 --35.0000;-146.0000 --35.0000;-145.5000 --35.0000;-145.0000 --35.0000;-144.5000 --35.0000;-144.0000 --35.0000;-143.5000 --35.0000;-143.0000 --35.0000;-142.5000 --35.0000;-142.0000 --35.0000;-141.5000 --35.0000;-141.0000 --35.0000;-140.5000 --35.0000;-140.0000 --35.0000;-139.5000 --35.0000;-139.0000 --35.0000;-138.5000 --35.0000;-138.0000 --35.0000;-137.5000 --35.0000;-137.0000 --35.0000;-136.5000 --35.0000;-136.0000 --35.0000;-135.5000 --35.0000;-135.0000 --35.0000;-134.5000 --35.0000;-134.0000 --35.0000;-133.5000 --35.0000;-133.0000 --35.0000;-132.5000 --35.0000;-132.0000 --35.0000;-131.5000 --35.0000;-131.0000 --35.0000;-130.5000 --35.0000;-130.0000 --35.0000;-129.5000 --35.0000;-129.0000 --35.0000;-128.5000 --35.0000;-128.0000 --35.0000;-127.5000 --35.0000;-127.0000 --35.0000;-126.5000 --35.0000;-126.0000 --35.0000;-125.5000 --35.0000;-125.0000 --35.0000;-124.5000 --35.0000;-124.0000 --35.0000;-123.5000 --35.0000;-123.0000 --35.0000;-122.5000 --35.0000;-122.0000 --35.0000;-121.5000 --35.0000;-121.0000 --35.0000;-120.5000 --35.0000;-120.0000 --35.0000;-119.5000 --35.0000;-119.0000 --35.0000;-118.5000 --35.0000;-118.0000 --35.0000;-117.5000 --35.0000;-117.0000 --35.0000;-116.5000 --35.0000;-116.0000 --35.0000;-115.5000 --35.0000;-115.0000 --35.0000;-114.5000 --35.0000;-114.0000 --35.0000;-113.5000 --35.0000;-113.0000 --35.0000;-112.5000 --35.0000;-112.0000 --35.0000;-111.5000 --35.0000;-111.0000 --35.0000;-110.5000 --35.0000;-110.0000 --35.0000;-109.5000 --35.0000;-109.0000 --35.0000;-108.5000 --35.0000;-108.0000 --35.0000;-107.5000 --35.0000;-107.0000 --35.0000;-106.5000 --35.0000;-106.0000 --35.0000;-105.5000 --35.0000;-105.0000 --35.0000;-104.5000 --35.0000;-104.0000 --35.0000;-103.5000 --35.0000;-103.0000 --35.0000;-102.5000 --35.0000;-102.0000 --35.0000;-101.5000 --35.0000;-101.0000 --35.0000;-100.5000 --35.0000;-100.0000 --35.0000;-99.5000 --35.0000;-99.0000 --35.0000;-98.5000 --35.0000;-98.0000 --35.0000;-97.5000 --35.0000;-97.0000 --35.0000;-96.5000 --35.0000;-96.0000 --35.0000;-95.5000 --35.0000;-95.0000 --35.0000;-94.5000 --35.0000;-94.0000 --35.0000;-93.5000 --35.0000;-93.0000 --35.0000;-92.5000 --35.0000;-92.0000 --35.0000;-91.5000 --35.0000;-91.0000 --34.5000;-213.5000 --34.5000;-213.0000 --34.5000;-212.5000 --34.5000;-212.0000 --34.5000;-211.5000 --34.5000;-211.0000 --34.5000;-210.5000 --34.5000;-210.0000 --34.5000;-209.5000 --34.5000;-209.0000 --34.5000;-208.5000 --34.5000;-208.0000 --34.5000;-207.5000 --34.5000;-207.0000 --34.5000;-206.5000 --34.5000;-206.0000 --34.5000;-205.5000 --34.5000;-205.0000 --34.5000;-204.5000 --34.5000;-204.0000 --34.5000;-203.5000 --34.5000;-203.0000 --34.5000;-202.5000 --34.5000;-202.0000 --34.5000;-201.5000 --34.5000;-201.0000 --34.5000;-200.5000 --34.5000;-200.0000 --34.5000;-199.5000 --34.5000;-199.0000 --34.5000;-198.5000 --34.5000;-198.0000 --34.5000;-197.5000 --34.5000;-197.0000 --34.5000;-196.5000 --34.5000;-196.0000 --34.5000;-195.5000 --34.5000;-195.0000 --34.5000;-194.5000 --34.5000;-194.0000 --34.5000;-193.5000 --34.5000;-193.0000 --34.5000;-192.5000 --34.5000;-192.0000 --34.5000;-191.5000 --34.5000;-191.0000 --34.5000;-190.5000 --34.5000;-190.0000 --34.5000;-189.5000 --34.5000;-189.0000 --34.5000;-188.5000 --34.5000;-188.0000 --34.5000;-187.5000 --34.5000;-187.0000 --34.5000;-186.5000 --34.5000;-186.0000 --34.5000;-185.5000 --34.5000;-185.0000 --34.5000;-184.5000 --34.5000;-184.0000 --34.5000;-183.5000 --34.5000;-183.0000 --34.5000;-182.5000 --34.5000;-182.0000 --34.5000;-181.5000 --34.5000;-181.0000 --34.5000;-180.5000 --34.5000;-180.0000 --34.5000;-179.5000 --34.5000;-179.0000 --34.5000;-178.5000 --34.5000;-178.0000 --34.5000;-177.5000 --34.5000;-177.0000 --34.5000;-176.5000 --34.5000;-176.0000 --34.5000;-175.5000 --34.5000;-175.0000 --34.5000;-174.5000 --34.5000;-174.0000 --34.5000;-173.5000 --34.5000;-173.0000 --34.5000;-172.5000 --34.5000;-172.0000 --34.5000;-171.5000 --34.5000;-171.0000 --34.5000;-170.5000 --34.5000;-170.0000 --34.5000;-169.5000 --34.5000;-169.0000 --34.5000;-168.5000 --34.5000;-168.0000 --34.5000;-167.5000 --34.5000;-167.0000 --34.5000;-166.5000 --34.5000;-166.0000 --34.5000;-165.5000 --34.5000;-165.0000 --34.5000;-164.5000 --34.5000;-164.0000 --34.5000;-163.5000 --34.5000;-163.0000 --34.5000;-162.5000 --34.5000;-162.0000 --34.5000;-161.5000 --34.5000;-161.0000 --34.5000;-160.5000 --34.5000;-160.0000 --34.5000;-159.5000 --34.5000;-159.0000 --34.5000;-158.5000 --34.5000;-158.0000 --34.5000;-157.5000 --34.5000;-157.0000 --34.5000;-156.5000 --34.5000;-156.0000 --34.5000;-155.5000 --34.5000;-155.0000 --34.5000;-154.5000 --34.5000;-154.0000 --34.5000;-153.5000 --34.5000;-153.0000 --34.5000;-152.5000 --34.5000;-152.0000 --34.5000;-151.5000 --34.5000;-151.0000 --34.5000;-150.5000 --34.5000;-150.0000 --34.5000;-149.5000 --34.5000;-149.0000 --34.5000;-148.5000 --34.5000;-148.0000 --34.5000;-147.5000 --34.5000;-147.0000 --34.5000;-146.5000 --34.5000;-146.0000 --34.5000;-145.5000 --34.5000;-145.0000 --34.5000;-144.5000 --34.5000;-144.0000 --34.5000;-143.5000 --34.5000;-143.0000 --34.5000;-142.5000 --34.5000;-142.0000 --34.5000;-141.5000 --34.5000;-141.0000 --34.5000;-140.5000 --34.5000;-140.0000 --34.5000;-139.5000 --34.5000;-139.0000 --34.5000;-138.5000 --34.5000;-138.0000 --34.5000;-137.5000 --34.5000;-137.0000 --34.5000;-136.5000 --34.5000;-136.0000 --34.5000;-135.5000 --34.5000;-135.0000 --34.5000;-134.5000 --34.5000;-134.0000 --34.5000;-133.5000 --34.5000;-133.0000 --34.5000;-132.5000 --34.5000;-132.0000 --34.5000;-131.5000 --34.5000;-131.0000 --34.5000;-130.5000 --34.5000;-130.0000 --34.5000;-129.5000 --34.5000;-129.0000 --34.5000;-128.5000 --34.5000;-128.0000 --34.5000;-127.5000 --34.5000;-127.0000 --34.5000;-126.5000 --34.5000;-126.0000 --34.5000;-125.5000 --34.5000;-125.0000 --34.5000;-124.5000 --34.5000;-124.0000 --34.5000;-123.5000 --34.5000;-123.0000 --34.5000;-122.5000 --34.5000;-122.0000 --34.5000;-121.5000 --34.5000;-121.0000 --34.5000;-120.5000 --34.5000;-120.0000 --34.5000;-119.5000 --34.5000;-119.0000 --34.5000;-118.5000 --34.5000;-118.0000 --34.5000;-117.5000 --34.5000;-117.0000 --34.5000;-116.5000 --34.5000;-116.0000 --34.5000;-115.5000 --34.5000;-115.0000 --34.5000;-114.5000 --34.5000;-114.0000 --34.5000;-113.5000 --34.5000;-113.0000 --34.5000;-112.5000 --34.5000;-112.0000 --34.5000;-111.5000 --34.5000;-111.0000 --34.5000;-110.5000 --34.5000;-110.0000 --34.5000;-109.5000 --34.5000;-109.0000 --34.5000;-108.5000 --34.5000;-108.0000 --34.5000;-107.5000 --34.5000;-107.0000 --34.5000;-106.5000 --34.5000;-106.0000 --34.5000;-105.5000 --34.5000;-105.0000 --34.5000;-104.5000 --34.5000;-104.0000 --34.5000;-103.5000 --34.5000;-103.0000 --34.5000;-102.5000 --34.5000;-102.0000 --34.5000;-101.5000 --34.5000;-101.0000 --34.5000;-100.5000 --34.5000;-100.0000 --34.5000;-99.5000 --34.5000;-99.0000 --34.5000;-98.5000 --34.5000;-98.0000 --34.5000;-97.5000 --34.5000;-97.0000 --34.5000;-96.5000 --34.5000;-96.0000 --34.5000;-95.5000 --34.5000;-95.0000 --34.5000;-94.5000 --34.5000;-94.0000 --34.5000;-93.5000 --34.5000;-93.0000 --34.5000;-92.5000 --34.5000;-92.0000 --34.5000;-91.5000 --34.5000;-91.0000 --34.5000;-90.5000 --34.5000;-90.0000 --34.5000;-89.5000 --34.5000;-89.0000 --34.0000;-213.5000 --34.0000;-213.0000 --34.0000;-212.5000 --34.0000;-212.0000 --34.0000;-211.5000 --34.0000;-211.0000 --34.0000;-210.5000 --34.0000;-210.0000 --34.0000;-209.5000 --34.0000;-209.0000 --34.0000;-208.5000 --34.0000;-208.0000 --34.0000;-207.5000 --34.0000;-207.0000 --34.0000;-206.5000 --34.0000;-206.0000 --34.0000;-205.5000 --34.0000;-205.0000 --34.0000;-204.5000 --34.0000;-204.0000 --34.0000;-203.5000 --34.0000;-203.0000 --34.0000;-202.5000 --34.0000;-202.0000 --34.0000;-201.5000 --34.0000;-201.0000 --34.0000;-200.5000 --34.0000;-200.0000 --34.0000;-199.5000 --34.0000;-199.0000 --34.0000;-198.5000 --34.0000;-198.0000 --34.0000;-197.5000 --34.0000;-197.0000 --34.0000;-196.5000 --34.0000;-196.0000 --34.0000;-195.5000 --34.0000;-195.0000 --34.0000;-194.5000 --34.0000;-194.0000 --34.0000;-193.5000 --34.0000;-193.0000 --34.0000;-192.5000 --34.0000;-192.0000 --34.0000;-191.5000 --34.0000;-191.0000 --34.0000;-190.5000 --34.0000;-190.0000 --34.0000;-189.5000 --34.0000;-189.0000 --34.0000;-188.5000 --34.0000;-188.0000 --34.0000;-187.5000 --34.0000;-187.0000 --34.0000;-186.5000 --34.0000;-186.0000 --34.0000;-185.5000 --34.0000;-185.0000 --34.0000;-184.5000 --34.0000;-184.0000 --34.0000;-183.5000 --34.0000;-183.0000 --34.0000;-182.5000 --34.0000;-182.0000 --34.0000;-181.5000 --34.0000;-181.0000 --34.0000;-159.5000 --34.0000;-159.0000 --34.0000;-158.5000 --34.0000;-158.0000 --34.0000;-157.5000 --34.0000;-157.0000 --34.0000;-156.5000 --34.0000;-156.0000 --34.0000;-155.5000 --34.0000;-155.0000 --34.0000;-154.5000 --34.0000;-154.0000 --34.0000;-153.5000 --34.0000;-153.0000 --34.0000;-152.5000 --34.0000;-152.0000 --34.0000;-151.5000 --34.0000;-151.0000 --34.0000;-150.5000 --34.0000;-150.0000 --34.0000;-149.5000 --34.0000;-149.0000 --34.0000;-148.5000 --34.0000;-148.0000 --34.0000;-147.5000 --34.0000;-147.0000 --34.0000;-146.5000 --34.0000;-146.0000 --34.0000;-145.5000 --34.0000;-145.0000 --34.0000;-144.5000 --34.0000;-144.0000 --34.0000;-143.5000 --34.0000;-143.0000 --34.0000;-142.5000 --34.0000;-142.0000 --34.0000;-141.5000 --34.0000;-141.0000 --34.0000;-140.5000 --34.0000;-140.0000 --34.0000;-139.5000 --34.0000;-139.0000 --34.0000;-138.5000 --34.0000;-138.0000 --34.0000;-137.5000 --34.0000;-137.0000 --34.0000;-136.5000 --34.0000;-136.0000 --34.0000;-135.5000 --34.0000;-135.0000 --34.0000;-134.5000 --34.0000;-134.0000 --34.0000;-133.5000 --34.0000;-133.0000 --34.0000;-132.5000 --34.0000;-132.0000 --34.0000;-131.5000 --34.0000;-131.0000 --34.0000;-130.5000 --34.0000;-130.0000 --34.0000;-129.5000 --34.0000;-129.0000 --34.0000;-128.5000 --34.0000;-128.0000 --34.0000;-127.5000 --34.0000;-127.0000 --34.0000;-126.5000 --34.0000;-126.0000 --34.0000;-125.5000 --34.0000;-125.0000 --34.0000;-124.5000 --34.0000;-124.0000 --34.0000;-123.5000 --34.0000;-123.0000 --34.0000;-122.5000 --34.0000;-122.0000 --34.0000;-121.5000 --34.0000;-121.0000 --34.0000;-120.5000 --34.0000;-120.0000 --34.0000;-119.5000 --34.0000;-119.0000 --34.0000;-118.5000 --34.0000;-118.0000 --34.0000;-117.5000 --34.0000;-117.0000 --34.0000;-116.5000 --34.0000;-116.0000 --34.0000;-115.5000 --34.0000;-115.0000 --34.0000;-114.5000 --34.0000;-114.0000 --34.0000;-113.5000 --34.0000;-113.0000 --34.0000;-112.5000 --34.0000;-112.0000 --34.0000;-111.5000 --34.0000;-111.0000 --34.0000;-110.5000 --34.0000;-110.0000 --34.0000;-109.5000 --34.0000;-109.0000 --34.0000;-108.5000 --34.0000;-108.0000 --34.0000;-107.5000 --34.0000;-107.0000 --34.0000;-106.5000 --34.0000;-106.0000 --34.0000;-105.5000 --34.0000;-105.0000 --34.0000;-104.5000 --34.0000;-104.0000 --34.0000;-103.5000 --34.0000;-103.0000 --34.0000;-102.5000 --34.0000;-102.0000 --34.0000;-101.5000 --34.0000;-101.0000 --34.0000;-100.5000 --34.0000;-100.0000 --34.0000;-99.5000 --34.0000;-99.0000 --34.0000;-98.5000 --34.0000;-98.0000 --34.0000;-97.5000 --34.0000;-97.0000 --34.0000;-96.5000 --34.0000;-96.0000 --34.0000;-95.5000 --34.0000;-95.0000 --34.0000;-94.5000 --34.0000;-94.0000 --34.0000;-93.5000 --34.0000;-93.0000 --34.0000;-92.5000 --34.0000;-92.0000 --34.0000;-91.5000 --34.0000;-91.0000 --34.0000;-90.5000 --34.0000;-90.0000 --34.0000;-89.5000 --34.0000;-89.0000 --34.0000;-88.5000 --34.0000;-88.0000 --34.0000;-87.5000 --34.0000;-87.0000 --33.5000;-214.0000 --33.5000;-213.5000 --33.5000;-213.0000 --33.5000;-212.5000 --33.5000;-212.0000 --33.5000;-211.5000 --33.5000;-211.0000 --33.5000;-210.5000 --33.5000;-210.0000 --33.5000;-209.5000 --33.5000;-209.0000 --33.5000;-208.5000 --33.5000;-208.0000 --33.5000;-207.5000 --33.5000;-207.0000 --33.5000;-206.5000 --33.5000;-206.0000 --33.5000;-205.5000 --33.5000;-205.0000 --33.5000;-204.5000 --33.5000;-204.0000 --33.5000;-203.5000 --33.5000;-203.0000 --33.5000;-202.5000 --33.5000;-202.0000 --33.5000;-201.5000 --33.5000;-201.0000 --33.5000;-200.5000 --33.5000;-200.0000 --33.5000;-199.5000 --33.5000;-199.0000 --33.5000;-198.5000 --33.5000;-198.0000 --33.5000;-197.5000 --33.5000;-197.0000 --33.5000;-196.5000 --33.5000;-196.0000 --33.5000;-195.5000 --33.5000;-195.0000 --33.5000;-194.5000 --33.5000;-194.0000 --33.5000;-193.5000 --33.5000;-193.0000 --33.5000;-192.5000 --33.5000;-192.0000 --33.5000;-191.5000 --33.5000;-191.0000 --33.5000;-190.5000 --33.5000;-190.0000 --33.5000;-189.5000 --33.5000;-189.0000 --33.5000;-188.5000 --33.5000;-188.0000 --33.5000;-187.5000 --33.5000;-187.0000 --33.5000;-186.5000 --33.5000;-186.0000 --33.5000;-185.5000 --33.5000;-185.0000 --33.5000;-154.0000 --33.5000;-153.5000 --33.5000;-153.0000 --33.5000;-152.5000 --33.5000;-152.0000 --33.5000;-151.5000 --33.5000;-151.0000 --33.5000;-150.5000 --33.5000;-150.0000 --33.5000;-149.5000 --33.5000;-149.0000 --33.5000;-148.5000 --33.5000;-148.0000 --33.5000;-147.5000 --33.5000;-147.0000 --33.5000;-146.5000 --33.5000;-146.0000 --33.5000;-145.5000 --33.5000;-145.0000 --33.5000;-144.5000 --33.5000;-144.0000 --33.5000;-143.5000 --33.5000;-143.0000 --33.5000;-142.5000 --33.5000;-142.0000 --33.5000;-141.5000 --33.5000;-141.0000 --33.5000;-140.5000 --33.5000;-140.0000 --33.5000;-139.5000 --33.5000;-139.0000 --33.5000;-138.5000 --33.5000;-138.0000 --33.5000;-137.5000 --33.5000;-137.0000 --33.5000;-136.5000 --33.5000;-136.0000 --33.5000;-135.5000 --33.5000;-135.0000 --33.5000;-134.5000 --33.5000;-134.0000 --33.5000;-133.5000 --33.5000;-133.0000 --33.5000;-132.5000 --33.5000;-132.0000 --33.5000;-131.5000 --33.5000;-131.0000 --33.5000;-130.5000 --33.5000;-130.0000 --33.5000;-129.5000 --33.5000;-129.0000 --33.5000;-128.5000 --33.5000;-128.0000 --33.5000;-127.5000 --33.5000;-127.0000 --33.5000;-126.5000 --33.5000;-126.0000 --33.5000;-125.5000 --33.5000;-125.0000 --33.5000;-124.5000 --33.5000;-124.0000 --33.5000;-123.5000 --33.5000;-123.0000 --33.5000;-122.5000 --33.5000;-122.0000 --33.5000;-121.5000 --33.5000;-121.0000 --33.5000;-120.5000 --33.5000;-120.0000 --33.5000;-119.5000 --33.5000;-119.0000 --33.5000;-118.5000 --33.5000;-118.0000 --33.5000;-117.5000 --33.5000;-117.0000 --33.5000;-116.5000 --33.5000;-116.0000 --33.5000;-115.5000 --33.5000;-115.0000 --33.5000;-114.5000 --33.5000;-114.0000 --33.5000;-113.5000 --33.5000;-113.0000 --33.5000;-112.5000 --33.5000;-112.0000 --33.5000;-111.5000 --33.5000;-111.0000 --33.5000;-110.5000 --33.5000;-110.0000 --33.5000;-109.5000 --33.5000;-109.0000 --33.5000;-108.5000 --33.5000;-108.0000 --33.5000;-107.5000 --33.5000;-107.0000 --33.5000;-106.5000 --33.5000;-106.0000 --33.5000;-105.5000 --33.5000;-105.0000 --33.5000;-104.5000 --33.5000;-104.0000 --33.5000;-103.5000 --33.5000;-103.0000 --33.5000;-102.5000 --33.5000;-102.0000 --33.5000;-101.5000 --33.5000;-101.0000 --33.5000;-100.5000 --33.5000;-100.0000 --33.5000;-99.5000 --33.5000;-99.0000 --33.5000;-98.5000 --33.5000;-98.0000 --33.5000;-97.5000 --33.5000;-97.0000 --33.5000;-96.5000 --33.5000;-96.0000 --33.5000;-95.5000 --33.5000;-95.0000 --33.5000;-94.5000 --33.5000;-94.0000 --33.5000;-93.5000 --33.5000;-93.0000 --33.5000;-92.5000 --33.5000;-92.0000 --33.5000;-91.5000 --33.5000;-91.0000 --33.5000;-90.5000 --33.5000;-90.0000 --33.5000;-89.5000 --33.5000;-89.0000 --33.5000;-88.5000 --33.5000;-88.0000 --33.5000;-87.5000 --33.5000;-87.0000 --33.5000;-86.5000 --33.5000;-86.0000 --33.5000;-85.5000 --33.5000;-85.0000 --33.0000;-214.5000 --33.0000;-214.0000 --33.0000;-213.5000 --33.0000;-213.0000 --33.0000;-212.5000 --33.0000;-212.0000 --33.0000;-211.5000 --33.0000;-211.0000 --33.0000;-210.5000 --33.0000;-210.0000 --33.0000;-209.5000 --33.0000;-209.0000 --33.0000;-208.5000 --33.0000;-208.0000 --33.0000;-207.5000 --33.0000;-207.0000 --33.0000;-206.5000 --33.0000;-206.0000 --33.0000;-205.5000 --33.0000;-205.0000 --33.0000;-204.5000 --33.0000;-204.0000 --33.0000;-203.5000 --33.0000;-203.0000 --33.0000;-202.5000 --33.0000;-202.0000 --33.0000;-201.5000 --33.0000;-201.0000 --33.0000;-200.5000 --33.0000;-200.0000 --33.0000;-199.5000 --33.0000;-199.0000 --33.0000;-198.5000 --33.0000;-198.0000 --33.0000;-197.5000 --33.0000;-197.0000 --33.0000;-196.5000 --33.0000;-196.0000 --33.0000;-195.5000 --33.0000;-195.0000 --33.0000;-194.5000 --33.0000;-194.0000 --33.0000;-193.5000 --33.0000;-193.0000 --33.0000;-192.5000 --33.0000;-192.0000 --33.0000;-191.5000 --33.0000;-191.0000 --33.0000;-190.5000 --33.0000;-190.0000 --33.0000;-189.5000 --33.0000;-189.0000 --33.0000;-188.5000 --33.0000;-188.0000 --33.0000;-187.5000 --33.0000;-147.0000 --33.0000;-146.5000 --33.0000;-146.0000 --33.0000;-145.5000 --33.0000;-145.0000 --33.0000;-144.5000 --33.0000;-144.0000 --33.0000;-143.5000 --33.0000;-143.0000 --33.0000;-142.5000 --33.0000;-142.0000 --33.0000;-141.5000 --33.0000;-141.0000 --33.0000;-140.5000 --33.0000;-140.0000 --33.0000;-139.5000 --33.0000;-139.0000 --33.0000;-138.5000 --33.0000;-134.0000 --33.0000;-133.5000 --33.0000;-133.0000 --33.0000;-132.5000 --33.0000;-132.0000 --33.0000;-131.5000 --33.0000;-131.0000 --33.0000;-130.5000 --33.0000;-130.0000 --33.0000;-129.5000 --33.0000;-129.0000 --33.0000;-128.5000 --33.0000;-128.0000 --33.0000;-127.5000 --33.0000;-127.0000 --33.0000;-126.5000 --33.0000;-126.0000 --33.0000;-125.5000 --33.0000;-125.0000 --33.0000;-124.5000 --33.0000;-124.0000 --33.0000;-123.5000 --33.0000;-123.0000 --33.0000;-122.5000 --33.0000;-122.0000 --33.0000;-121.5000 --33.0000;-121.0000 --33.0000;-120.5000 --33.0000;-120.0000 --33.0000;-119.5000 --33.0000;-119.0000 --33.0000;-118.5000 --33.0000;-118.0000 --33.0000;-117.5000 --33.0000;-117.0000 --33.0000;-116.5000 --33.0000;-116.0000 --33.0000;-115.5000 --33.0000;-115.0000 --33.0000;-114.5000 --33.0000;-114.0000 --33.0000;-113.5000 --33.0000;-113.0000 --33.0000;-112.5000 --33.0000;-112.0000 --33.0000;-111.5000 --33.0000;-111.0000 --33.0000;-110.5000 --33.0000;-110.0000 --33.0000;-109.5000 --33.0000;-109.0000 --33.0000;-108.5000 --33.0000;-108.0000 --33.0000;-107.5000 --33.0000;-107.0000 --33.0000;-106.5000 --33.0000;-106.0000 --33.0000;-105.5000 --33.0000;-105.0000 --33.0000;-104.5000 --33.0000;-104.0000 --33.0000;-103.5000 --33.0000;-103.0000 --33.0000;-102.5000 --33.0000;-102.0000 --33.0000;-101.5000 --33.0000;-101.0000 --33.0000;-100.5000 --33.0000;-100.0000 --33.0000;-99.5000 --33.0000;-99.0000 --33.0000;-98.5000 --33.0000;-98.0000 --33.0000;-97.5000 --33.0000;-97.0000 --33.0000;-96.5000 --33.0000;-96.0000 --33.0000;-95.5000 --33.0000;-95.0000 --33.0000;-94.5000 --33.0000;-94.0000 --33.0000;-93.5000 --33.0000;-93.0000 --33.0000;-92.5000 --33.0000;-92.0000 --33.0000;-91.5000 --33.0000;-91.0000 --33.0000;-90.5000 --33.0000;-90.0000 --33.0000;-89.5000 --33.0000;-89.0000 --33.0000;-88.5000 --33.0000;-88.0000 --33.0000;-87.5000 --33.0000;-87.0000 --33.0000;-86.5000 --33.0000;-86.0000 --33.0000;-85.5000 --33.0000;-85.0000 --33.0000;-84.5000 --33.0000;-84.0000 --33.0000;-83.5000 --32.5000;-215.0000 --32.5000;-214.5000 --32.5000;-214.0000 --32.5000;-213.5000 --32.5000;-213.0000 --32.5000;-212.5000 --32.5000;-212.0000 --32.5000;-211.5000 --32.5000;-211.0000 --32.5000;-210.5000 --32.5000;-210.0000 --32.5000;-209.5000 --32.5000;-209.0000 --32.5000;-208.5000 --32.5000;-208.0000 --32.5000;-207.5000 --32.5000;-207.0000 --32.5000;-206.5000 --32.5000;-206.0000 --32.5000;-205.5000 --32.5000;-205.0000 --32.5000;-204.5000 --32.5000;-204.0000 --32.5000;-203.5000 --32.5000;-203.0000 --32.5000;-202.5000 --32.5000;-202.0000 --32.5000;-201.5000 --32.5000;-201.0000 --32.5000;-200.5000 --32.5000;-200.0000 --32.5000;-199.5000 --32.5000;-199.0000 --32.5000;-198.5000 --32.5000;-198.0000 --32.5000;-197.5000 --32.5000;-197.0000 --32.5000;-196.5000 --32.5000;-196.0000 --32.5000;-195.5000 --32.5000;-195.0000 --32.5000;-194.5000 --32.5000;-194.0000 --32.5000;-193.5000 --32.5000;-193.0000 --32.5000;-192.5000 --32.5000;-192.0000 --32.5000;-191.5000 --32.5000;-191.0000 --32.5000;-190.5000 --32.5000;-190.0000 --32.5000;-127.0000 --32.5000;-126.5000 --32.5000;-126.0000 --32.5000;-125.5000 --32.5000;-125.0000 --32.5000;-124.5000 --32.5000;-124.0000 --32.5000;-123.5000 --32.5000;-123.0000 --32.5000;-122.5000 --32.5000;-122.0000 --32.5000;-121.5000 --32.5000;-121.0000 --32.5000;-120.5000 --32.5000;-120.0000 --32.5000;-119.5000 --32.5000;-119.0000 --32.5000;-118.5000 --32.5000;-118.0000 --32.5000;-117.5000 --32.5000;-117.0000 --32.5000;-116.5000 --32.5000;-116.0000 --32.5000;-115.5000 --32.5000;-115.0000 --32.5000;-114.5000 --32.5000;-114.0000 --32.5000;-113.5000 --32.5000;-113.0000 --32.5000;-112.5000 --32.5000;-112.0000 --32.5000;-111.5000 --32.5000;-111.0000 --32.5000;-110.5000 --32.5000;-110.0000 --32.5000;-109.5000 --32.5000;-109.0000 --32.5000;-108.5000 --32.5000;-108.0000 --32.5000;-107.5000 --32.5000;-107.0000 --32.5000;-106.5000 --32.5000;-106.0000 --32.5000;-105.5000 --32.5000;-105.0000 --32.5000;-104.5000 --32.5000;-104.0000 --32.5000;-103.5000 --32.5000;-103.0000 --32.5000;-102.5000 --32.5000;-102.0000 --32.5000;-101.5000 --32.5000;-101.0000 --32.5000;-100.5000 --32.5000;-100.0000 --32.5000;-99.5000 --32.5000;-99.0000 --32.5000;-98.5000 --32.5000;-98.0000 --32.5000;-97.5000 --32.5000;-97.0000 --32.5000;-96.5000 --32.5000;-96.0000 --32.5000;-95.5000 --32.5000;-95.0000 --32.5000;-94.5000 --32.5000;-94.0000 --32.5000;-93.5000 --32.5000;-93.0000 --32.5000;-92.5000 --32.5000;-92.0000 --32.5000;-91.5000 --32.5000;-91.0000 --32.5000;-90.5000 --32.5000;-90.0000 --32.5000;-89.5000 --32.5000;-89.0000 --32.5000;-88.5000 --32.5000;-88.0000 --32.5000;-87.5000 --32.5000;-87.0000 --32.5000;-86.5000 --32.5000;-86.0000 --32.5000;-85.5000 --32.5000;-85.0000 --32.5000;-84.5000 --32.5000;-84.0000 --32.5000;-83.5000 --32.5000;-83.0000 --32.5000;-82.5000 --32.5000;-82.0000 --32.5000;-81.5000 --32.0000;-215.0000 --32.0000;-214.5000 --32.0000;-214.0000 --32.0000;-213.5000 --32.0000;-213.0000 --32.0000;-212.5000 --32.0000;-212.0000 --32.0000;-211.5000 --32.0000;-211.0000 --32.0000;-210.5000 --32.0000;-210.0000 --32.0000;-209.5000 --32.0000;-209.0000 --32.0000;-208.5000 --32.0000;-208.0000 --32.0000;-207.5000 --32.0000;-207.0000 --32.0000;-206.5000 --32.0000;-206.0000 --32.0000;-205.5000 --32.0000;-205.0000 --32.0000;-204.5000 --32.0000;-204.0000 --32.0000;-203.5000 --32.0000;-203.0000 --32.0000;-202.5000 --32.0000;-202.0000 --32.0000;-201.5000 --32.0000;-201.0000 --32.0000;-200.5000 --32.0000;-200.0000 --32.0000;-199.5000 --32.0000;-199.0000 --32.0000;-198.5000 --32.0000;-198.0000 --32.0000;-197.5000 --32.0000;-197.0000 --32.0000;-196.5000 --32.0000;-196.0000 --32.0000;-195.5000 --32.0000;-195.0000 --32.0000;-194.5000 --32.0000;-194.0000 --32.0000;-193.5000 --32.0000;-193.0000 --32.0000;-192.5000 --32.0000;-192.0000 --32.0000;-191.5000 --32.0000;-123.5000 --32.0000;-123.0000 --32.0000;-122.5000 --32.0000;-122.0000 --32.0000;-121.5000 --32.0000;-121.0000 --32.0000;-120.5000 --32.0000;-120.0000 --32.0000;-119.5000 --32.0000;-119.0000 --32.0000;-118.5000 --32.0000;-118.0000 --32.0000;-117.5000 --32.0000;-117.0000 --32.0000;-116.5000 --32.0000;-116.0000 --32.0000;-115.5000 --32.0000;-115.0000 --32.0000;-114.5000 --32.0000;-114.0000 --32.0000;-113.5000 --32.0000;-113.0000 --32.0000;-112.5000 --32.0000;-112.0000 --32.0000;-111.5000 --32.0000;-111.0000 --32.0000;-110.5000 --32.0000;-110.0000 --32.0000;-109.5000 --32.0000;-109.0000 --32.0000;-108.5000 --32.0000;-108.0000 --32.0000;-107.5000 --32.0000;-107.0000 --32.0000;-106.5000 --32.0000;-106.0000 --32.0000;-105.5000 --32.0000;-105.0000 --32.0000;-104.5000 --32.0000;-104.0000 --32.0000;-103.5000 --32.0000;-103.0000 --32.0000;-102.5000 --32.0000;-102.0000 --32.0000;-101.5000 --32.0000;-101.0000 --32.0000;-100.5000 --32.0000;-100.0000 --32.0000;-99.5000 --32.0000;-99.0000 --32.0000;-98.5000 --32.0000;-98.0000 --32.0000;-97.5000 --32.0000;-97.0000 --32.0000;-96.5000 --32.0000;-96.0000 --32.0000;-95.5000 --32.0000;-95.0000 --32.0000;-94.5000 --32.0000;-94.0000 --32.0000;-93.5000 --32.0000;-93.0000 --32.0000;-92.5000 --32.0000;-92.0000 --32.0000;-91.5000 --32.0000;-91.0000 --32.0000;-90.5000 --32.0000;-90.0000 --32.0000;-89.5000 --32.0000;-89.0000 --32.0000;-88.5000 --32.0000;-88.0000 --32.0000;-87.5000 --32.0000;-87.0000 --32.0000;-86.5000 --32.0000;-86.0000 --32.0000;-85.5000 --32.0000;-85.0000 --32.0000;-84.5000 --32.0000;-84.0000 --32.0000;-83.5000 --32.0000;-83.0000 --32.0000;-82.5000 --32.0000;-82.0000 --32.0000;-81.5000 --32.0000;-81.0000 --32.0000;-80.5000 --32.0000;-80.0000 --31.5000;-215.5000 --31.5000;-215.0000 --31.5000;-214.5000 --31.5000;-214.0000 --31.5000;-213.5000 --31.5000;-213.0000 --31.5000;-212.5000 --31.5000;-212.0000 --31.5000;-211.5000 --31.5000;-211.0000 --31.5000;-210.5000 --31.5000;-210.0000 --31.5000;-209.5000 --31.5000;-209.0000 --31.5000;-208.5000 --31.5000;-208.0000 --31.5000;-207.5000 --31.5000;-207.0000 --31.5000;-206.5000 --31.5000;-206.0000 --31.5000;-205.5000 --31.5000;-205.0000 --31.5000;-204.5000 --31.5000;-204.0000 --31.5000;-203.5000 --31.5000;-203.0000 --31.5000;-202.5000 --31.5000;-202.0000 --31.5000;-201.5000 --31.5000;-201.0000 --31.5000;-200.5000 --31.5000;-200.0000 --31.5000;-199.5000 --31.5000;-199.0000 --31.5000;-198.5000 --31.5000;-198.0000 --31.5000;-197.5000 --31.5000;-197.0000 --31.5000;-196.5000 --31.5000;-196.0000 --31.5000;-195.5000 --31.5000;-195.0000 --31.5000;-194.5000 --31.5000;-194.0000 --31.5000;-193.5000 --31.5000;-193.0000 --31.5000;-121.0000 --31.5000;-120.5000 --31.5000;-120.0000 --31.5000;-119.5000 --31.5000;-119.0000 --31.5000;-118.5000 --31.5000;-118.0000 --31.5000;-117.5000 --31.5000;-117.0000 --31.5000;-116.5000 --31.5000;-116.0000 --31.5000;-115.5000 --31.5000;-115.0000 --31.5000;-114.5000 --31.5000;-114.0000 --31.5000;-113.5000 --31.5000;-113.0000 --31.5000;-112.5000 --31.5000;-112.0000 --31.5000;-111.5000 --31.5000;-111.0000 --31.5000;-110.5000 --31.5000;-110.0000 --31.5000;-109.5000 --31.5000;-109.0000 --31.5000;-108.5000 --31.5000;-108.0000 --31.5000;-107.5000 --31.5000;-107.0000 --31.5000;-106.5000 --31.5000;-106.0000 --31.5000;-105.5000 --31.5000;-105.0000 --31.5000;-104.5000 --31.5000;-104.0000 --31.5000;-103.5000 --31.5000;-103.0000 --31.5000;-102.5000 --31.5000;-102.0000 --31.5000;-101.5000 --31.5000;-101.0000 --31.5000;-100.5000 --31.5000;-100.0000 --31.5000;-99.5000 --31.5000;-99.0000 --31.5000;-98.5000 --31.5000;-98.0000 --31.5000;-97.5000 --31.5000;-97.0000 --31.5000;-96.5000 --31.5000;-96.0000 --31.5000;-95.5000 --31.5000;-95.0000 --31.5000;-94.5000 --31.5000;-94.0000 --31.5000;-93.5000 --31.5000;-93.0000 --31.5000;-92.5000 --31.5000;-92.0000 --31.5000;-91.5000 --31.5000;-91.0000 --31.5000;-90.5000 --31.5000;-90.0000 --31.5000;-89.5000 --31.5000;-89.0000 --31.5000;-88.5000 --31.5000;-88.0000 --31.5000;-87.5000 --31.5000;-87.0000 --31.5000;-86.5000 --31.5000;-86.0000 --31.5000;-85.5000 --31.5000;-85.0000 --31.5000;-84.5000 --31.5000;-84.0000 --31.5000;-83.5000 --31.5000;-83.0000 --31.5000;-82.5000 --31.5000;-82.0000 --31.5000;-81.5000 --31.5000;-81.0000 --31.5000;-80.5000 --31.5000;-80.0000 --31.5000;-79.5000 --31.5000;-79.0000 --31.5000;-78.5000 --31.5000;-78.0000 --31.0000;-216.0000 --31.0000;-215.5000 --31.0000;-215.0000 --31.0000;-214.5000 --31.0000;-214.0000 --31.0000;-213.5000 --31.0000;-213.0000 --31.0000;-212.5000 --31.0000;-212.0000 --31.0000;-211.5000 --31.0000;-211.0000 --31.0000;-210.5000 --31.0000;-210.0000 --31.0000;-209.5000 --31.0000;-209.0000 --31.0000;-208.5000 --31.0000;-208.0000 --31.0000;-207.5000 --31.0000;-207.0000 --31.0000;-206.5000 --31.0000;-206.0000 --31.0000;-205.5000 --31.0000;-205.0000 --31.0000;-204.5000 --31.0000;-204.0000 --31.0000;-203.5000 --31.0000;-203.0000 --31.0000;-202.5000 --31.0000;-202.0000 --31.0000;-201.5000 --31.0000;-201.0000 --31.0000;-200.5000 --31.0000;-200.0000 --31.0000;-199.5000 --31.0000;-199.0000 --31.0000;-198.5000 --31.0000;-198.0000 --31.0000;-197.5000 --31.0000;-197.0000 --31.0000;-196.5000 --31.0000;-196.0000 --31.0000;-195.5000 --31.0000;-195.0000 --31.0000;-194.5000 --31.0000;-118.5000 --31.0000;-118.0000 --31.0000;-117.5000 --31.0000;-117.0000 --31.0000;-116.5000 --31.0000;-116.0000 --31.0000;-115.5000 --31.0000;-115.0000 --31.0000;-114.5000 --31.0000;-114.0000 --31.0000;-113.5000 --31.0000;-113.0000 --31.0000;-112.5000 --31.0000;-112.0000 --31.0000;-111.5000 --31.0000;-111.0000 --31.0000;-110.5000 --31.0000;-110.0000 --31.0000;-109.5000 --31.0000;-109.0000 --31.0000;-108.5000 --31.0000;-108.0000 --31.0000;-107.5000 --31.0000;-107.0000 --31.0000;-106.5000 --31.0000;-106.0000 --31.0000;-105.5000 --31.0000;-105.0000 --31.0000;-104.5000 --31.0000;-104.0000 --31.0000;-103.5000 --31.0000;-103.0000 --31.0000;-102.5000 --31.0000;-102.0000 --31.0000;-101.5000 --31.0000;-101.0000 --31.0000;-100.5000 --31.0000;-100.0000 --31.0000;-99.5000 --31.0000;-99.0000 --31.0000;-98.5000 --31.0000;-98.0000 --31.0000;-97.5000 --31.0000;-97.0000 --31.0000;-96.5000 --31.0000;-96.0000 --31.0000;-95.5000 --31.0000;-95.0000 --31.0000;-94.5000 --31.0000;-94.0000 --31.0000;-93.5000 --31.0000;-93.0000 --31.0000;-92.5000 --31.0000;-92.0000 --31.0000;-91.5000 --31.0000;-91.0000 --31.0000;-90.5000 --31.0000;-90.0000 --31.0000;-89.5000 --31.0000;-89.0000 --31.0000;-88.5000 --31.0000;-88.0000 --31.0000;-87.5000 --31.0000;-87.0000 --31.0000;-86.5000 --31.0000;-86.0000 --31.0000;-85.5000 --31.0000;-85.0000 --31.0000;-84.5000 --31.0000;-84.0000 --31.0000;-83.5000 --31.0000;-83.0000 --31.0000;-82.5000 --31.0000;-82.0000 --31.0000;-81.5000 --31.0000;-81.0000 --31.0000;-80.5000 --31.0000;-80.0000 --31.0000;-79.5000 --31.0000;-79.0000 --31.0000;-78.5000 --31.0000;-78.0000 --31.0000;-77.5000 --31.0000;-77.0000 --31.0000;-76.5000 --30.5000;-216.0000 --30.5000;-215.5000 --30.5000;-215.0000 --30.5000;-214.5000 --30.5000;-214.0000 --30.5000;-213.5000 --30.5000;-213.0000 --30.5000;-212.5000 --30.5000;-212.0000 --30.5000;-211.5000 --30.5000;-211.0000 --30.5000;-210.5000 --30.5000;-210.0000 --30.5000;-209.5000 --30.5000;-209.0000 --30.5000;-208.5000 --30.5000;-208.0000 --30.5000;-207.5000 --30.5000;-207.0000 --30.5000;-206.5000 --30.5000;-206.0000 --30.5000;-205.5000 --30.5000;-205.0000 --30.5000;-204.5000 --30.5000;-204.0000 --30.5000;-203.5000 --30.5000;-203.0000 --30.5000;-202.5000 --30.5000;-202.0000 --30.5000;-201.5000 --30.5000;-201.0000 --30.5000;-200.5000 --30.5000;-200.0000 --30.5000;-199.5000 --30.5000;-199.0000 --30.5000;-198.5000 --30.5000;-198.0000 --30.5000;-197.5000 --30.5000;-197.0000 --30.5000;-196.5000 --30.5000;-196.0000 --30.5000;-116.5000 --30.5000;-116.0000 --30.5000;-115.5000 --30.5000;-115.0000 --30.5000;-114.5000 --30.5000;-114.0000 --30.5000;-113.5000 --30.5000;-113.0000 --30.5000;-112.5000 --30.5000;-112.0000 --30.5000;-111.5000 --30.5000;-111.0000 --30.5000;-110.5000 --30.5000;-110.0000 --30.5000;-109.5000 --30.5000;-109.0000 --30.5000;-108.5000 --30.5000;-108.0000 --30.5000;-107.5000 --30.5000;-107.0000 --30.5000;-106.5000 --30.5000;-106.0000 --30.5000;-105.5000 --30.5000;-105.0000 --30.5000;-104.5000 --30.5000;-104.0000 --30.5000;-103.5000 --30.5000;-103.0000 --30.5000;-102.5000 --30.5000;-102.0000 --30.5000;-101.5000 --30.5000;-101.0000 --30.5000;-100.5000 --30.5000;-100.0000 --30.5000;-99.5000 --30.5000;-99.0000 --30.5000;-98.5000 --30.5000;-98.0000 --30.5000;-97.5000 --30.5000;-97.0000 --30.5000;-96.5000 --30.5000;-96.0000 --30.5000;-95.5000 --30.5000;-95.0000 --30.5000;-94.5000 --30.5000;-94.0000 --30.5000;-93.5000 --30.5000;-93.0000 --30.5000;-92.5000 --30.5000;-92.0000 --30.5000;-91.5000 --30.5000;-91.0000 --30.5000;-90.5000 --30.5000;-90.0000 --30.5000;-89.5000 --30.5000;-89.0000 --30.5000;-88.5000 --30.5000;-88.0000 --30.5000;-87.5000 --30.5000;-87.0000 --30.5000;-86.5000 --30.5000;-86.0000 --30.5000;-85.5000 --30.5000;-85.0000 --30.5000;-84.5000 --30.5000;-84.0000 --30.5000;-83.5000 --30.5000;-83.0000 --30.5000;-82.5000 --30.5000;-82.0000 --30.5000;-81.5000 --30.5000;-81.0000 --30.5000;-80.5000 --30.5000;-80.0000 --30.5000;-79.5000 --30.5000;-79.0000 --30.5000;-78.5000 --30.5000;-78.0000 --30.5000;-77.5000 --30.5000;-77.0000 --30.5000;-76.5000 --30.5000;-76.0000 --30.5000;-75.5000 --30.5000;-75.0000 --30.5000;-74.5000 --30.0000;-216.5000 --30.0000;-216.0000 --30.0000;-215.5000 --30.0000;-215.0000 --30.0000;-214.5000 --30.0000;-214.0000 --30.0000;-213.5000 --30.0000;-213.0000 --30.0000;-212.5000 --30.0000;-212.0000 --30.0000;-211.5000 --30.0000;-211.0000 --30.0000;-210.5000 --30.0000;-210.0000 --30.0000;-209.5000 --30.0000;-209.0000 --30.0000;-208.5000 --30.0000;-208.0000 --30.0000;-207.5000 --30.0000;-207.0000 --30.0000;-206.5000 --30.0000;-206.0000 --30.0000;-205.5000 --30.0000;-205.0000 --30.0000;-204.5000 --30.0000;-204.0000 --30.0000;-203.5000 --30.0000;-203.0000 --30.0000;-202.5000 --30.0000;-202.0000 --30.0000;-201.5000 --30.0000;-201.0000 --30.0000;-200.5000 --30.0000;-200.0000 --30.0000;-199.5000 --30.0000;-199.0000 --30.0000;-198.5000 --30.0000;-198.0000 --30.0000;-197.5000 --30.0000;-197.0000 --30.0000;-114.0000 --30.0000;-113.5000 --30.0000;-113.0000 --30.0000;-112.5000 --30.0000;-112.0000 --30.0000;-111.5000 --30.0000;-111.0000 --30.0000;-110.5000 --30.0000;-110.0000 --30.0000;-109.5000 --30.0000;-109.0000 --30.0000;-108.5000 --30.0000;-108.0000 --30.0000;-107.5000 --30.0000;-107.0000 --30.0000;-106.5000 --30.0000;-106.0000 --30.0000;-105.5000 --30.0000;-105.0000 --30.0000;-104.5000 --30.0000;-104.0000 --30.0000;-103.5000 --30.0000;-103.0000 --30.0000;-102.5000 --30.0000;-102.0000 --30.0000;-101.5000 --30.0000;-101.0000 --30.0000;-100.5000 --30.0000;-100.0000 --30.0000;-99.5000 --30.0000;-99.0000 --30.0000;-98.5000 --30.0000;-98.0000 --30.0000;-97.5000 --30.0000;-97.0000 --30.0000;-96.5000 --30.0000;-96.0000 --30.0000;-95.5000 --30.0000;-95.0000 --30.0000;-94.5000 --30.0000;-94.0000 --30.0000;-93.5000 --30.0000;-93.0000 --30.0000;-92.5000 --30.0000;-92.0000 --30.0000;-91.5000 --30.0000;-91.0000 --30.0000;-90.5000 --30.0000;-90.0000 --30.0000;-89.5000 --30.0000;-89.0000 --30.0000;-88.5000 --30.0000;-88.0000 --30.0000;-87.5000 --30.0000;-87.0000 --30.0000;-86.5000 --30.0000;-86.0000 --30.0000;-85.5000 --30.0000;-85.0000 --30.0000;-84.5000 --30.0000;-84.0000 --30.0000;-83.5000 --30.0000;-83.0000 --30.0000;-82.5000 --30.0000;-82.0000 --30.0000;-81.5000 --30.0000;-81.0000 --30.0000;-80.5000 --30.0000;-80.0000 --30.0000;-79.5000 --30.0000;-79.0000 --30.0000;-78.5000 --30.0000;-78.0000 --30.0000;-77.5000 --30.0000;-77.0000 --30.0000;-76.5000 --30.0000;-76.0000 --30.0000;-75.5000 --30.0000;-75.0000 --30.0000;-74.5000 --30.0000;-74.0000 --30.0000;-73.5000 --30.0000;-73.0000 --29.5000;-217.0000 --29.5000;-216.5000 --29.5000;-216.0000 --29.5000;-215.5000 --29.5000;-215.0000 --29.5000;-214.5000 --29.5000;-214.0000 --29.5000;-213.5000 --29.5000;-213.0000 --29.5000;-212.5000 --29.5000;-212.0000 --29.5000;-211.5000 --29.5000;-211.0000 --29.5000;-210.5000 --29.5000;-210.0000 --29.5000;-209.5000 --29.5000;-209.0000 --29.5000;-208.5000 --29.5000;-208.0000 --29.5000;-207.5000 --29.5000;-207.0000 --29.5000;-206.5000 --29.5000;-206.0000 --29.5000;-205.5000 --29.5000;-205.0000 --29.5000;-204.5000 --29.5000;-204.0000 --29.5000;-203.5000 --29.5000;-203.0000 --29.5000;-202.5000 --29.5000;-202.0000 --29.5000;-201.5000 --29.5000;-201.0000 --29.5000;-200.5000 --29.5000;-200.0000 --29.5000;-199.5000 --29.5000;-199.0000 --29.5000;-198.5000 --29.5000;-198.0000 --29.5000;-112.0000 --29.5000;-111.5000 --29.5000;-111.0000 --29.5000;-110.5000 --29.5000;-110.0000 --29.5000;-109.5000 --29.5000;-109.0000 --29.5000;-108.5000 --29.5000;-108.0000 --29.5000;-107.5000 --29.5000;-107.0000 --29.5000;-106.5000 --29.5000;-106.0000 --29.5000;-105.5000 --29.5000;-105.0000 --29.5000;-104.5000 --29.5000;-104.0000 --29.5000;-103.5000 --29.5000;-103.0000 --29.5000;-102.5000 --29.5000;-102.0000 --29.5000;-101.5000 --29.5000;-101.0000 --29.5000;-100.5000 --29.5000;-100.0000 --29.5000;-99.5000 --29.5000;-99.0000 --29.5000;-98.5000 --29.5000;-98.0000 --29.5000;-97.5000 --29.5000;-97.0000 --29.5000;-96.5000 --29.5000;-96.0000 --29.5000;-95.5000 --29.5000;-95.0000 --29.5000;-94.5000 --29.5000;-94.0000 --29.5000;-93.5000 --29.5000;-93.0000 --29.5000;-92.5000 --29.5000;-92.0000 --29.5000;-91.5000 --29.5000;-91.0000 --29.5000;-90.5000 --29.5000;-90.0000 --29.5000;-89.5000 --29.5000;-89.0000 --29.5000;-88.5000 --29.5000;-88.0000 --29.5000;-87.5000 --29.5000;-87.0000 --29.5000;-86.5000 --29.5000;-86.0000 --29.5000;-85.5000 --29.5000;-85.0000 --29.5000;-84.5000 --29.5000;-84.0000 --29.5000;-83.5000 --29.5000;-83.0000 --29.5000;-82.5000 --29.5000;-82.0000 --29.5000;-81.5000 --29.5000;-81.0000 --29.5000;-80.5000 --29.5000;-80.0000 --29.5000;-79.5000 --29.5000;-79.0000 --29.5000;-78.5000 --29.5000;-78.0000 --29.5000;-77.5000 --29.5000;-77.0000 --29.5000;-76.5000 --29.5000;-76.0000 --29.5000;-75.5000 --29.5000;-75.0000 --29.5000;-74.5000 --29.5000;-74.0000 --29.5000;-73.5000 --29.5000;-73.0000 --29.5000;-72.5000 --29.5000;-72.0000 --29.5000;-71.5000 --29.0000;-217.0000 --29.0000;-216.5000 --29.0000;-216.0000 --29.0000;-215.5000 --29.0000;-215.0000 --29.0000;-214.5000 --29.0000;-214.0000 --29.0000;-213.5000 --29.0000;-213.0000 --29.0000;-212.5000 --29.0000;-212.0000 --29.0000;-211.5000 --29.0000;-211.0000 --29.0000;-210.5000 --29.0000;-210.0000 --29.0000;-209.5000 --29.0000;-209.0000 --29.0000;-208.5000 --29.0000;-208.0000 --29.0000;-207.5000 --29.0000;-207.0000 --29.0000;-206.5000 --29.0000;-206.0000 --29.0000;-205.5000 --29.0000;-205.0000 --29.0000;-204.5000 --29.0000;-204.0000 --29.0000;-203.5000 --29.0000;-203.0000 --29.0000;-202.5000 --29.0000;-202.0000 --29.0000;-201.5000 --29.0000;-201.0000 --29.0000;-200.5000 --29.0000;-200.0000 --29.0000;-199.5000 --29.0000;-199.0000 --29.0000;-110.0000 --29.0000;-109.5000 --29.0000;-109.0000 --29.0000;-108.5000 --29.0000;-108.0000 --29.0000;-107.5000 --29.0000;-107.0000 --29.0000;-106.5000 --29.0000;-106.0000 --29.0000;-105.5000 --29.0000;-105.0000 --29.0000;-104.5000 --29.0000;-104.0000 --29.0000;-103.5000 --29.0000;-103.0000 --29.0000;-102.5000 --29.0000;-102.0000 --29.0000;-101.5000 --29.0000;-101.0000 --29.0000;-100.5000 --29.0000;-100.0000 --29.0000;-99.5000 --29.0000;-99.0000 --29.0000;-98.5000 --29.0000;-98.0000 --29.0000;-97.5000 --29.0000;-97.0000 --29.0000;-96.5000 --29.0000;-96.0000 --29.0000;-95.5000 --29.0000;-95.0000 --29.0000;-94.5000 --29.0000;-94.0000 --29.0000;-93.5000 --29.0000;-93.0000 --29.0000;-92.5000 --29.0000;-92.0000 --29.0000;-91.5000 --29.0000;-91.0000 --29.0000;-90.5000 --29.0000;-90.0000 --29.0000;-89.5000 --29.0000;-89.0000 --29.0000;-88.5000 --29.0000;-88.0000 --29.0000;-87.5000 --29.0000;-87.0000 --29.0000;-86.5000 --29.0000;-86.0000 --29.0000;-85.5000 --29.0000;-85.0000 --29.0000;-84.5000 --29.0000;-84.0000 --29.0000;-83.5000 --29.0000;-83.0000 --29.0000;-82.5000 --29.0000;-82.0000 --29.0000;-81.5000 --29.0000;-81.0000 --29.0000;-80.5000 --29.0000;-80.0000 --29.0000;-79.5000 --29.0000;-79.0000 --29.0000;-78.5000 --29.0000;-78.0000 --29.0000;-77.5000 --29.0000;-77.0000 --29.0000;-76.5000 --29.0000;-76.0000 --29.0000;-75.5000 --29.0000;-75.0000 --29.0000;-74.5000 --29.0000;-74.0000 --29.0000;-73.5000 --29.0000;-73.0000 --29.0000;-72.5000 --29.0000;-72.0000 --29.0000;-71.5000 --29.0000;-71.0000 --29.0000;-70.5000 --29.0000;-70.0000 --29.0000;-69.5000 --28.5000;-217.5000 --28.5000;-217.0000 --28.5000;-216.5000 --28.5000;-216.0000 --28.5000;-215.5000 --28.5000;-215.0000 --28.5000;-214.5000 --28.5000;-214.0000 --28.5000;-213.5000 --28.5000;-213.0000 --28.5000;-212.5000 --28.5000;-212.0000 --28.5000;-211.5000 --28.5000;-211.0000 --28.5000;-210.5000 --28.5000;-210.0000 --28.5000;-209.5000 --28.5000;-209.0000 --28.5000;-208.5000 --28.5000;-208.0000 --28.5000;-207.5000 --28.5000;-207.0000 --28.5000;-206.5000 --28.5000;-206.0000 --28.5000;-205.5000 --28.5000;-205.0000 --28.5000;-204.5000 --28.5000;-204.0000 --28.5000;-203.5000 --28.5000;-203.0000 --28.5000;-202.5000 --28.5000;-202.0000 --28.5000;-201.5000 --28.5000;-201.0000 --28.5000;-200.5000 --28.5000;-200.0000 --28.5000;-199.5000 --28.5000;-108.0000 --28.5000;-107.5000 --28.5000;-107.0000 --28.5000;-106.5000 --28.5000;-106.0000 --28.5000;-105.5000 --28.5000;-105.0000 --28.5000;-104.5000 --28.5000;-104.0000 --28.5000;-103.5000 --28.5000;-103.0000 --28.5000;-102.5000 --28.5000;-102.0000 --28.5000;-101.5000 --28.5000;-101.0000 --28.5000;-100.5000 --28.5000;-100.0000 --28.5000;-99.5000 --28.5000;-99.0000 --28.5000;-98.5000 --28.5000;-98.0000 --28.5000;-97.5000 --28.5000;-97.0000 --28.5000;-96.5000 --28.5000;-96.0000 --28.5000;-95.5000 --28.5000;-95.0000 --28.5000;-94.5000 --28.5000;-94.0000 --28.5000;-93.5000 --28.5000;-93.0000 --28.5000;-92.5000 --28.5000;-92.0000 --28.5000;-91.5000 --28.5000;-91.0000 --28.5000;-90.5000 --28.5000;-90.0000 --28.5000;-89.5000 --28.5000;-89.0000 --28.5000;-88.5000 --28.5000;-88.0000 --28.5000;-87.5000 --28.5000;-87.0000 --28.5000;-86.5000 --28.5000;-86.0000 --28.5000;-85.5000 --28.5000;-85.0000 --28.5000;-84.5000 --28.5000;-84.0000 --28.5000;-83.5000 --28.5000;-83.0000 --28.5000;-82.5000 --28.5000;-82.0000 --28.5000;-81.5000 --28.5000;-81.0000 --28.5000;-80.5000 --28.5000;-80.0000 --28.5000;-79.5000 --28.5000;-79.0000 --28.5000;-78.5000 --28.5000;-78.0000 --28.5000;-77.5000 --28.5000;-77.0000 --28.5000;-76.5000 --28.5000;-76.0000 --28.5000;-75.5000 --28.5000;-75.0000 --28.5000;-74.5000 --28.5000;-74.0000 --28.5000;-73.5000 --28.5000;-73.0000 --28.5000;-72.5000 --28.5000;-72.0000 --28.5000;-71.5000 --28.5000;-71.0000 --28.5000;-70.5000 --28.5000;-70.0000 --28.5000;-69.5000 --28.5000;-69.0000 --28.5000;-68.5000 --28.5000;-68.0000 --28.0000;-217.5000 --28.0000;-217.0000 --28.0000;-216.5000 --28.0000;-216.0000 --28.0000;-215.5000 --28.0000;-215.0000 --28.0000;-214.5000 --28.0000;-214.0000 --28.0000;-213.5000 --28.0000;-213.0000 --28.0000;-212.5000 --28.0000;-212.0000 --28.0000;-211.5000 --28.0000;-211.0000 --28.0000;-210.5000 --28.0000;-210.0000 --28.0000;-209.5000 --28.0000;-209.0000 --28.0000;-208.5000 --28.0000;-208.0000 --28.0000;-207.5000 --28.0000;-207.0000 --28.0000;-206.5000 --28.0000;-206.0000 --28.0000;-205.5000 --28.0000;-205.0000 --28.0000;-204.5000 --28.0000;-204.0000 --28.0000;-203.5000 --28.0000;-203.0000 --28.0000;-202.5000 --28.0000;-202.0000 --28.0000;-201.5000 --28.0000;-201.0000 --28.0000;-200.5000 --28.0000;-106.0000 --28.0000;-105.5000 --28.0000;-105.0000 --28.0000;-104.5000 --28.0000;-104.0000 --28.0000;-103.5000 --28.0000;-103.0000 --28.0000;-102.5000 --28.0000;-102.0000 --28.0000;-101.5000 --28.0000;-101.0000 --28.0000;-100.5000 --28.0000;-100.0000 --28.0000;-99.5000 --28.0000;-99.0000 --28.0000;-98.5000 --28.0000;-98.0000 --28.0000;-97.5000 --28.0000;-97.0000 --28.0000;-96.5000 --28.0000;-96.0000 --28.0000;-95.5000 --28.0000;-95.0000 --28.0000;-94.5000 --28.0000;-94.0000 --28.0000;-93.5000 --28.0000;-93.0000 --28.0000;-92.5000 --28.0000;-92.0000 --28.0000;-91.5000 --28.0000;-91.0000 --28.0000;-90.5000 --28.0000;-90.0000 --28.0000;-89.5000 --28.0000;-89.0000 --28.0000;-88.5000 --28.0000;-88.0000 --28.0000;-87.5000 --28.0000;-87.0000 --28.0000;-86.5000 --28.0000;-86.0000 --28.0000;-85.5000 --28.0000;-85.0000 --28.0000;-84.5000 --28.0000;-84.0000 --28.0000;-83.5000 --28.0000;-83.0000 --28.0000;-82.5000 --28.0000;-82.0000 --28.0000;-81.5000 --28.0000;-81.0000 --28.0000;-80.5000 --28.0000;-80.0000 --28.0000;-79.5000 --28.0000;-79.0000 --28.0000;-78.5000 --28.0000;-78.0000 --28.0000;-77.5000 --28.0000;-77.0000 --28.0000;-76.5000 --28.0000;-76.0000 --28.0000;-75.5000 --28.0000;-75.0000 --28.0000;-74.5000 --28.0000;-74.0000 --28.0000;-73.5000 --28.0000;-73.0000 --28.0000;-72.5000 --28.0000;-72.0000 --28.0000;-71.5000 --28.0000;-71.0000 --28.0000;-70.5000 --28.0000;-70.0000 --28.0000;-69.5000 --28.0000;-69.0000 --28.0000;-68.5000 --28.0000;-68.0000 --28.0000;-67.5000 --28.0000;-67.0000 --28.0000;-66.5000 --27.5000;-218.0000 --27.5000;-217.5000 --27.5000;-217.0000 --27.5000;-216.5000 --27.5000;-216.0000 --27.5000;-215.5000 --27.5000;-215.0000 --27.5000;-214.5000 --27.5000;-214.0000 --27.5000;-213.5000 --27.5000;-213.0000 --27.5000;-212.5000 --27.5000;-212.0000 --27.5000;-211.5000 --27.5000;-211.0000 --27.5000;-210.5000 --27.5000;-210.0000 --27.5000;-209.5000 --27.5000;-209.0000 --27.5000;-208.5000 --27.5000;-208.0000 --27.5000;-207.5000 --27.5000;-207.0000 --27.5000;-206.5000 --27.5000;-206.0000 --27.5000;-205.5000 --27.5000;-205.0000 --27.5000;-204.5000 --27.5000;-204.0000 --27.5000;-203.5000 --27.5000;-203.0000 --27.5000;-202.5000 --27.5000;-202.0000 --27.5000;-201.5000 --27.5000;-201.0000 --27.5000;-104.0000 --27.5000;-103.5000 --27.5000;-103.0000 --27.5000;-102.5000 --27.5000;-102.0000 --27.5000;-101.5000 --27.5000;-101.0000 --27.5000;-100.5000 --27.5000;-100.0000 --27.5000;-99.5000 --27.5000;-99.0000 --27.5000;-98.5000 --27.5000;-98.0000 --27.5000;-97.5000 --27.5000;-97.0000 --27.5000;-96.5000 --27.5000;-96.0000 --27.5000;-95.5000 --27.5000;-95.0000 --27.5000;-94.5000 --27.5000;-94.0000 --27.5000;-93.5000 --27.5000;-93.0000 --27.5000;-92.5000 --27.5000;-92.0000 --27.5000;-91.5000 --27.5000;-91.0000 --27.5000;-90.5000 --27.5000;-90.0000 --27.5000;-89.5000 --27.5000;-89.0000 --27.5000;-88.5000 --27.5000;-88.0000 --27.5000;-87.5000 --27.5000;-87.0000 --27.5000;-86.5000 --27.5000;-86.0000 --27.5000;-85.5000 --27.5000;-85.0000 --27.5000;-84.5000 --27.5000;-84.0000 --27.5000;-83.5000 --27.5000;-83.0000 --27.5000;-82.5000 --27.5000;-82.0000 --27.5000;-81.5000 --27.5000;-81.0000 --27.5000;-80.5000 --27.5000;-80.0000 --27.5000;-79.5000 --27.5000;-79.0000 --27.5000;-78.5000 --27.5000;-78.0000 --27.5000;-77.5000 --27.5000;-77.0000 --27.5000;-76.5000 --27.5000;-76.0000 --27.5000;-75.5000 --27.5000;-75.0000 --27.5000;-74.5000 --27.5000;-74.0000 --27.5000;-73.5000 --27.5000;-73.0000 --27.5000;-72.5000 --27.5000;-72.0000 --27.5000;-71.5000 --27.5000;-71.0000 --27.5000;-70.5000 --27.5000;-70.0000 --27.5000;-69.5000 --27.5000;-69.0000 --27.5000;-68.5000 --27.5000;-68.0000 --27.5000;-67.5000 --27.5000;-67.0000 --27.5000;-66.5000 --27.5000;-66.0000 --27.5000;-65.5000 --27.5000;-65.0000 --27.0000;-218.0000 --27.0000;-217.5000 --27.0000;-217.0000 --27.0000;-216.5000 --27.0000;-216.0000 --27.0000;-215.5000 --27.0000;-215.0000 --27.0000;-214.5000 --27.0000;-214.0000 --27.0000;-213.5000 --27.0000;-213.0000 --27.0000;-212.5000 --27.0000;-212.0000 --27.0000;-211.5000 --27.0000;-211.0000 --27.0000;-210.5000 --27.0000;-210.0000 --27.0000;-209.5000 --27.0000;-209.0000 --27.0000;-208.5000 --27.0000;-208.0000 --27.0000;-207.5000 --27.0000;-207.0000 --27.0000;-206.5000 --27.0000;-206.0000 --27.0000;-205.5000 --27.0000;-205.0000 --27.0000;-204.5000 --27.0000;-204.0000 --27.0000;-203.5000 --27.0000;-203.0000 --27.0000;-202.5000 --27.0000;-202.0000 --27.0000;-102.5000 --27.0000;-102.0000 --27.0000;-101.5000 --27.0000;-101.0000 --27.0000;-100.5000 --27.0000;-100.0000 --27.0000;-99.5000 --27.0000;-99.0000 --27.0000;-98.5000 --27.0000;-98.0000 --27.0000;-97.5000 --27.0000;-97.0000 --27.0000;-96.5000 --27.0000;-96.0000 --27.0000;-95.5000 --27.0000;-95.0000 --27.0000;-94.5000 --27.0000;-94.0000 --27.0000;-93.5000 --27.0000;-93.0000 --27.0000;-92.5000 --27.0000;-92.0000 --27.0000;-91.5000 --27.0000;-91.0000 --27.0000;-90.5000 --27.0000;-90.0000 --27.0000;-89.5000 --27.0000;-89.0000 --27.0000;-88.5000 --27.0000;-88.0000 --27.0000;-87.5000 --27.0000;-87.0000 --27.0000;-86.5000 --27.0000;-86.0000 --27.0000;-85.5000 --27.0000;-85.0000 --27.0000;-84.5000 --27.0000;-84.0000 --27.0000;-83.5000 --27.0000;-83.0000 --27.0000;-82.5000 --27.0000;-82.0000 --27.0000;-81.5000 --27.0000;-81.0000 --27.0000;-80.5000 --27.0000;-80.0000 --27.0000;-79.5000 --27.0000;-79.0000 --27.0000;-78.5000 --27.0000;-78.0000 --27.0000;-77.5000 --27.0000;-77.0000 --27.0000;-76.5000 --27.0000;-76.0000 --27.0000;-75.5000 --27.0000;-75.0000 --27.0000;-74.5000 --27.0000;-74.0000 --27.0000;-73.5000 --27.0000;-73.0000 --27.0000;-72.5000 --27.0000;-72.0000 --27.0000;-71.5000 --27.0000;-71.0000 --27.0000;-70.5000 --27.0000;-70.0000 --27.0000;-69.5000 --27.0000;-69.0000 --27.0000;-68.5000 --27.0000;-68.0000 --27.0000;-67.5000 --27.0000;-67.0000 --27.0000;-66.5000 --27.0000;-66.0000 --27.0000;-65.5000 --27.0000;-65.0000 --27.0000;-64.5000 --27.0000;-64.0000 --27.0000;-63.5000 --26.5000;-218.5000 --26.5000;-218.0000 --26.5000;-217.5000 --26.5000;-217.0000 --26.5000;-216.5000 --26.5000;-216.0000 --26.5000;-215.5000 --26.5000;-215.0000 --26.5000;-214.5000 --26.5000;-214.0000 --26.5000;-213.5000 --26.5000;-213.0000 --26.5000;-212.5000 --26.5000;-212.0000 --26.5000;-211.5000 --26.5000;-211.0000 --26.5000;-210.5000 --26.5000;-210.0000 --26.5000;-209.5000 --26.5000;-209.0000 --26.5000;-208.5000 --26.5000;-208.0000 --26.5000;-207.5000 --26.5000;-207.0000 --26.5000;-206.5000 --26.5000;-206.0000 --26.5000;-205.5000 --26.5000;-205.0000 --26.5000;-204.5000 --26.5000;-204.0000 --26.5000;-203.5000 --26.5000;-203.0000 --26.5000;-202.5000 --26.5000;-100.5000 --26.5000;-100.0000 --26.5000;-99.5000 --26.5000;-99.0000 --26.5000;-98.5000 --26.5000;-98.0000 --26.5000;-97.5000 --26.5000;-97.0000 --26.5000;-96.5000 --26.5000;-96.0000 --26.5000;-95.5000 --26.5000;-95.0000 --26.5000;-94.5000 --26.5000;-94.0000 --26.5000;-93.5000 --26.5000;-93.0000 --26.5000;-92.5000 --26.5000;-92.0000 --26.5000;-91.5000 --26.5000;-91.0000 --26.5000;-90.5000 --26.5000;-90.0000 --26.5000;-89.5000 --26.5000;-89.0000 --26.5000;-88.5000 --26.5000;-88.0000 --26.5000;-87.5000 --26.5000;-87.0000 --26.5000;-86.5000 --26.5000;-86.0000 --26.5000;-85.5000 --26.5000;-85.0000 --26.5000;-84.5000 --26.5000;-84.0000 --26.5000;-83.5000 --26.5000;-83.0000 --26.5000;-82.5000 --26.5000;-82.0000 --26.5000;-81.5000 --26.5000;-81.0000 --26.5000;-80.5000 --26.5000;-80.0000 --26.5000;-79.5000 --26.5000;-79.0000 --26.5000;-78.5000 --26.5000;-78.0000 --26.5000;-77.5000 --26.5000;-77.0000 --26.5000;-76.5000 --26.5000;-76.0000 --26.5000;-75.5000 --26.5000;-75.0000 --26.5000;-74.5000 --26.5000;-74.0000 --26.5000;-73.5000 --26.5000;-73.0000 --26.5000;-72.5000 --26.5000;-72.0000 --26.5000;-71.5000 --26.5000;-71.0000 --26.5000;-70.5000 --26.5000;-70.0000 --26.5000;-69.5000 --26.5000;-69.0000 --26.5000;-68.5000 --26.5000;-68.0000 --26.5000;-67.5000 --26.5000;-67.0000 --26.5000;-66.5000 --26.5000;-66.0000 --26.5000;-65.5000 --26.5000;-65.0000 --26.5000;-64.5000 --26.5000;-64.0000 --26.5000;-63.5000 --26.5000;-63.0000 --26.5000;-62.5000 --26.5000;-62.0000 --26.0000;-218.5000 --26.0000;-218.0000 --26.0000;-217.5000 --26.0000;-217.0000 --26.0000;-216.5000 --26.0000;-216.0000 --26.0000;-215.5000 --26.0000;-215.0000 --26.0000;-214.5000 --26.0000;-214.0000 --26.0000;-213.5000 --26.0000;-213.0000 --26.0000;-212.5000 --26.0000;-212.0000 --26.0000;-211.5000 --26.0000;-211.0000 --26.0000;-210.5000 --26.0000;-210.0000 --26.0000;-209.5000 --26.0000;-209.0000 --26.0000;-208.5000 --26.0000;-208.0000 --26.0000;-207.5000 --26.0000;-207.0000 --26.0000;-206.5000 --26.0000;-206.0000 --26.0000;-205.5000 --26.0000;-205.0000 --26.0000;-204.5000 --26.0000;-204.0000 --26.0000;-203.5000 --26.0000;-203.0000 --26.0000;-98.5000 --26.0000;-98.0000 --26.0000;-97.5000 --26.0000;-97.0000 --26.0000;-96.5000 --26.0000;-96.0000 --26.0000;-95.5000 --26.0000;-95.0000 --26.0000;-94.5000 --26.0000;-94.0000 --26.0000;-93.5000 --26.0000;-93.0000 --26.0000;-92.5000 --26.0000;-92.0000 --26.0000;-91.5000 --26.0000;-91.0000 --26.0000;-90.5000 --26.0000;-90.0000 --26.0000;-89.5000 --26.0000;-89.0000 --26.0000;-88.5000 --26.0000;-88.0000 --26.0000;-87.5000 --26.0000;-87.0000 --26.0000;-86.5000 --26.0000;-86.0000 --26.0000;-85.5000 --26.0000;-85.0000 --26.0000;-84.5000 --26.0000;-84.0000 --26.0000;-83.5000 --26.0000;-83.0000 --26.0000;-82.5000 --26.0000;-82.0000 --26.0000;-81.5000 --26.0000;-81.0000 --26.0000;-80.5000 --26.0000;-80.0000 --26.0000;-79.5000 --26.0000;-79.0000 --26.0000;-78.5000 --26.0000;-78.0000 --26.0000;-77.5000 --26.0000;-77.0000 --26.0000;-76.5000 --26.0000;-76.0000 --26.0000;-75.5000 --26.0000;-75.0000 --26.0000;-74.5000 --26.0000;-74.0000 --26.0000;-73.5000 --26.0000;-73.0000 --26.0000;-72.5000 --26.0000;-72.0000 --26.0000;-71.5000 --26.0000;-71.0000 --26.0000;-70.5000 --26.0000;-70.0000 --26.0000;-69.5000 --26.0000;-69.0000 --26.0000;-68.5000 --26.0000;-68.0000 --26.0000;-67.5000 --26.0000;-67.0000 --26.0000;-66.5000 --26.0000;-66.0000 --26.0000;-65.5000 --26.0000;-65.0000 --26.0000;-64.5000 --26.0000;-64.0000 --26.0000;-63.5000 --26.0000;-63.0000 --26.0000;-62.5000 --26.0000;-62.0000 --26.0000;-61.5000 --26.0000;-61.0000 --26.0000;-60.5000 --25.5000;-219.0000 --25.5000;-218.5000 --25.5000;-218.0000 --25.5000;-217.5000 --25.5000;-217.0000 --25.5000;-216.5000 --25.5000;-216.0000 --25.5000;-215.5000 --25.5000;-215.0000 --25.5000;-214.5000 --25.5000;-214.0000 --25.5000;-213.5000 --25.5000;-213.0000 --25.5000;-212.5000 --25.5000;-212.0000 --25.5000;-211.5000 --25.5000;-211.0000 --25.5000;-210.5000 --25.5000;-210.0000 --25.5000;-209.5000 --25.5000;-209.0000 --25.5000;-208.5000 --25.5000;-208.0000 --25.5000;-207.5000 --25.5000;-207.0000 --25.5000;-206.5000 --25.5000;-206.0000 --25.5000;-205.5000 --25.5000;-205.0000 --25.5000;-204.5000 --25.5000;-204.0000 --25.5000;-203.5000 --25.5000;-97.0000 --25.5000;-96.5000 --25.5000;-96.0000 --25.5000;-95.5000 --25.5000;-95.0000 --25.5000;-94.5000 --25.5000;-94.0000 --25.5000;-93.5000 --25.5000;-93.0000 --25.5000;-92.5000 --25.5000;-92.0000 --25.5000;-91.5000 --25.5000;-91.0000 --25.5000;-90.5000 --25.5000;-90.0000 --25.5000;-89.5000 --25.5000;-89.0000 --25.5000;-88.5000 --25.5000;-88.0000 --25.5000;-87.5000 --25.5000;-87.0000 --25.5000;-86.5000 --25.5000;-86.0000 --25.5000;-85.5000 --25.5000;-85.0000 --25.5000;-84.5000 --25.5000;-84.0000 --25.5000;-83.5000 --25.5000;-83.0000 --25.5000;-82.5000 --25.5000;-82.0000 --25.5000;-81.5000 --25.5000;-81.0000 --25.5000;-80.5000 --25.5000;-80.0000 --25.5000;-79.5000 --25.5000;-79.0000 --25.5000;-78.5000 --25.5000;-78.0000 --25.5000;-77.5000 --25.5000;-77.0000 --25.5000;-76.5000 --25.5000;-76.0000 --25.5000;-75.5000 --25.5000;-75.0000 --25.5000;-74.5000 --25.5000;-74.0000 --25.5000;-73.5000 --25.5000;-73.0000 --25.5000;-72.5000 --25.5000;-72.0000 --25.5000;-71.5000 --25.5000;-71.0000 --25.5000;-70.5000 --25.5000;-70.0000 --25.5000;-69.5000 --25.5000;-69.0000 --25.5000;-68.5000 --25.5000;-68.0000 --25.5000;-67.5000 --25.5000;-67.0000 --25.5000;-66.5000 --25.5000;-66.0000 --25.5000;-65.5000 --25.5000;-65.0000 --25.5000;-64.5000 --25.5000;-64.0000 --25.5000;-63.5000 --25.5000;-63.0000 --25.5000;-62.5000 --25.5000;-62.0000 --25.5000;-61.5000 --25.5000;-61.0000 --25.5000;-60.5000 --25.5000;-60.0000 --25.5000;-59.5000 --25.5000;-59.0000 --25.0000;-219.0000 --25.0000;-218.5000 --25.0000;-218.0000 --25.0000;-217.5000 --25.0000;-217.0000 --25.0000;-216.5000 --25.0000;-216.0000 --25.0000;-215.5000 --25.0000;-215.0000 --25.0000;-214.5000 --25.0000;-214.0000 --25.0000;-213.5000 --25.0000;-213.0000 --25.0000;-212.5000 --25.0000;-212.0000 --25.0000;-211.5000 --25.0000;-211.0000 --25.0000;-210.5000 --25.0000;-210.0000 --25.0000;-209.5000 --25.0000;-209.0000 --25.0000;-208.5000 --25.0000;-208.0000 --25.0000;-207.5000 --25.0000;-207.0000 --25.0000;-206.5000 --25.0000;-206.0000 --25.0000;-205.5000 --25.0000;-205.0000 --25.0000;-204.5000 --25.0000;-95.0000 --25.0000;-94.5000 --25.0000;-94.0000 --25.0000;-93.5000 --25.0000;-93.0000 --25.0000;-92.5000 --25.0000;-92.0000 --25.0000;-91.5000 --25.0000;-91.0000 --25.0000;-90.5000 --25.0000;-90.0000 --25.0000;-89.5000 --25.0000;-89.0000 --25.0000;-88.5000 --25.0000;-88.0000 --25.0000;-87.5000 --25.0000;-87.0000 --25.0000;-86.5000 --25.0000;-86.0000 --25.0000;-85.5000 --25.0000;-85.0000 --25.0000;-84.5000 --25.0000;-84.0000 --25.0000;-83.5000 --25.0000;-83.0000 --25.0000;-82.5000 --25.0000;-82.0000 --25.0000;-81.5000 --25.0000;-81.0000 --25.0000;-80.5000 --25.0000;-80.0000 --25.0000;-79.5000 --25.0000;-79.0000 --25.0000;-78.5000 --25.0000;-78.0000 --25.0000;-77.5000 --25.0000;-77.0000 --25.0000;-76.5000 --25.0000;-76.0000 --25.0000;-75.5000 --25.0000;-75.0000 --25.0000;-74.5000 --25.0000;-74.0000 --25.0000;-73.5000 --25.0000;-73.0000 --25.0000;-72.5000 --25.0000;-72.0000 --25.0000;-71.5000 --25.0000;-71.0000 --25.0000;-70.5000 --25.0000;-70.0000 --25.0000;-69.5000 --25.0000;-69.0000 --25.0000;-68.5000 --25.0000;-68.0000 --25.0000;-67.5000 --25.0000;-67.0000 --25.0000;-66.5000 --25.0000;-66.0000 --25.0000;-65.5000 --25.0000;-65.0000 --25.0000;-64.5000 --25.0000;-64.0000 --25.0000;-63.5000 --25.0000;-63.0000 --25.0000;-62.5000 --25.0000;-62.0000 --25.0000;-61.5000 --25.0000;-61.0000 --25.0000;-60.5000 --25.0000;-60.0000 --25.0000;-59.5000 --25.0000;-59.0000 --25.0000;-58.5000 --25.0000;-58.0000 --25.0000;-57.5000 --24.5000;-219.5000 --24.5000;-219.0000 --24.5000;-218.5000 --24.5000;-218.0000 --24.5000;-217.5000 --24.5000;-217.0000 --24.5000;-216.5000 --24.5000;-216.0000 --24.5000;-215.5000 --24.5000;-215.0000 --24.5000;-214.5000 --24.5000;-214.0000 --24.5000;-213.5000 --24.5000;-213.0000 --24.5000;-212.5000 --24.5000;-212.0000 --24.5000;-211.5000 --24.5000;-211.0000 --24.5000;-210.5000 --24.5000;-210.0000 --24.5000;-209.5000 --24.5000;-209.0000 --24.5000;-208.5000 --24.5000;-208.0000 --24.5000;-207.5000 --24.5000;-207.0000 --24.5000;-206.5000 --24.5000;-206.0000 --24.5000;-205.5000 --24.5000;-205.0000 --24.5000;-144.5000 --24.5000;-144.0000 --24.5000;-143.5000 --24.5000;-143.0000 --24.5000;-93.5000 --24.5000;-93.0000 --24.5000;-92.5000 --24.5000;-92.0000 --24.5000;-91.5000 --24.5000;-91.0000 --24.5000;-90.5000 --24.5000;-90.0000 --24.5000;-89.5000 --24.5000;-89.0000 --24.5000;-88.5000 --24.5000;-88.0000 --24.5000;-87.5000 --24.5000;-87.0000 --24.5000;-86.5000 --24.5000;-86.0000 --24.5000;-85.5000 --24.5000;-85.0000 --24.5000;-84.5000 --24.5000;-84.0000 --24.5000;-83.5000 --24.5000;-83.0000 --24.5000;-82.5000 --24.5000;-82.0000 --24.5000;-81.5000 --24.5000;-81.0000 --24.5000;-80.5000 --24.5000;-80.0000 --24.5000;-79.5000 --24.5000;-79.0000 --24.5000;-78.5000 --24.5000;-78.0000 --24.5000;-77.5000 --24.5000;-77.0000 --24.5000;-76.5000 --24.5000;-76.0000 --24.5000;-75.5000 --24.5000;-75.0000 --24.5000;-74.5000 --24.5000;-74.0000 --24.5000;-73.5000 --24.5000;-73.0000 --24.5000;-72.5000 --24.5000;-72.0000 --24.5000;-71.5000 --24.5000;-71.0000 --24.5000;-70.5000 --24.5000;-70.0000 --24.5000;-69.5000 --24.5000;-69.0000 --24.5000;-68.5000 --24.5000;-68.0000 --24.5000;-67.5000 --24.5000;-67.0000 --24.5000;-66.5000 --24.5000;-66.0000 --24.5000;-65.5000 --24.5000;-65.0000 --24.5000;-64.5000 --24.5000;-64.0000 --24.5000;-63.5000 --24.5000;-63.0000 --24.5000;-62.5000 --24.5000;-62.0000 --24.5000;-61.5000 --24.5000;-61.0000 --24.5000;-60.5000 --24.5000;-60.0000 --24.5000;-59.5000 --24.5000;-59.0000 --24.5000;-58.5000 --24.5000;-58.0000 --24.5000;-57.5000 --24.5000;-57.0000 --24.5000;-56.5000 --24.0000;-219.5000 --24.0000;-219.0000 --24.0000;-218.5000 --24.0000;-218.0000 --24.0000;-217.5000 --24.0000;-217.0000 --24.0000;-216.5000 --24.0000;-216.0000 --24.0000;-215.5000 --24.0000;-215.0000 --24.0000;-214.5000 --24.0000;-214.0000 --24.0000;-213.5000 --24.0000;-213.0000 --24.0000;-212.5000 --24.0000;-212.0000 --24.0000;-211.5000 --24.0000;-211.0000 --24.0000;-210.5000 --24.0000;-210.0000 --24.0000;-209.5000 --24.0000;-209.0000 --24.0000;-208.5000 --24.0000;-208.0000 --24.0000;-207.5000 --24.0000;-207.0000 --24.0000;-206.5000 --24.0000;-206.0000 --24.0000;-205.5000 --24.0000;-148.0000 --24.0000;-147.5000 --24.0000;-147.0000 --24.0000;-146.5000 --24.0000;-146.0000 --24.0000;-145.5000 --24.0000;-145.0000 --24.0000;-144.5000 --24.0000;-144.0000 --24.0000;-143.5000 --24.0000;-143.0000 --24.0000;-142.5000 --24.0000;-142.0000 --24.0000;-141.5000 --24.0000;-141.0000 --24.0000;-140.5000 --24.0000;-140.0000 --24.0000;-139.5000 --24.0000;-139.0000 --24.0000;-138.5000 --24.0000;-92.0000 --24.0000;-91.5000 --24.0000;-91.0000 --24.0000;-90.5000 --24.0000;-90.0000 --24.0000;-89.5000 --24.0000;-89.0000 --24.0000;-88.5000 --24.0000;-88.0000 --24.0000;-87.5000 --24.0000;-87.0000 --24.0000;-86.5000 --24.0000;-86.0000 --24.0000;-85.5000 --24.0000;-85.0000 --24.0000;-84.5000 --24.0000;-84.0000 --24.0000;-83.5000 --24.0000;-83.0000 --24.0000;-82.5000 --24.0000;-82.0000 --24.0000;-81.5000 --24.0000;-81.0000 --24.0000;-80.5000 --24.0000;-80.0000 --24.0000;-79.5000 --24.0000;-79.0000 --24.0000;-78.5000 --24.0000;-78.0000 --24.0000;-77.5000 --24.0000;-77.0000 --24.0000;-76.5000 --24.0000;-76.0000 --24.0000;-75.5000 --24.0000;-75.0000 --24.0000;-74.5000 --24.0000;-74.0000 --24.0000;-73.5000 --24.0000;-73.0000 --24.0000;-72.5000 --24.0000;-72.0000 --24.0000;-71.5000 --24.0000;-71.0000 --24.0000;-70.5000 --24.0000;-70.0000 --24.0000;-69.5000 --24.0000;-69.0000 --24.0000;-68.5000 --24.0000;-68.0000 --24.0000;-67.5000 --24.0000;-67.0000 --24.0000;-66.5000 --24.0000;-66.0000 --24.0000;-65.5000 --24.0000;-65.0000 --24.0000;-64.5000 --24.0000;-64.0000 --24.0000;-63.5000 --24.0000;-63.0000 --24.0000;-62.5000 --24.0000;-62.0000 --24.0000;-61.5000 --24.0000;-61.0000 --24.0000;-60.5000 --24.0000;-60.0000 --24.0000;-59.5000 --24.0000;-59.0000 --24.0000;-58.5000 --24.0000;-58.0000 --24.0000;-57.5000 --24.0000;-57.0000 --24.0000;-56.5000 --24.0000;-56.0000 --24.0000;-55.5000 --24.0000;-55.0000 --23.5000;-220.0000 --23.5000;-219.5000 --23.5000;-219.0000 --23.5000;-218.5000 --23.5000;-218.0000 --23.5000;-217.5000 --23.5000;-217.0000 --23.5000;-216.5000 --23.5000;-216.0000 --23.5000;-215.5000 --23.5000;-215.0000 --23.5000;-214.5000 --23.5000;-214.0000 --23.5000;-213.5000 --23.5000;-213.0000 --23.5000;-212.5000 --23.5000;-212.0000 --23.5000;-211.5000 --23.5000;-211.0000 --23.5000;-210.5000 --23.5000;-210.0000 --23.5000;-209.5000 --23.5000;-209.0000 --23.5000;-208.5000 --23.5000;-208.0000 --23.5000;-207.5000 --23.5000;-207.0000 --23.5000;-206.5000 --23.5000;-206.0000 --23.5000;-149.5000 --23.5000;-149.0000 --23.5000;-148.5000 --23.5000;-148.0000 --23.5000;-147.5000 --23.5000;-147.0000 --23.5000;-146.5000 --23.5000;-146.0000 --23.5000;-145.5000 --23.5000;-145.0000 --23.5000;-144.5000 --23.5000;-144.0000 --23.5000;-143.5000 --23.5000;-143.0000 --23.5000;-142.5000 --23.5000;-142.0000 --23.5000;-141.5000 --23.5000;-141.0000 --23.5000;-140.5000 --23.5000;-140.0000 --23.5000;-139.5000 --23.5000;-139.0000 --23.5000;-138.5000 --23.5000;-138.0000 --23.5000;-137.5000 --23.5000;-137.0000 --23.5000;-136.5000 --23.5000;-136.0000 --23.5000;-135.5000 --23.5000;-135.0000 --23.5000;-90.5000 --23.5000;-90.0000 --23.5000;-89.5000 --23.5000;-89.0000 --23.5000;-88.5000 --23.5000;-88.0000 --23.5000;-87.5000 --23.5000;-87.0000 --23.5000;-86.5000 --23.5000;-86.0000 --23.5000;-85.5000 --23.5000;-85.0000 --23.5000;-84.5000 --23.5000;-84.0000 --23.5000;-83.5000 --23.5000;-83.0000 --23.5000;-82.5000 --23.5000;-82.0000 --23.5000;-81.5000 --23.5000;-81.0000 --23.5000;-80.5000 --23.5000;-80.0000 --23.5000;-79.5000 --23.5000;-79.0000 --23.5000;-78.5000 --23.5000;-78.0000 --23.5000;-77.5000 --23.5000;-77.0000 --23.5000;-76.5000 --23.5000;-76.0000 --23.5000;-75.5000 --23.5000;-75.0000 --23.5000;-74.5000 --23.5000;-74.0000 --23.5000;-73.5000 --23.5000;-73.0000 --23.5000;-72.5000 --23.5000;-72.0000 --23.5000;-71.5000 --23.5000;-71.0000 --23.5000;-70.5000 --23.5000;-70.0000 --23.5000;-69.5000 --23.5000;-69.0000 --23.5000;-68.5000 --23.5000;-68.0000 --23.5000;-67.5000 --23.5000;-67.0000 --23.5000;-66.5000 --23.5000;-66.0000 --23.5000;-65.5000 --23.5000;-65.0000 --23.5000;-64.5000 --23.5000;-64.0000 --23.5000;-63.5000 --23.5000;-63.0000 --23.5000;-62.5000 --23.5000;-62.0000 --23.5000;-61.5000 --23.5000;-61.0000 --23.5000;-60.5000 --23.5000;-60.0000 --23.5000;-59.5000 --23.5000;-59.0000 --23.5000;-58.5000 --23.5000;-58.0000 --23.5000;-57.5000 --23.5000;-57.0000 --23.5000;-56.5000 --23.5000;-56.0000 --23.5000;-55.5000 --23.5000;-55.0000 --23.5000;-54.5000 --23.5000;-54.0000 --23.5000;-53.5000 --23.0000;-220.0000 --23.0000;-219.5000 --23.0000;-219.0000 --23.0000;-218.5000 --23.0000;-218.0000 --23.0000;-217.5000 --23.0000;-217.0000 --23.0000;-216.5000 --23.0000;-216.0000 --23.0000;-215.5000 --23.0000;-215.0000 --23.0000;-214.5000 --23.0000;-214.0000 --23.0000;-213.5000 --23.0000;-213.0000 --23.0000;-212.5000 --23.0000;-212.0000 --23.0000;-211.5000 --23.0000;-211.0000 --23.0000;-210.5000 --23.0000;-210.0000 --23.0000;-209.5000 --23.0000;-209.0000 --23.0000;-208.5000 --23.0000;-208.0000 --23.0000;-207.5000 --23.0000;-207.0000 --23.0000;-206.5000 --23.0000;-206.0000 --23.0000;-151.0000 --23.0000;-150.5000 --23.0000;-150.0000 --23.0000;-149.5000 --23.0000;-149.0000 --23.0000;-148.5000 --23.0000;-148.0000 --23.0000;-147.5000 --23.0000;-147.0000 --23.0000;-146.5000 --23.0000;-146.0000 --23.0000;-145.5000 --23.0000;-145.0000 --23.0000;-144.5000 --23.0000;-144.0000 --23.0000;-143.5000 --23.0000;-143.0000 --23.0000;-142.5000 --23.0000;-142.0000 --23.0000;-141.5000 --23.0000;-141.0000 --23.0000;-140.5000 --23.0000;-140.0000 --23.0000;-139.5000 --23.0000;-139.0000 --23.0000;-138.5000 --23.0000;-138.0000 --23.0000;-137.5000 --23.0000;-137.0000 --23.0000;-136.5000 --23.0000;-136.0000 --23.0000;-135.5000 --23.0000;-135.0000 --23.0000;-134.5000 --23.0000;-134.0000 --23.0000;-133.5000 --23.0000;-133.0000 --23.0000;-132.5000 --23.0000;-88.5000 --23.0000;-88.0000 --23.0000;-87.5000 --23.0000;-87.0000 --23.0000;-86.5000 --23.0000;-86.0000 --23.0000;-85.5000 --23.0000;-85.0000 --23.0000;-84.5000 --23.0000;-84.0000 --23.0000;-83.5000 --23.0000;-83.0000 --23.0000;-82.5000 --23.0000;-82.0000 --23.0000;-81.5000 --23.0000;-81.0000 --23.0000;-80.5000 --23.0000;-80.0000 --23.0000;-79.5000 --23.0000;-79.0000 --23.0000;-78.5000 --23.0000;-78.0000 --23.0000;-77.5000 --23.0000;-77.0000 --23.0000;-76.5000 --23.0000;-76.0000 --23.0000;-75.5000 --23.0000;-75.0000 --23.0000;-74.5000 --23.0000;-74.0000 --23.0000;-73.5000 --23.0000;-73.0000 --23.0000;-72.5000 --23.0000;-72.0000 --23.0000;-71.5000 --23.0000;-71.0000 --23.0000;-70.5000 --23.0000;-70.0000 --23.0000;-69.5000 --23.0000;-69.0000 --23.0000;-68.5000 --23.0000;-68.0000 --23.0000;-67.5000 --23.0000;-67.0000 --23.0000;-66.5000 --23.0000;-66.0000 --23.0000;-65.5000 --23.0000;-65.0000 --23.0000;-64.5000 --23.0000;-64.0000 --23.0000;-63.5000 --23.0000;-63.0000 --23.0000;-62.5000 --23.0000;-62.0000 --23.0000;-61.5000 --23.0000;-61.0000 --23.0000;-60.5000 --23.0000;-60.0000 --23.0000;-59.5000 --23.0000;-59.0000 --23.0000;-58.5000 --23.0000;-58.0000 --23.0000;-57.5000 --23.0000;-57.0000 --23.0000;-56.5000 --23.0000;-56.0000 --23.0000;-55.5000 --23.0000;-55.0000 --23.0000;-54.5000 --23.0000;-54.0000 --23.0000;-53.5000 --23.0000;-53.0000 --23.0000;-52.5000 --23.0000;-52.0000 --22.5000;-220.0000 --22.5000;-219.5000 --22.5000;-219.0000 --22.5000;-218.5000 --22.5000;-218.0000 --22.5000;-217.5000 --22.5000;-217.0000 --22.5000;-216.5000 --22.5000;-216.0000 --22.5000;-215.5000 --22.5000;-215.0000 --22.5000;-214.5000 --22.5000;-214.0000 --22.5000;-213.5000 --22.5000;-213.0000 --22.5000;-212.5000 --22.5000;-212.0000 --22.5000;-211.5000 --22.5000;-211.0000 --22.5000;-210.5000 --22.5000;-210.0000 --22.5000;-209.5000 --22.5000;-209.0000 --22.5000;-208.5000 --22.5000;-208.0000 --22.5000;-207.5000 --22.5000;-207.0000 --22.5000;-206.5000 --22.5000;-152.0000 --22.5000;-151.5000 --22.5000;-151.0000 --22.5000;-150.5000 --22.5000;-150.0000 --22.5000;-149.5000 --22.5000;-149.0000 --22.5000;-148.5000 --22.5000;-148.0000 --22.5000;-147.5000 --22.5000;-147.0000 --22.5000;-146.5000 --22.5000;-146.0000 --22.5000;-145.5000 --22.5000;-145.0000 --22.5000;-144.5000 --22.5000;-144.0000 --22.5000;-143.5000 --22.5000;-143.0000 --22.5000;-142.5000 --22.5000;-142.0000 --22.5000;-141.5000 --22.5000;-141.0000 --22.5000;-140.5000 --22.5000;-140.0000 --22.5000;-139.5000 --22.5000;-139.0000 --22.5000;-138.5000 --22.5000;-138.0000 --22.5000;-137.5000 --22.5000;-137.0000 --22.5000;-136.5000 --22.5000;-136.0000 --22.5000;-135.5000 --22.5000;-135.0000 --22.5000;-134.5000 --22.5000;-134.0000 --22.5000;-133.5000 --22.5000;-133.0000 --22.5000;-132.5000 --22.5000;-132.0000 --22.5000;-131.5000 --22.5000;-131.0000 --22.5000;-130.5000 --22.5000;-87.0000 --22.5000;-86.5000 --22.5000;-86.0000 --22.5000;-85.5000 --22.5000;-85.0000 --22.5000;-84.5000 --22.5000;-84.0000 --22.5000;-83.5000 --22.5000;-83.0000 --22.5000;-82.5000 --22.5000;-82.0000 --22.5000;-81.5000 --22.5000;-81.0000 --22.5000;-80.5000 --22.5000;-80.0000 --22.5000;-79.5000 --22.5000;-79.0000 --22.5000;-78.5000 --22.5000;-78.0000 --22.5000;-77.5000 --22.5000;-77.0000 --22.5000;-76.5000 --22.5000;-76.0000 --22.5000;-75.5000 --22.5000;-75.0000 --22.5000;-74.5000 --22.5000;-74.0000 --22.5000;-73.5000 --22.5000;-73.0000 --22.5000;-72.5000 --22.5000;-72.0000 --22.5000;-71.5000 --22.5000;-71.0000 --22.5000;-70.5000 --22.5000;-70.0000 --22.5000;-69.5000 --22.5000;-69.0000 --22.5000;-68.5000 --22.5000;-68.0000 --22.5000;-67.5000 --22.5000;-67.0000 --22.5000;-66.5000 --22.5000;-66.0000 --22.5000;-65.5000 --22.5000;-65.0000 --22.5000;-64.5000 --22.5000;-64.0000 --22.5000;-63.5000 --22.5000;-63.0000 --22.5000;-62.5000 --22.5000;-62.0000 --22.5000;-61.5000 --22.5000;-61.0000 --22.5000;-60.5000 --22.5000;-60.0000 --22.5000;-59.5000 --22.5000;-59.0000 --22.5000;-58.5000 --22.5000;-58.0000 --22.5000;-57.5000 --22.5000;-57.0000 --22.5000;-56.5000 --22.5000;-56.0000 --22.5000;-55.5000 --22.5000;-55.0000 --22.5000;-54.5000 --22.5000;-54.0000 --22.5000;-53.5000 --22.5000;-53.0000 --22.5000;-52.5000 --22.5000;-52.0000 --22.5000;-51.5000 --22.5000;-51.0000 --22.0000;-220.5000 --22.0000;-220.0000 --22.0000;-219.5000 --22.0000;-219.0000 --22.0000;-218.5000 --22.0000;-218.0000 --22.0000;-217.5000 --22.0000;-217.0000 --22.0000;-216.5000 --22.0000;-216.0000 --22.0000;-215.5000 --22.0000;-215.0000 --22.0000;-214.5000 --22.0000;-214.0000 --22.0000;-213.5000 --22.0000;-213.0000 --22.0000;-212.5000 --22.0000;-212.0000 --22.0000;-211.5000 --22.0000;-211.0000 --22.0000;-210.5000 --22.0000;-210.0000 --22.0000;-209.5000 --22.0000;-209.0000 --22.0000;-208.5000 --22.0000;-208.0000 --22.0000;-207.5000 --22.0000;-207.0000 --22.0000;-153.0000 --22.0000;-152.5000 --22.0000;-152.0000 --22.0000;-151.5000 --22.0000;-151.0000 --22.0000;-150.5000 --22.0000;-150.0000 --22.0000;-149.5000 --22.0000;-149.0000 --22.0000;-148.5000 --22.0000;-148.0000 --22.0000;-147.5000 --22.0000;-147.0000 --22.0000;-146.5000 --22.0000;-146.0000 --22.0000;-145.5000 --22.0000;-145.0000 --22.0000;-144.5000 --22.0000;-144.0000 --22.0000;-143.5000 --22.0000;-143.0000 --22.0000;-142.5000 --22.0000;-142.0000 --22.0000;-141.5000 --22.0000;-141.0000 --22.0000;-140.5000 --22.0000;-140.0000 --22.0000;-139.5000 --22.0000;-139.0000 --22.0000;-138.5000 --22.0000;-138.0000 --22.0000;-137.5000 --22.0000;-137.0000 --22.0000;-136.5000 --22.0000;-136.0000 --22.0000;-135.5000 --22.0000;-135.0000 --22.0000;-134.5000 --22.0000;-134.0000 --22.0000;-133.5000 --22.0000;-133.0000 --22.0000;-132.5000 --22.0000;-132.0000 --22.0000;-131.5000 --22.0000;-131.0000 --22.0000;-130.5000 --22.0000;-130.0000 --22.0000;-129.5000 --22.0000;-129.0000 --22.0000;-85.5000 --22.0000;-85.0000 --22.0000;-84.5000 --22.0000;-84.0000 --22.0000;-83.5000 --22.0000;-83.0000 --22.0000;-82.5000 --22.0000;-82.0000 --22.0000;-81.5000 --22.0000;-81.0000 --22.0000;-80.5000 --22.0000;-80.0000 --22.0000;-79.5000 --22.0000;-79.0000 --22.0000;-78.5000 --22.0000;-78.0000 --22.0000;-77.5000 --22.0000;-77.0000 --22.0000;-76.5000 --22.0000;-76.0000 --22.0000;-75.5000 --22.0000;-75.0000 --22.0000;-74.5000 --22.0000;-74.0000 --22.0000;-73.5000 --22.0000;-73.0000 --22.0000;-72.5000 --22.0000;-72.0000 --22.0000;-71.5000 --22.0000;-71.0000 --22.0000;-70.5000 --22.0000;-70.0000 --22.0000;-69.5000 --22.0000;-69.0000 --22.0000;-68.5000 --22.0000;-68.0000 --22.0000;-67.5000 --22.0000;-67.0000 --22.0000;-66.5000 --22.0000;-66.0000 --22.0000;-65.5000 --22.0000;-65.0000 --22.0000;-64.5000 --22.0000;-64.0000 --22.0000;-63.5000 --22.0000;-63.0000 --22.0000;-62.5000 --22.0000;-62.0000 --22.0000;-61.5000 --22.0000;-61.0000 --22.0000;-60.5000 --22.0000;-60.0000 --22.0000;-59.5000 --22.0000;-59.0000 --22.0000;-58.5000 --22.0000;-58.0000 --22.0000;-57.5000 --22.0000;-57.0000 --22.0000;-56.5000 --22.0000;-56.0000 --22.0000;-55.5000 --22.0000;-55.0000 --22.0000;-54.5000 --22.0000;-54.0000 --22.0000;-53.5000 --22.0000;-53.0000 --22.0000;-52.5000 --22.0000;-52.0000 --22.0000;-51.5000 --22.0000;-51.0000 --22.0000;-50.5000 --22.0000;-50.0000 --22.0000;-49.5000 --21.5000;-220.5000 --21.5000;-220.0000 --21.5000;-219.5000 --21.5000;-219.0000 --21.5000;-218.5000 --21.5000;-218.0000 --21.5000;-217.5000 --21.5000;-217.0000 --21.5000;-216.5000 --21.5000;-216.0000 --21.5000;-215.5000 --21.5000;-215.0000 --21.5000;-214.5000 --21.5000;-214.0000 --21.5000;-213.5000 --21.5000;-213.0000 --21.5000;-212.5000 --21.5000;-212.0000 --21.5000;-211.5000 --21.5000;-211.0000 --21.5000;-210.5000 --21.5000;-210.0000 --21.5000;-209.5000 --21.5000;-209.0000 --21.5000;-208.5000 --21.5000;-208.0000 --21.5000;-207.5000 --21.5000;-154.0000 --21.5000;-153.5000 --21.5000;-153.0000 --21.5000;-152.5000 --21.5000;-152.0000 --21.5000;-151.5000 --21.5000;-151.0000 --21.5000;-150.5000 --21.5000;-150.0000 --21.5000;-149.5000 --21.5000;-149.0000 --21.5000;-148.5000 --21.5000;-148.0000 --21.5000;-147.5000 --21.5000;-147.0000 --21.5000;-146.5000 --21.5000;-146.0000 --21.5000;-145.5000 --21.5000;-145.0000 --21.5000;-144.5000 --21.5000;-144.0000 --21.5000;-143.5000 --21.5000;-143.0000 --21.5000;-142.5000 --21.5000;-142.0000 --21.5000;-141.5000 --21.5000;-141.0000 --21.5000;-140.5000 --21.5000;-140.0000 --21.5000;-139.5000 --21.5000;-139.0000 --21.5000;-138.5000 --21.5000;-138.0000 --21.5000;-137.5000 --21.5000;-137.0000 --21.5000;-136.5000 --21.5000;-136.0000 --21.5000;-135.5000 --21.5000;-135.0000 --21.5000;-134.5000 --21.5000;-134.0000 --21.5000;-133.5000 --21.5000;-133.0000 --21.5000;-132.5000 --21.5000;-132.0000 --21.5000;-131.5000 --21.5000;-131.0000 --21.5000;-130.5000 --21.5000;-130.0000 --21.5000;-129.5000 --21.5000;-129.0000 --21.5000;-128.5000 --21.5000;-128.0000 --21.5000;-84.0000 --21.5000;-83.5000 --21.5000;-83.0000 --21.5000;-82.5000 --21.5000;-82.0000 --21.5000;-81.5000 --21.5000;-81.0000 --21.5000;-80.5000 --21.5000;-80.0000 --21.5000;-79.5000 --21.5000;-79.0000 --21.5000;-78.5000 --21.5000;-78.0000 --21.5000;-77.5000 --21.5000;-77.0000 --21.5000;-76.5000 --21.5000;-76.0000 --21.5000;-75.5000 --21.5000;-75.0000 --21.5000;-74.5000 --21.5000;-74.0000 --21.5000;-73.5000 --21.5000;-73.0000 --21.5000;-72.5000 --21.5000;-72.0000 --21.5000;-71.5000 --21.5000;-71.0000 --21.5000;-70.5000 --21.5000;-70.0000 --21.5000;-69.5000 --21.5000;-69.0000 --21.5000;-68.5000 --21.5000;-68.0000 --21.5000;-67.5000 --21.5000;-67.0000 --21.5000;-66.5000 --21.5000;-66.0000 --21.5000;-65.5000 --21.5000;-65.0000 --21.5000;-64.5000 --21.5000;-64.0000 --21.5000;-63.5000 --21.5000;-63.0000 --21.5000;-62.5000 --21.5000;-62.0000 --21.5000;-61.5000 --21.5000;-61.0000 --21.5000;-60.5000 --21.5000;-60.0000 --21.5000;-59.5000 --21.5000;-59.0000 --21.5000;-58.5000 --21.5000;-58.0000 --21.5000;-57.5000 --21.5000;-57.0000 --21.5000;-56.5000 --21.5000;-56.0000 --21.5000;-55.5000 --21.5000;-55.0000 --21.5000;-54.5000 --21.5000;-54.0000 --21.5000;-53.5000 --21.5000;-53.0000 --21.5000;-52.5000 --21.5000;-52.0000 --21.5000;-51.5000 --21.5000;-51.0000 --21.5000;-50.5000 --21.5000;-50.0000 --21.5000;-49.5000 --21.5000;-49.0000 --21.5000;-48.5000 --21.5000;-48.0000 --21.0000;-221.0000 --21.0000;-220.5000 --21.0000;-220.0000 --21.0000;-219.5000 --21.0000;-219.0000 --21.0000;-218.5000 --21.0000;-218.0000 --21.0000;-217.5000 --21.0000;-217.0000 --21.0000;-216.5000 --21.0000;-216.0000 --21.0000;-215.5000 --21.0000;-215.0000 --21.0000;-214.5000 --21.0000;-214.0000 --21.0000;-213.5000 --21.0000;-213.0000 --21.0000;-212.5000 --21.0000;-212.0000 --21.0000;-211.5000 --21.0000;-211.0000 --21.0000;-210.5000 --21.0000;-210.0000 --21.0000;-209.5000 --21.0000;-209.0000 --21.0000;-208.5000 --21.0000;-208.0000 --21.0000;-154.5000 --21.0000;-154.0000 --21.0000;-153.5000 --21.0000;-153.0000 --21.0000;-152.5000 --21.0000;-152.0000 --21.0000;-151.5000 --21.0000;-151.0000 --21.0000;-150.5000 --21.0000;-150.0000 --21.0000;-149.5000 --21.0000;-149.0000 --21.0000;-148.5000 --21.0000;-148.0000 --21.0000;-147.5000 --21.0000;-147.0000 --21.0000;-146.5000 --21.0000;-146.0000 --21.0000;-145.5000 --21.0000;-145.0000 --21.0000;-144.5000 --21.0000;-144.0000 --21.0000;-143.5000 --21.0000;-143.0000 --21.0000;-142.5000 --21.0000;-142.0000 --21.0000;-141.5000 --21.0000;-141.0000 --21.0000;-140.5000 --21.0000;-140.0000 --21.0000;-139.5000 --21.0000;-139.0000 --21.0000;-138.5000 --21.0000;-138.0000 --21.0000;-137.5000 --21.0000;-137.0000 --21.0000;-136.5000 --21.0000;-136.0000 --21.0000;-135.5000 --21.0000;-135.0000 --21.0000;-134.5000 --21.0000;-134.0000 --21.0000;-133.5000 --21.0000;-133.0000 --21.0000;-132.5000 --21.0000;-132.0000 --21.0000;-131.5000 --21.0000;-131.0000 --21.0000;-130.5000 --21.0000;-130.0000 --21.0000;-129.5000 --21.0000;-129.0000 --21.0000;-128.5000 --21.0000;-128.0000 --21.0000;-127.5000 --21.0000;-127.0000 --21.0000;-82.5000 --21.0000;-82.0000 --21.0000;-81.5000 --21.0000;-81.0000 --21.0000;-80.5000 --21.0000;-80.0000 --21.0000;-79.5000 --21.0000;-79.0000 --21.0000;-78.5000 --21.0000;-78.0000 --21.0000;-77.5000 --21.0000;-77.0000 --21.0000;-76.5000 --21.0000;-76.0000 --21.0000;-75.5000 --21.0000;-75.0000 --21.0000;-74.5000 --21.0000;-74.0000 --21.0000;-73.5000 --21.0000;-73.0000 --21.0000;-72.5000 --21.0000;-72.0000 --21.0000;-71.5000 --21.0000;-71.0000 --21.0000;-70.5000 --21.0000;-70.0000 --21.0000;-69.5000 --21.0000;-69.0000 --21.0000;-68.5000 --21.0000;-68.0000 --21.0000;-67.5000 --21.0000;-67.0000 --21.0000;-66.5000 --21.0000;-66.0000 --21.0000;-65.5000 --21.0000;-65.0000 --21.0000;-64.5000 --21.0000;-64.0000 --21.0000;-63.5000 --21.0000;-63.0000 --21.0000;-62.5000 --21.0000;-62.0000 --21.0000;-61.5000 --21.0000;-61.0000 --21.0000;-60.5000 --21.0000;-60.0000 --21.0000;-59.5000 --21.0000;-59.0000 --21.0000;-58.5000 --21.0000;-58.0000 --21.0000;-57.5000 --21.0000;-57.0000 --21.0000;-56.5000 --21.0000;-56.0000 --21.0000;-55.5000 --21.0000;-55.0000 --21.0000;-54.5000 --21.0000;-54.0000 --21.0000;-53.5000 --21.0000;-53.0000 --21.0000;-52.5000 --21.0000;-52.0000 --21.0000;-51.5000 --21.0000;-51.0000 --21.0000;-50.5000 --21.0000;-50.0000 --21.0000;-49.5000 --21.0000;-49.0000 --21.0000;-48.5000 --21.0000;-48.0000 --21.0000;-47.5000 --21.0000;-47.0000 --21.0000;-46.5000 --20.5000;-221.0000 --20.5000;-220.5000 --20.5000;-220.0000 --20.5000;-219.5000 --20.5000;-219.0000 --20.5000;-218.5000 --20.5000;-218.0000 --20.5000;-217.5000 --20.5000;-217.0000 --20.5000;-216.5000 --20.5000;-216.0000 --20.5000;-215.5000 --20.5000;-215.0000 --20.5000;-214.5000 --20.5000;-214.0000 --20.5000;-213.5000 --20.5000;-213.0000 --20.5000;-212.5000 --20.5000;-212.0000 --20.5000;-211.5000 --20.5000;-211.0000 --20.5000;-210.5000 --20.5000;-210.0000 --20.5000;-209.5000 --20.5000;-209.0000 --20.5000;-208.5000 --20.5000;-208.0000 --20.5000;-155.0000 --20.5000;-154.5000 --20.5000;-154.0000 --20.5000;-153.5000 --20.5000;-153.0000 --20.5000;-152.5000 --20.5000;-152.0000 --20.5000;-151.5000 --20.5000;-151.0000 --20.5000;-150.5000 --20.5000;-150.0000 --20.5000;-149.5000 --20.5000;-149.0000 --20.5000;-148.5000 --20.5000;-148.0000 --20.5000;-147.5000 --20.5000;-147.0000 --20.5000;-146.5000 --20.5000;-146.0000 --20.5000;-145.5000 --20.5000;-145.0000 --20.5000;-144.5000 --20.5000;-144.0000 --20.5000;-143.5000 --20.5000;-143.0000 --20.5000;-142.5000 --20.5000;-142.0000 --20.5000;-141.5000 --20.5000;-141.0000 --20.5000;-140.5000 --20.5000;-140.0000 --20.5000;-139.5000 --20.5000;-139.0000 --20.5000;-138.5000 --20.5000;-138.0000 --20.5000;-137.5000 --20.5000;-137.0000 --20.5000;-136.5000 --20.5000;-136.0000 --20.5000;-135.5000 --20.5000;-135.0000 --20.5000;-134.5000 --20.5000;-134.0000 --20.5000;-133.5000 --20.5000;-133.0000 --20.5000;-132.5000 --20.5000;-132.0000 --20.5000;-131.5000 --20.5000;-131.0000 --20.5000;-130.5000 --20.5000;-130.0000 --20.5000;-129.5000 --20.5000;-129.0000 --20.5000;-128.5000 --20.5000;-128.0000 --20.5000;-127.5000 --20.5000;-127.0000 --20.5000;-126.5000 --20.5000;-126.0000 --20.5000;-81.0000 --20.5000;-80.5000 --20.5000;-80.0000 --20.5000;-79.5000 --20.5000;-79.0000 --20.5000;-78.5000 --20.5000;-78.0000 --20.5000;-77.5000 --20.5000;-77.0000 --20.5000;-76.5000 --20.5000;-76.0000 --20.5000;-75.5000 --20.5000;-75.0000 --20.5000;-74.5000 --20.5000;-74.0000 --20.5000;-73.5000 --20.5000;-73.0000 --20.5000;-72.5000 --20.5000;-72.0000 --20.5000;-71.5000 --20.5000;-71.0000 --20.5000;-70.5000 --20.5000;-70.0000 --20.5000;-69.5000 --20.5000;-69.0000 --20.5000;-68.5000 --20.5000;-68.0000 --20.5000;-67.5000 --20.5000;-67.0000 --20.5000;-66.5000 --20.5000;-66.0000 --20.5000;-65.5000 --20.5000;-65.0000 --20.5000;-64.5000 --20.5000;-64.0000 --20.5000;-63.5000 --20.5000;-63.0000 --20.5000;-62.5000 --20.5000;-62.0000 --20.5000;-61.5000 --20.5000;-61.0000 --20.5000;-60.5000 --20.5000;-60.0000 --20.5000;-59.5000 --20.5000;-59.0000 --20.5000;-58.5000 --20.5000;-58.0000 --20.5000;-57.5000 --20.5000;-57.0000 --20.5000;-56.5000 --20.5000;-56.0000 --20.5000;-55.5000 --20.5000;-55.0000 --20.5000;-54.5000 --20.5000;-54.0000 --20.5000;-53.5000 --20.5000;-53.0000 --20.5000;-52.5000 --20.5000;-52.0000 --20.5000;-51.5000 --20.5000;-51.0000 --20.5000;-50.5000 --20.5000;-50.0000 --20.5000;-49.5000 --20.5000;-49.0000 --20.5000;-48.5000 --20.5000;-48.0000 --20.5000;-47.5000 --20.5000;-47.0000 --20.5000;-46.5000 --20.5000;-46.0000 --20.5000;-45.5000 --20.0000;-221.0000 --20.0000;-220.5000 --20.0000;-220.0000 --20.0000;-219.5000 --20.0000;-219.0000 --20.0000;-218.5000 --20.0000;-218.0000 --20.0000;-217.5000 --20.0000;-217.0000 --20.0000;-216.5000 --20.0000;-216.0000 --20.0000;-215.5000 --20.0000;-215.0000 --20.0000;-214.5000 --20.0000;-214.0000 --20.0000;-213.5000 --20.0000;-213.0000 --20.0000;-212.5000 --20.0000;-212.0000 --20.0000;-211.5000 --20.0000;-211.0000 --20.0000;-210.5000 --20.0000;-210.0000 --20.0000;-209.5000 --20.0000;-209.0000 --20.0000;-208.5000 --20.0000;-156.0000 --20.0000;-155.5000 --20.0000;-155.0000 --20.0000;-154.5000 --20.0000;-154.0000 --20.0000;-153.5000 --20.0000;-153.0000 --20.0000;-152.5000 --20.0000;-152.0000 --20.0000;-151.5000 --20.0000;-151.0000 --20.0000;-150.5000 --20.0000;-150.0000 --20.0000;-149.5000 --20.0000;-149.0000 --20.0000;-148.5000 --20.0000;-148.0000 --20.0000;-147.5000 --20.0000;-147.0000 --20.0000;-146.5000 --20.0000;-146.0000 --20.0000;-145.5000 --20.0000;-145.0000 --20.0000;-144.5000 --20.0000;-144.0000 --20.0000;-143.5000 --20.0000;-143.0000 --20.0000;-142.5000 --20.0000;-142.0000 --20.0000;-141.5000 --20.0000;-141.0000 --20.0000;-140.5000 --20.0000;-140.0000 --20.0000;-139.5000 --20.0000;-139.0000 --20.0000;-138.5000 --20.0000;-138.0000 --20.0000;-137.5000 --20.0000;-137.0000 --20.0000;-136.5000 --20.0000;-136.0000 --20.0000;-135.5000 --20.0000;-135.0000 --20.0000;-134.5000 --20.0000;-134.0000 --20.0000;-133.5000 --20.0000;-133.0000 --20.0000;-132.5000 --20.0000;-132.0000 --20.0000;-131.5000 --20.0000;-131.0000 --20.0000;-130.5000 --20.0000;-130.0000 --20.0000;-129.5000 --20.0000;-129.0000 --20.0000;-128.5000 --20.0000;-128.0000 --20.0000;-127.5000 --20.0000;-127.0000 --20.0000;-126.5000 --20.0000;-126.0000 --20.0000;-125.5000 --20.0000;-80.0000 --20.0000;-79.5000 --20.0000;-79.0000 --20.0000;-78.5000 --20.0000;-78.0000 --20.0000;-77.5000 --20.0000;-77.0000 --20.0000;-76.5000 --20.0000;-76.0000 --20.0000;-75.5000 --20.0000;-75.0000 --20.0000;-74.5000 --20.0000;-74.0000 --20.0000;-73.5000 --20.0000;-73.0000 --20.0000;-72.5000 --20.0000;-72.0000 --20.0000;-71.5000 --20.0000;-71.0000 --20.0000;-70.5000 --20.0000;-70.0000 --20.0000;-69.5000 --20.0000;-69.0000 --20.0000;-68.5000 --20.0000;-68.0000 --20.0000;-67.5000 --20.0000;-67.0000 --20.0000;-66.5000 --20.0000;-66.0000 --20.0000;-65.5000 --20.0000;-65.0000 --20.0000;-64.5000 --20.0000;-64.0000 --20.0000;-63.5000 --20.0000;-63.0000 --20.0000;-62.5000 --20.0000;-62.0000 --20.0000;-61.5000 --20.0000;-61.0000 --20.0000;-60.5000 --20.0000;-60.0000 --20.0000;-59.5000 --20.0000;-59.0000 --20.0000;-58.5000 --20.0000;-58.0000 --20.0000;-57.5000 --20.0000;-57.0000 --20.0000;-56.5000 --20.0000;-56.0000 --20.0000;-55.5000 --20.0000;-55.0000 --20.0000;-54.5000 --20.0000;-54.0000 --20.0000;-53.5000 --20.0000;-53.0000 --20.0000;-52.5000 --20.0000;-52.0000 --20.0000;-51.5000 --20.0000;-51.0000 --20.0000;-50.5000 --20.0000;-50.0000 --20.0000;-49.5000 --20.0000;-49.0000 --20.0000;-48.5000 --20.0000;-48.0000 --20.0000;-47.5000 --20.0000;-47.0000 --20.0000;-46.5000 --20.0000;-46.0000 --20.0000;-45.5000 --20.0000;-45.0000 --20.0000;-44.5000 --20.0000;-44.0000 --19.5000;-221.5000 --19.5000;-221.0000 --19.5000;-220.5000 --19.5000;-220.0000 --19.5000;-219.5000 --19.5000;-219.0000 --19.5000;-218.5000 --19.5000;-218.0000 --19.5000;-217.5000 --19.5000;-217.0000 --19.5000;-216.5000 --19.5000;-216.0000 --19.5000;-215.5000 --19.5000;-215.0000 --19.5000;-214.5000 --19.5000;-214.0000 --19.5000;-213.5000 --19.5000;-213.0000 --19.5000;-212.5000 --19.5000;-212.0000 --19.5000;-211.5000 --19.5000;-211.0000 --19.5000;-210.5000 --19.5000;-210.0000 --19.5000;-209.5000 --19.5000;-209.0000 --19.5000;-208.5000 --19.5000;-156.5000 --19.5000;-156.0000 --19.5000;-155.5000 --19.5000;-155.0000 --19.5000;-154.5000 --19.5000;-154.0000 --19.5000;-153.5000 --19.5000;-153.0000 --19.5000;-152.5000 --19.5000;-152.0000 --19.5000;-151.5000 --19.5000;-151.0000 --19.5000;-150.5000 --19.5000;-150.0000 --19.5000;-149.5000 --19.5000;-149.0000 --19.5000;-148.5000 --19.5000;-148.0000 --19.5000;-147.5000 --19.5000;-147.0000 --19.5000;-146.5000 --19.5000;-146.0000 --19.5000;-145.5000 --19.5000;-145.0000 --19.5000;-144.5000 --19.5000;-144.0000 --19.5000;-143.5000 --19.5000;-143.0000 --19.5000;-142.5000 --19.5000;-142.0000 --19.5000;-141.5000 --19.5000;-141.0000 --19.5000;-140.5000 --19.5000;-140.0000 --19.5000;-139.5000 --19.5000;-139.0000 --19.5000;-138.5000 --19.5000;-138.0000 --19.5000;-137.5000 --19.5000;-137.0000 --19.5000;-136.5000 --19.5000;-136.0000 --19.5000;-135.5000 --19.5000;-135.0000 --19.5000;-134.5000 --19.5000;-134.0000 --19.5000;-133.5000 --19.5000;-133.0000 --19.5000;-132.5000 --19.5000;-132.0000 --19.5000;-131.5000 --19.5000;-131.0000 --19.5000;-130.5000 --19.5000;-130.0000 --19.5000;-129.5000 --19.5000;-129.0000 --19.5000;-128.5000 --19.5000;-128.0000 --19.5000;-127.5000 --19.5000;-127.0000 --19.5000;-126.5000 --19.5000;-126.0000 --19.5000;-125.5000 --19.5000;-125.0000 --19.5000;-124.5000 --19.5000;-78.5000 --19.5000;-78.0000 --19.5000;-77.5000 --19.5000;-77.0000 --19.5000;-76.5000 --19.5000;-76.0000 --19.5000;-75.5000 --19.5000;-75.0000 --19.5000;-74.5000 --19.5000;-74.0000 --19.5000;-73.5000 --19.5000;-73.0000 --19.5000;-72.5000 --19.5000;-72.0000 --19.5000;-71.5000 --19.5000;-71.0000 --19.5000;-70.5000 --19.5000;-70.0000 --19.5000;-69.5000 --19.5000;-69.0000 --19.5000;-68.5000 --19.5000;-68.0000 --19.5000;-67.5000 --19.5000;-67.0000 --19.5000;-66.5000 --19.5000;-66.0000 --19.5000;-65.5000 --19.5000;-65.0000 --19.5000;-64.5000 --19.5000;-64.0000 --19.5000;-63.5000 --19.5000;-63.0000 --19.5000;-62.5000 --19.5000;-62.0000 --19.5000;-61.5000 --19.5000;-61.0000 --19.5000;-60.5000 --19.5000;-60.0000 --19.5000;-59.5000 --19.5000;-59.0000 --19.5000;-58.5000 --19.5000;-58.0000 --19.5000;-57.5000 --19.5000;-57.0000 --19.5000;-56.5000 --19.5000;-56.0000 --19.5000;-55.5000 --19.5000;-55.0000 --19.5000;-54.5000 --19.5000;-54.0000 --19.5000;-53.5000 --19.5000;-53.0000 --19.5000;-52.5000 --19.5000;-52.0000 --19.5000;-51.5000 --19.5000;-51.0000 --19.5000;-50.5000 --19.5000;-50.0000 --19.5000;-49.5000 --19.5000;-49.0000 --19.5000;-48.5000 --19.5000;-48.0000 --19.5000;-47.5000 --19.5000;-47.0000 --19.5000;-46.5000 --19.5000;-46.0000 --19.5000;-45.5000 --19.5000;-45.0000 --19.5000;-44.5000 --19.5000;-44.0000 --19.5000;-43.5000 --19.5000;-43.0000 --19.5000;-42.5000 --19.0000;-221.5000 --19.0000;-221.0000 --19.0000;-220.5000 --19.0000;-220.0000 --19.0000;-219.5000 --19.0000;-219.0000 --19.0000;-218.5000 --19.0000;-218.0000 --19.0000;-217.5000 --19.0000;-217.0000 --19.0000;-216.5000 --19.0000;-216.0000 --19.0000;-215.5000 --19.0000;-215.0000 --19.0000;-214.5000 --19.0000;-214.0000 --19.0000;-213.5000 --19.0000;-213.0000 --19.0000;-212.5000 --19.0000;-212.0000 --19.0000;-211.5000 --19.0000;-211.0000 --19.0000;-210.5000 --19.0000;-210.0000 --19.0000;-209.5000 --19.0000;-209.0000 --19.0000;-157.0000 --19.0000;-156.5000 --19.0000;-156.0000 --19.0000;-155.5000 --19.0000;-155.0000 --19.0000;-154.5000 --19.0000;-154.0000 --19.0000;-153.5000 --19.0000;-153.0000 --19.0000;-152.5000 --19.0000;-152.0000 --19.0000;-151.5000 --19.0000;-151.0000 --19.0000;-150.5000 --19.0000;-150.0000 --19.0000;-149.5000 --19.0000;-149.0000 --19.0000;-148.5000 --19.0000;-148.0000 --19.0000;-147.5000 --19.0000;-147.0000 --19.0000;-146.5000 --19.0000;-146.0000 --19.0000;-145.5000 --19.0000;-145.0000 --19.0000;-144.5000 --19.0000;-144.0000 --19.0000;-143.5000 --19.0000;-143.0000 --19.0000;-142.5000 --19.0000;-142.0000 --19.0000;-141.5000 --19.0000;-141.0000 --19.0000;-140.5000 --19.0000;-140.0000 --19.0000;-139.5000 --19.0000;-139.0000 --19.0000;-138.5000 --19.0000;-138.0000 --19.0000;-137.5000 --19.0000;-137.0000 --19.0000;-136.5000 --19.0000;-136.0000 --19.0000;-135.5000 --19.0000;-135.0000 --19.0000;-134.5000 --19.0000;-134.0000 --19.0000;-133.5000 --19.0000;-133.0000 --19.0000;-132.5000 --19.0000;-132.0000 --19.0000;-131.5000 --19.0000;-131.0000 --19.0000;-130.5000 --19.0000;-130.0000 --19.0000;-129.5000 --19.0000;-129.0000 --19.0000;-128.5000 --19.0000;-128.0000 --19.0000;-127.5000 --19.0000;-127.0000 --19.0000;-126.5000 --19.0000;-126.0000 --19.0000;-125.5000 --19.0000;-125.0000 --19.0000;-124.5000 --19.0000;-124.0000 --19.0000;-77.0000 --19.0000;-76.5000 --19.0000;-76.0000 --19.0000;-75.5000 --19.0000;-75.0000 --19.0000;-74.5000 --19.0000;-74.0000 --19.0000;-73.5000 --19.0000;-73.0000 --19.0000;-72.5000 --19.0000;-72.0000 --19.0000;-71.5000 --19.0000;-71.0000 --19.0000;-70.5000 --19.0000;-70.0000 --19.0000;-69.5000 --19.0000;-69.0000 --19.0000;-68.5000 --19.0000;-68.0000 --19.0000;-67.5000 --19.0000;-67.0000 --19.0000;-66.5000 --19.0000;-66.0000 --19.0000;-65.5000 --19.0000;-65.0000 --19.0000;-64.5000 --19.0000;-64.0000 --19.0000;-63.5000 --19.0000;-63.0000 --19.0000;-62.5000 --19.0000;-62.0000 --19.0000;-61.5000 --19.0000;-61.0000 --19.0000;-60.5000 --19.0000;-60.0000 --19.0000;-59.5000 --19.0000;-59.0000 --19.0000;-58.5000 --19.0000;-58.0000 --19.0000;-57.5000 --19.0000;-57.0000 --19.0000;-56.5000 --19.0000;-56.0000 --19.0000;-55.5000 --19.0000;-55.0000 --19.0000;-54.5000 --19.0000;-54.0000 --19.0000;-53.5000 --19.0000;-53.0000 --19.0000;-52.5000 --19.0000;-52.0000 --19.0000;-51.5000 --19.0000;-51.0000 --19.0000;-50.5000 --19.0000;-50.0000 --19.0000;-49.5000 --19.0000;-49.0000 --19.0000;-48.5000 --19.0000;-48.0000 --19.0000;-47.5000 --19.0000;-47.0000 --19.0000;-46.5000 --19.0000;-46.0000 --19.0000;-45.5000 --19.0000;-45.0000 --19.0000;-44.5000 --19.0000;-44.0000 --19.0000;-43.5000 --19.0000;-43.0000 --19.0000;-42.5000 --19.0000;-42.0000 --19.0000;-41.5000 --19.0000;-41.0000 --18.5000;-221.5000 --18.5000;-221.0000 --18.5000;-220.5000 --18.5000;-220.0000 --18.5000;-219.5000 --18.5000;-219.0000 --18.5000;-218.5000 --18.5000;-218.0000 --18.5000;-217.5000 --18.5000;-217.0000 --18.5000;-216.5000 --18.5000;-216.0000 --18.5000;-215.5000 --18.5000;-215.0000 --18.5000;-214.5000 --18.5000;-214.0000 --18.5000;-213.5000 --18.5000;-213.0000 --18.5000;-212.5000 --18.5000;-212.0000 --18.5000;-211.5000 --18.5000;-211.0000 --18.5000;-210.5000 --18.5000;-210.0000 --18.5000;-209.5000 --18.5000;-157.0000 --18.5000;-156.5000 --18.5000;-156.0000 --18.5000;-155.5000 --18.5000;-155.0000 --18.5000;-154.5000 --18.5000;-154.0000 --18.5000;-153.5000 --18.5000;-153.0000 --18.5000;-152.5000 --18.5000;-152.0000 --18.5000;-151.5000 --18.5000;-151.0000 --18.5000;-150.5000 --18.5000;-150.0000 --18.5000;-149.5000 --18.5000;-149.0000 --18.5000;-148.5000 --18.5000;-148.0000 --18.5000;-147.5000 --18.5000;-147.0000 --18.5000;-146.5000 --18.5000;-146.0000 --18.5000;-145.5000 --18.5000;-145.0000 --18.5000;-144.5000 --18.5000;-144.0000 --18.5000;-143.5000 --18.5000;-143.0000 --18.5000;-142.5000 --18.5000;-142.0000 --18.5000;-141.5000 --18.5000;-141.0000 --18.5000;-140.5000 --18.5000;-140.0000 --18.5000;-139.5000 --18.5000;-139.0000 --18.5000;-138.5000 --18.5000;-138.0000 --18.5000;-137.5000 --18.5000;-137.0000 --18.5000;-136.5000 --18.5000;-136.0000 --18.5000;-135.5000 --18.5000;-135.0000 --18.5000;-134.5000 --18.5000;-134.0000 --18.5000;-133.5000 --18.5000;-133.0000 --18.5000;-132.5000 --18.5000;-132.0000 --18.5000;-131.5000 --18.5000;-131.0000 --18.5000;-130.5000 --18.5000;-130.0000 --18.5000;-129.5000 --18.5000;-129.0000 --18.5000;-128.5000 --18.5000;-128.0000 --18.5000;-127.5000 --18.5000;-127.0000 --18.5000;-126.5000 --18.5000;-126.0000 --18.5000;-125.5000 --18.5000;-125.0000 --18.5000;-124.5000 --18.5000;-124.0000 --18.5000;-123.5000 --18.5000;-75.5000 --18.5000;-75.0000 --18.5000;-74.5000 --18.5000;-74.0000 --18.5000;-73.5000 --18.5000;-73.0000 --18.5000;-72.5000 --18.5000;-72.0000 --18.5000;-71.5000 --18.5000;-71.0000 --18.5000;-70.5000 --18.5000;-70.0000 --18.5000;-69.5000 --18.5000;-69.0000 --18.5000;-68.5000 --18.5000;-68.0000 --18.5000;-67.5000 --18.5000;-67.0000 --18.5000;-66.5000 --18.5000;-66.0000 --18.5000;-65.5000 --18.5000;-65.0000 --18.5000;-64.5000 --18.5000;-64.0000 --18.5000;-63.5000 --18.5000;-63.0000 --18.5000;-62.5000 --18.5000;-62.0000 --18.5000;-61.5000 --18.5000;-61.0000 --18.5000;-60.5000 --18.5000;-60.0000 --18.5000;-59.5000 --18.5000;-59.0000 --18.5000;-58.5000 --18.5000;-58.0000 --18.5000;-57.5000 --18.5000;-57.0000 --18.5000;-56.5000 --18.5000;-56.0000 --18.5000;-55.5000 --18.5000;-55.0000 --18.5000;-54.5000 --18.5000;-54.0000 --18.5000;-53.5000 --18.5000;-53.0000 --18.5000;-52.5000 --18.5000;-52.0000 --18.5000;-51.5000 --18.5000;-51.0000 --18.5000;-50.5000 --18.5000;-50.0000 --18.5000;-49.5000 --18.5000;-49.0000 --18.5000;-48.5000 --18.5000;-48.0000 --18.5000;-47.5000 --18.5000;-47.0000 --18.5000;-46.5000 --18.5000;-46.0000 --18.5000;-45.5000 --18.5000;-45.0000 --18.5000;-44.5000 --18.5000;-44.0000 --18.5000;-43.5000 --18.5000;-43.0000 --18.5000;-42.5000 --18.5000;-42.0000 --18.5000;-41.5000 --18.5000;-41.0000 --18.5000;-40.5000 --18.5000;-40.0000 --18.0000;-221.5000 --18.0000;-221.0000 --18.0000;-220.5000 --18.0000;-220.0000 --18.0000;-219.5000 --18.0000;-219.0000 --18.0000;-218.5000 --18.0000;-218.0000 --18.0000;-217.5000 --18.0000;-217.0000 --18.0000;-216.5000 --18.0000;-216.0000 --18.0000;-215.5000 --18.0000;-215.0000 --18.0000;-214.5000 --18.0000;-214.0000 --18.0000;-213.5000 --18.0000;-213.0000 --18.0000;-212.5000 --18.0000;-212.0000 --18.0000;-211.5000 --18.0000;-211.0000 --18.0000;-210.5000 --18.0000;-210.0000 --18.0000;-209.5000 --18.0000;-157.5000 --18.0000;-157.0000 --18.0000;-156.5000 --18.0000;-156.0000 --18.0000;-155.5000 --18.0000;-155.0000 --18.0000;-154.5000 --18.0000;-154.0000 --18.0000;-153.5000 --18.0000;-153.0000 --18.0000;-152.5000 --18.0000;-152.0000 --18.0000;-151.5000 --18.0000;-151.0000 --18.0000;-150.5000 --18.0000;-150.0000 --18.0000;-149.5000 --18.0000;-149.0000 --18.0000;-148.5000 --18.0000;-148.0000 --18.0000;-147.5000 --18.0000;-147.0000 --18.0000;-146.5000 --18.0000;-146.0000 --18.0000;-145.5000 --18.0000;-145.0000 --18.0000;-144.5000 --18.0000;-144.0000 --18.0000;-143.5000 --18.0000;-143.0000 --18.0000;-142.5000 --18.0000;-142.0000 --18.0000;-141.5000 --18.0000;-141.0000 --18.0000;-140.5000 --18.0000;-140.0000 --18.0000;-139.5000 --18.0000;-139.0000 --18.0000;-138.5000 --18.0000;-138.0000 --18.0000;-137.5000 --18.0000;-137.0000 --18.0000;-136.5000 --18.0000;-136.0000 --18.0000;-135.5000 --18.0000;-135.0000 --18.0000;-134.5000 --18.0000;-134.0000 --18.0000;-133.5000 --18.0000;-133.0000 --18.0000;-132.5000 --18.0000;-132.0000 --18.0000;-131.5000 --18.0000;-131.0000 --18.0000;-130.5000 --18.0000;-130.0000 --18.0000;-129.5000 --18.0000;-129.0000 --18.0000;-128.5000 --18.0000;-128.0000 --18.0000;-127.5000 --18.0000;-127.0000 --18.0000;-126.5000 --18.0000;-126.0000 --18.0000;-125.5000 --18.0000;-125.0000 --18.0000;-124.5000 --18.0000;-124.0000 --18.0000;-123.5000 --18.0000;-123.0000 --18.0000;-74.5000 --18.0000;-74.0000 --18.0000;-73.5000 --18.0000;-73.0000 --18.0000;-72.5000 --18.0000;-72.0000 --18.0000;-71.5000 --18.0000;-71.0000 --18.0000;-70.5000 --18.0000;-70.0000 --18.0000;-69.5000 --18.0000;-69.0000 --18.0000;-68.5000 --18.0000;-68.0000 --18.0000;-67.5000 --18.0000;-67.0000 --18.0000;-66.5000 --18.0000;-66.0000 --18.0000;-65.5000 --18.0000;-65.0000 --18.0000;-64.5000 --18.0000;-64.0000 --18.0000;-63.5000 --18.0000;-63.0000 --18.0000;-62.5000 --18.0000;-62.0000 --18.0000;-61.5000 --18.0000;-61.0000 --18.0000;-60.5000 --18.0000;-60.0000 --18.0000;-59.5000 --18.0000;-59.0000 --18.0000;-58.5000 --18.0000;-58.0000 --18.0000;-57.5000 --18.0000;-57.0000 --18.0000;-56.5000 --18.0000;-56.0000 --18.0000;-55.5000 --18.0000;-55.0000 --18.0000;-54.5000 --18.0000;-54.0000 --18.0000;-53.5000 --18.0000;-53.0000 --18.0000;-52.5000 --18.0000;-52.0000 --18.0000;-51.5000 --18.0000;-51.0000 --18.0000;-50.5000 --18.0000;-50.0000 --18.0000;-49.5000 --18.0000;-49.0000 --18.0000;-48.5000 --18.0000;-48.0000 --18.0000;-47.5000 --18.0000;-47.0000 --18.0000;-46.5000 --18.0000;-46.0000 --18.0000;-45.5000 --18.0000;-45.0000 --18.0000;-44.5000 --18.0000;-44.0000 --18.0000;-43.5000 --18.0000;-43.0000 --18.0000;-42.5000 --18.0000;-42.0000 --18.0000;-41.5000 --18.0000;-41.0000 --18.0000;-40.5000 --18.0000;-40.0000 --18.0000;-39.5000 --18.0000;-39.0000 --18.0000;-38.5000 --17.5000;-222.0000 --17.5000;-221.5000 --17.5000;-221.0000 --17.5000;-220.5000 --17.5000;-220.0000 --17.5000;-219.5000 --17.5000;-219.0000 --17.5000;-218.5000 --17.5000;-218.0000 --17.5000;-217.5000 --17.5000;-217.0000 --17.5000;-216.5000 --17.5000;-216.0000 --17.5000;-215.5000 --17.5000;-215.0000 --17.5000;-214.5000 --17.5000;-214.0000 --17.5000;-213.5000 --17.5000;-213.0000 --17.5000;-212.5000 --17.5000;-212.0000 --17.5000;-211.5000 --17.5000;-211.0000 --17.5000;-210.5000 --17.5000;-210.0000 --17.5000;-158.0000 --17.5000;-157.5000 --17.5000;-157.0000 --17.5000;-156.5000 --17.5000;-156.0000 --17.5000;-155.5000 --17.5000;-155.0000 --17.5000;-154.5000 --17.5000;-154.0000 --17.5000;-153.5000 --17.5000;-153.0000 --17.5000;-152.5000 --17.5000;-152.0000 --17.5000;-151.5000 --17.5000;-151.0000 --17.5000;-150.5000 --17.5000;-150.0000 --17.5000;-149.5000 --17.5000;-149.0000 --17.5000;-148.5000 --17.5000;-148.0000 --17.5000;-147.5000 --17.5000;-147.0000 --17.5000;-146.5000 --17.5000;-146.0000 --17.5000;-145.5000 --17.5000;-145.0000 --17.5000;-144.5000 --17.5000;-144.0000 --17.5000;-143.5000 --17.5000;-143.0000 --17.5000;-142.5000 --17.5000;-142.0000 --17.5000;-141.5000 --17.5000;-141.0000 --17.5000;-140.5000 --17.5000;-140.0000 --17.5000;-139.5000 --17.5000;-139.0000 --17.5000;-138.5000 --17.5000;-138.0000 --17.5000;-137.5000 --17.5000;-137.0000 --17.5000;-136.5000 --17.5000;-136.0000 --17.5000;-135.5000 --17.5000;-135.0000 --17.5000;-134.5000 --17.5000;-134.0000 --17.5000;-133.5000 --17.5000;-133.0000 --17.5000;-132.5000 --17.5000;-132.0000 --17.5000;-131.5000 --17.5000;-131.0000 --17.5000;-130.5000 --17.5000;-130.0000 --17.5000;-129.5000 --17.5000;-129.0000 --17.5000;-128.5000 --17.5000;-128.0000 --17.5000;-127.5000 --17.5000;-127.0000 --17.5000;-126.5000 --17.5000;-126.0000 --17.5000;-125.5000 --17.5000;-125.0000 --17.5000;-124.5000 --17.5000;-124.0000 --17.5000;-123.5000 --17.5000;-123.0000 --17.5000;-73.0000 --17.5000;-72.5000 --17.5000;-72.0000 --17.5000;-71.5000 --17.5000;-71.0000 --17.5000;-70.5000 --17.5000;-70.0000 --17.5000;-69.5000 --17.5000;-69.0000 --17.5000;-68.5000 --17.5000;-68.0000 --17.5000;-67.5000 --17.5000;-67.0000 --17.5000;-66.5000 --17.5000;-66.0000 --17.5000;-65.5000 --17.5000;-65.0000 --17.5000;-64.5000 --17.5000;-64.0000 --17.5000;-63.5000 --17.5000;-63.0000 --17.5000;-62.5000 --17.5000;-62.0000 --17.5000;-61.5000 --17.5000;-61.0000 --17.5000;-60.5000 --17.5000;-60.0000 --17.5000;-59.5000 --17.5000;-59.0000 --17.5000;-58.5000 --17.5000;-58.0000 --17.5000;-57.5000 --17.5000;-57.0000 --17.5000;-56.5000 --17.5000;-56.0000 --17.5000;-55.5000 --17.5000;-55.0000 --17.5000;-54.5000 --17.5000;-54.0000 --17.5000;-53.5000 --17.5000;-53.0000 --17.5000;-52.5000 --17.5000;-52.0000 --17.5000;-51.5000 --17.5000;-51.0000 --17.5000;-50.5000 --17.5000;-50.0000 --17.5000;-49.5000 --17.5000;-49.0000 --17.5000;-48.5000 --17.5000;-48.0000 --17.5000;-47.5000 --17.5000;-47.0000 --17.5000;-46.5000 --17.5000;-46.0000 --17.5000;-45.5000 --17.5000;-45.0000 --17.5000;-44.5000 --17.5000;-44.0000 --17.5000;-43.5000 --17.5000;-43.0000 --17.5000;-42.5000 --17.5000;-42.0000 --17.5000;-41.5000 --17.5000;-41.0000 --17.5000;-40.5000 --17.5000;-40.0000 --17.5000;-39.5000 --17.5000;-39.0000 --17.5000;-38.5000 --17.5000;-38.0000 --17.5000;-37.5000 --17.0000;-222.0000 --17.0000;-221.5000 --17.0000;-221.0000 --17.0000;-220.5000 --17.0000;-220.0000 --17.0000;-219.5000 --17.0000;-219.0000 --17.0000;-218.5000 --17.0000;-218.0000 --17.0000;-217.5000 --17.0000;-217.0000 --17.0000;-216.5000 --17.0000;-216.0000 --17.0000;-215.5000 --17.0000;-215.0000 --17.0000;-214.5000 --17.0000;-214.0000 --17.0000;-213.5000 --17.0000;-213.0000 --17.0000;-212.5000 --17.0000;-212.0000 --17.0000;-211.5000 --17.0000;-211.0000 --17.0000;-210.5000 --17.0000;-210.0000 --17.0000;-158.5000 --17.0000;-158.0000 --17.0000;-157.5000 --17.0000;-157.0000 --17.0000;-156.5000 --17.0000;-156.0000 --17.0000;-155.5000 --17.0000;-155.0000 --17.0000;-154.5000 --17.0000;-154.0000 --17.0000;-153.5000 --17.0000;-153.0000 --17.0000;-152.5000 --17.0000;-152.0000 --17.0000;-151.5000 --17.0000;-151.0000 --17.0000;-150.5000 --17.0000;-150.0000 --17.0000;-149.5000 --17.0000;-149.0000 --17.0000;-148.5000 --17.0000;-148.0000 --17.0000;-147.5000 --17.0000;-147.0000 --17.0000;-146.5000 --17.0000;-146.0000 --17.0000;-145.5000 --17.0000;-145.0000 --17.0000;-144.5000 --17.0000;-144.0000 --17.0000;-143.5000 --17.0000;-143.0000 --17.0000;-142.5000 --17.0000;-142.0000 --17.0000;-141.5000 --17.0000;-141.0000 --17.0000;-140.5000 --17.0000;-140.0000 --17.0000;-139.5000 --17.0000;-139.0000 --17.0000;-138.5000 --17.0000;-138.0000 --17.0000;-137.5000 --17.0000;-137.0000 --17.0000;-136.5000 --17.0000;-136.0000 --17.0000;-135.5000 --17.0000;-135.0000 --17.0000;-134.5000 --17.0000;-134.0000 --17.0000;-133.5000 --17.0000;-133.0000 --17.0000;-132.5000 --17.0000;-132.0000 --17.0000;-131.5000 --17.0000;-131.0000 --17.0000;-130.5000 --17.0000;-130.0000 --17.0000;-129.5000 --17.0000;-129.0000 --17.0000;-128.5000 --17.0000;-128.0000 --17.0000;-127.5000 --17.0000;-127.0000 --17.0000;-126.5000 --17.0000;-126.0000 --17.0000;-125.5000 --17.0000;-125.0000 --17.0000;-124.5000 --17.0000;-124.0000 --17.0000;-123.5000 --17.0000;-123.0000 --17.0000;-122.5000 --17.0000;-71.5000 --17.0000;-71.0000 --17.0000;-70.5000 --17.0000;-70.0000 --17.0000;-69.5000 --17.0000;-69.0000 --17.0000;-68.5000 --17.0000;-68.0000 --17.0000;-67.5000 --17.0000;-67.0000 --17.0000;-66.5000 --17.0000;-66.0000 --17.0000;-65.5000 --17.0000;-65.0000 --17.0000;-64.5000 --17.0000;-64.0000 --17.0000;-63.5000 --17.0000;-63.0000 --17.0000;-62.5000 --17.0000;-62.0000 --17.0000;-61.5000 --17.0000;-61.0000 --17.0000;-60.5000 --17.0000;-60.0000 --17.0000;-59.5000 --17.0000;-59.0000 --17.0000;-58.5000 --17.0000;-58.0000 --17.0000;-57.5000 --17.0000;-57.0000 --17.0000;-56.5000 --17.0000;-56.0000 --17.0000;-55.5000 --17.0000;-55.0000 --17.0000;-54.5000 --17.0000;-54.0000 --17.0000;-53.5000 --17.0000;-53.0000 --17.0000;-52.5000 --17.0000;-52.0000 --17.0000;-51.5000 --17.0000;-51.0000 --17.0000;-50.5000 --17.0000;-50.0000 --17.0000;-49.5000 --17.0000;-49.0000 --17.0000;-48.5000 --17.0000;-48.0000 --17.0000;-47.5000 --17.0000;-47.0000 --17.0000;-46.5000 --17.0000;-46.0000 --17.0000;-45.5000 --17.0000;-45.0000 --17.0000;-44.5000 --17.0000;-44.0000 --17.0000;-43.5000 --17.0000;-43.0000 --17.0000;-42.5000 --17.0000;-42.0000 --17.0000;-41.5000 --17.0000;-41.0000 --17.0000;-40.5000 --17.0000;-40.0000 --17.0000;-39.5000 --17.0000;-39.0000 --17.0000;-38.5000 --17.0000;-38.0000 --17.0000;-37.5000 --17.0000;-37.0000 --17.0000;-36.5000 --17.0000;-36.0000 --16.5000;-222.0000 --16.5000;-221.5000 --16.5000;-221.0000 --16.5000;-220.5000 --16.5000;-220.0000 --16.5000;-219.5000 --16.5000;-219.0000 --16.5000;-218.5000 --16.5000;-218.0000 --16.5000;-217.5000 --16.5000;-217.0000 --16.5000;-216.5000 --16.5000;-216.0000 --16.5000;-215.5000 --16.5000;-215.0000 --16.5000;-214.5000 --16.5000;-214.0000 --16.5000;-213.5000 --16.5000;-213.0000 --16.5000;-212.5000 --16.5000;-212.0000 --16.5000;-211.5000 --16.5000;-211.0000 --16.5000;-210.5000 --16.5000;-158.5000 --16.5000;-158.0000 --16.5000;-157.5000 --16.5000;-157.0000 --16.5000;-156.5000 --16.5000;-156.0000 --16.5000;-155.5000 --16.5000;-155.0000 --16.5000;-154.5000 --16.5000;-154.0000 --16.5000;-153.5000 --16.5000;-153.0000 --16.5000;-152.5000 --16.5000;-152.0000 --16.5000;-151.5000 --16.5000;-151.0000 --16.5000;-150.5000 --16.5000;-150.0000 --16.5000;-149.5000 --16.5000;-149.0000 --16.5000;-148.5000 --16.5000;-148.0000 --16.5000;-147.5000 --16.5000;-147.0000 --16.5000;-146.5000 --16.5000;-146.0000 --16.5000;-145.5000 --16.5000;-145.0000 --16.5000;-144.5000 --16.5000;-144.0000 --16.5000;-143.5000 --16.5000;-143.0000 --16.5000;-142.5000 --16.5000;-142.0000 --16.5000;-141.5000 --16.5000;-141.0000 --16.5000;-140.5000 --16.5000;-140.0000 --16.5000;-139.5000 --16.5000;-139.0000 --16.5000;-138.5000 --16.5000;-138.0000 --16.5000;-137.5000 --16.5000;-137.0000 --16.5000;-136.5000 --16.5000;-136.0000 --16.5000;-135.5000 --16.5000;-135.0000 --16.5000;-134.5000 --16.5000;-134.0000 --16.5000;-133.5000 --16.5000;-133.0000 --16.5000;-132.5000 --16.5000;-132.0000 --16.5000;-131.5000 --16.5000;-131.0000 --16.5000;-130.5000 --16.5000;-130.0000 --16.5000;-129.5000 --16.5000;-129.0000 --16.5000;-128.5000 --16.5000;-128.0000 --16.5000;-127.5000 --16.5000;-127.0000 --16.5000;-126.5000 --16.5000;-126.0000 --16.5000;-125.5000 --16.5000;-125.0000 --16.5000;-124.5000 --16.5000;-124.0000 --16.5000;-123.5000 --16.5000;-123.0000 --16.5000;-122.5000 --16.5000;-122.0000 --16.5000;-70.5000 --16.5000;-70.0000 --16.5000;-69.5000 --16.5000;-69.0000 --16.5000;-68.5000 --16.5000;-68.0000 --16.5000;-67.5000 --16.5000;-67.0000 --16.5000;-66.5000 --16.5000;-66.0000 --16.5000;-65.5000 --16.5000;-65.0000 --16.5000;-64.5000 --16.5000;-64.0000 --16.5000;-63.5000 --16.5000;-63.0000 --16.5000;-62.5000 --16.5000;-62.0000 --16.5000;-61.5000 --16.5000;-61.0000 --16.5000;-60.5000 --16.5000;-60.0000 --16.5000;-59.5000 --16.5000;-59.0000 --16.5000;-58.5000 --16.5000;-58.0000 --16.5000;-57.5000 --16.5000;-57.0000 --16.5000;-56.5000 --16.5000;-56.0000 --16.5000;-55.5000 --16.5000;-55.0000 --16.5000;-54.5000 --16.5000;-54.0000 --16.5000;-53.5000 --16.5000;-53.0000 --16.5000;-52.5000 --16.5000;-52.0000 --16.5000;-51.5000 --16.5000;-51.0000 --16.5000;-50.5000 --16.5000;-50.0000 --16.5000;-49.5000 --16.5000;-49.0000 --16.5000;-48.5000 --16.5000;-48.0000 --16.5000;-47.5000 --16.5000;-47.0000 --16.5000;-46.5000 --16.5000;-46.0000 --16.5000;-45.5000 --16.5000;-45.0000 --16.5000;-44.5000 --16.5000;-44.0000 --16.5000;-43.5000 --16.5000;-43.0000 --16.5000;-42.5000 --16.5000;-42.0000 --16.5000;-41.5000 --16.5000;-41.0000 --16.5000;-40.5000 --16.5000;-40.0000 --16.5000;-39.5000 --16.5000;-39.0000 --16.5000;-38.5000 --16.5000;-38.0000 --16.5000;-37.5000 --16.5000;-37.0000 --16.5000;-36.5000 --16.5000;-36.0000 --16.5000;-35.5000 --16.5000;-35.0000 --16.5000;-34.5000 --16.0000;-222.0000 --16.0000;-221.5000 --16.0000;-221.0000 --16.0000;-220.5000 --16.0000;-220.0000 --16.0000;-219.5000 --16.0000;-219.0000 --16.0000;-218.5000 --16.0000;-218.0000 --16.0000;-217.5000 --16.0000;-217.0000 --16.0000;-216.5000 --16.0000;-216.0000 --16.0000;-215.5000 --16.0000;-215.0000 --16.0000;-214.5000 --16.0000;-214.0000 --16.0000;-213.5000 --16.0000;-213.0000 --16.0000;-212.5000 --16.0000;-212.0000 --16.0000;-211.5000 --16.0000;-211.0000 --16.0000;-210.5000 --16.0000;-159.0000 --16.0000;-158.5000 --16.0000;-158.0000 --16.0000;-157.5000 --16.0000;-157.0000 --16.0000;-156.5000 --16.0000;-156.0000 --16.0000;-155.5000 --16.0000;-155.0000 --16.0000;-154.5000 --16.0000;-154.0000 --16.0000;-153.5000 --16.0000;-153.0000 --16.0000;-152.5000 --16.0000;-152.0000 --16.0000;-151.5000 --16.0000;-151.0000 --16.0000;-150.5000 --16.0000;-150.0000 --16.0000;-149.5000 --16.0000;-149.0000 --16.0000;-148.5000 --16.0000;-148.0000 --16.0000;-147.5000 --16.0000;-147.0000 --16.0000;-146.5000 --16.0000;-146.0000 --16.0000;-145.5000 --16.0000;-145.0000 --16.0000;-142.0000 --16.0000;-141.5000 --16.0000;-141.0000 --16.0000;-140.5000 --16.0000;-140.0000 --16.0000;-139.5000 --16.0000;-139.0000 --16.0000;-138.5000 --16.0000;-138.0000 --16.0000;-137.5000 --16.0000;-137.0000 --16.0000;-136.5000 --16.0000;-136.0000 --16.0000;-135.5000 --16.0000;-135.0000 --16.0000;-134.5000 --16.0000;-134.0000 --16.0000;-133.5000 --16.0000;-133.0000 --16.0000;-132.5000 --16.0000;-132.0000 --16.0000;-131.5000 --16.0000;-131.0000 --16.0000;-130.5000 --16.0000;-130.0000 --16.0000;-129.5000 --16.0000;-129.0000 --16.0000;-128.5000 --16.0000;-128.0000 --16.0000;-127.5000 --16.0000;-127.0000 --16.0000;-126.5000 --16.0000;-126.0000 --16.0000;-125.5000 --16.0000;-125.0000 --16.0000;-124.5000 --16.0000;-124.0000 --16.0000;-123.5000 --16.0000;-123.0000 --16.0000;-122.5000 --16.0000;-122.0000 --16.0000;-69.0000 --16.0000;-68.5000 --16.0000;-68.0000 --16.0000;-67.5000 --16.0000;-67.0000 --16.0000;-66.5000 --16.0000;-66.0000 --16.0000;-65.5000 --16.0000;-65.0000 --16.0000;-64.5000 --16.0000;-64.0000 --16.0000;-63.5000 --16.0000;-63.0000 --16.0000;-62.5000 --16.0000;-62.0000 --16.0000;-61.5000 --16.0000;-61.0000 --16.0000;-60.5000 --16.0000;-60.0000 --16.0000;-59.5000 --16.0000;-59.0000 --16.0000;-58.5000 --16.0000;-58.0000 --16.0000;-57.5000 --16.0000;-57.0000 --16.0000;-56.5000 --16.0000;-56.0000 --16.0000;-55.5000 --16.0000;-55.0000 --16.0000;-54.5000 --16.0000;-54.0000 --16.0000;-53.5000 --16.0000;-53.0000 --16.0000;-52.5000 --16.0000;-52.0000 --16.0000;-51.5000 --16.0000;-51.0000 --16.0000;-50.5000 --16.0000;-50.0000 --16.0000;-49.5000 --16.0000;-49.0000 --16.0000;-48.5000 --16.0000;-48.0000 --16.0000;-47.5000 --16.0000;-47.0000 --16.0000;-46.5000 --16.0000;-46.0000 --16.0000;-45.5000 --16.0000;-45.0000 --16.0000;-44.5000 --16.0000;-44.0000 --16.0000;-43.5000 --16.0000;-43.0000 --16.0000;-42.5000 --16.0000;-42.0000 --16.0000;-41.5000 --16.0000;-41.0000 --16.0000;-40.5000 --16.0000;-40.0000 --16.0000;-39.5000 --16.0000;-39.0000 --16.0000;-38.5000 --16.0000;-38.0000 --16.0000;-37.5000 --16.0000;-37.0000 --16.0000;-36.5000 --16.0000;-36.0000 --16.0000;-35.5000 --16.0000;-35.0000 --16.0000;-34.5000 --16.0000;-34.0000 --16.0000;-33.5000 --15.5000;-222.5000 --15.5000;-222.0000 --15.5000;-221.5000 --15.5000;-221.0000 --15.5000;-220.5000 --15.5000;-220.0000 --15.5000;-219.5000 --15.5000;-219.0000 --15.5000;-218.5000 --15.5000;-218.0000 --15.5000;-217.5000 --15.5000;-217.0000 --15.5000;-216.5000 --15.5000;-216.0000 --15.5000;-215.5000 --15.5000;-215.0000 --15.5000;-214.5000 --15.5000;-214.0000 --15.5000;-213.5000 --15.5000;-213.0000 --15.5000;-212.5000 --15.5000;-212.0000 --15.5000;-211.5000 --15.5000;-211.0000 --15.5000;-210.5000 --15.5000;-159.5000 --15.5000;-159.0000 --15.5000;-158.5000 --15.5000;-158.0000 --15.5000;-157.5000 --15.5000;-157.0000 --15.5000;-156.5000 --15.5000;-156.0000 --15.5000;-155.5000 --15.5000;-155.0000 --15.5000;-154.5000 --15.5000;-154.0000 --15.5000;-153.5000 --15.5000;-153.0000 --15.5000;-152.5000 --15.5000;-152.0000 --15.5000;-151.5000 --15.5000;-151.0000 --15.5000;-150.5000 --15.5000;-150.0000 --15.5000;-149.5000 --15.5000;-149.0000 --15.5000;-148.5000 --15.5000;-148.0000 --15.5000;-147.5000 --15.5000;-136.5000 --15.5000;-136.0000 --15.5000;-135.5000 --15.5000;-135.0000 --15.5000;-134.5000 --15.5000;-134.0000 --15.5000;-133.5000 --15.5000;-133.0000 --15.5000;-132.5000 --15.5000;-132.0000 --15.5000;-131.5000 --15.5000;-131.0000 --15.5000;-130.5000 --15.5000;-130.0000 --15.5000;-129.5000 --15.5000;-129.0000 --15.5000;-128.5000 --15.5000;-128.0000 --15.5000;-127.5000 --15.5000;-127.0000 --15.5000;-126.5000 --15.5000;-126.0000 --15.5000;-125.5000 --15.5000;-125.0000 --15.5000;-124.5000 --15.5000;-124.0000 --15.5000;-123.5000 --15.5000;-123.0000 --15.5000;-122.5000 --15.5000;-122.0000 --15.5000;-121.5000 --15.5000;-68.0000 --15.5000;-67.5000 --15.5000;-67.0000 --15.5000;-66.5000 --15.5000;-66.0000 --15.5000;-65.5000 --15.5000;-65.0000 --15.5000;-64.5000 --15.5000;-64.0000 --15.5000;-63.5000 --15.5000;-63.0000 --15.5000;-62.5000 --15.5000;-62.0000 --15.5000;-61.5000 --15.5000;-61.0000 --15.5000;-60.5000 --15.5000;-60.0000 --15.5000;-59.5000 --15.5000;-59.0000 --15.5000;-58.5000 --15.5000;-58.0000 --15.5000;-57.5000 --15.5000;-57.0000 --15.5000;-56.5000 --15.5000;-56.0000 --15.5000;-55.5000 --15.5000;-55.0000 --15.5000;-54.5000 --15.5000;-54.0000 --15.5000;-53.5000 --15.5000;-53.0000 --15.5000;-52.5000 --15.5000;-52.0000 --15.5000;-51.5000 --15.5000;-51.0000 --15.5000;-50.5000 --15.5000;-50.0000 --15.5000;-49.5000 --15.5000;-49.0000 --15.5000;-48.5000 --15.5000;-48.0000 --15.5000;-47.5000 --15.5000;-47.0000 --15.5000;-46.5000 --15.5000;-46.0000 --15.5000;-45.5000 --15.5000;-45.0000 --15.5000;-44.5000 --15.5000;-44.0000 --15.5000;-43.5000 --15.5000;-43.0000 --15.5000;-42.5000 --15.5000;-42.0000 --15.5000;-41.5000 --15.5000;-41.0000 --15.5000;-40.5000 --15.5000;-40.0000 --15.5000;-39.5000 --15.5000;-39.0000 --15.5000;-38.5000 --15.5000;-38.0000 --15.5000;-37.5000 --15.5000;-37.0000 --15.5000;-36.5000 --15.5000;-36.0000 --15.5000;-35.5000 --15.5000;-35.0000 --15.5000;-34.5000 --15.5000;-34.0000 --15.5000;-33.5000 --15.5000;-33.0000 --15.5000;-32.5000 --15.5000;-32.0000 --15.0000;-222.5000 --15.0000;-222.0000 --15.0000;-221.5000 --15.0000;-221.0000 --15.0000;-220.5000 --15.0000;-220.0000 --15.0000;-219.5000 --15.0000;-219.0000 --15.0000;-218.5000 --15.0000;-218.0000 --15.0000;-217.5000 --15.0000;-217.0000 --15.0000;-216.5000 --15.0000;-216.0000 --15.0000;-215.5000 --15.0000;-215.0000 --15.0000;-214.5000 --15.0000;-214.0000 --15.0000;-213.5000 --15.0000;-213.0000 --15.0000;-212.5000 --15.0000;-212.0000 --15.0000;-211.5000 --15.0000;-211.0000 --15.0000;-159.5000 --15.0000;-159.0000 --15.0000;-158.5000 --15.0000;-158.0000 --15.0000;-157.5000 --15.0000;-157.0000 --15.0000;-156.5000 --15.0000;-156.0000 --15.0000;-155.5000 --15.0000;-155.0000 --15.0000;-154.5000 --15.0000;-154.0000 --15.0000;-153.5000 --15.0000;-153.0000 --15.0000;-152.5000 --15.0000;-152.0000 --15.0000;-151.5000 --15.0000;-151.0000 --15.0000;-150.5000 --15.0000;-150.0000 --15.0000;-149.5000 --15.0000;-149.0000 --15.0000;-134.0000 --15.0000;-133.5000 --15.0000;-133.0000 --15.0000;-132.5000 --15.0000;-132.0000 --15.0000;-131.5000 --15.0000;-131.0000 --15.0000;-130.5000 --15.0000;-130.0000 --15.0000;-129.5000 --15.0000;-129.0000 --15.0000;-128.5000 --15.0000;-128.0000 --15.0000;-127.5000 --15.0000;-127.0000 --15.0000;-126.5000 --15.0000;-126.0000 --15.0000;-125.5000 --15.0000;-125.0000 --15.0000;-124.5000 --15.0000;-124.0000 --15.0000;-123.5000 --15.0000;-123.0000 --15.0000;-122.5000 --15.0000;-122.0000 --15.0000;-121.5000 --15.0000;-66.5000 --15.0000;-66.0000 --15.0000;-65.5000 --15.0000;-65.0000 --15.0000;-64.5000 --15.0000;-64.0000 --15.0000;-63.5000 --15.0000;-63.0000 --15.0000;-62.5000 --15.0000;-62.0000 --15.0000;-61.5000 --15.0000;-61.0000 --15.0000;-60.5000 --15.0000;-60.0000 --15.0000;-59.5000 --15.0000;-59.0000 --15.0000;-58.5000 --15.0000;-58.0000 --15.0000;-57.5000 --15.0000;-57.0000 --15.0000;-56.5000 --15.0000;-56.0000 --15.0000;-55.5000 --15.0000;-55.0000 --15.0000;-54.5000 --15.0000;-54.0000 --15.0000;-53.5000 --15.0000;-53.0000 --15.0000;-52.5000 --15.0000;-52.0000 --15.0000;-51.5000 --15.0000;-51.0000 --15.0000;-50.5000 --15.0000;-50.0000 --15.0000;-49.5000 --15.0000;-49.0000 --15.0000;-48.5000 --15.0000;-48.0000 --15.0000;-47.5000 --15.0000;-47.0000 --15.0000;-46.5000 --15.0000;-46.0000 --15.0000;-45.5000 --15.0000;-45.0000 --15.0000;-44.5000 --15.0000;-44.0000 --15.0000;-43.5000 --15.0000;-43.0000 --15.0000;-42.5000 --15.0000;-42.0000 --15.0000;-41.5000 --15.0000;-41.0000 --15.0000;-40.5000 --15.0000;-40.0000 --15.0000;-39.5000 --15.0000;-39.0000 --15.0000;-38.5000 --15.0000;-38.0000 --15.0000;-37.5000 --15.0000;-37.0000 --15.0000;-36.5000 --15.0000;-36.0000 --15.0000;-35.5000 --15.0000;-35.0000 --15.0000;-34.5000 --15.0000;-34.0000 --15.0000;-33.5000 --15.0000;-33.0000 --15.0000;-32.5000 --15.0000;-32.0000 --15.0000;-31.5000 --15.0000;-31.0000 --14.5000;-222.5000 --14.5000;-222.0000 --14.5000;-221.5000 --14.5000;-221.0000 --14.5000;-220.5000 --14.5000;-220.0000 --14.5000;-219.5000 --14.5000;-219.0000 --14.5000;-218.5000 --14.5000;-218.0000 --14.5000;-217.5000 --14.5000;-217.0000 --14.5000;-216.5000 --14.5000;-216.0000 --14.5000;-215.5000 --14.5000;-215.0000 --14.5000;-214.5000 --14.5000;-214.0000 --14.5000;-213.5000 --14.5000;-213.0000 --14.5000;-212.5000 --14.5000;-212.0000 --14.5000;-211.5000 --14.5000;-211.0000 --14.5000;-160.0000 --14.5000;-159.5000 --14.5000;-159.0000 --14.5000;-158.5000 --14.5000;-158.0000 --14.5000;-157.5000 --14.5000;-157.0000 --14.5000;-156.5000 --14.5000;-156.0000 --14.5000;-155.5000 --14.5000;-155.0000 --14.5000;-154.5000 --14.5000;-154.0000 --14.5000;-153.5000 --14.5000;-153.0000 --14.5000;-152.5000 --14.5000;-152.0000 --14.5000;-151.5000 --14.5000;-151.0000 --14.5000;-150.5000 --14.5000;-150.0000 --14.5000;-132.5000 --14.5000;-132.0000 --14.5000;-131.5000 --14.5000;-131.0000 --14.5000;-130.5000 --14.5000;-130.0000 --14.5000;-129.5000 --14.5000;-129.0000 --14.5000;-128.5000 --14.5000;-128.0000 --14.5000;-127.5000 --14.5000;-127.0000 --14.5000;-126.5000 --14.5000;-126.0000 --14.5000;-125.5000 --14.5000;-125.0000 --14.5000;-124.5000 --14.5000;-124.0000 --14.5000;-123.5000 --14.5000;-123.0000 --14.5000;-122.5000 --14.5000;-122.0000 --14.5000;-121.5000 --14.5000;-65.0000 --14.5000;-64.5000 --14.5000;-64.0000 --14.5000;-63.5000 --14.5000;-63.0000 --14.5000;-62.5000 --14.5000;-62.0000 --14.5000;-61.5000 --14.5000;-61.0000 --14.5000;-60.5000 --14.5000;-60.0000 --14.5000;-59.5000 --14.5000;-59.0000 --14.5000;-58.5000 --14.5000;-58.0000 --14.5000;-57.5000 --14.5000;-57.0000 --14.5000;-56.5000 --14.5000;-56.0000 --14.5000;-55.5000 --14.5000;-55.0000 --14.5000;-54.5000 --14.5000;-54.0000 --14.5000;-53.5000 --14.5000;-53.0000 --14.5000;-52.5000 --14.5000;-52.0000 --14.5000;-51.5000 --14.5000;-51.0000 --14.5000;-50.5000 --14.5000;-50.0000 --14.5000;-49.5000 --14.5000;-49.0000 --14.5000;-48.5000 --14.5000;-48.0000 --14.5000;-47.5000 --14.5000;-47.0000 --14.5000;-46.5000 --14.5000;-46.0000 --14.5000;-45.5000 --14.5000;-45.0000 --14.5000;-44.5000 --14.5000;-44.0000 --14.5000;-43.5000 --14.5000;-43.0000 --14.5000;-42.5000 --14.5000;-42.0000 --14.5000;-41.5000 --14.5000;-41.0000 --14.5000;-40.5000 --14.5000;-40.0000 --14.5000;-39.5000 --14.5000;-39.0000 --14.5000;-38.5000 --14.5000;-38.0000 --14.5000;-37.5000 --14.5000;-37.0000 --14.5000;-36.5000 --14.5000;-36.0000 --14.5000;-35.5000 --14.5000;-35.0000 --14.5000;-34.5000 --14.5000;-34.0000 --14.5000;-33.5000 --14.5000;-33.0000 --14.5000;-32.5000 --14.5000;-32.0000 --14.5000;-31.5000 --14.5000;-31.0000 --14.5000;-30.5000 --14.5000;-30.0000 --14.5000;-29.5000 --14.0000;-222.5000 --14.0000;-222.0000 --14.0000;-221.5000 --14.0000;-221.0000 --14.0000;-220.5000 --14.0000;-220.0000 --14.0000;-219.5000 --14.0000;-219.0000 --14.0000;-218.5000 --14.0000;-218.0000 --14.0000;-217.5000 --14.0000;-217.0000 --14.0000;-216.5000 --14.0000;-216.0000 --14.0000;-215.5000 --14.0000;-215.0000 --14.0000;-214.5000 --14.0000;-214.0000 --14.0000;-213.5000 --14.0000;-213.0000 --14.0000;-212.5000 --14.0000;-212.0000 --14.0000;-211.5000 --14.0000;-211.0000 --14.0000;-160.0000 --14.0000;-159.5000 --14.0000;-159.0000 --14.0000;-158.5000 --14.0000;-158.0000 --14.0000;-157.5000 --14.0000;-157.0000 --14.0000;-156.5000 --14.0000;-156.0000 --14.0000;-155.5000 --14.0000;-155.0000 --14.0000;-154.5000 --14.0000;-154.0000 --14.0000;-153.5000 --14.0000;-153.0000 --14.0000;-152.5000 --14.0000;-152.0000 --14.0000;-151.5000 --14.0000;-151.0000 --14.0000;-150.5000 --14.0000;-131.5000 --14.0000;-131.0000 --14.0000;-130.5000 --14.0000;-130.0000 --14.0000;-129.5000 --14.0000;-129.0000 --14.0000;-128.5000 --14.0000;-128.0000 --14.0000;-127.5000 --14.0000;-127.0000 --14.0000;-126.5000 --14.0000;-126.0000 --14.0000;-125.5000 --14.0000;-125.0000 --14.0000;-124.5000 --14.0000;-124.0000 --14.0000;-123.5000 --14.0000;-123.0000 --14.0000;-122.5000 --14.0000;-122.0000 --14.0000;-121.5000 --14.0000;-121.0000 --14.0000;-64.0000 --14.0000;-63.5000 --14.0000;-63.0000 --14.0000;-62.5000 --14.0000;-62.0000 --14.0000;-61.5000 --14.0000;-61.0000 --14.0000;-60.5000 --14.0000;-60.0000 --14.0000;-59.5000 --14.0000;-59.0000 --14.0000;-58.5000 --14.0000;-58.0000 --14.0000;-57.5000 --14.0000;-57.0000 --14.0000;-56.5000 --14.0000;-56.0000 --14.0000;-55.5000 --14.0000;-55.0000 --14.0000;-54.5000 --14.0000;-54.0000 --14.0000;-53.5000 --14.0000;-53.0000 --14.0000;-52.5000 --14.0000;-52.0000 --14.0000;-51.5000 --14.0000;-51.0000 --14.0000;-50.5000 --14.0000;-50.0000 --14.0000;-49.5000 --14.0000;-49.0000 --14.0000;-48.5000 --14.0000;-48.0000 --14.0000;-47.5000 --14.0000;-47.0000 --14.0000;-46.5000 --14.0000;-46.0000 --14.0000;-45.5000 --14.0000;-45.0000 --14.0000;-44.5000 --14.0000;-44.0000 --14.0000;-43.5000 --14.0000;-43.0000 --14.0000;-42.5000 --14.0000;-42.0000 --14.0000;-41.5000 --14.0000;-41.0000 --14.0000;-40.5000 --14.0000;-40.0000 --14.0000;-39.5000 --14.0000;-39.0000 --14.0000;-38.5000 --14.0000;-38.0000 --14.0000;-37.5000 --14.0000;-37.0000 --14.0000;-36.5000 --14.0000;-36.0000 --14.0000;-35.5000 --14.0000;-35.0000 --14.0000;-34.5000 --14.0000;-34.0000 --14.0000;-33.5000 --14.0000;-33.0000 --14.0000;-32.5000 --14.0000;-32.0000 --14.0000;-31.5000 --14.0000;-31.0000 --14.0000;-30.5000 --14.0000;-30.0000 --14.0000;-29.5000 --14.0000;-29.0000 --14.0000;-28.5000 --13.5000;-223.0000 --13.5000;-222.5000 --13.5000;-222.0000 --13.5000;-221.5000 --13.5000;-221.0000 --13.5000;-220.5000 --13.5000;-220.0000 --13.5000;-219.5000 --13.5000;-219.0000 --13.5000;-218.5000 --13.5000;-218.0000 --13.5000;-217.5000 --13.5000;-217.0000 --13.5000;-216.5000 --13.5000;-216.0000 --13.5000;-215.5000 --13.5000;-215.0000 --13.5000;-214.5000 --13.5000;-214.0000 --13.5000;-213.5000 --13.5000;-213.0000 --13.5000;-212.5000 --13.5000;-212.0000 --13.5000;-211.5000 --13.5000;-160.5000 --13.5000;-160.0000 --13.5000;-159.5000 --13.5000;-159.0000 --13.5000;-158.5000 --13.5000;-158.0000 --13.5000;-157.5000 --13.5000;-157.0000 --13.5000;-156.5000 --13.5000;-156.0000 --13.5000;-155.5000 --13.5000;-155.0000 --13.5000;-154.5000 --13.5000;-154.0000 --13.5000;-153.5000 --13.5000;-153.0000 --13.5000;-152.5000 --13.5000;-152.0000 --13.5000;-151.5000 --13.5000;-151.0000 --13.5000;-131.0000 --13.5000;-130.5000 --13.5000;-130.0000 --13.5000;-129.5000 --13.5000;-129.0000 --13.5000;-128.5000 --13.5000;-128.0000 --13.5000;-127.5000 --13.5000;-127.0000 --13.5000;-126.5000 --13.5000;-126.0000 --13.5000;-125.5000 --13.5000;-125.0000 --13.5000;-124.5000 --13.5000;-124.0000 --13.5000;-123.5000 --13.5000;-123.0000 --13.5000;-122.5000 --13.5000;-122.0000 --13.5000;-121.5000 --13.5000;-121.0000 --13.5000;-62.5000 --13.5000;-62.0000 --13.5000;-61.5000 --13.5000;-61.0000 --13.5000;-60.5000 --13.5000;-60.0000 --13.5000;-59.5000 --13.5000;-59.0000 --13.5000;-58.5000 --13.5000;-58.0000 --13.5000;-57.5000 --13.5000;-57.0000 --13.5000;-56.5000 --13.5000;-56.0000 --13.5000;-55.5000 --13.5000;-55.0000 --13.5000;-54.5000 --13.5000;-54.0000 --13.5000;-53.5000 --13.5000;-53.0000 --13.5000;-52.5000 --13.5000;-52.0000 --13.5000;-51.5000 --13.5000;-51.0000 --13.5000;-50.5000 --13.5000;-50.0000 --13.5000;-49.5000 --13.5000;-49.0000 --13.5000;-48.5000 --13.5000;-48.0000 --13.5000;-47.5000 --13.5000;-47.0000 --13.5000;-46.5000 --13.5000;-46.0000 --13.5000;-45.5000 --13.5000;-45.0000 --13.5000;-44.5000 --13.5000;-44.0000 --13.5000;-43.5000 --13.5000;-43.0000 --13.5000;-42.5000 --13.5000;-42.0000 --13.5000;-41.5000 --13.5000;-41.0000 --13.5000;-40.5000 --13.5000;-40.0000 --13.5000;-39.5000 --13.5000;-39.0000 --13.5000;-38.5000 --13.5000;-38.0000 --13.5000;-37.5000 --13.5000;-37.0000 --13.5000;-36.5000 --13.5000;-36.0000 --13.5000;-35.5000 --13.5000;-35.0000 --13.5000;-34.5000 --13.5000;-34.0000 --13.5000;-33.5000 --13.5000;-33.0000 --13.5000;-32.5000 --13.5000;-32.0000 --13.5000;-31.5000 --13.5000;-31.0000 --13.5000;-30.5000 --13.5000;-30.0000 --13.5000;-29.5000 --13.5000;-29.0000 --13.5000;-28.5000 --13.5000;-28.0000 --13.5000;-27.5000 --13.5000;-27.0000 --13.0000;-223.0000 --13.0000;-222.5000 --13.0000;-222.0000 --13.0000;-221.5000 --13.0000;-221.0000 --13.0000;-220.5000 --13.0000;-220.0000 --13.0000;-219.5000 --13.0000;-219.0000 --13.0000;-218.5000 --13.0000;-218.0000 --13.0000;-217.5000 --13.0000;-217.0000 --13.0000;-216.5000 --13.0000;-216.0000 --13.0000;-215.5000 --13.0000;-215.0000 --13.0000;-214.5000 --13.0000;-214.0000 --13.0000;-213.5000 --13.0000;-213.0000 --13.0000;-212.5000 --13.0000;-212.0000 --13.0000;-211.5000 --13.0000;-160.5000 --13.0000;-160.0000 --13.0000;-159.5000 --13.0000;-159.0000 --13.0000;-158.5000 --13.0000;-158.0000 --13.0000;-157.5000 --13.0000;-157.0000 --13.0000;-156.5000 --13.0000;-156.0000 --13.0000;-155.5000 --13.0000;-155.0000 --13.0000;-154.5000 --13.0000;-154.0000 --13.0000;-153.5000 --13.0000;-153.0000 --13.0000;-152.5000 --13.0000;-152.0000 --13.0000;-151.5000 --13.0000;-130.0000 --13.0000;-129.5000 --13.0000;-129.0000 --13.0000;-128.5000 --13.0000;-128.0000 --13.0000;-127.5000 --13.0000;-127.0000 --13.0000;-126.5000 --13.0000;-126.0000 --13.0000;-125.5000 --13.0000;-125.0000 --13.0000;-124.5000 --13.0000;-124.0000 --13.0000;-123.5000 --13.0000;-123.0000 --13.0000;-122.5000 --13.0000;-122.0000 --13.0000;-121.5000 --13.0000;-121.0000 --13.0000;-61.5000 --13.0000;-61.0000 --13.0000;-60.5000 --13.0000;-60.0000 --13.0000;-59.5000 --13.0000;-59.0000 --13.0000;-58.5000 --13.0000;-58.0000 --13.0000;-57.5000 --13.0000;-57.0000 --13.0000;-56.5000 --13.0000;-56.0000 --13.0000;-55.5000 --13.0000;-55.0000 --13.0000;-54.5000 --13.0000;-54.0000 --13.0000;-53.5000 --13.0000;-53.0000 --13.0000;-52.5000 --13.0000;-52.0000 --13.0000;-51.5000 --13.0000;-51.0000 --13.0000;-50.5000 --13.0000;-50.0000 --13.0000;-49.5000 --13.0000;-49.0000 --13.0000;-48.5000 --13.0000;-48.0000 --13.0000;-47.5000 --13.0000;-47.0000 --13.0000;-46.5000 --13.0000;-46.0000 --13.0000;-45.5000 --13.0000;-45.0000 --13.0000;-44.5000 --13.0000;-44.0000 --13.0000;-43.5000 --13.0000;-43.0000 --13.0000;-42.5000 --13.0000;-42.0000 --13.0000;-41.5000 --13.0000;-41.0000 --13.0000;-40.5000 --13.0000;-40.0000 --13.0000;-39.5000 --13.0000;-39.0000 --13.0000;-38.5000 --13.0000;-38.0000 --13.0000;-37.5000 --13.0000;-37.0000 --13.0000;-36.5000 --13.0000;-36.0000 --13.0000;-35.5000 --13.0000;-35.0000 --13.0000;-34.5000 --13.0000;-34.0000 --13.0000;-33.5000 --13.0000;-33.0000 --13.0000;-32.5000 --13.0000;-32.0000 --13.0000;-31.5000 --13.0000;-31.0000 --13.0000;-30.5000 --13.0000;-30.0000 --13.0000;-29.5000 --13.0000;-29.0000 --13.0000;-28.5000 --13.0000;-28.0000 --13.0000;-27.5000 --13.0000;-27.0000 --13.0000;-26.5000 --13.0000;-26.0000 --12.5000;-223.0000 --12.5000;-222.5000 --12.5000;-222.0000 --12.5000;-221.5000 --12.5000;-221.0000 --12.5000;-220.5000 --12.5000;-220.0000 --12.5000;-219.5000 --12.5000;-219.0000 --12.5000;-218.5000 --12.5000;-218.0000 --12.5000;-217.5000 --12.5000;-217.0000 --12.5000;-216.5000 --12.5000;-216.0000 --12.5000;-215.5000 --12.5000;-215.0000 --12.5000;-214.5000 --12.5000;-214.0000 --12.5000;-213.5000 --12.5000;-213.0000 --12.5000;-212.5000 --12.5000;-212.0000 --12.5000;-211.5000 --12.5000;-161.0000 --12.5000;-160.5000 --12.5000;-160.0000 --12.5000;-159.5000 --12.5000;-159.0000 --12.5000;-158.5000 --12.5000;-158.0000 --12.5000;-157.5000 --12.5000;-157.0000 --12.5000;-156.5000 --12.5000;-156.0000 --12.5000;-155.5000 --12.5000;-155.0000 --12.5000;-154.5000 --12.5000;-154.0000 --12.5000;-153.5000 --12.5000;-153.0000 --12.5000;-152.5000 --12.5000;-152.0000 --12.5000;-129.5000 --12.5000;-129.0000 --12.5000;-128.5000 --12.5000;-128.0000 --12.5000;-127.5000 --12.5000;-127.0000 --12.5000;-126.5000 --12.5000;-126.0000 --12.5000;-125.5000 --12.5000;-125.0000 --12.5000;-124.5000 --12.5000;-124.0000 --12.5000;-123.5000 --12.5000;-123.0000 --12.5000;-122.5000 --12.5000;-122.0000 --12.5000;-121.5000 --12.5000;-121.0000 --12.5000;-60.0000 --12.5000;-59.5000 --12.5000;-59.0000 --12.5000;-58.5000 --12.5000;-58.0000 --12.5000;-57.5000 --12.5000;-57.0000 --12.5000;-56.5000 --12.5000;-56.0000 --12.5000;-55.5000 --12.5000;-55.0000 --12.5000;-54.5000 --12.5000;-54.0000 --12.5000;-53.5000 --12.5000;-53.0000 --12.5000;-52.5000 --12.5000;-52.0000 --12.5000;-51.5000 --12.5000;-51.0000 --12.5000;-50.5000 --12.5000;-50.0000 --12.5000;-49.5000 --12.5000;-49.0000 --12.5000;-48.5000 --12.5000;-48.0000 --12.5000;-47.5000 --12.5000;-47.0000 --12.5000;-46.5000 --12.5000;-46.0000 --12.5000;-45.5000 --12.5000;-45.0000 --12.5000;-44.5000 --12.5000;-44.0000 --12.5000;-43.5000 --12.5000;-43.0000 --12.5000;-42.5000 --12.5000;-42.0000 --12.5000;-41.5000 --12.5000;-41.0000 --12.5000;-40.5000 --12.5000;-40.0000 --12.5000;-39.5000 --12.5000;-39.0000 --12.5000;-38.5000 --12.5000;-38.0000 --12.5000;-37.5000 --12.5000;-37.0000 --12.5000;-36.5000 --12.5000;-36.0000 --12.5000;-35.5000 --12.5000;-35.0000 --12.5000;-34.5000 --12.5000;-34.0000 --12.5000;-33.5000 --12.5000;-33.0000 --12.5000;-32.5000 --12.5000;-32.0000 --12.5000;-31.5000 --12.5000;-31.0000 --12.5000;-30.5000 --12.5000;-30.0000 --12.5000;-29.5000 --12.5000;-29.0000 --12.5000;-28.5000 --12.5000;-28.0000 --12.5000;-27.5000 --12.5000;-27.0000 --12.5000;-26.5000 --12.5000;-26.0000 --12.5000;-25.5000 --12.5000;-25.0000 --12.0000;-223.0000 --12.0000;-222.5000 --12.0000;-222.0000 --12.0000;-221.5000 --12.0000;-221.0000 --12.0000;-220.5000 --12.0000;-220.0000 --12.0000;-219.5000 --12.0000;-219.0000 --12.0000;-218.5000 --12.0000;-218.0000 --12.0000;-217.5000 --12.0000;-217.0000 --12.0000;-216.5000 --12.0000;-216.0000 --12.0000;-215.5000 --12.0000;-215.0000 --12.0000;-214.5000 --12.0000;-214.0000 --12.0000;-213.5000 --12.0000;-213.0000 --12.0000;-212.5000 --12.0000;-212.0000 --12.0000;-211.5000 --12.0000;-161.0000 --12.0000;-160.5000 --12.0000;-160.0000 --12.0000;-159.5000 --12.0000;-159.0000 --12.0000;-158.5000 --12.0000;-158.0000 --12.0000;-157.5000 --12.0000;-157.0000 --12.0000;-156.5000 --12.0000;-156.0000 --12.0000;-155.5000 --12.0000;-155.0000 --12.0000;-154.5000 --12.0000;-154.0000 --12.0000;-153.5000 --12.0000;-153.0000 --12.0000;-152.5000 --12.0000;-129.0000 --12.0000;-128.5000 --12.0000;-128.0000 --12.0000;-127.5000 --12.0000;-127.0000 --12.0000;-126.5000 --12.0000;-126.0000 --12.0000;-125.5000 --12.0000;-125.0000 --12.0000;-124.5000 --12.0000;-124.0000 --12.0000;-123.5000 --12.0000;-123.0000 --12.0000;-122.5000 --12.0000;-122.0000 --12.0000;-121.5000 --12.0000;-121.0000 --12.0000;-59.0000 --12.0000;-58.5000 --12.0000;-58.0000 --12.0000;-57.5000 --12.0000;-57.0000 --12.0000;-56.5000 --12.0000;-56.0000 --12.0000;-55.5000 --12.0000;-55.0000 --12.0000;-54.5000 --12.0000;-54.0000 --12.0000;-53.5000 --12.0000;-53.0000 --12.0000;-52.5000 --12.0000;-52.0000 --12.0000;-51.5000 --12.0000;-51.0000 --12.0000;-50.5000 --12.0000;-50.0000 --12.0000;-49.5000 --12.0000;-49.0000 --12.0000;-48.5000 --12.0000;-48.0000 --12.0000;-47.5000 --12.0000;-47.0000 --12.0000;-46.5000 --12.0000;-46.0000 --12.0000;-45.5000 --12.0000;-45.0000 --12.0000;-44.5000 --12.0000;-44.0000 --12.0000;-43.5000 --12.0000;-43.0000 --12.0000;-42.5000 --12.0000;-42.0000 --12.0000;-41.5000 --12.0000;-41.0000 --12.0000;-40.5000 --12.0000;-40.0000 --12.0000;-39.5000 --12.0000;-39.0000 --12.0000;-38.5000 --12.0000;-38.0000 --12.0000;-37.5000 --12.0000;-37.0000 --12.0000;-36.5000 --12.0000;-36.0000 --12.0000;-35.5000 --12.0000;-35.0000 --12.0000;-34.5000 --12.0000;-34.0000 --12.0000;-33.5000 --12.0000;-33.0000 --12.0000;-32.5000 --12.0000;-32.0000 --12.0000;-31.5000 --12.0000;-31.0000 --12.0000;-30.5000 --12.0000;-30.0000 --12.0000;-29.5000 --12.0000;-29.0000 --12.0000;-28.5000 --12.0000;-28.0000 --12.0000;-27.5000 --12.0000;-27.0000 --12.0000;-26.5000 --12.0000;-26.0000 --12.0000;-25.5000 --12.0000;-25.0000 --12.0000;-24.5000 --12.0000;-24.0000 --12.0000;-23.5000 --11.5000;-223.0000 --11.5000;-222.5000 --11.5000;-222.0000 --11.5000;-221.5000 --11.5000;-221.0000 --11.5000;-220.5000 --11.5000;-220.0000 --11.5000;-219.5000 --11.5000;-219.0000 --11.5000;-218.5000 --11.5000;-218.0000 --11.5000;-217.5000 --11.5000;-217.0000 --11.5000;-216.5000 --11.5000;-216.0000 --11.5000;-215.5000 --11.5000;-215.0000 --11.5000;-214.5000 --11.5000;-214.0000 --11.5000;-213.5000 --11.5000;-213.0000 --11.5000;-212.5000 --11.5000;-212.0000 --11.5000;-211.5000 --11.5000;-161.5000 --11.5000;-161.0000 --11.5000;-160.5000 --11.5000;-160.0000 --11.5000;-159.5000 --11.5000;-159.0000 --11.5000;-158.5000 --11.5000;-158.0000 --11.5000;-157.5000 --11.5000;-157.0000 --11.5000;-156.5000 --11.5000;-156.0000 --11.5000;-155.5000 --11.5000;-155.0000 --11.5000;-154.5000 --11.5000;-154.0000 --11.5000;-153.5000 --11.5000;-153.0000 --11.5000;-129.0000 --11.5000;-128.5000 --11.5000;-128.0000 --11.5000;-127.5000 --11.5000;-127.0000 --11.5000;-126.5000 --11.5000;-126.0000 --11.5000;-125.5000 --11.5000;-125.0000 --11.5000;-124.5000 --11.5000;-124.0000 --11.5000;-123.5000 --11.5000;-123.0000 --11.5000;-122.5000 --11.5000;-122.0000 --11.5000;-121.5000 --11.5000;-121.0000 --11.5000;-57.5000 --11.5000;-57.0000 --11.5000;-56.5000 --11.5000;-56.0000 --11.5000;-55.5000 --11.5000;-55.0000 --11.5000;-54.5000 --11.5000;-54.0000 --11.5000;-53.5000 --11.5000;-53.0000 --11.5000;-52.5000 --11.5000;-52.0000 --11.5000;-51.5000 --11.5000;-51.0000 --11.5000;-50.5000 --11.5000;-50.0000 --11.5000;-49.5000 --11.5000;-49.0000 --11.5000;-48.5000 --11.5000;-48.0000 --11.5000;-47.5000 --11.5000;-47.0000 --11.5000;-46.5000 --11.5000;-46.0000 --11.5000;-45.5000 --11.5000;-45.0000 --11.5000;-44.5000 --11.5000;-44.0000 --11.5000;-43.5000 --11.5000;-43.0000 --11.5000;-42.5000 --11.5000;-42.0000 --11.5000;-41.5000 --11.5000;-41.0000 --11.5000;-40.5000 --11.5000;-40.0000 --11.5000;-39.5000 --11.5000;-39.0000 --11.5000;-38.5000 --11.5000;-38.0000 --11.5000;-37.5000 --11.5000;-37.0000 --11.5000;-36.5000 --11.5000;-36.0000 --11.5000;-35.5000 --11.5000;-35.0000 --11.5000;-34.5000 --11.5000;-34.0000 --11.5000;-33.5000 --11.5000;-33.0000 --11.5000;-32.5000 --11.5000;-32.0000 --11.5000;-31.5000 --11.5000;-31.0000 --11.5000;-30.5000 --11.5000;-30.0000 --11.5000;-29.5000 --11.5000;-29.0000 --11.5000;-28.5000 --11.5000;-28.0000 --11.5000;-27.5000 --11.5000;-27.0000 --11.5000;-26.5000 --11.5000;-26.0000 --11.5000;-25.5000 --11.5000;-25.0000 --11.5000;-24.5000 --11.5000;-24.0000 --11.5000;-23.5000 --11.5000;-23.0000 --11.5000;-22.5000 --11.0000;-223.0000 --11.0000;-222.5000 --11.0000;-222.0000 --11.0000;-221.5000 --11.0000;-221.0000 --11.0000;-220.5000 --11.0000;-220.0000 --11.0000;-219.5000 --11.0000;-219.0000 --11.0000;-218.5000 --11.0000;-218.0000 --11.0000;-217.5000 --11.0000;-217.0000 --11.0000;-216.5000 --11.0000;-216.0000 --11.0000;-215.5000 --11.0000;-215.0000 --11.0000;-214.5000 --11.0000;-214.0000 --11.0000;-213.5000 --11.0000;-213.0000 --11.0000;-212.5000 --11.0000;-212.0000 --11.0000;-161.5000 --11.0000;-161.0000 --11.0000;-160.5000 --11.0000;-160.0000 --11.0000;-159.5000 --11.0000;-159.0000 --11.0000;-158.5000 --11.0000;-158.0000 --11.0000;-157.5000 --11.0000;-157.0000 --11.0000;-156.5000 --11.0000;-156.0000 --11.0000;-155.5000 --11.0000;-155.0000 --11.0000;-154.5000 --11.0000;-154.0000 --11.0000;-153.5000 --11.0000;-153.0000 --11.0000;-128.5000 --11.0000;-128.0000 --11.0000;-127.5000 --11.0000;-127.0000 --11.0000;-126.5000 --11.0000;-126.0000 --11.0000;-125.5000 --11.0000;-125.0000 --11.0000;-124.5000 --11.0000;-124.0000 --11.0000;-123.5000 --11.0000;-123.0000 --11.0000;-122.5000 --11.0000;-122.0000 --11.0000;-121.5000 --11.0000;-121.0000 --11.0000;-56.5000 --11.0000;-56.0000 --11.0000;-55.5000 --11.0000;-55.0000 --11.0000;-54.5000 --11.0000;-54.0000 --11.0000;-53.5000 --11.0000;-53.0000 --11.0000;-52.5000 --11.0000;-52.0000 --11.0000;-51.5000 --11.0000;-51.0000 --11.0000;-50.5000 --11.0000;-50.0000 --11.0000;-49.5000 --11.0000;-49.0000 --11.0000;-48.5000 --11.0000;-48.0000 --11.0000;-47.5000 --11.0000;-47.0000 --11.0000;-46.5000 --11.0000;-46.0000 --11.0000;-45.5000 --11.0000;-45.0000 --11.0000;-44.5000 --11.0000;-44.0000 --11.0000;-43.5000 --11.0000;-43.0000 --11.0000;-42.5000 --11.0000;-42.0000 --11.0000;-41.5000 --11.0000;-41.0000 --11.0000;-40.5000 --11.0000;-40.0000 --11.0000;-39.5000 --11.0000;-39.0000 --11.0000;-38.5000 --11.0000;-38.0000 --11.0000;-37.5000 --11.0000;-37.0000 --11.0000;-36.5000 --11.0000;-36.0000 --11.0000;-35.5000 --11.0000;-35.0000 --11.0000;-34.5000 --11.0000;-34.0000 --11.0000;-33.5000 --11.0000;-33.0000 --11.0000;-32.5000 --11.0000;-32.0000 --11.0000;-31.5000 --11.0000;-31.0000 --11.0000;-30.5000 --11.0000;-30.0000 --11.0000;-29.5000 --11.0000;-29.0000 --11.0000;-28.5000 --11.0000;-28.0000 --11.0000;-27.5000 --11.0000;-27.0000 --11.0000;-26.5000 --11.0000;-26.0000 --11.0000;-25.5000 --11.0000;-25.0000 --11.0000;-24.5000 --11.0000;-24.0000 --11.0000;-23.5000 --11.0000;-23.0000 --11.0000;-22.5000 --11.0000;-22.0000 --11.0000;-21.5000 --10.5000;-223.0000 --10.5000;-222.5000 --10.5000;-222.0000 --10.5000;-221.5000 --10.5000;-221.0000 --10.5000;-220.5000 --10.5000;-220.0000 --10.5000;-219.5000 --10.5000;-219.0000 --10.5000;-218.5000 --10.5000;-218.0000 --10.5000;-217.5000 --10.5000;-217.0000 --10.5000;-216.5000 --10.5000;-216.0000 --10.5000;-215.5000 --10.5000;-215.0000 --10.5000;-214.5000 --10.5000;-214.0000 --10.5000;-213.5000 --10.5000;-213.0000 --10.5000;-212.5000 --10.5000;-212.0000 --10.5000;-162.0000 --10.5000;-161.5000 --10.5000;-161.0000 --10.5000;-160.5000 --10.5000;-160.0000 --10.5000;-159.5000 --10.5000;-159.0000 --10.5000;-158.5000 --10.5000;-158.0000 --10.5000;-157.5000 --10.5000;-157.0000 --10.5000;-156.5000 --10.5000;-156.0000 --10.5000;-155.5000 --10.5000;-155.0000 --10.5000;-154.5000 --10.5000;-154.0000 --10.5000;-153.5000 --10.5000;-128.5000 --10.5000;-128.0000 --10.5000;-127.5000 --10.5000;-127.0000 --10.5000;-126.5000 --10.5000;-126.0000 --10.5000;-125.5000 --10.5000;-125.0000 --10.5000;-124.5000 --10.5000;-124.0000 --10.5000;-123.5000 --10.5000;-123.0000 --10.5000;-122.5000 --10.5000;-122.0000 --10.5000;-121.5000 --10.5000;-121.0000 --10.5000;-120.5000 --10.5000;-55.0000 --10.5000;-54.5000 --10.5000;-54.0000 --10.5000;-53.5000 --10.5000;-53.0000 --10.5000;-52.5000 --10.5000;-52.0000 --10.5000;-51.5000 --10.5000;-51.0000 --10.5000;-50.5000 --10.5000;-50.0000 --10.5000;-49.5000 --10.5000;-49.0000 --10.5000;-48.5000 --10.5000;-48.0000 --10.5000;-47.5000 --10.5000;-47.0000 --10.5000;-46.5000 --10.5000;-46.0000 --10.5000;-45.5000 --10.5000;-45.0000 --10.5000;-44.5000 --10.5000;-44.0000 --10.5000;-43.5000 --10.5000;-43.0000 --10.5000;-42.5000 --10.5000;-42.0000 --10.5000;-41.5000 --10.5000;-41.0000 --10.5000;-40.5000 --10.5000;-40.0000 --10.5000;-39.5000 --10.5000;-39.0000 --10.5000;-38.5000 --10.5000;-38.0000 --10.5000;-37.5000 --10.5000;-37.0000 --10.5000;-36.5000 --10.5000;-36.0000 --10.5000;-35.5000 --10.5000;-35.0000 --10.5000;-34.5000 --10.5000;-34.0000 --10.5000;-33.5000 --10.5000;-33.0000 --10.5000;-32.5000 --10.5000;-32.0000 --10.5000;-31.5000 --10.5000;-31.0000 --10.5000;-30.5000 --10.5000;-30.0000 --10.5000;-29.5000 --10.5000;-29.0000 --10.5000;-28.5000 --10.5000;-28.0000 --10.5000;-27.5000 --10.5000;-27.0000 --10.5000;-26.5000 --10.5000;-26.0000 --10.5000;-25.5000 --10.5000;-25.0000 --10.5000;-24.5000 --10.5000;-24.0000 --10.5000;-23.5000 --10.5000;-23.0000 --10.5000;-22.5000 --10.5000;-22.0000 --10.5000;-21.5000 --10.5000;-21.0000 --10.5000;-20.5000 --10.0000;-223.0000 --10.0000;-222.5000 --10.0000;-222.0000 --10.0000;-221.5000 --10.0000;-221.0000 --10.0000;-220.5000 --10.0000;-220.0000 --10.0000;-219.5000 --10.0000;-219.0000 --10.0000;-218.5000 --10.0000;-218.0000 --10.0000;-217.5000 --10.0000;-217.0000 --10.0000;-216.5000 --10.0000;-216.0000 --10.0000;-215.5000 --10.0000;-215.0000 --10.0000;-214.5000 --10.0000;-214.0000 --10.0000;-213.5000 --10.0000;-213.0000 --10.0000;-212.5000 --10.0000;-212.0000 --10.0000;-162.0000 --10.0000;-161.5000 --10.0000;-161.0000 --10.0000;-160.5000 --10.0000;-160.0000 --10.0000;-159.5000 --10.0000;-159.0000 --10.0000;-158.5000 --10.0000;-158.0000 --10.0000;-157.5000 --10.0000;-157.0000 --10.0000;-156.5000 --10.0000;-156.0000 --10.0000;-155.5000 --10.0000;-155.0000 --10.0000;-154.5000 --10.0000;-154.0000 --10.0000;-153.5000 --10.0000;-128.0000 --10.0000;-127.5000 --10.0000;-127.0000 --10.0000;-126.5000 --10.0000;-126.0000 --10.0000;-125.5000 --10.0000;-125.0000 --10.0000;-124.5000 --10.0000;-124.0000 --10.0000;-123.5000 --10.0000;-123.0000 --10.0000;-122.5000 --10.0000;-122.0000 --10.0000;-121.5000 --10.0000;-121.0000 --10.0000;-120.5000 --10.0000;-54.0000 --10.0000;-53.5000 --10.0000;-53.0000 --10.0000;-52.5000 --10.0000;-52.0000 --10.0000;-51.5000 --10.0000;-51.0000 --10.0000;-50.5000 --10.0000;-50.0000 --10.0000;-49.5000 --10.0000;-49.0000 --10.0000;-48.5000 --10.0000;-48.0000 --10.0000;-47.5000 --10.0000;-47.0000 --10.0000;-46.5000 --10.0000;-46.0000 --10.0000;-45.5000 --10.0000;-45.0000 --10.0000;-44.5000 --10.0000;-44.0000 --10.0000;-43.5000 --10.0000;-43.0000 --10.0000;-42.5000 --10.0000;-42.0000 --10.0000;-41.5000 --10.0000;-41.0000 --10.0000;-40.5000 --10.0000;-40.0000 --10.0000;-39.5000 --10.0000;-39.0000 --10.0000;-38.5000 --10.0000;-38.0000 --10.0000;-37.5000 --10.0000;-37.0000 --10.0000;-36.5000 --10.0000;-36.0000 --10.0000;-35.5000 --10.0000;-35.0000 --10.0000;-34.5000 --10.0000;-34.0000 --10.0000;-33.5000 --10.0000;-33.0000 --10.0000;-32.5000 --10.0000;-32.0000 --10.0000;-31.5000 --10.0000;-31.0000 --10.0000;-30.5000 --10.0000;-30.0000 --10.0000;-29.5000 --10.0000;-29.0000 --10.0000;-28.5000 --10.0000;-28.0000 --10.0000;-27.5000 --10.0000;-27.0000 --10.0000;-26.5000 --10.0000;-26.0000 --10.0000;-25.5000 --10.0000;-25.0000 --10.0000;-24.5000 --10.0000;-24.0000 --10.0000;-23.5000 --10.0000;-23.0000 --10.0000;-22.5000 --10.0000;-22.0000 --10.0000;-21.5000 --10.0000;-21.0000 --10.0000;-20.5000 --10.0000;-20.0000 --10.0000;-19.5000 --10.0000;-19.0000 --9.5000;-223.5000 --9.5000;-223.0000 --9.5000;-222.5000 --9.5000;-222.0000 --9.5000;-221.5000 --9.5000;-221.0000 --9.5000;-220.5000 --9.5000;-220.0000 --9.5000;-219.5000 --9.5000;-219.0000 --9.5000;-218.5000 --9.5000;-218.0000 --9.5000;-217.5000 --9.5000;-217.0000 --9.5000;-216.5000 --9.5000;-216.0000 --9.5000;-215.5000 --9.5000;-215.0000 --9.5000;-214.5000 --9.5000;-214.0000 --9.5000;-213.5000 --9.5000;-213.0000 --9.5000;-212.5000 --9.5000;-212.0000 --9.5000;-162.5000 --9.5000;-162.0000 --9.5000;-161.5000 --9.5000;-161.0000 --9.5000;-160.5000 --9.5000;-160.0000 --9.5000;-159.5000 --9.5000;-159.0000 --9.5000;-158.5000 --9.5000;-158.0000 --9.5000;-157.5000 --9.5000;-157.0000 --9.5000;-156.5000 --9.5000;-156.0000 --9.5000;-155.5000 --9.5000;-155.0000 --9.5000;-154.5000 --9.5000;-154.0000 --9.5000;-128.0000 --9.5000;-127.5000 --9.5000;-127.0000 --9.5000;-126.5000 --9.5000;-126.0000 --9.5000;-125.5000 --9.5000;-125.0000 --9.5000;-124.5000 --9.5000;-124.0000 --9.5000;-123.5000 --9.5000;-123.0000 --9.5000;-122.5000 --9.5000;-122.0000 --9.5000;-121.5000 --9.5000;-121.0000 --9.5000;-120.5000 --9.5000;-52.5000 --9.5000;-52.0000 --9.5000;-51.5000 --9.5000;-51.0000 --9.5000;-50.5000 --9.5000;-50.0000 --9.5000;-49.5000 --9.5000;-49.0000 --9.5000;-48.5000 --9.5000;-48.0000 --9.5000;-47.5000 --9.5000;-47.0000 --9.5000;-46.5000 --9.5000;-46.0000 --9.5000;-45.5000 --9.5000;-45.0000 --9.5000;-44.5000 --9.5000;-44.0000 --9.5000;-43.5000 --9.5000;-43.0000 --9.5000;-42.5000 --9.5000;-42.0000 --9.5000;-41.5000 --9.5000;-41.0000 --9.5000;-40.5000 --9.5000;-40.0000 --9.5000;-39.5000 --9.5000;-39.0000 --9.5000;-38.5000 --9.5000;-38.0000 --9.5000;-37.5000 --9.5000;-37.0000 --9.5000;-36.5000 --9.5000;-36.0000 --9.5000;-35.5000 --9.5000;-35.0000 --9.5000;-34.5000 --9.5000;-34.0000 --9.5000;-33.5000 --9.5000;-33.0000 --9.5000;-32.5000 --9.5000;-32.0000 --9.5000;-31.5000 --9.5000;-31.0000 --9.5000;-30.5000 --9.5000;-30.0000 --9.5000;-29.5000 --9.5000;-29.0000 --9.5000;-28.5000 --9.5000;-28.0000 --9.5000;-27.5000 --9.5000;-27.0000 --9.5000;-26.5000 --9.5000;-26.0000 --9.5000;-25.5000 --9.5000;-25.0000 --9.5000;-24.5000 --9.5000;-24.0000 --9.5000;-23.5000 --9.5000;-23.0000 --9.5000;-22.5000 --9.5000;-22.0000 --9.5000;-21.5000 --9.5000;-21.0000 --9.5000;-20.5000 --9.5000;-20.0000 --9.5000;-19.5000 --9.5000;-19.0000 --9.5000;-18.5000 --9.5000;-18.0000 --9.0000;-223.5000 --9.0000;-223.0000 --9.0000;-222.5000 --9.0000;-222.0000 --9.0000;-221.5000 --9.0000;-221.0000 --9.0000;-220.5000 --9.0000;-220.0000 --9.0000;-219.5000 --9.0000;-219.0000 --9.0000;-218.5000 --9.0000;-218.0000 --9.0000;-217.5000 --9.0000;-217.0000 --9.0000;-216.5000 --9.0000;-216.0000 --9.0000;-215.5000 --9.0000;-215.0000 --9.0000;-214.5000 --9.0000;-214.0000 --9.0000;-213.5000 --9.0000;-213.0000 --9.0000;-212.5000 --9.0000;-212.0000 --9.0000;-162.5000 --9.0000;-162.0000 --9.0000;-161.5000 --9.0000;-161.0000 --9.0000;-160.5000 --9.0000;-160.0000 --9.0000;-159.5000 --9.0000;-159.0000 --9.0000;-158.5000 --9.0000;-158.0000 --9.0000;-157.5000 --9.0000;-157.0000 --9.0000;-156.5000 --9.0000;-156.0000 --9.0000;-155.5000 --9.0000;-155.0000 --9.0000;-154.5000 --9.0000;-154.0000 --9.0000;-128.0000 --9.0000;-127.5000 --9.0000;-127.0000 --9.0000;-126.5000 --9.0000;-126.0000 --9.0000;-125.5000 --9.0000;-125.0000 --9.0000;-124.5000 --9.0000;-124.0000 --9.0000;-123.5000 --9.0000;-123.0000 --9.0000;-122.5000 --9.0000;-122.0000 --9.0000;-121.5000 --9.0000;-121.0000 --9.0000;-120.5000 --9.0000;-51.5000 --9.0000;-51.0000 --9.0000;-50.5000 --9.0000;-50.0000 --9.0000;-49.5000 --9.0000;-49.0000 --9.0000;-48.5000 --9.0000;-48.0000 --9.0000;-47.5000 --9.0000;-47.0000 --9.0000;-46.5000 --9.0000;-46.0000 --9.0000;-45.5000 --9.0000;-45.0000 --9.0000;-44.5000 --9.0000;-44.0000 --9.0000;-43.5000 --9.0000;-43.0000 --9.0000;-42.5000 --9.0000;-42.0000 --9.0000;-41.5000 --9.0000;-41.0000 --9.0000;-40.5000 --9.0000;-40.0000 --9.0000;-39.5000 --9.0000;-39.0000 --9.0000;-38.5000 --9.0000;-38.0000 --9.0000;-37.5000 --9.0000;-37.0000 --9.0000;-36.5000 --9.0000;-36.0000 --9.0000;-35.5000 --9.0000;-35.0000 --9.0000;-34.5000 --9.0000;-34.0000 --9.0000;-33.5000 --9.0000;-33.0000 --9.0000;-32.5000 --9.0000;-32.0000 --9.0000;-31.5000 --9.0000;-31.0000 --9.0000;-30.5000 --9.0000;-30.0000 --9.0000;-29.5000 --9.0000;-29.0000 --9.0000;-28.5000 --9.0000;-28.0000 --9.0000;-27.5000 --9.0000;-27.0000 --9.0000;-26.5000 --9.0000;-26.0000 --9.0000;-25.5000 --9.0000;-25.0000 --9.0000;-24.5000 --9.0000;-24.0000 --9.0000;-23.5000 --9.0000;-23.0000 --9.0000;-22.5000 --9.0000;-22.0000 --9.0000;-21.5000 --9.0000;-21.0000 --9.0000;-20.5000 --9.0000;-20.0000 --9.0000;-19.5000 --9.0000;-19.0000 --9.0000;-18.5000 --9.0000;-18.0000 --9.0000;-17.5000 --9.0000;-17.0000 --8.5000;-223.5000 --8.5000;-223.0000 --8.5000;-222.5000 --8.5000;-222.0000 --8.5000;-221.5000 --8.5000;-221.0000 --8.5000;-220.5000 --8.5000;-220.0000 --8.5000;-219.5000 --8.5000;-219.0000 --8.5000;-218.5000 --8.5000;-218.0000 --8.5000;-217.5000 --8.5000;-217.0000 --8.5000;-216.5000 --8.5000;-216.0000 --8.5000;-215.5000 --8.5000;-215.0000 --8.5000;-214.5000 --8.5000;-214.0000 --8.5000;-213.5000 --8.5000;-213.0000 --8.5000;-212.5000 --8.5000;-212.0000 --8.5000;-163.0000 --8.5000;-162.5000 --8.5000;-162.0000 --8.5000;-161.5000 --8.5000;-161.0000 --8.5000;-160.5000 --8.5000;-160.0000 --8.5000;-159.5000 --8.5000;-159.0000 --8.5000;-158.5000 --8.5000;-158.0000 --8.5000;-157.5000 --8.5000;-157.0000 --8.5000;-156.5000 --8.5000;-156.0000 --8.5000;-155.5000 --8.5000;-155.0000 --8.5000;-154.5000 --8.5000;-127.5000 --8.5000;-127.0000 --8.5000;-126.5000 --8.5000;-126.0000 --8.5000;-125.5000 --8.5000;-125.0000 --8.5000;-124.5000 --8.5000;-124.0000 --8.5000;-123.5000 --8.5000;-123.0000 --8.5000;-122.5000 --8.5000;-122.0000 --8.5000;-121.5000 --8.5000;-121.0000 --8.5000;-120.5000 --8.5000;-50.0000 --8.5000;-49.5000 --8.5000;-49.0000 --8.5000;-48.5000 --8.5000;-48.0000 --8.5000;-47.5000 --8.5000;-47.0000 --8.5000;-46.5000 --8.5000;-46.0000 --8.5000;-45.5000 --8.5000;-45.0000 --8.5000;-44.5000 --8.5000;-44.0000 --8.5000;-43.5000 --8.5000;-43.0000 --8.5000;-42.5000 --8.5000;-42.0000 --8.5000;-41.5000 --8.5000;-41.0000 --8.5000;-40.5000 --8.5000;-40.0000 --8.5000;-39.5000 --8.5000;-39.0000 --8.5000;-38.5000 --8.5000;-38.0000 --8.5000;-37.5000 --8.5000;-37.0000 --8.5000;-36.5000 --8.5000;-36.0000 --8.5000;-35.5000 --8.5000;-35.0000 --8.5000;-34.5000 --8.5000;-34.0000 --8.5000;-33.5000 --8.5000;-33.0000 --8.5000;-32.5000 --8.5000;-32.0000 --8.5000;-31.5000 --8.5000;-31.0000 --8.5000;-30.5000 --8.5000;-30.0000 --8.5000;-29.5000 --8.5000;-29.0000 --8.5000;-28.5000 --8.5000;-28.0000 --8.5000;-27.5000 --8.5000;-27.0000 --8.5000;-26.5000 --8.5000;-26.0000 --8.5000;-25.5000 --8.5000;-25.0000 --8.5000;-24.5000 --8.5000;-24.0000 --8.5000;-23.5000 --8.5000;-23.0000 --8.5000;-22.5000 --8.5000;-22.0000 --8.5000;-21.5000 --8.5000;-21.0000 --8.5000;-20.5000 --8.5000;-20.0000 --8.5000;-19.5000 --8.5000;-19.0000 --8.5000;-18.5000 --8.5000;-18.0000 --8.5000;-17.5000 --8.5000;-17.0000 --8.5000;-16.5000 --8.5000;-16.0000 --8.0000;-223.5000 --8.0000;-223.0000 --8.0000;-222.5000 --8.0000;-222.0000 --8.0000;-221.5000 --8.0000;-221.0000 --8.0000;-220.5000 --8.0000;-220.0000 --8.0000;-219.5000 --8.0000;-219.0000 --8.0000;-218.5000 --8.0000;-218.0000 --8.0000;-217.5000 --8.0000;-217.0000 --8.0000;-216.5000 --8.0000;-216.0000 --8.0000;-215.5000 --8.0000;-215.0000 --8.0000;-214.5000 --8.0000;-214.0000 --8.0000;-213.5000 --8.0000;-213.0000 --8.0000;-212.5000 --8.0000;-212.0000 --8.0000;-163.0000 --8.0000;-162.5000 --8.0000;-162.0000 --8.0000;-161.5000 --8.0000;-161.0000 --8.0000;-160.5000 --8.0000;-160.0000 --8.0000;-159.5000 --8.0000;-159.0000 --8.0000;-158.5000 --8.0000;-158.0000 --8.0000;-157.5000 --8.0000;-157.0000 --8.0000;-156.5000 --8.0000;-156.0000 --8.0000;-155.5000 --8.0000;-155.0000 --8.0000;-154.5000 --8.0000;-127.5000 --8.0000;-127.0000 --8.0000;-126.5000 --8.0000;-126.0000 --8.0000;-125.5000 --8.0000;-125.0000 --8.0000;-124.5000 --8.0000;-124.0000 --8.0000;-123.5000 --8.0000;-123.0000 --8.0000;-122.5000 --8.0000;-122.0000 --8.0000;-121.5000 --8.0000;-121.0000 --8.0000;-120.5000 --8.0000;-48.5000 --8.0000;-48.0000 --8.0000;-47.5000 --8.0000;-47.0000 --8.0000;-46.5000 --8.0000;-46.0000 --8.0000;-45.5000 --8.0000;-45.0000 --8.0000;-44.5000 --8.0000;-44.0000 --8.0000;-43.5000 --8.0000;-43.0000 --8.0000;-42.5000 --8.0000;-42.0000 --8.0000;-41.5000 --8.0000;-41.0000 --8.0000;-40.5000 --8.0000;-40.0000 --8.0000;-39.5000 --8.0000;-39.0000 --8.0000;-38.5000 --8.0000;-38.0000 --8.0000;-37.5000 --8.0000;-37.0000 --8.0000;-36.5000 --8.0000;-36.0000 --8.0000;-35.5000 --8.0000;-35.0000 --8.0000;-34.5000 --8.0000;-34.0000 --8.0000;-33.5000 --8.0000;-33.0000 --8.0000;-32.5000 --8.0000;-32.0000 --8.0000;-31.5000 --8.0000;-31.0000 --8.0000;-30.5000 --8.0000;-30.0000 --8.0000;-29.5000 --8.0000;-29.0000 --8.0000;-28.5000 --8.0000;-28.0000 --8.0000;-27.5000 --8.0000;-27.0000 --8.0000;-26.5000 --8.0000;-26.0000 --8.0000;-25.5000 --8.0000;-25.0000 --8.0000;-24.5000 --8.0000;-24.0000 --8.0000;-23.5000 --8.0000;-23.0000 --8.0000;-22.5000 --8.0000;-22.0000 --8.0000;-21.5000 --8.0000;-21.0000 --8.0000;-20.5000 --8.0000;-20.0000 --8.0000;-19.5000 --8.0000;-19.0000 --8.0000;-18.5000 --8.0000;-18.0000 --8.0000;-17.5000 --8.0000;-17.0000 --8.0000;-16.5000 --8.0000;-16.0000 --8.0000;-15.5000 --8.0000;-15.0000 --7.5000;-223.5000 --7.5000;-223.0000 --7.5000;-222.5000 --7.5000;-222.0000 --7.5000;-221.5000 --7.5000;-221.0000 --7.5000;-220.5000 --7.5000;-220.0000 --7.5000;-219.5000 --7.5000;-219.0000 --7.5000;-218.5000 --7.5000;-218.0000 --7.5000;-217.5000 --7.5000;-217.0000 --7.5000;-216.5000 --7.5000;-216.0000 --7.5000;-215.5000 --7.5000;-215.0000 --7.5000;-214.5000 --7.5000;-214.0000 --7.5000;-213.5000 --7.5000;-213.0000 --7.5000;-212.5000 --7.5000;-163.5000 --7.5000;-163.0000 --7.5000;-162.5000 --7.5000;-162.0000 --7.5000;-161.5000 --7.5000;-161.0000 --7.5000;-160.5000 --7.5000;-160.0000 --7.5000;-159.5000 --7.5000;-159.0000 --7.5000;-158.5000 --7.5000;-158.0000 --7.5000;-157.5000 --7.5000;-157.0000 --7.5000;-156.5000 --7.5000;-156.0000 --7.5000;-155.5000 --7.5000;-155.0000 --7.5000;-127.5000 --7.5000;-127.0000 --7.5000;-126.5000 --7.5000;-126.0000 --7.5000;-125.5000 --7.5000;-125.0000 --7.5000;-124.5000 --7.5000;-124.0000 --7.5000;-123.5000 --7.5000;-123.0000 --7.5000;-122.5000 --7.5000;-122.0000 --7.5000;-121.5000 --7.5000;-121.0000 --7.5000;-120.5000 --7.5000;-47.5000 --7.5000;-47.0000 --7.5000;-46.5000 --7.5000;-46.0000 --7.5000;-45.5000 --7.5000;-45.0000 --7.5000;-44.5000 --7.5000;-44.0000 --7.5000;-43.5000 --7.5000;-43.0000 --7.5000;-42.5000 --7.5000;-42.0000 --7.5000;-41.5000 --7.5000;-41.0000 --7.5000;-40.5000 --7.5000;-40.0000 --7.5000;-39.5000 --7.5000;-39.0000 --7.5000;-38.5000 --7.5000;-38.0000 --7.5000;-37.5000 --7.5000;-37.0000 --7.5000;-36.5000 --7.5000;-36.0000 --7.5000;-35.5000 --7.5000;-35.0000 --7.5000;-34.5000 --7.5000;-34.0000 --7.5000;-33.5000 --7.5000;-33.0000 --7.5000;-32.5000 --7.5000;-32.0000 --7.5000;-31.5000 --7.5000;-31.0000 --7.5000;-30.5000 --7.5000;-30.0000 --7.5000;-29.5000 --7.5000;-29.0000 --7.5000;-28.5000 --7.5000;-28.0000 --7.5000;-27.5000 --7.5000;-27.0000 --7.5000;-26.5000 --7.5000;-26.0000 --7.5000;-25.5000 --7.5000;-25.0000 --7.5000;-24.5000 --7.5000;-24.0000 --7.5000;-23.5000 --7.5000;-23.0000 --7.5000;-22.5000 --7.5000;-22.0000 --7.5000;-21.5000 --7.5000;-21.0000 --7.5000;-20.5000 --7.5000;-20.0000 --7.5000;-19.5000 --7.5000;-19.0000 --7.5000;-18.5000 --7.5000;-18.0000 --7.5000;-17.5000 --7.5000;-17.0000 --7.5000;-16.5000 --7.5000;-16.0000 --7.5000;-15.5000 --7.5000;-15.0000 --7.5000;-14.5000 --7.5000;-14.0000 --7.0000;-223.5000 --7.0000;-223.0000 --7.0000;-222.5000 --7.0000;-222.0000 --7.0000;-221.5000 --7.0000;-221.0000 --7.0000;-220.5000 --7.0000;-220.0000 --7.0000;-219.5000 --7.0000;-219.0000 --7.0000;-218.5000 --7.0000;-218.0000 --7.0000;-217.5000 --7.0000;-217.0000 --7.0000;-216.5000 --7.0000;-216.0000 --7.0000;-215.5000 --7.0000;-215.0000 --7.0000;-214.5000 --7.0000;-214.0000 --7.0000;-213.5000 --7.0000;-213.0000 --7.0000;-212.5000 --7.0000;-163.5000 --7.0000;-163.0000 --7.0000;-162.5000 --7.0000;-162.0000 --7.0000;-161.5000 --7.0000;-161.0000 --7.0000;-160.5000 --7.0000;-160.0000 --7.0000;-159.5000 --7.0000;-159.0000 --7.0000;-158.5000 --7.0000;-158.0000 --7.0000;-157.5000 --7.0000;-157.0000 --7.0000;-156.5000 --7.0000;-156.0000 --7.0000;-155.5000 --7.0000;-155.0000 --7.0000;-127.5000 --7.0000;-127.0000 --7.0000;-126.5000 --7.0000;-126.0000 --7.0000;-125.5000 --7.0000;-125.0000 --7.0000;-124.5000 --7.0000;-124.0000 --7.0000;-123.5000 --7.0000;-123.0000 --7.0000;-122.5000 --7.0000;-122.0000 --7.0000;-121.5000 --7.0000;-121.0000 --7.0000;-120.5000 --7.0000;-46.0000 --7.0000;-45.5000 --7.0000;-45.0000 --7.0000;-44.5000 --7.0000;-44.0000 --7.0000;-43.5000 --7.0000;-43.0000 --7.0000;-42.5000 --7.0000;-42.0000 --7.0000;-41.5000 --7.0000;-41.0000 --7.0000;-40.5000 --7.0000;-40.0000 --7.0000;-39.5000 --7.0000;-39.0000 --7.0000;-38.5000 --7.0000;-38.0000 --7.0000;-37.5000 --7.0000;-37.0000 --7.0000;-36.5000 --7.0000;-36.0000 --7.0000;-35.5000 --7.0000;-35.0000 --7.0000;-34.5000 --7.0000;-34.0000 --7.0000;-33.5000 --7.0000;-33.0000 --7.0000;-32.5000 --7.0000;-32.0000 --7.0000;-31.5000 --7.0000;-31.0000 --7.0000;-30.5000 --7.0000;-30.0000 --7.0000;-29.5000 --7.0000;-29.0000 --7.0000;-28.5000 --7.0000;-28.0000 --7.0000;-27.5000 --7.0000;-27.0000 --7.0000;-26.5000 --7.0000;-26.0000 --7.0000;-25.5000 --7.0000;-25.0000 --7.0000;-24.5000 --7.0000;-24.0000 --7.0000;-23.5000 --7.0000;-23.0000 --7.0000;-22.5000 --7.0000;-22.0000 --7.0000;-21.5000 --7.0000;-21.0000 --7.0000;-20.5000 --7.0000;-20.0000 --7.0000;-19.5000 --7.0000;-19.0000 --7.0000;-18.5000 --7.0000;-18.0000 --7.0000;-17.5000 --7.0000;-17.0000 --7.0000;-16.5000 --7.0000;-16.0000 --7.0000;-15.5000 --7.0000;-15.0000 --7.0000;-14.5000 --7.0000;-14.0000 --7.0000;-13.5000 --7.0000;-13.0000 --6.5000;-223.5000 --6.5000;-223.0000 --6.5000;-222.5000 --6.5000;-222.0000 --6.5000;-221.5000 --6.5000;-221.0000 --6.5000;-220.5000 --6.5000;-220.0000 --6.5000;-219.5000 --6.5000;-219.0000 --6.5000;-218.5000 --6.5000;-218.0000 --6.5000;-217.5000 --6.5000;-217.0000 --6.5000;-216.5000 --6.5000;-216.0000 --6.5000;-215.5000 --6.5000;-215.0000 --6.5000;-214.5000 --6.5000;-214.0000 --6.5000;-213.5000 --6.5000;-213.0000 --6.5000;-212.5000 --6.5000;-164.0000 --6.5000;-163.5000 --6.5000;-163.0000 --6.5000;-162.5000 --6.5000;-162.0000 --6.5000;-161.5000 --6.5000;-161.0000 --6.5000;-160.5000 --6.5000;-160.0000 --6.5000;-159.5000 --6.5000;-159.0000 --6.5000;-158.5000 --6.5000;-158.0000 --6.5000;-157.5000 --6.5000;-157.0000 --6.5000;-156.5000 --6.5000;-156.0000 --6.5000;-155.5000 --6.5000;-127.5000 --6.5000;-127.0000 --6.5000;-126.5000 --6.5000;-126.0000 --6.5000;-125.5000 --6.5000;-125.0000 --6.5000;-124.5000 --6.5000;-124.0000 --6.5000;-123.5000 --6.5000;-123.0000 --6.5000;-122.5000 --6.5000;-122.0000 --6.5000;-121.5000 --6.5000;-121.0000 --6.5000;-120.5000 --6.5000;-44.5000 --6.5000;-44.0000 --6.5000;-43.5000 --6.5000;-43.0000 --6.5000;-42.5000 --6.5000;-42.0000 --6.5000;-41.5000 --6.5000;-41.0000 --6.5000;-40.5000 --6.5000;-40.0000 --6.5000;-39.5000 --6.5000;-39.0000 --6.5000;-38.5000 --6.5000;-38.0000 --6.5000;-37.5000 --6.5000;-37.0000 --6.5000;-36.5000 --6.5000;-36.0000 --6.5000;-35.5000 --6.5000;-35.0000 --6.5000;-34.5000 --6.5000;-34.0000 --6.5000;-33.5000 --6.5000;-33.0000 --6.5000;-32.5000 --6.5000;-32.0000 --6.5000;-31.5000 --6.5000;-31.0000 --6.5000;-30.5000 --6.5000;-30.0000 --6.5000;-29.5000 --6.5000;-29.0000 --6.5000;-28.5000 --6.5000;-28.0000 --6.5000;-27.5000 --6.5000;-27.0000 --6.5000;-26.5000 --6.5000;-26.0000 --6.5000;-25.5000 --6.5000;-25.0000 --6.5000;-24.5000 --6.5000;-24.0000 --6.5000;-23.5000 --6.5000;-23.0000 --6.5000;-22.5000 --6.5000;-22.0000 --6.5000;-21.5000 --6.5000;-21.0000 --6.5000;-20.5000 --6.5000;-20.0000 --6.5000;-19.5000 --6.5000;-19.0000 --6.5000;-18.5000 --6.5000;-18.0000 --6.5000;-17.5000 --6.5000;-17.0000 --6.5000;-16.5000 --6.5000;-16.0000 --6.5000;-15.5000 --6.5000;-15.0000 --6.5000;-14.5000 --6.5000;-14.0000 --6.5000;-13.5000 --6.5000;-13.0000 --6.5000;-12.5000 --6.5000;-12.0000 --6.0000;-223.5000 --6.0000;-223.0000 --6.0000;-222.5000 --6.0000;-222.0000 --6.0000;-221.5000 --6.0000;-221.0000 --6.0000;-220.5000 --6.0000;-220.0000 --6.0000;-219.5000 --6.0000;-219.0000 --6.0000;-218.5000 --6.0000;-218.0000 --6.0000;-217.5000 --6.0000;-217.0000 --6.0000;-216.5000 --6.0000;-216.0000 --6.0000;-215.5000 --6.0000;-215.0000 --6.0000;-214.5000 --6.0000;-214.0000 --6.0000;-213.5000 --6.0000;-213.0000 --6.0000;-212.5000 --6.0000;-164.0000 --6.0000;-163.5000 --6.0000;-163.0000 --6.0000;-162.5000 --6.0000;-162.0000 --6.0000;-161.5000 --6.0000;-161.0000 --6.0000;-160.5000 --6.0000;-160.0000 --6.0000;-159.5000 --6.0000;-159.0000 --6.0000;-158.5000 --6.0000;-158.0000 --6.0000;-157.5000 --6.0000;-157.0000 --6.0000;-156.5000 --6.0000;-156.0000 --6.0000;-155.5000 --6.0000;-127.5000 --6.0000;-127.0000 --6.0000;-126.5000 --6.0000;-126.0000 --6.0000;-125.5000 --6.0000;-125.0000 --6.0000;-124.5000 --6.0000;-124.0000 --6.0000;-123.5000 --6.0000;-123.0000 --6.0000;-122.5000 --6.0000;-122.0000 --6.0000;-121.5000 --6.0000;-121.0000 --6.0000;-120.5000 --6.0000;-43.5000 --6.0000;-43.0000 --6.0000;-42.5000 --6.0000;-42.0000 --6.0000;-41.5000 --6.0000;-41.0000 --6.0000;-40.5000 --6.0000;-40.0000 --6.0000;-39.5000 --6.0000;-39.0000 --6.0000;-38.5000 --6.0000;-38.0000 --6.0000;-37.5000 --6.0000;-37.0000 --6.0000;-36.5000 --6.0000;-36.0000 --6.0000;-35.5000 --6.0000;-35.0000 --6.0000;-34.5000 --6.0000;-34.0000 --6.0000;-33.5000 --6.0000;-33.0000 --6.0000;-32.5000 --6.0000;-32.0000 --6.0000;-31.5000 --6.0000;-31.0000 --6.0000;-30.5000 --6.0000;-30.0000 --6.0000;-29.5000 --6.0000;-29.0000 --6.0000;-28.5000 --6.0000;-28.0000 --6.0000;-27.5000 --6.0000;-27.0000 --6.0000;-26.5000 --6.0000;-26.0000 --6.0000;-25.5000 --6.0000;-25.0000 --6.0000;-24.5000 --6.0000;-24.0000 --6.0000;-23.5000 --6.0000;-23.0000 --6.0000;-22.5000 --6.0000;-22.0000 --6.0000;-21.5000 --6.0000;-21.0000 --6.0000;-20.5000 --6.0000;-20.0000 --6.0000;-19.5000 --6.0000;-19.0000 --6.0000;-18.5000 --6.0000;-18.0000 --6.0000;-17.5000 --6.0000;-17.0000 --6.0000;-16.5000 --6.0000;-16.0000 --6.0000;-15.5000 --6.0000;-15.0000 --6.0000;-14.5000 --6.0000;-14.0000 --6.0000;-13.5000 --6.0000;-13.0000 --6.0000;-12.5000 --6.0000;-12.0000 --6.0000;-11.5000 --6.0000;-11.0000 --5.5000;-223.5000 --5.5000;-223.0000 --5.5000;-222.5000 --5.5000;-222.0000 --5.5000;-221.5000 --5.5000;-221.0000 --5.5000;-220.5000 --5.5000;-220.0000 --5.5000;-219.5000 --5.5000;-219.0000 --5.5000;-218.5000 --5.5000;-218.0000 --5.5000;-217.5000 --5.5000;-217.0000 --5.5000;-216.5000 --5.5000;-216.0000 --5.5000;-215.5000 --5.5000;-215.0000 --5.5000;-214.5000 --5.5000;-214.0000 --5.5000;-213.5000 --5.5000;-213.0000 --5.5000;-212.5000 --5.5000;-164.5000 --5.5000;-164.0000 --5.5000;-163.5000 --5.5000;-163.0000 --5.5000;-162.5000 --5.5000;-162.0000 --5.5000;-161.5000 --5.5000;-161.0000 --5.5000;-160.5000 --5.5000;-160.0000 --5.5000;-159.5000 --5.5000;-159.0000 --5.5000;-158.5000 --5.5000;-158.0000 --5.5000;-157.5000 --5.5000;-157.0000 --5.5000;-156.5000 --5.5000;-156.0000 --5.5000;-155.5000 --5.5000;-127.5000 --5.5000;-127.0000 --5.5000;-126.5000 --5.5000;-126.0000 --5.5000;-125.5000 --5.5000;-125.0000 --5.5000;-124.5000 --5.5000;-124.0000 --5.5000;-123.5000 --5.5000;-123.0000 --5.5000;-122.5000 --5.5000;-122.0000 --5.5000;-121.5000 --5.5000;-121.0000 --5.5000;-120.5000 --5.5000;-42.0000 --5.5000;-41.5000 --5.5000;-41.0000 --5.5000;-40.5000 --5.5000;-40.0000 --5.5000;-39.5000 --5.5000;-39.0000 --5.5000;-38.5000 --5.5000;-38.0000 --5.5000;-37.5000 --5.5000;-37.0000 --5.5000;-36.5000 --5.5000;-36.0000 --5.5000;-35.5000 --5.5000;-35.0000 --5.5000;-34.5000 --5.5000;-34.0000 --5.5000;-33.5000 --5.5000;-33.0000 --5.5000;-32.5000 --5.5000;-32.0000 --5.5000;-31.5000 --5.5000;-31.0000 --5.5000;-30.5000 --5.5000;-30.0000 --5.5000;-29.5000 --5.5000;-29.0000 --5.5000;-28.5000 --5.5000;-28.0000 --5.5000;-27.5000 --5.5000;-27.0000 --5.5000;-26.5000 --5.5000;-26.0000 --5.5000;-25.5000 --5.5000;-25.0000 --5.5000;-24.5000 --5.5000;-24.0000 --5.5000;-23.5000 --5.5000;-23.0000 --5.5000;-22.5000 --5.5000;-22.0000 --5.5000;-21.5000 --5.5000;-21.0000 --5.5000;-20.5000 --5.5000;-20.0000 --5.5000;-19.5000 --5.5000;-19.0000 --5.5000;-18.5000 --5.5000;-18.0000 --5.5000;-17.5000 --5.5000;-17.0000 --5.5000;-16.5000 --5.5000;-16.0000 --5.5000;-15.5000 --5.5000;-15.0000 --5.5000;-14.5000 --5.5000;-14.0000 --5.5000;-13.5000 --5.5000;-13.0000 --5.5000;-12.5000 --5.5000;-12.0000 --5.5000;-11.5000 --5.5000;-11.0000 --5.5000;-10.5000 --5.5000;-10.0000 --5.0000;-223.5000 --5.0000;-223.0000 --5.0000;-222.5000 --5.0000;-222.0000 --5.0000;-221.5000 --5.0000;-221.0000 --5.0000;-220.5000 --5.0000;-220.0000 --5.0000;-219.5000 --5.0000;-219.0000 --5.0000;-218.5000 --5.0000;-218.0000 --5.0000;-217.5000 --5.0000;-217.0000 --5.0000;-216.5000 --5.0000;-216.0000 --5.0000;-215.5000 --5.0000;-215.0000 --5.0000;-214.5000 --5.0000;-214.0000 --5.0000;-213.5000 --5.0000;-213.0000 --5.0000;-212.5000 --5.0000;-164.5000 --5.0000;-164.0000 --5.0000;-163.5000 --5.0000;-163.0000 --5.0000;-162.5000 --5.0000;-162.0000 --5.0000;-161.5000 --5.0000;-161.0000 --5.0000;-160.5000 --5.0000;-160.0000 --5.0000;-159.5000 --5.0000;-159.0000 --5.0000;-158.5000 --5.0000;-158.0000 --5.0000;-157.5000 --5.0000;-157.0000 --5.0000;-156.5000 --5.0000;-156.0000 --5.0000;-127.5000 --5.0000;-127.0000 --5.0000;-126.5000 --5.0000;-126.0000 --5.0000;-125.5000 --5.0000;-125.0000 --5.0000;-124.5000 --5.0000;-124.0000 --5.0000;-123.5000 --5.0000;-123.0000 --5.0000;-122.5000 --5.0000;-122.0000 --5.0000;-121.5000 --5.0000;-121.0000 --5.0000;-120.5000 --5.0000;-41.0000 --5.0000;-40.5000 --5.0000;-40.0000 --5.0000;-39.5000 --5.0000;-39.0000 --5.0000;-38.5000 --5.0000;-38.0000 --5.0000;-37.5000 --5.0000;-37.0000 --5.0000;-36.5000 --5.0000;-36.0000 --5.0000;-35.5000 --5.0000;-35.0000 --5.0000;-34.5000 --5.0000;-34.0000 --5.0000;-33.5000 --5.0000;-33.0000 --5.0000;-32.5000 --5.0000;-32.0000 --5.0000;-31.5000 --5.0000;-31.0000 --5.0000;-30.5000 --5.0000;-30.0000 --5.0000;-29.5000 --5.0000;-29.0000 --5.0000;-28.5000 --5.0000;-28.0000 --5.0000;-27.5000 --5.0000;-27.0000 --5.0000;-26.5000 --5.0000;-26.0000 --5.0000;-25.5000 --5.0000;-25.0000 --5.0000;-24.5000 --5.0000;-24.0000 --5.0000;-23.5000 --5.0000;-23.0000 --5.0000;-22.5000 --5.0000;-22.0000 --5.0000;-21.5000 --5.0000;-21.0000 --5.0000;-20.5000 --5.0000;-20.0000 --5.0000;-19.5000 --5.0000;-19.0000 --5.0000;-18.5000 --5.0000;-18.0000 --5.0000;-17.5000 --5.0000;-17.0000 --5.0000;-16.5000 --5.0000;-16.0000 --5.0000;-15.5000 --5.0000;-15.0000 --5.0000;-14.5000 --5.0000;-14.0000 --5.0000;-13.5000 --5.0000;-13.0000 --5.0000;-12.5000 --5.0000;-12.0000 --5.0000;-11.5000 --5.0000;-11.0000 --5.0000;-10.5000 --5.0000;-10.0000 --5.0000;-9.5000 --5.0000;-9.0000 --5.0000;-8.5000 --4.5000;-223.5000 --4.5000;-223.0000 --4.5000;-222.5000 --4.5000;-222.0000 --4.5000;-221.5000 --4.5000;-221.0000 --4.5000;-220.5000 --4.5000;-220.0000 --4.5000;-219.5000 --4.5000;-219.0000 --4.5000;-218.5000 --4.5000;-218.0000 --4.5000;-217.5000 --4.5000;-217.0000 --4.5000;-216.5000 --4.5000;-216.0000 --4.5000;-215.5000 --4.5000;-215.0000 --4.5000;-214.5000 --4.5000;-214.0000 --4.5000;-213.5000 --4.5000;-213.0000 --4.5000;-212.5000 --4.5000;-165.0000 --4.5000;-164.5000 --4.5000;-164.0000 --4.5000;-163.5000 --4.5000;-163.0000 --4.5000;-162.5000 --4.5000;-162.0000 --4.5000;-161.5000 --4.5000;-161.0000 --4.5000;-160.5000 --4.5000;-160.0000 --4.5000;-159.5000 --4.5000;-159.0000 --4.5000;-158.5000 --4.5000;-158.0000 --4.5000;-157.5000 --4.5000;-157.0000 --4.5000;-156.5000 --4.5000;-156.0000 --4.5000;-127.5000 --4.5000;-127.0000 --4.5000;-126.5000 --4.5000;-126.0000 --4.5000;-125.5000 --4.5000;-125.0000 --4.5000;-124.5000 --4.5000;-124.0000 --4.5000;-123.5000 --4.5000;-123.0000 --4.5000;-122.5000 --4.5000;-122.0000 --4.5000;-121.5000 --4.5000;-121.0000 --4.5000;-120.5000 --4.5000;-39.5000 --4.5000;-39.0000 --4.5000;-38.5000 --4.5000;-38.0000 --4.5000;-37.5000 --4.5000;-37.0000 --4.5000;-36.5000 --4.5000;-36.0000 --4.5000;-35.5000 --4.5000;-35.0000 --4.5000;-34.5000 --4.5000;-34.0000 --4.5000;-33.5000 --4.5000;-33.0000 --4.5000;-32.5000 --4.5000;-32.0000 --4.5000;-31.5000 --4.5000;-31.0000 --4.5000;-30.5000 --4.5000;-30.0000 --4.5000;-29.5000 --4.5000;-29.0000 --4.5000;-28.5000 --4.5000;-28.0000 --4.5000;-27.5000 --4.5000;-27.0000 --4.5000;-26.5000 --4.5000;-26.0000 --4.5000;-25.5000 --4.5000;-25.0000 --4.5000;-24.5000 --4.5000;-24.0000 --4.5000;-23.5000 --4.5000;-23.0000 --4.5000;-22.5000 --4.5000;-22.0000 --4.5000;-21.5000 --4.5000;-21.0000 --4.5000;-20.5000 --4.5000;-20.0000 --4.5000;-19.5000 --4.5000;-19.0000 --4.5000;-18.5000 --4.5000;-18.0000 --4.5000;-17.5000 --4.5000;-17.0000 --4.5000;-16.5000 --4.5000;-16.0000 --4.5000;-15.5000 --4.5000;-15.0000 --4.5000;-14.5000 --4.5000;-14.0000 --4.5000;-13.5000 --4.5000;-13.0000 --4.5000;-12.5000 --4.5000;-12.0000 --4.5000;-11.5000 --4.5000;-11.0000 --4.5000;-10.5000 --4.5000;-10.0000 --4.5000;-9.5000 --4.5000;-9.0000 --4.5000;-8.5000 --4.5000;-8.0000 --4.5000;-7.5000 --4.0000;-223.5000 --4.0000;-223.0000 --4.0000;-222.5000 --4.0000;-222.0000 --4.0000;-221.5000 --4.0000;-221.0000 --4.0000;-220.5000 --4.0000;-220.0000 --4.0000;-219.5000 --4.0000;-219.0000 --4.0000;-218.5000 --4.0000;-218.0000 --4.0000;-217.5000 --4.0000;-217.0000 --4.0000;-216.5000 --4.0000;-216.0000 --4.0000;-215.5000 --4.0000;-215.0000 --4.0000;-214.5000 --4.0000;-214.0000 --4.0000;-213.5000 --4.0000;-213.0000 --4.0000;-212.5000 --4.0000;-165.0000 --4.0000;-164.5000 --4.0000;-164.0000 --4.0000;-163.5000 --4.0000;-163.0000 --4.0000;-162.5000 --4.0000;-162.0000 --4.0000;-161.5000 --4.0000;-161.0000 --4.0000;-160.5000 --4.0000;-160.0000 --4.0000;-159.5000 --4.0000;-159.0000 --4.0000;-158.5000 --4.0000;-158.0000 --4.0000;-157.5000 --4.0000;-157.0000 --4.0000;-156.5000 --4.0000;-128.0000 --4.0000;-127.5000 --4.0000;-127.0000 --4.0000;-126.5000 --4.0000;-126.0000 --4.0000;-125.5000 --4.0000;-125.0000 --4.0000;-124.5000 --4.0000;-124.0000 --4.0000;-123.5000 --4.0000;-123.0000 --4.0000;-122.5000 --4.0000;-122.0000 --4.0000;-121.5000 --4.0000;-121.0000 --4.0000;-38.0000 --4.0000;-37.5000 --4.0000;-37.0000 --4.0000;-36.5000 --4.0000;-36.0000 --4.0000;-35.5000 --4.0000;-35.0000 --4.0000;-34.5000 --4.0000;-34.0000 --4.0000;-33.5000 --4.0000;-33.0000 --4.0000;-32.5000 --4.0000;-32.0000 --4.0000;-31.5000 --4.0000;-31.0000 --4.0000;-30.5000 --4.0000;-30.0000 --4.0000;-29.5000 --4.0000;-29.0000 --4.0000;-28.5000 --4.0000;-28.0000 --4.0000;-27.5000 --4.0000;-27.0000 --4.0000;-26.5000 --4.0000;-26.0000 --4.0000;-25.5000 --4.0000;-25.0000 --4.0000;-24.5000 --4.0000;-24.0000 --4.0000;-23.5000 --4.0000;-23.0000 --4.0000;-22.5000 --4.0000;-22.0000 --4.0000;-21.5000 --4.0000;-21.0000 --4.0000;-20.5000 --4.0000;-20.0000 --4.0000;-19.5000 --4.0000;-19.0000 --4.0000;-18.5000 --4.0000;-18.0000 --4.0000;-17.5000 --4.0000;-17.0000 --4.0000;-16.5000 --4.0000;-16.0000 --4.0000;-15.5000 --4.0000;-15.0000 --4.0000;-14.5000 --4.0000;-14.0000 --4.0000;-13.5000 --4.0000;-13.0000 --4.0000;-12.5000 --4.0000;-12.0000 --4.0000;-11.5000 --4.0000;-11.0000 --4.0000;-10.5000 --4.0000;-10.0000 --4.0000;-9.5000 --4.0000;-9.0000 --4.0000;-8.5000 --4.0000;-8.0000 --4.0000;-7.5000 --4.0000;-7.0000 --4.0000;-6.5000 --3.5000;-223.5000 --3.5000;-223.0000 --3.5000;-222.5000 --3.5000;-222.0000 --3.5000;-221.5000 --3.5000;-221.0000 --3.5000;-220.5000 --3.5000;-220.0000 --3.5000;-219.5000 --3.5000;-219.0000 --3.5000;-218.5000 --3.5000;-218.0000 --3.5000;-217.5000 --3.5000;-217.0000 --3.5000;-216.5000 --3.5000;-216.0000 --3.5000;-215.5000 --3.5000;-215.0000 --3.5000;-214.5000 --3.5000;-214.0000 --3.5000;-213.5000 --3.5000;-213.0000 --3.5000;-212.5000 --3.5000;-165.5000 --3.5000;-165.0000 --3.5000;-164.5000 --3.5000;-164.0000 --3.5000;-163.5000 --3.5000;-163.0000 --3.5000;-162.5000 --3.5000;-162.0000 --3.5000;-161.5000 --3.5000;-161.0000 --3.5000;-160.5000 --3.5000;-160.0000 --3.5000;-159.5000 --3.5000;-159.0000 --3.5000;-158.5000 --3.5000;-158.0000 --3.5000;-157.5000 --3.5000;-157.0000 --3.5000;-156.5000 --3.5000;-128.0000 --3.5000;-127.5000 --3.5000;-127.0000 --3.5000;-126.5000 --3.5000;-126.0000 --3.5000;-125.5000 --3.5000;-125.0000 --3.5000;-124.5000 --3.5000;-124.0000 --3.5000;-123.5000 --3.5000;-123.0000 --3.5000;-122.5000 --3.5000;-122.0000 --3.5000;-121.5000 --3.5000;-121.0000 --3.5000;-37.0000 --3.5000;-36.5000 --3.5000;-36.0000 --3.5000;-35.5000 --3.5000;-35.0000 --3.5000;-34.5000 --3.5000;-34.0000 --3.5000;-33.5000 --3.5000;-33.0000 --3.5000;-32.5000 --3.5000;-32.0000 --3.5000;-31.5000 --3.5000;-31.0000 --3.5000;-30.5000 --3.5000;-30.0000 --3.5000;-29.5000 --3.5000;-29.0000 --3.5000;-28.5000 --3.5000;-28.0000 --3.5000;-27.5000 --3.5000;-27.0000 --3.5000;-26.5000 --3.5000;-26.0000 --3.5000;-25.5000 --3.5000;-25.0000 --3.5000;-24.5000 --3.5000;-24.0000 --3.5000;-23.5000 --3.5000;-23.0000 --3.5000;-22.5000 --3.5000;-22.0000 --3.5000;-21.5000 --3.5000;-21.0000 --3.5000;-20.5000 --3.5000;-20.0000 --3.5000;-19.5000 --3.5000;-19.0000 --3.5000;-18.5000 --3.5000;-18.0000 --3.5000;-17.5000 --3.5000;-17.0000 --3.5000;-16.5000 --3.5000;-16.0000 --3.5000;-15.5000 --3.5000;-15.0000 --3.5000;-14.5000 --3.5000;-14.0000 --3.5000;-13.5000 --3.5000;-13.0000 --3.5000;-12.5000 --3.5000;-12.0000 --3.5000;-11.5000 --3.5000;-11.0000 --3.5000;-10.5000 --3.5000;-10.0000 --3.5000;-9.5000 --3.5000;-9.0000 --3.5000;-8.5000 --3.5000;-8.0000 --3.5000;-7.5000 --3.5000;-7.0000 --3.5000;-6.5000 --3.5000;-6.0000 --3.5000;-5.5000 --3.5000;-5.0000 --3.0000;-223.5000 --3.0000;-223.0000 --3.0000;-222.5000 --3.0000;-222.0000 --3.0000;-221.5000 --3.0000;-221.0000 --3.0000;-220.5000 --3.0000;-220.0000 --3.0000;-219.5000 --3.0000;-219.0000 --3.0000;-218.5000 --3.0000;-218.0000 --3.0000;-217.5000 --3.0000;-217.0000 --3.0000;-216.5000 --3.0000;-216.0000 --3.0000;-215.5000 --3.0000;-215.0000 --3.0000;-214.5000 --3.0000;-214.0000 --3.0000;-213.5000 --3.0000;-213.0000 --3.0000;-212.5000 --3.0000;-166.0000 --3.0000;-165.5000 --3.0000;-165.0000 --3.0000;-164.5000 --3.0000;-164.0000 --3.0000;-163.5000 --3.0000;-163.0000 --3.0000;-162.5000 --3.0000;-162.0000 --3.0000;-161.5000 --3.0000;-161.0000 --3.0000;-160.5000 --3.0000;-160.0000 --3.0000;-159.5000 --3.0000;-159.0000 --3.0000;-158.5000 --3.0000;-158.0000 --3.0000;-157.5000 --3.0000;-157.0000 --3.0000;-128.0000 --3.0000;-127.5000 --3.0000;-127.0000 --3.0000;-126.5000 --3.0000;-126.0000 --3.0000;-125.5000 --3.0000;-125.0000 --3.0000;-124.5000 --3.0000;-124.0000 --3.0000;-123.5000 --3.0000;-123.0000 --3.0000;-122.5000 --3.0000;-122.0000 --3.0000;-121.5000 --3.0000;-121.0000 --3.0000;-35.5000 --3.0000;-35.0000 --3.0000;-34.5000 --3.0000;-34.0000 --3.0000;-33.5000 --3.0000;-33.0000 --3.0000;-32.5000 --3.0000;-32.0000 --3.0000;-31.5000 --3.0000;-31.0000 --3.0000;-30.5000 --3.0000;-30.0000 --3.0000;-29.5000 --3.0000;-29.0000 --3.0000;-28.5000 --3.0000;-28.0000 --3.0000;-27.5000 --3.0000;-27.0000 --3.0000;-26.5000 --3.0000;-26.0000 --3.0000;-25.5000 --3.0000;-25.0000 --3.0000;-24.5000 --3.0000;-24.0000 --3.0000;-23.5000 --3.0000;-23.0000 --3.0000;-22.5000 --3.0000;-22.0000 --3.0000;-21.5000 --3.0000;-21.0000 --3.0000;-20.5000 --3.0000;-20.0000 --3.0000;-19.5000 --3.0000;-19.0000 --3.0000;-18.5000 --3.0000;-18.0000 --3.0000;-17.5000 --3.0000;-17.0000 --3.0000;-16.5000 --3.0000;-16.0000 --3.0000;-15.5000 --3.0000;-15.0000 --3.0000;-14.5000 --3.0000;-14.0000 --3.0000;-13.5000 --3.0000;-13.0000 --3.0000;-12.5000 --3.0000;-12.0000 --3.0000;-11.5000 --3.0000;-11.0000 --3.0000;-10.5000 --3.0000;-10.0000 --3.0000;-9.5000 --3.0000;-9.0000 --3.0000;-8.5000 --3.0000;-8.0000 --3.0000;-7.5000 --3.0000;-7.0000 --3.0000;-6.5000 --3.0000;-6.0000 --3.0000;-5.5000 --3.0000;-5.0000 --3.0000;-4.5000 --3.0000;-4.0000 --2.5000;-223.0000 --2.5000;-222.5000 --2.5000;-222.0000 --2.5000;-221.5000 --2.5000;-221.0000 --2.5000;-220.5000 --2.5000;-220.0000 --2.5000;-219.5000 --2.5000;-219.0000 --2.5000;-218.5000 --2.5000;-218.0000 --2.5000;-217.5000 --2.5000;-217.0000 --2.5000;-216.5000 --2.5000;-216.0000 --2.5000;-215.5000 --2.5000;-215.0000 --2.5000;-214.5000 --2.5000;-214.0000 --2.5000;-213.5000 --2.5000;-213.0000 --2.5000;-212.5000 --2.5000;-166.0000 --2.5000;-165.5000 --2.5000;-165.0000 --2.5000;-164.5000 --2.5000;-164.0000 --2.5000;-163.5000 --2.5000;-163.0000 --2.5000;-162.5000 --2.5000;-162.0000 --2.5000;-161.5000 --2.5000;-161.0000 --2.5000;-160.5000 --2.5000;-160.0000 --2.5000;-159.5000 --2.5000;-159.0000 --2.5000;-158.5000 --2.5000;-158.0000 --2.5000;-157.5000 --2.5000;-157.0000 --2.5000;-128.0000 --2.5000;-127.5000 --2.5000;-127.0000 --2.5000;-126.5000 --2.5000;-126.0000 --2.5000;-125.5000 --2.5000;-125.0000 --2.5000;-124.5000 --2.5000;-124.0000 --2.5000;-123.5000 --2.5000;-123.0000 --2.5000;-122.5000 --2.5000;-122.0000 --2.5000;-121.5000 --2.5000;-121.0000 --2.5000;-34.5000 --2.5000;-34.0000 --2.5000;-33.5000 --2.5000;-33.0000 --2.5000;-32.5000 --2.5000;-32.0000 --2.5000;-31.5000 --2.5000;-31.0000 --2.5000;-30.5000 --2.5000;-30.0000 --2.5000;-29.5000 --2.5000;-29.0000 --2.5000;-28.5000 --2.5000;-28.0000 --2.5000;-27.5000 --2.5000;-27.0000 --2.5000;-26.5000 --2.5000;-26.0000 --2.5000;-25.5000 --2.5000;-25.0000 --2.5000;-24.5000 --2.5000;-24.0000 --2.5000;-23.5000 --2.5000;-23.0000 --2.5000;-22.5000 --2.5000;-22.0000 --2.5000;-21.5000 --2.5000;-21.0000 --2.5000;-20.5000 --2.5000;-20.0000 --2.5000;-19.5000 --2.5000;-19.0000 --2.5000;-18.5000 --2.5000;-18.0000 --2.5000;-17.5000 --2.5000;-17.0000 --2.5000;-16.5000 --2.5000;-16.0000 --2.5000;-15.5000 --2.5000;-15.0000 --2.5000;-14.5000 --2.5000;-14.0000 --2.5000;-13.5000 --2.5000;-13.0000 --2.5000;-12.5000 --2.5000;-12.0000 --2.5000;-11.5000 --2.5000;-11.0000 --2.5000;-10.5000 --2.5000;-10.0000 --2.5000;-9.5000 --2.5000;-9.0000 --2.5000;-8.5000 --2.5000;-8.0000 --2.5000;-7.5000 --2.5000;-7.0000 --2.5000;-6.5000 --2.5000;-6.0000 --2.5000;-5.5000 --2.5000;-5.0000 --2.5000;-4.5000 --2.5000;-4.0000 --2.5000;-3.5000 --2.5000;-3.0000 --2.0000;-223.0000 --2.0000;-222.5000 --2.0000;-222.0000 --2.0000;-221.5000 --2.0000;-221.0000 --2.0000;-220.5000 --2.0000;-220.0000 --2.0000;-219.5000 --2.0000;-219.0000 --2.0000;-218.5000 --2.0000;-218.0000 --2.0000;-217.5000 --2.0000;-217.0000 --2.0000;-216.5000 --2.0000;-216.0000 --2.0000;-215.5000 --2.0000;-215.0000 --2.0000;-214.5000 --2.0000;-214.0000 --2.0000;-213.5000 --2.0000;-213.0000 --2.0000;-212.5000 --2.0000;-212.0000 --2.0000;-166.5000 --2.0000;-166.0000 --2.0000;-165.5000 --2.0000;-165.0000 --2.0000;-164.5000 --2.0000;-164.0000 --2.0000;-163.5000 --2.0000;-163.0000 --2.0000;-162.5000 --2.0000;-162.0000 --2.0000;-161.5000 --2.0000;-161.0000 --2.0000;-160.5000 --2.0000;-160.0000 --2.0000;-159.5000 --2.0000;-159.0000 --2.0000;-158.5000 --2.0000;-158.0000 --2.0000;-157.5000 --2.0000;-157.0000 --2.0000;-128.0000 --2.0000;-127.5000 --2.0000;-127.0000 --2.0000;-126.5000 --2.0000;-126.0000 --2.0000;-125.5000 --2.0000;-125.0000 --2.0000;-124.5000 --2.0000;-124.0000 --2.0000;-123.5000 --2.0000;-123.0000 --2.0000;-122.5000 --2.0000;-122.0000 --2.0000;-121.5000 --2.0000;-121.0000 --2.0000;-33.0000 --2.0000;-32.5000 --2.0000;-32.0000 --2.0000;-31.5000 --2.0000;-31.0000 --2.0000;-30.5000 --2.0000;-30.0000 --2.0000;-29.5000 --2.0000;-29.0000 --2.0000;-28.5000 --2.0000;-28.0000 --2.0000;-27.5000 --2.0000;-27.0000 --2.0000;-26.5000 --2.0000;-26.0000 --2.0000;-25.5000 --2.0000;-25.0000 --2.0000;-24.5000 --2.0000;-24.0000 --2.0000;-23.5000 --2.0000;-23.0000 --2.0000;-22.5000 --2.0000;-22.0000 --2.0000;-21.5000 --2.0000;-21.0000 --2.0000;-20.5000 --2.0000;-20.0000 --2.0000;-19.5000 --2.0000;-19.0000 --2.0000;-18.5000 --2.0000;-18.0000 --2.0000;-17.5000 --2.0000;-17.0000 --2.0000;-16.5000 --2.0000;-16.0000 --2.0000;-15.5000 --2.0000;-15.0000 --2.0000;-14.5000 --2.0000;-14.0000 --2.0000;-13.5000 --2.0000;-13.0000 --2.0000;-12.5000 --2.0000;-12.0000 --2.0000;-11.5000 --2.0000;-11.0000 --2.0000;-10.5000 --2.0000;-10.0000 --2.0000;-9.5000 --2.0000;-9.0000 --2.0000;-8.5000 --2.0000;-8.0000 --2.0000;-7.5000 --2.0000;-7.0000 --2.0000;-6.5000 --2.0000;-6.0000 --2.0000;-5.5000 --2.0000;-5.0000 --2.0000;-4.5000 --2.0000;-4.0000 --2.0000;-3.5000 --2.0000;-3.0000 --2.0000;-2.5000 --2.0000;-2.0000 --1.5000;-223.0000 --1.5000;-222.5000 --1.5000;-222.0000 --1.5000;-221.5000 --1.5000;-221.0000 --1.5000;-220.5000 --1.5000;-220.0000 --1.5000;-219.5000 --1.5000;-219.0000 --1.5000;-218.5000 --1.5000;-218.0000 --1.5000;-217.5000 --1.5000;-217.0000 --1.5000;-216.5000 --1.5000;-216.0000 --1.5000;-215.5000 --1.5000;-215.0000 --1.5000;-214.5000 --1.5000;-214.0000 --1.5000;-213.5000 --1.5000;-213.0000 --1.5000;-212.5000 --1.5000;-212.0000 --1.5000;-166.5000 --1.5000;-166.0000 --1.5000;-165.5000 --1.5000;-165.0000 --1.5000;-164.5000 --1.5000;-164.0000 --1.5000;-163.5000 --1.5000;-163.0000 --1.5000;-162.5000 --1.5000;-162.0000 --1.5000;-161.5000 --1.5000;-161.0000 --1.5000;-160.5000 --1.5000;-160.0000 --1.5000;-159.5000 --1.5000;-159.0000 --1.5000;-158.5000 --1.5000;-158.0000 --1.5000;-157.5000 --1.5000;-128.5000 --1.5000;-128.0000 --1.5000;-127.5000 --1.5000;-127.0000 --1.5000;-126.5000 --1.5000;-126.0000 --1.5000;-125.5000 --1.5000;-125.0000 --1.5000;-124.5000 --1.5000;-124.0000 --1.5000;-123.5000 --1.5000;-123.0000 --1.5000;-122.5000 --1.5000;-122.0000 --1.5000;-121.5000 --1.5000;-121.0000 --1.5000;-32.0000 --1.5000;-31.5000 --1.5000;-31.0000 --1.5000;-30.5000 --1.5000;-30.0000 --1.5000;-29.5000 --1.5000;-29.0000 --1.5000;-28.5000 --1.5000;-28.0000 --1.5000;-27.5000 --1.5000;-27.0000 --1.5000;-26.5000 --1.5000;-26.0000 --1.5000;-25.5000 --1.5000;-25.0000 --1.5000;-24.5000 --1.5000;-24.0000 --1.5000;-23.5000 --1.5000;-23.0000 --1.5000;-22.5000 --1.5000;-22.0000 --1.5000;-21.5000 --1.5000;-21.0000 --1.5000;-20.5000 --1.5000;-20.0000 --1.5000;-19.5000 --1.5000;-19.0000 --1.5000;-18.5000 --1.5000;-18.0000 --1.5000;-17.5000 --1.5000;-17.0000 --1.5000;-16.5000 --1.5000;-16.0000 --1.5000;-15.5000 --1.5000;-15.0000 --1.5000;-14.5000 --1.5000;-14.0000 --1.5000;-13.5000 --1.5000;-13.0000 --1.5000;-12.5000 --1.5000;-12.0000 --1.5000;-11.5000 --1.5000;-11.0000 --1.5000;-10.5000 --1.5000;-10.0000 --1.5000;-9.5000 --1.5000;-9.0000 --1.5000;-8.5000 --1.5000;-8.0000 --1.5000;-7.5000 --1.5000;-7.0000 --1.5000;-6.5000 --1.5000;-6.0000 --1.5000;-5.5000 --1.5000;-5.0000 --1.5000;-4.5000 --1.5000;-4.0000 --1.5000;-3.5000 --1.5000;-3.0000 --1.5000;-2.5000 --1.5000;-2.0000 --1.5000;-1.5000 --1.5000;-1.0000 --1.0000;-223.0000 --1.0000;-222.5000 --1.0000;-222.0000 --1.0000;-221.5000 --1.0000;-221.0000 --1.0000;-220.5000 --1.0000;-220.0000 --1.0000;-219.5000 --1.0000;-219.0000 --1.0000;-218.5000 --1.0000;-218.0000 --1.0000;-217.5000 --1.0000;-217.0000 --1.0000;-216.5000 --1.0000;-216.0000 --1.0000;-215.5000 --1.0000;-215.0000 --1.0000;-214.5000 --1.0000;-214.0000 --1.0000;-213.5000 --1.0000;-213.0000 --1.0000;-212.5000 --1.0000;-212.0000 --1.0000;-167.0000 --1.0000;-166.5000 --1.0000;-166.0000 --1.0000;-165.5000 --1.0000;-165.0000 --1.0000;-164.5000 --1.0000;-164.0000 --1.0000;-163.5000 --1.0000;-163.0000 --1.0000;-162.5000 --1.0000;-162.0000 --1.0000;-161.5000 --1.0000;-161.0000 --1.0000;-160.5000 --1.0000;-160.0000 --1.0000;-159.5000 --1.0000;-159.0000 --1.0000;-158.5000 --1.0000;-158.0000 --1.0000;-157.5000 --1.0000;-128.5000 --1.0000;-128.0000 --1.0000;-127.5000 --1.0000;-127.0000 --1.0000;-126.5000 --1.0000;-126.0000 --1.0000;-125.5000 --1.0000;-125.0000 --1.0000;-124.5000 --1.0000;-124.0000 --1.0000;-123.5000 --1.0000;-123.0000 --1.0000;-122.5000 --1.0000;-122.0000 --1.0000;-121.5000 --1.0000;-121.0000 --1.0000;-30.5000 --1.0000;-30.0000 --1.0000;-29.5000 --1.0000;-29.0000 --1.0000;-28.5000 --1.0000;-28.0000 --1.0000;-27.5000 --1.0000;-27.0000 --1.0000;-26.5000 --1.0000;-26.0000 --1.0000;-25.5000 --1.0000;-25.0000 --1.0000;-24.5000 --1.0000;-24.0000 --1.0000;-23.5000 --1.0000;-23.0000 --1.0000;-22.5000 --1.0000;-22.0000 --1.0000;-21.5000 --1.0000;-21.0000 --1.0000;-20.5000 --1.0000;-20.0000 --1.0000;-19.5000 --1.0000;-19.0000 --1.0000;-18.5000 --1.0000;-18.0000 --1.0000;-17.5000 --1.0000;-17.0000 --1.0000;-16.5000 --1.0000;-16.0000 --1.0000;-15.5000 --1.0000;-15.0000 --1.0000;-14.5000 --1.0000;-14.0000 --1.0000;-13.5000 --1.0000;-13.0000 --1.0000;-12.5000 --1.0000;-12.0000 --1.0000;-11.5000 --1.0000;-11.0000 --1.0000;-10.5000 --1.0000;-10.0000 --1.0000;-9.5000 --1.0000;-9.0000 --1.0000;-8.5000 --1.0000;-8.0000 --1.0000;-7.5000 --1.0000;-7.0000 --1.0000;-6.5000 --1.0000;-6.0000 --1.0000;-5.5000 --1.0000;-5.0000 --1.0000;-4.5000 --1.0000;-4.0000 --1.0000;-3.5000 --1.0000;-3.0000 --1.0000;-2.5000 --1.0000;-2.0000 --1.0000;-1.5000 --1.0000;-1.0000 --1.0000;-0.5000 --1.0000;0.0000 --0.5000;-223.0000 --0.5000;-222.5000 --0.5000;-222.0000 --0.5000;-221.5000 --0.5000;-221.0000 --0.5000;-220.5000 --0.5000;-220.0000 --0.5000;-219.5000 --0.5000;-219.0000 --0.5000;-218.5000 --0.5000;-218.0000 --0.5000;-217.5000 --0.5000;-217.0000 --0.5000;-216.5000 --0.5000;-216.0000 --0.5000;-215.5000 --0.5000;-215.0000 --0.5000;-214.5000 --0.5000;-214.0000 --0.5000;-213.5000 --0.5000;-213.0000 --0.5000;-212.5000 --0.5000;-212.0000 --0.5000;-167.0000 --0.5000;-166.5000 --0.5000;-166.0000 --0.5000;-165.5000 --0.5000;-165.0000 --0.5000;-164.5000 --0.5000;-164.0000 --0.5000;-163.5000 --0.5000;-163.0000 --0.5000;-162.5000 --0.5000;-162.0000 --0.5000;-161.5000 --0.5000;-161.0000 --0.5000;-160.5000 --0.5000;-160.0000 --0.5000;-159.5000 --0.5000;-159.0000 --0.5000;-158.5000 --0.5000;-158.0000 --0.5000;-128.5000 --0.5000;-128.0000 --0.5000;-127.5000 --0.5000;-127.0000 --0.5000;-126.5000 --0.5000;-126.0000 --0.5000;-125.5000 --0.5000;-125.0000 --0.5000;-124.5000 --0.5000;-124.0000 --0.5000;-123.5000 --0.5000;-123.0000 --0.5000;-122.5000 --0.5000;-122.0000 --0.5000;-121.5000 --0.5000;-121.0000 --0.5000;-29.5000 --0.5000;-29.0000 --0.5000;-28.5000 --0.5000;-28.0000 --0.5000;-27.5000 --0.5000;-27.0000 --0.5000;-26.5000 --0.5000;-26.0000 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[1.0],"22691": [1.0],"22946": [1.0],"22947": [1.0],"23199": [1.0],"22437": [1.0],"22692": [1.0],"22436": [1.0],"22693": [1.0],"23198": [1.0],"24175": [1.0],"23442": [1.0],"23443": [1.0],"23444": [1.0],"23689": [1.0],"23934": [1.0],"23691": [1.0],"23935": [1.0],"23690": [1.0],"23933": [1.0],"24177": [1.0],"24176": [1.0],"23445": [1.0],"24178": [1.0],"23936": [1.0],"23692": [1.0],"23693": [1.0],"23938": [1.0],"23446": [1.0],"24179": [1.0],"23447": [1.0],"23937": [1.0],"24180": [1.0],"23694": [1.0],"24181": [1.0],"23448": [1.0],"23939": [1.0],"23695": [1.0],"24415": [1.0],"24885": [1.0],"24652": [1.0],"24416": [1.0],"24886": [1.0],"24653": [1.0],"25343": [1.0],"25342": [1.0],"25116": [1.0],"25115": [1.0],"24417": [1.0],"24418": [1.0],"24419": [1.0],"24420": [1.0],"24421": [1.0],"24658": [1.0],"24656": [1.0],"24655": [1.0],"24657": [1.0],"24654": [1.0],"24889": [1.0],"24888": [1.0],"24890": [1.0],"24887": [1.0],"25118": [1.0],"25119": [1.0],"25117": [1.0],"25344": [1.0],"21392": [1.0],"21657": [1.0],"21919": [1.0],"22179": [1.0],"22180": [1.0],"21394": [1.0],"21921": [1.0],"21659": [1.0],"21658": [1.0],"21393": [1.0],"21920": [1.0],"22181": [1.0],"22182": [1.0],"21395": [1.0],"21660": [1.0],"21922": [1.0],"22183": [1.0],"21661": [1.0],"21923": [1.0],"21396": [1.0],"21924": [1.0],"21397": [1.0],"21662": [1.0],"22184": [1.0],"21925": [1.0],"21398": [1.0],"21663": [1.0],"22185": [1.0],"22186": [1.0],"21926": [1.0],"21399": [1.0],"21664": [1.0],"21927": [1.0],"21665": [1.0],"22187": [1.0],"21400": [1.0],"21666": [1.0],"21401": [1.0],"21928": [1.0],"22188": [1.0],"21929": [1.0],"22189": [1.0],"21669": [1.0],"21405": [1.0],"21930": [1.0],"21403": [1.0],"22190": [1.0],"21667": [1.0],"21668": [1.0],"21404": [1.0],"21402": [1.0],"22440": [1.0],"22438": [1.0],"22439": [1.0],"23202": [1.0],"22695": [1.0],"22949": [1.0],"23200": [1.0],"23201": [1.0],"22950": [1.0],"22694": [1.0],"22696": [1.0],"22948": [1.0],"23449": [1.0],"23450": [1.0],"23451": [1.0],"23696": [1.0],"23697": [1.0],"23941": [1.0],"23940": [1.0],"24184": [1.0],"23942": [1.0],"24183": [1.0],"23698": [1.0],"24182": [1.0],"24423": [1.0],"24422": [1.0],"24424": [1.0],"24659": [1.0],"22444": [1.0],"22441": [1.0],"22442": [1.0],"22448": [1.0],"22447": [1.0],"22445": [1.0],"22443": [1.0],"22446": [1.0],"22698": [1.0],"22700": [1.0],"22697": [1.0],"22703": [1.0],"22702": [1.0],"22701": [1.0],"22699": [1.0],"22954": [1.0],"22955": [1.0],"22951": [1.0],"22952": [1.0],"22956": [1.0],"22953": [1.0],"23203": [1.0],"23205": [1.0],"23207": [1.0],"23206": [1.0],"23204": [1.0],"23453": [1.0],"23454": [1.0],"23452": [1.0],"23455": [1.0],"23701": [1.0],"23700": [1.0],"24185": [1.0],"23944": [1.0],"23943": [1.0],"23699": [1.0]} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/frictionmaps/handling_track_tpamap.csv b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/frictionmaps/handling_track_tpamap.csv deleted file mode 100644 index b14a56760..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/frictionmaps/handling_track_tpamap.csv +++ /dev/null @@ -1,26382 +0,0 @@ -# x_m;y_m --100.5000;-10.0000 --100.5000;-9.5000 --100.5000;-9.0000 --100.5000;-8.5000 --100.5000;-8.0000 --100.5000;-7.5000 --100.5000;-7.0000 --100.5000;-6.5000 --100.5000;-6.0000 --100.5000;-5.5000 --100.0000;-13.5000 --100.0000;-13.0000 --100.0000;-12.5000 --100.0000;-12.0000 --100.0000;-11.5000 --100.0000;-11.0000 --100.0000;-10.5000 --100.0000;-10.0000 --100.0000;-9.5000 --100.0000;-9.0000 --100.0000;-8.5000 --100.0000;-8.0000 --100.0000;-7.5000 --100.0000;-7.0000 --100.0000;-6.5000 --100.0000;-6.0000 --100.0000;-5.5000 --100.0000;-5.0000 --100.0000;-4.5000 --100.0000;-4.0000 --100.0000;-3.5000 --100.0000;-3.0000 --99.5000;-15.5000 --99.5000;-15.0000 --99.5000;-14.5000 --99.5000;-14.0000 --99.5000;-13.5000 --99.5000;-13.0000 --99.5000;-12.5000 --99.5000;-12.0000 --99.5000;-11.5000 --99.5000;-11.0000 --99.5000;-10.5000 --99.5000;-10.0000 --99.5000;-9.5000 --99.5000;-9.0000 --99.5000;-8.5000 --99.5000;-8.0000 --99.5000;-7.5000 --99.5000;-7.0000 --99.5000;-6.5000 --99.5000;-6.0000 --99.5000;-5.5000 --99.5000;-5.0000 --99.5000;-4.5000 --99.5000;-4.0000 --99.5000;-3.5000 --99.5000;-3.0000 --99.5000;-2.5000 --99.5000;-2.0000 --99.5000;-1.5000 --99.5000;-1.0000 --99.0000;-17.5000 --99.0000;-17.0000 --99.0000;-16.5000 --99.0000;-16.0000 --99.0000;-15.5000 --99.0000;-15.0000 --99.0000;-14.5000 --99.0000;-14.0000 --99.0000;-13.5000 --99.0000;-13.0000 --99.0000;-12.5000 --99.0000;-12.0000 --99.0000;-11.5000 --99.0000;-11.0000 --99.0000;-10.5000 --99.0000;-10.0000 --99.0000;-9.5000 --99.0000;-9.0000 --99.0000;-8.5000 --99.0000;-8.0000 --99.0000;-7.5000 --99.0000;-7.0000 --99.0000;-6.5000 --99.0000;-6.0000 --99.0000;-5.5000 --99.0000;-5.0000 --99.0000;-4.5000 --99.0000;-4.0000 --99.0000;-3.5000 --99.0000;-3.0000 --99.0000;-2.5000 --99.0000;-2.0000 --99.0000;-1.5000 --99.0000;-1.0000 --99.0000;-0.5000 --99.0000;0.0000 --99.0000;0.5000 --98.5000;-18.5000 --98.5000;-18.0000 --98.5000;-17.5000 --98.5000;-17.0000 --98.5000;-16.5000 --98.5000;-16.0000 --98.5000;-15.5000 --98.5000;-15.0000 --98.5000;-14.5000 --98.5000;-14.0000 --98.5000;-13.5000 --98.5000;-13.0000 --98.5000;-12.5000 --98.5000;-12.0000 --98.5000;-11.5000 --98.5000;-11.0000 --98.5000;-10.5000 --98.5000;-10.0000 --98.5000;-9.5000 --98.5000;-9.0000 --98.5000;-8.5000 --98.5000;-8.0000 --98.5000;-7.5000 --98.5000;-7.0000 --98.5000;-6.5000 --98.5000;-6.0000 --98.5000;-5.5000 --98.5000;-5.0000 --98.5000;-4.5000 --98.5000;-4.0000 --98.5000;-3.5000 --98.5000;-3.0000 --98.5000;-2.5000 --98.5000;-2.0000 --98.5000;-1.5000 --98.5000;-1.0000 --98.5000;-0.5000 --98.5000;0.0000 --98.5000;0.5000 --98.5000;1.0000 --98.5000;1.5000 --98.0000;-20.0000 --98.0000;-19.5000 --98.0000;-19.0000 --98.0000;-18.5000 --98.0000;-18.0000 --98.0000;-17.5000 --98.0000;-17.0000 --98.0000;-16.5000 --98.0000;-16.0000 --98.0000;-15.5000 --98.0000;-15.0000 --98.0000;-14.5000 --98.0000;-14.0000 --98.0000;-13.5000 --98.0000;-13.0000 --98.0000;-12.5000 --98.0000;-12.0000 --98.0000;-11.5000 --98.0000;-11.0000 --98.0000;-10.5000 --98.0000;-10.0000 --98.0000;-9.5000 --98.0000;-9.0000 --98.0000;-8.5000 --98.0000;-8.0000 --98.0000;-7.5000 --98.0000;-7.0000 --98.0000;-6.5000 --98.0000;-6.0000 --98.0000;-5.5000 --98.0000;-5.0000 --98.0000;-4.5000 --98.0000;-4.0000 --98.0000;-3.5000 --98.0000;-3.0000 --98.0000;-2.5000 --98.0000;-2.0000 --98.0000;-1.5000 --98.0000;-1.0000 --98.0000;-0.5000 --98.0000;0.0000 --98.0000;0.5000 --98.0000;1.0000 --98.0000;1.5000 --98.0000;2.0000 --98.0000;2.5000 --97.5000;-21.0000 --97.5000;-20.5000 --97.5000;-20.0000 --97.5000;-19.5000 --97.5000;-19.0000 --97.5000;-18.5000 --97.5000;-18.0000 --97.5000;-17.5000 --97.5000;-17.0000 --97.5000;-16.5000 --97.5000;-16.0000 --97.5000;-15.5000 --97.5000;-15.0000 --97.5000;-14.5000 --97.5000;-14.0000 --97.5000;-13.5000 --97.5000;-13.0000 --97.5000;-12.5000 --97.5000;-12.0000 --97.5000;-11.5000 --97.5000;-11.0000 --97.5000;-10.5000 --97.5000;-10.0000 --97.5000;-9.5000 --97.5000;-9.0000 --97.5000;-8.5000 --97.5000;-8.0000 --97.5000;-7.5000 --97.5000;-7.0000 --97.5000;-6.5000 --97.5000;-6.0000 --97.5000;-5.5000 --97.5000;-5.0000 --97.5000;-4.5000 --97.5000;-4.0000 --97.5000;-3.5000 --97.5000;-3.0000 --97.5000;-2.5000 --97.5000;-2.0000 --97.5000;-1.5000 --97.5000;-1.0000 --97.5000;-0.5000 --97.5000;0.0000 --97.5000;0.5000 --97.5000;1.0000 --97.5000;1.5000 --97.5000;2.0000 --97.5000;2.5000 --97.5000;3.0000 --97.5000;3.5000 --97.0000;-22.0000 --97.0000;-21.5000 --97.0000;-21.0000 --97.0000;-20.5000 --97.0000;-20.0000 --97.0000;-19.5000 --97.0000;-19.0000 --97.0000;-18.5000 --97.0000;-18.0000 --97.0000;-17.5000 --97.0000;-17.0000 --97.0000;-16.5000 --97.0000;-16.0000 --97.0000;-15.5000 --97.0000;-15.0000 --97.0000;-14.5000 --97.0000;-14.0000 --97.0000;-13.5000 --97.0000;-13.0000 --97.0000;-12.5000 --97.0000;-12.0000 --97.0000;-11.5000 --97.0000;-11.0000 --97.0000;-10.5000 --97.0000;-10.0000 --97.0000;-9.5000 --97.0000;-9.0000 --97.0000;-8.5000 --97.0000;-8.0000 --97.0000;-7.5000 --97.0000;-7.0000 --97.0000;-6.5000 --97.0000;-6.0000 --97.0000;-5.5000 --97.0000;-5.0000 --97.0000;-4.5000 --97.0000;-4.0000 --97.0000;-3.5000 --97.0000;-3.0000 --97.0000;-2.5000 --97.0000;-2.0000 --97.0000;-1.5000 --97.0000;-1.0000 --97.0000;-0.5000 --97.0000;0.0000 --97.0000;0.5000 --97.0000;1.0000 --97.0000;1.5000 --97.0000;2.0000 --97.0000;2.5000 --97.0000;3.0000 --97.0000;3.5000 --97.0000;4.0000 --96.5000;-23.0000 --96.5000;-22.5000 --96.5000;-22.0000 --96.5000;-21.5000 --96.5000;-21.0000 --96.5000;-20.5000 --96.5000;-20.0000 --96.5000;-19.5000 --96.5000;-19.0000 --96.5000;-18.5000 --96.5000;-18.0000 --96.5000;-17.5000 --96.5000;-17.0000 --96.5000;-16.5000 --96.5000;-16.0000 --96.5000;-15.5000 --96.5000;-15.0000 --96.5000;-14.5000 --96.5000;-14.0000 --96.5000;-13.5000 --96.5000;-13.0000 --96.5000;-12.5000 --96.5000;-12.0000 --96.5000;-11.5000 --96.5000;-11.0000 --96.5000;-10.5000 --96.5000;-10.0000 --96.5000;-9.5000 --96.5000;-9.0000 --96.5000;-8.5000 --96.5000;-8.0000 --96.5000;-7.5000 --96.5000;-7.0000 --96.5000;-6.5000 --96.5000;-6.0000 --96.5000;-5.5000 --96.5000;-5.0000 --96.5000;-4.5000 --96.5000;-4.0000 --96.5000;-3.5000 --96.5000;-3.0000 --96.5000;-2.5000 --96.5000;-2.0000 --96.5000;-1.5000 --96.5000;-1.0000 --96.5000;-0.5000 --96.5000;0.0000 --96.5000;0.5000 --96.5000;1.0000 --96.5000;1.5000 --96.5000;2.0000 --96.5000;2.5000 --96.5000;3.0000 --96.5000;3.5000 --96.5000;4.0000 --96.5000;4.5000 --96.5000;5.0000 --96.0000;-24.0000 --96.0000;-23.5000 --96.0000;-23.0000 --96.0000;-22.5000 --96.0000;-22.0000 --96.0000;-21.5000 --96.0000;-21.0000 --96.0000;-20.5000 --96.0000;-20.0000 --96.0000;-19.5000 --96.0000;-19.0000 --96.0000;-18.5000 --96.0000;-18.0000 --96.0000;-17.5000 --96.0000;-17.0000 --96.0000;-16.5000 --96.0000;-16.0000 --96.0000;-15.5000 --96.0000;-15.0000 --96.0000;-14.5000 --96.0000;-14.0000 --96.0000;-13.5000 --96.0000;-13.0000 --96.0000;-12.5000 --96.0000;-12.0000 --96.0000;-11.5000 --96.0000;-11.0000 --96.0000;-10.5000 --96.0000;-10.0000 --96.0000;-9.5000 --96.0000;-9.0000 --96.0000;-8.5000 --96.0000;-8.0000 --96.0000;-7.5000 --96.0000;-7.0000 --96.0000;-6.5000 --96.0000;-6.0000 --96.0000;-5.5000 --96.0000;-5.0000 --96.0000;-4.5000 --96.0000;-4.0000 --96.0000;-3.5000 --96.0000;-3.0000 --96.0000;-2.5000 --96.0000;-2.0000 --96.0000;-1.5000 --96.0000;-1.0000 --96.0000;-0.5000 --96.0000;0.0000 --96.0000;0.5000 --96.0000;1.0000 --96.0000;1.5000 --96.0000;2.0000 --96.0000;2.5000 --96.0000;3.0000 --96.0000;3.5000 --96.0000;4.0000 --96.0000;4.5000 --96.0000;5.0000 --96.0000;5.5000 --95.5000;-25.0000 --95.5000;-24.5000 --95.5000;-24.0000 --95.5000;-23.5000 --95.5000;-23.0000 --95.5000;-22.5000 --95.5000;-22.0000 --95.5000;-21.5000 --95.5000;-21.0000 --95.5000;-20.5000 --95.5000;-20.0000 --95.5000;-19.5000 --95.5000;-19.0000 --95.5000;-18.5000 --95.5000;-18.0000 --95.5000;-17.5000 --95.5000;-17.0000 --95.5000;-16.5000 --95.5000;-16.0000 --95.5000;-15.5000 --95.5000;-15.0000 --95.5000;-14.5000 --95.5000;-14.0000 --95.5000;-13.5000 --95.5000;-13.0000 --95.5000;-12.5000 --95.5000;-12.0000 --95.5000;-11.5000 --95.5000;-11.0000 --95.5000;-10.5000 --95.5000;-10.0000 --95.5000;-9.5000 --95.5000;-9.0000 --95.5000;-8.5000 --95.5000;-8.0000 --95.5000;-7.5000 --95.5000;-7.0000 --95.5000;-6.5000 --95.5000;-6.0000 --95.5000;-5.5000 --95.5000;-5.0000 --95.5000;-4.5000 --95.5000;-4.0000 --95.5000;-3.5000 --95.5000;-3.0000 --95.5000;-2.5000 --95.5000;-2.0000 --95.5000;-1.5000 --95.5000;-1.0000 --95.5000;-0.5000 --95.5000;0.0000 --95.5000;0.5000 --95.5000;1.0000 --95.5000;1.5000 --95.5000;2.0000 --95.5000;2.5000 --95.5000;3.0000 --95.5000;3.5000 --95.5000;4.0000 --95.5000;4.5000 --95.5000;5.0000 --95.5000;5.5000 --95.5000;6.0000 --95.0000;-26.0000 --95.0000;-25.5000 --95.0000;-25.0000 --95.0000;-24.5000 --95.0000;-24.0000 --95.0000;-23.5000 --95.0000;-23.0000 --95.0000;-22.5000 --95.0000;-22.0000 --95.0000;-21.5000 --95.0000;-21.0000 --95.0000;-20.5000 --95.0000;-20.0000 --95.0000;-19.5000 --95.0000;-19.0000 --95.0000;-18.5000 --95.0000;-18.0000 --95.0000;-17.5000 --95.0000;-17.0000 --95.0000;-16.5000 --95.0000;-16.0000 --95.0000;-15.5000 --95.0000;-15.0000 --95.0000;-14.5000 --95.0000;-14.0000 --95.0000;-13.5000 --95.0000;-13.0000 --95.0000;-12.5000 --95.0000;-12.0000 --95.0000;-11.5000 --95.0000;-11.0000 --95.0000;-10.5000 --95.0000;-10.0000 --95.0000;-9.5000 --95.0000;-9.0000 --95.0000;-8.5000 --95.0000;-8.0000 --95.0000;-7.5000 --95.0000;-7.0000 --95.0000;-6.5000 --95.0000;-6.0000 --95.0000;-5.5000 --95.0000;-5.0000 --95.0000;-4.5000 --95.0000;-4.0000 --95.0000;-3.5000 --95.0000;-3.0000 --95.0000;-2.5000 --95.0000;-2.0000 --95.0000;-1.5000 --95.0000;-1.0000 --95.0000;-0.5000 --95.0000;0.0000 --95.0000;0.5000 --95.0000;1.0000 --95.0000;1.5000 --95.0000;2.0000 --95.0000;2.5000 --95.0000;3.0000 --95.0000;3.5000 --95.0000;4.0000 --95.0000;4.5000 --95.0000;5.0000 --95.0000;5.5000 --95.0000;6.0000 --95.0000;6.5000 --94.5000;-26.5000 --94.5000;-26.0000 --94.5000;-25.5000 --94.5000;-25.0000 --94.5000;-24.5000 --94.5000;-24.0000 --94.5000;-23.5000 --94.5000;-23.0000 --94.5000;-22.5000 --94.5000;-22.0000 --94.5000;-21.5000 --94.5000;-21.0000 --94.5000;-20.5000 --94.5000;-20.0000 --94.5000;-19.5000 --94.5000;-19.0000 --94.5000;-18.5000 --94.5000;-18.0000 --94.5000;-17.5000 --94.5000;-17.0000 --94.5000;-16.5000 --94.5000;-16.0000 --94.5000;-15.5000 --94.5000;-15.0000 --94.5000;-14.5000 --94.5000;-14.0000 --94.5000;-13.5000 --94.5000;-13.0000 --94.5000;-12.5000 --94.5000;-12.0000 --94.5000;-11.5000 --94.5000;-11.0000 --94.5000;-10.5000 --94.5000;-10.0000 --94.5000;-9.5000 --94.5000;-9.0000 --94.5000;-8.5000 --94.5000;-8.0000 --94.5000;-7.5000 --94.5000;-7.0000 --94.5000;-6.5000 --94.5000;-6.0000 --94.5000;-5.5000 --94.5000;-5.0000 --94.5000;-4.5000 --94.5000;-4.0000 --94.5000;-3.5000 --94.5000;-3.0000 --94.5000;-2.5000 --94.5000;-2.0000 --94.5000;-1.5000 --94.5000;-1.0000 --94.5000;-0.5000 --94.5000;0.0000 --94.5000;0.5000 --94.5000;1.0000 --94.5000;1.5000 --94.5000;2.0000 --94.5000;2.5000 --94.5000;3.0000 --94.5000;3.5000 --94.5000;4.0000 --94.5000;4.5000 --94.5000;5.0000 --94.5000;5.5000 --94.5000;6.0000 --94.5000;6.5000 --94.5000;7.0000 --94.0000;-27.5000 --94.0000;-27.0000 --94.0000;-26.5000 --94.0000;-26.0000 --94.0000;-25.5000 --94.0000;-25.0000 --94.0000;-24.5000 --94.0000;-24.0000 --94.0000;-23.5000 --94.0000;-23.0000 --94.0000;-22.5000 --94.0000;-22.0000 --94.0000;-21.5000 --94.0000;-21.0000 --94.0000;-20.5000 --94.0000;-20.0000 --94.0000;-19.5000 --94.0000;-19.0000 --94.0000;-18.5000 --94.0000;-18.0000 --94.0000;-17.5000 --94.0000;-17.0000 --94.0000;-16.5000 --94.0000;-16.0000 --94.0000;-15.5000 --94.0000;-15.0000 --94.0000;-14.5000 --94.0000;-14.0000 --94.0000;-13.5000 --94.0000;-13.0000 --94.0000;-12.5000 --94.0000;-12.0000 --94.0000;-11.5000 --94.0000;-11.0000 --94.0000;-10.5000 --94.0000;-10.0000 --94.0000;-9.5000 --94.0000;-9.0000 --94.0000;-8.5000 --94.0000;-8.0000 --94.0000;-7.5000 --94.0000;-7.0000 --94.0000;-6.5000 --94.0000;-6.0000 --94.0000;-5.5000 --94.0000;-5.0000 --94.0000;-4.5000 --94.0000;-4.0000 --94.0000;-3.5000 --94.0000;-3.0000 --94.0000;-2.5000 --94.0000;-2.0000 --94.0000;-1.5000 --94.0000;-1.0000 --94.0000;-0.5000 --94.0000;0.0000 --94.0000;0.5000 --94.0000;1.0000 --94.0000;1.5000 --94.0000;2.0000 --94.0000;2.5000 --94.0000;3.0000 --94.0000;3.5000 --94.0000;4.0000 --94.0000;4.5000 --94.0000;5.0000 --94.0000;5.5000 --94.0000;6.0000 --94.0000;6.5000 --94.0000;7.0000 --94.0000;7.5000 --93.5000;-28.0000 --93.5000;-27.5000 --93.5000;-27.0000 --93.5000;-26.5000 --93.5000;-26.0000 --93.5000;-25.5000 --93.5000;-25.0000 --93.5000;-24.5000 --93.5000;-24.0000 --93.5000;-23.5000 --93.5000;-23.0000 --93.5000;-22.5000 --93.5000;-22.0000 --93.5000;-21.5000 --93.5000;-21.0000 --93.5000;-20.5000 --93.5000;-20.0000 --93.5000;-19.5000 --93.5000;-19.0000 --93.5000;-18.5000 --93.5000;-18.0000 --93.5000;-17.5000 --93.5000;-17.0000 --93.5000;-16.5000 --93.5000;-16.0000 --93.5000;-15.5000 --93.5000;-15.0000 --93.5000;-14.5000 --93.5000;-14.0000 --93.5000;-13.5000 --93.5000;-13.0000 --93.5000;-12.5000 --93.5000;-12.0000 --93.5000;-11.5000 --93.5000;-11.0000 --93.5000;-10.5000 --93.5000;-10.0000 --93.5000;-9.5000 --93.5000;-9.0000 --93.5000;-8.5000 --93.5000;-8.0000 --93.5000;-7.5000 --93.5000;-7.0000 --93.5000;-6.5000 --93.5000;-6.0000 --93.5000;-5.5000 --93.5000;-5.0000 --93.5000;-4.5000 --93.5000;-4.0000 --93.5000;-3.5000 --93.5000;-3.0000 --93.5000;-2.5000 --93.5000;-2.0000 --93.5000;-1.5000 --93.5000;-1.0000 --93.5000;-0.5000 --93.5000;0.0000 --93.5000;0.5000 --93.5000;1.0000 --93.5000;1.5000 --93.5000;2.0000 --93.5000;2.5000 --93.5000;3.0000 --93.5000;3.5000 --93.5000;4.0000 --93.5000;4.5000 --93.5000;5.0000 --93.5000;5.5000 --93.5000;6.0000 --93.5000;6.5000 --93.5000;7.0000 --93.5000;7.5000 --93.5000;8.0000 --93.5000;104.5000 --93.5000;105.0000 --93.5000;105.5000 --93.5000;106.0000 --93.5000;106.5000 --93.0000;-29.0000 --93.0000;-28.5000 --93.0000;-28.0000 --93.0000;-27.5000 --93.0000;-27.0000 --93.0000;-26.5000 --93.0000;-26.0000 --93.0000;-25.5000 --93.0000;-25.0000 --93.0000;-24.5000 --93.0000;-24.0000 --93.0000;-23.5000 --93.0000;-23.0000 --93.0000;-22.5000 --93.0000;-22.0000 --93.0000;-21.5000 --93.0000;-21.0000 --93.0000;-20.5000 --93.0000;-20.0000 --93.0000;-19.5000 --93.0000;-19.0000 --93.0000;-18.5000 --93.0000;-18.0000 --93.0000;-17.5000 --93.0000;-17.0000 --93.0000;-16.5000 --93.0000;-16.0000 --93.0000;-15.5000 --93.0000;-15.0000 --93.0000;-14.5000 --93.0000;-14.0000 --93.0000;-13.5000 --93.0000;-13.0000 --93.0000;-12.5000 --93.0000;-12.0000 --93.0000;-11.5000 --93.0000;-11.0000 --93.0000;-10.5000 --93.0000;-10.0000 --93.0000;-9.5000 --93.0000;-9.0000 --93.0000;-8.5000 --93.0000;-8.0000 --93.0000;-7.5000 --93.0000;-7.0000 --93.0000;-6.5000 --93.0000;-6.0000 --93.0000;-5.5000 --93.0000;-5.0000 --93.0000;-4.5000 --93.0000;-4.0000 --93.0000;-3.5000 --93.0000;-3.0000 --93.0000;-2.5000 --93.0000;-2.0000 --93.0000;-1.5000 --93.0000;-1.0000 --93.0000;-0.5000 --93.0000;0.0000 --93.0000;0.5000 --93.0000;1.0000 --93.0000;1.5000 --93.0000;2.0000 --93.0000;2.5000 --93.0000;3.0000 --93.0000;3.5000 --93.0000;4.0000 --93.0000;4.5000 --93.0000;5.0000 --93.0000;5.5000 --93.0000;6.0000 --93.0000;6.5000 --93.0000;7.0000 --93.0000;7.5000 --93.0000;8.0000 --93.0000;8.5000 --93.0000;100.5000 --93.0000;101.0000 --93.0000;101.5000 --93.0000;102.0000 --93.0000;102.5000 --93.0000;103.0000 --93.0000;103.5000 --93.0000;104.0000 --93.0000;104.5000 --93.0000;105.0000 --93.0000;105.5000 --93.0000;106.0000 --93.0000;106.5000 --93.0000;107.0000 --93.0000;107.5000 --93.0000;108.0000 --93.0000;108.5000 --93.0000;109.0000 --93.0000;109.5000 --93.0000;110.0000 --92.5000;-29.5000 --92.5000;-29.0000 --92.5000;-28.5000 --92.5000;-28.0000 --92.5000;-27.5000 --92.5000;-27.0000 --92.5000;-26.5000 --92.5000;-26.0000 --92.5000;-25.5000 --92.5000;-25.0000 --92.5000;-24.5000 --92.5000;-24.0000 --92.5000;-23.5000 --92.5000;-23.0000 --92.5000;-22.5000 --92.5000;-22.0000 --92.5000;-21.5000 --92.5000;-21.0000 --92.5000;-20.5000 --92.5000;-20.0000 --92.5000;-19.5000 --92.5000;-19.0000 --92.5000;-18.5000 --92.5000;-18.0000 --92.5000;-17.5000 --92.5000;-17.0000 --92.5000;-16.5000 --92.5000;-16.0000 --92.5000;-15.5000 --92.5000;-15.0000 --92.5000;-14.5000 --92.5000;-14.0000 --92.5000;-13.5000 --92.5000;-13.0000 --92.5000;-12.5000 --92.5000;-12.0000 --92.5000;-11.5000 --92.5000;-11.0000 --92.5000;-10.5000 --92.5000;-10.0000 --92.5000;-9.5000 --92.5000;-9.0000 --92.5000;-8.5000 --92.5000;-8.0000 --92.5000;-7.5000 --92.5000;-7.0000 --92.5000;-6.5000 --92.5000;-6.0000 --92.5000;-5.5000 --92.5000;-5.0000 --92.5000;-4.5000 --92.5000;-4.0000 --92.5000;-3.5000 --92.5000;-3.0000 --92.5000;-2.5000 --92.5000;-2.0000 --92.5000;-1.5000 --92.5000;-1.0000 --92.5000;-0.5000 --92.5000;0.0000 --92.5000;0.5000 --92.5000;1.0000 --92.5000;1.5000 --92.5000;2.0000 --92.5000;2.5000 --92.5000;3.0000 --92.5000;3.5000 --92.5000;4.0000 --92.5000;4.5000 --92.5000;5.0000 --92.5000;5.5000 --92.5000;6.0000 --92.5000;6.5000 --92.5000;7.0000 --92.5000;7.5000 --92.5000;8.0000 --92.5000;8.5000 --92.5000;9.0000 --92.5000;98.5000 --92.5000;99.0000 --92.5000;99.5000 --92.5000;100.0000 --92.5000;100.5000 --92.5000;101.0000 --92.5000;101.5000 --92.5000;102.0000 --92.5000;102.5000 --92.5000;103.0000 --92.5000;103.5000 --92.5000;104.0000 --92.5000;104.5000 --92.5000;105.0000 --92.5000;105.5000 --92.5000;106.0000 --92.5000;106.5000 --92.5000;107.0000 --92.5000;107.5000 --92.5000;108.0000 --92.5000;108.5000 --92.5000;109.0000 --92.5000;109.5000 --92.5000;110.0000 --92.5000;110.5000 --92.5000;111.0000 --92.5000;111.5000 --92.5000;112.0000 --92.0000;-30.5000 --92.0000;-30.0000 --92.0000;-29.5000 --92.0000;-29.0000 --92.0000;-28.5000 --92.0000;-28.0000 --92.0000;-27.5000 --92.0000;-27.0000 --92.0000;-26.5000 --92.0000;-26.0000 --92.0000;-25.5000 --92.0000;-25.0000 --92.0000;-24.5000 --92.0000;-24.0000 --92.0000;-23.5000 --92.0000;-23.0000 --92.0000;-22.5000 --92.0000;-22.0000 --92.0000;-21.5000 --92.0000;-21.0000 --92.0000;-20.5000 --92.0000;-20.0000 --92.0000;-19.5000 --92.0000;-19.0000 --92.0000;-18.5000 --92.0000;-18.0000 --92.0000;-17.5000 --92.0000;-17.0000 --92.0000;-16.5000 --92.0000;-16.0000 --92.0000;-15.5000 --92.0000;-15.0000 --92.0000;-14.5000 --92.0000;-14.0000 --92.0000;-13.5000 --92.0000;-13.0000 --92.0000;-12.5000 --92.0000;-12.0000 --92.0000;-11.5000 --92.0000;-11.0000 --92.0000;-10.5000 --92.0000;-10.0000 --92.0000;-9.5000 --92.0000;-9.0000 --92.0000;-8.5000 --92.0000;-8.0000 --92.0000;-7.5000 --92.0000;-7.0000 --92.0000;-6.5000 --92.0000;-6.0000 --92.0000;-5.5000 --92.0000;-5.0000 --92.0000;-4.5000 --92.0000;-4.0000 --92.0000;-3.5000 --92.0000;-3.0000 --92.0000;-2.5000 --92.0000;-2.0000 --92.0000;-1.5000 --92.0000;-1.0000 --92.0000;-0.5000 --92.0000;0.0000 --92.0000;0.5000 --92.0000;1.0000 --92.0000;1.5000 --92.0000;2.0000 --92.0000;2.5000 --92.0000;3.0000 --92.0000;3.5000 --92.0000;4.0000 --92.0000;4.5000 --92.0000;5.0000 --92.0000;5.5000 --92.0000;6.0000 --92.0000;6.5000 --92.0000;7.0000 --92.0000;7.5000 --92.0000;8.0000 --92.0000;8.5000 --92.0000;9.0000 --92.0000;97.0000 --92.0000;97.5000 --92.0000;98.0000 --92.0000;98.5000 --92.0000;99.0000 --92.0000;99.5000 --92.0000;100.0000 --92.0000;100.5000 --92.0000;101.0000 --92.0000;101.5000 --92.0000;102.0000 --92.0000;102.5000 --92.0000;103.0000 --92.0000;103.5000 --92.0000;104.0000 --92.0000;104.5000 --92.0000;105.0000 --92.0000;105.5000 --92.0000;106.0000 --92.0000;106.5000 --92.0000;107.0000 --92.0000;107.5000 --92.0000;108.0000 --92.0000;108.5000 --92.0000;109.0000 --92.0000;109.5000 --92.0000;110.0000 --92.0000;110.5000 --92.0000;111.0000 --92.0000;111.5000 --92.0000;112.0000 --92.0000;112.5000 --92.0000;113.0000 --91.5000;-31.0000 --91.5000;-30.5000 --91.5000;-30.0000 --91.5000;-29.5000 --91.5000;-29.0000 --91.5000;-28.5000 --91.5000;-28.0000 --91.5000;-27.5000 --91.5000;-27.0000 --91.5000;-26.5000 --91.5000;-26.0000 --91.5000;-25.5000 --91.5000;-25.0000 --91.5000;-24.5000 --91.5000;-24.0000 --91.5000;-23.5000 --91.5000;-23.0000 --91.5000;-22.5000 --91.5000;-22.0000 --91.5000;-21.5000 --91.5000;-21.0000 --91.5000;-20.5000 --91.5000;-20.0000 --91.5000;-19.5000 --91.5000;-19.0000 --91.5000;-18.5000 --91.5000;-18.0000 --91.5000;-17.5000 --91.5000;-17.0000 --91.5000;-16.5000 --91.5000;-16.0000 --91.5000;-15.5000 --91.5000;-15.0000 --91.5000;-14.5000 --91.5000;-14.0000 --91.5000;-13.5000 --91.5000;-13.0000 --91.5000;-12.5000 --91.5000;-12.0000 --91.5000;-11.5000 --91.5000;-11.0000 --91.5000;-10.5000 --91.5000;-10.0000 --91.5000;-9.5000 --91.5000;-9.0000 --91.5000;-8.5000 --91.5000;-8.0000 --91.5000;-7.5000 --91.5000;-7.0000 --91.5000;-6.5000 --91.5000;-6.0000 --91.5000;-5.5000 --91.5000;-5.0000 --91.5000;-4.5000 --91.5000;-4.0000 --91.5000;-3.5000 --91.5000;-3.0000 --91.5000;-2.5000 --91.5000;-2.0000 --91.5000;-1.5000 --91.5000;-1.0000 --91.5000;-0.5000 --91.5000;0.0000 --91.5000;0.5000 --91.5000;1.0000 --91.5000;1.5000 --91.5000;2.0000 --91.5000;2.5000 --91.5000;3.0000 --91.5000;3.5000 --91.5000;4.0000 --91.5000;4.5000 --91.5000;5.0000 --91.5000;5.5000 --91.5000;6.0000 --91.5000;6.5000 --91.5000;7.0000 --91.5000;7.5000 --91.5000;8.0000 --91.5000;8.5000 --91.5000;9.0000 --91.5000;9.5000 --91.5000;96.0000 --91.5000;96.5000 --91.5000;97.0000 --91.5000;97.5000 --91.5000;98.0000 --91.5000;98.5000 --91.5000;99.0000 --91.5000;99.5000 --91.5000;100.0000 --91.5000;100.5000 --91.5000;101.0000 --91.5000;101.5000 --91.5000;102.0000 --91.5000;102.5000 --91.5000;103.0000 --91.5000;103.5000 --91.5000;104.0000 --91.5000;104.5000 --91.5000;105.0000 --91.5000;105.5000 --91.5000;106.0000 --91.5000;106.5000 --91.5000;107.0000 --91.5000;107.5000 --91.5000;108.0000 --91.5000;108.5000 --91.5000;109.0000 --91.5000;109.5000 --91.5000;110.0000 --91.5000;110.5000 --91.5000;111.0000 --91.5000;111.5000 --91.5000;112.0000 --91.5000;112.5000 --91.5000;113.0000 --91.5000;113.5000 --91.5000;114.0000 --91.0000;-32.0000 --91.0000;-31.5000 --91.0000;-31.0000 --91.0000;-30.5000 --91.0000;-30.0000 --91.0000;-29.5000 --91.0000;-29.0000 --91.0000;-28.5000 --91.0000;-28.0000 --91.0000;-27.5000 --91.0000;-27.0000 --91.0000;-26.5000 --91.0000;-26.0000 --91.0000;-25.5000 --91.0000;-25.0000 --91.0000;-24.5000 --91.0000;-24.0000 --91.0000;-23.5000 --91.0000;-23.0000 --91.0000;-22.5000 --91.0000;-22.0000 --91.0000;-21.5000 --91.0000;-21.0000 --91.0000;-20.5000 --91.0000;-20.0000 --91.0000;-19.5000 --91.0000;-19.0000 --91.0000;-18.5000 --91.0000;-18.0000 --91.0000;-17.5000 --91.0000;-17.0000 --91.0000;-16.5000 --91.0000;-16.0000 --91.0000;-15.5000 --91.0000;-15.0000 --91.0000;-14.5000 --91.0000;-14.0000 --91.0000;-13.5000 --91.0000;-13.0000 --91.0000;-12.5000 --91.0000;-12.0000 --91.0000;-11.5000 --91.0000;-11.0000 --91.0000;-10.5000 --91.0000;-10.0000 --91.0000;-9.5000 --91.0000;-9.0000 --91.0000;-8.5000 --91.0000;-8.0000 --91.0000;-7.5000 --91.0000;-7.0000 --91.0000;-6.5000 --91.0000;-6.0000 --91.0000;-5.5000 --91.0000;-5.0000 --91.0000;-4.5000 --91.0000;-4.0000 --91.0000;-3.5000 --91.0000;-3.0000 --91.0000;-2.5000 --91.0000;-2.0000 --91.0000;-1.5000 --91.0000;-1.0000 --91.0000;-0.5000 --91.0000;0.0000 --91.0000;0.5000 --91.0000;1.0000 --91.0000;1.5000 --91.0000;2.0000 --91.0000;2.5000 --91.0000;3.0000 --91.0000;3.5000 --91.0000;4.0000 --91.0000;4.5000 --91.0000;5.0000 --91.0000;5.5000 --91.0000;6.0000 --91.0000;6.5000 --91.0000;7.0000 --91.0000;7.5000 --91.0000;8.0000 --91.0000;8.5000 --91.0000;9.0000 --91.0000;9.5000 --91.0000;94.5000 --91.0000;95.0000 --91.0000;95.5000 --91.0000;96.0000 --91.0000;96.5000 --91.0000;97.0000 --91.0000;97.5000 --91.0000;98.0000 --91.0000;98.5000 --91.0000;99.0000 --91.0000;99.5000 --91.0000;100.0000 --91.0000;100.5000 --91.0000;101.0000 --91.0000;101.5000 --91.0000;102.0000 --91.0000;102.5000 --91.0000;103.0000 --91.0000;103.5000 --91.0000;104.0000 --91.0000;104.5000 --91.0000;105.0000 --91.0000;105.5000 --91.0000;106.0000 --91.0000;106.5000 --91.0000;107.0000 --91.0000;107.5000 --91.0000;108.0000 --91.0000;108.5000 --91.0000;109.0000 --91.0000;109.5000 --91.0000;110.0000 --91.0000;110.5000 --91.0000;111.0000 --91.0000;111.5000 --91.0000;112.0000 --91.0000;112.5000 --91.0000;113.0000 --91.0000;113.5000 --91.0000;114.0000 --91.0000;114.5000 --91.0000;115.0000 --90.5000;-32.5000 --90.5000;-32.0000 --90.5000;-31.5000 --90.5000;-31.0000 --90.5000;-30.5000 --90.5000;-30.0000 --90.5000;-29.5000 --90.5000;-29.0000 --90.5000;-28.5000 --90.5000;-28.0000 --90.5000;-27.5000 --90.5000;-27.0000 --90.5000;-26.5000 --90.5000;-26.0000 --90.5000;-25.5000 --90.5000;-25.0000 --90.5000;-24.5000 --90.5000;-24.0000 --90.5000;-23.5000 --90.5000;-23.0000 --90.5000;-22.5000 --90.5000;-22.0000 --90.5000;-21.5000 --90.5000;-21.0000 --90.5000;-20.5000 --90.5000;-20.0000 --90.5000;-19.5000 --90.5000;-19.0000 --90.5000;-18.5000 --90.5000;-18.0000 --90.5000;-17.5000 --90.5000;-17.0000 --90.5000;-16.5000 --90.5000;-16.0000 --90.5000;-15.5000 --90.5000;-15.0000 --90.5000;-14.5000 --90.5000;-14.0000 --90.5000;-13.5000 --90.5000;-13.0000 --90.5000;-12.5000 --90.5000;-12.0000 --90.5000;-11.5000 --90.5000;-11.0000 --90.5000;-10.5000 --90.5000;-10.0000 --90.5000;-9.5000 --90.5000;-9.0000 --90.5000;-8.5000 --90.5000;-8.0000 --90.5000;-7.5000 --90.5000;-7.0000 --90.5000;-6.5000 --90.5000;-6.0000 --90.5000;-5.5000 --90.5000;-5.0000 --90.5000;-4.5000 --90.5000;-4.0000 --90.5000;-3.5000 --90.5000;-3.0000 --90.5000;-2.5000 --90.5000;-2.0000 --90.5000;-1.5000 --90.5000;-1.0000 --90.5000;-0.5000 --90.5000;0.0000 --90.5000;0.5000 --90.5000;1.0000 --90.5000;1.5000 --90.5000;2.0000 --90.5000;2.5000 --90.5000;3.0000 --90.5000;3.5000 --90.5000;4.0000 --90.5000;4.5000 --90.5000;5.0000 --90.5000;5.5000 --90.5000;6.0000 --90.5000;6.5000 --90.5000;7.0000 --90.5000;7.5000 --90.5000;8.0000 --90.5000;8.5000 --90.5000;9.0000 --90.5000;9.5000 --90.5000;10.0000 --90.5000;93.5000 --90.5000;94.0000 --90.5000;94.5000 --90.5000;95.0000 --90.5000;95.5000 --90.5000;96.0000 --90.5000;96.5000 --90.5000;97.0000 --90.5000;97.5000 --90.5000;98.0000 --90.5000;98.5000 --90.5000;99.0000 --90.5000;99.5000 --90.5000;100.0000 --90.5000;100.5000 --90.5000;101.0000 --90.5000;101.5000 --90.5000;102.0000 --90.5000;102.5000 --90.5000;103.0000 --90.5000;103.5000 --90.5000;104.0000 --90.5000;104.5000 --90.5000;105.0000 --90.5000;105.5000 --90.5000;106.0000 --90.5000;106.5000 --90.5000;107.0000 --90.5000;107.5000 --90.5000;108.0000 --90.5000;108.5000 --90.5000;109.0000 --90.5000;109.5000 --90.5000;110.0000 --90.5000;110.5000 --90.5000;111.0000 --90.5000;111.5000 --90.5000;112.0000 --90.5000;112.5000 --90.5000;113.0000 --90.5000;113.5000 --90.5000;114.0000 --90.5000;114.5000 --90.5000;115.0000 --90.5000;115.5000 --90.5000;116.0000 --90.0000;-33.5000 --90.0000;-33.0000 --90.0000;-32.5000 --90.0000;-32.0000 --90.0000;-31.5000 --90.0000;-31.0000 --90.0000;-30.5000 --90.0000;-30.0000 --90.0000;-29.5000 --90.0000;-29.0000 --90.0000;-28.5000 --90.0000;-28.0000 --90.0000;-27.5000 --90.0000;-27.0000 --90.0000;-26.5000 --90.0000;-26.0000 --90.0000;-25.5000 --90.0000;-25.0000 --90.0000;-24.5000 --90.0000;-24.0000 --90.0000;-23.5000 --90.0000;-23.0000 --90.0000;-22.5000 --90.0000;-22.0000 --90.0000;-21.5000 --90.0000;-21.0000 --90.0000;-20.5000 --90.0000;-20.0000 --90.0000;-19.5000 --90.0000;-19.0000 --90.0000;-18.5000 --90.0000;-18.0000 --90.0000;-17.5000 --90.0000;-17.0000 --90.0000;-16.5000 --90.0000;-16.0000 --90.0000;-15.5000 --90.0000;-15.0000 --90.0000;-14.5000 --90.0000;-14.0000 --90.0000;-13.5000 --90.0000;-13.0000 --90.0000;-12.5000 --90.0000;-12.0000 --90.0000;-11.5000 --90.0000;-11.0000 --90.0000;-10.5000 --90.0000;-10.0000 --90.0000;-9.5000 --90.0000;-6.5000 --90.0000;-6.0000 --90.0000;-5.5000 --90.0000;-5.0000 --90.0000;-4.5000 --90.0000;-4.0000 --90.0000;-3.5000 --90.0000;-3.0000 --90.0000;-2.5000 --90.0000;-2.0000 --90.0000;-1.5000 --90.0000;-1.0000 --90.0000;-0.5000 --90.0000;0.0000 --90.0000;0.5000 --90.0000;1.0000 --90.0000;1.5000 --90.0000;2.0000 --90.0000;2.5000 --90.0000;3.0000 --90.0000;3.5000 --90.0000;4.0000 --90.0000;4.5000 --90.0000;5.0000 --90.0000;5.5000 --90.0000;6.0000 --90.0000;6.5000 --90.0000;7.0000 --90.0000;7.5000 --90.0000;8.0000 --90.0000;8.5000 --90.0000;9.0000 --90.0000;9.5000 --90.0000;10.0000 --90.0000;10.5000 --90.0000;92.5000 --90.0000;93.0000 --90.0000;93.5000 --90.0000;94.0000 --90.0000;94.5000 --90.0000;95.0000 --90.0000;95.5000 --90.0000;96.0000 --90.0000;96.5000 --90.0000;97.0000 --90.0000;97.5000 --90.0000;98.0000 --90.0000;98.5000 --90.0000;99.0000 --90.0000;99.5000 --90.0000;100.0000 --90.0000;100.5000 --90.0000;101.0000 --90.0000;101.5000 --90.0000;102.0000 --90.0000;102.5000 --90.0000;103.0000 --90.0000;103.5000 --90.0000;104.0000 --90.0000;104.5000 --90.0000;105.0000 --90.0000;105.5000 --90.0000;106.0000 --90.0000;106.5000 --90.0000;107.0000 --90.0000;107.5000 --90.0000;108.0000 --90.0000;108.5000 --90.0000;109.0000 --90.0000;109.5000 --90.0000;110.0000 --90.0000;110.5000 --90.0000;111.0000 --90.0000;111.5000 --90.0000;112.0000 --90.0000;112.5000 --90.0000;113.0000 --90.0000;113.5000 --90.0000;114.0000 --90.0000;114.5000 --90.0000;115.0000 --90.0000;115.5000 --90.0000;116.0000 --90.0000;116.5000 --89.5000;-34.0000 --89.5000;-33.5000 --89.5000;-33.0000 --89.5000;-32.5000 --89.5000;-32.0000 --89.5000;-31.5000 --89.5000;-31.0000 --89.5000;-30.5000 --89.5000;-30.0000 --89.5000;-29.5000 --89.5000;-29.0000 --89.5000;-28.5000 --89.5000;-28.0000 --89.5000;-27.5000 --89.5000;-27.0000 --89.5000;-26.5000 --89.5000;-26.0000 --89.5000;-25.5000 --89.5000;-25.0000 --89.5000;-24.5000 --89.5000;-24.0000 --89.5000;-23.5000 --89.5000;-23.0000 --89.5000;-22.5000 --89.5000;-22.0000 --89.5000;-21.5000 --89.5000;-21.0000 --89.5000;-20.5000 --89.5000;-20.0000 --89.5000;-19.5000 --89.5000;-19.0000 --89.5000;-18.5000 --89.5000;-18.0000 --89.5000;-17.5000 --89.5000;-17.0000 --89.5000;-16.5000 --89.5000;-16.0000 --89.5000;-15.5000 --89.5000;-15.0000 --89.5000;-14.5000 --89.5000;-14.0000 --89.5000;-13.5000 --89.5000;-13.0000 --89.5000;-12.5000 --89.5000;-4.0000 --89.5000;-3.5000 --89.5000;-3.0000 --89.5000;-2.5000 --89.5000;-2.0000 --89.5000;-1.5000 --89.5000;-1.0000 --89.5000;-0.5000 --89.5000;0.0000 --89.5000;0.5000 --89.5000;1.0000 --89.5000;1.5000 --89.5000;2.0000 --89.5000;2.5000 --89.5000;3.0000 --89.5000;3.5000 --89.5000;4.0000 --89.5000;4.5000 --89.5000;5.0000 --89.5000;5.5000 --89.5000;6.0000 --89.5000;6.5000 --89.5000;7.0000 --89.5000;7.5000 --89.5000;8.0000 --89.5000;8.5000 --89.5000;9.0000 --89.5000;9.5000 --89.5000;10.0000 --89.5000;10.5000 --89.5000;91.5000 --89.5000;92.0000 --89.5000;92.5000 --89.5000;93.0000 --89.5000;93.5000 --89.5000;94.0000 --89.5000;94.5000 --89.5000;95.0000 --89.5000;95.5000 --89.5000;96.0000 --89.5000;96.5000 --89.5000;97.0000 --89.5000;97.5000 --89.5000;98.0000 --89.5000;98.5000 --89.5000;99.0000 --89.5000;99.5000 --89.5000;100.0000 --89.5000;100.5000 --89.5000;101.0000 --89.5000;101.5000 --89.5000;102.0000 --89.5000;102.5000 --89.5000;103.0000 --89.5000;103.5000 --89.5000;104.0000 --89.5000;104.5000 --89.5000;105.0000 --89.5000;105.5000 --89.5000;106.0000 --89.5000;106.5000 --89.5000;107.0000 --89.5000;107.5000 --89.5000;108.0000 --89.5000;108.5000 --89.5000;109.0000 --89.5000;109.5000 --89.5000;110.0000 --89.5000;110.5000 --89.5000;111.0000 --89.5000;111.5000 --89.5000;112.0000 --89.5000;112.5000 --89.5000;113.0000 --89.5000;113.5000 --89.5000;114.0000 --89.5000;114.5000 --89.5000;115.0000 --89.5000;115.5000 --89.5000;116.0000 --89.5000;116.5000 --89.5000;117.0000 --89.5000;117.5000 --89.0000;-35.0000 --89.0000;-34.5000 --89.0000;-34.0000 --89.0000;-33.5000 --89.0000;-33.0000 --89.0000;-32.5000 --89.0000;-32.0000 --89.0000;-31.5000 --89.0000;-31.0000 --89.0000;-30.5000 --89.0000;-30.0000 --89.0000;-29.5000 --89.0000;-29.0000 --89.0000;-28.5000 --89.0000;-28.0000 --89.0000;-27.5000 --89.0000;-27.0000 --89.0000;-26.5000 --89.0000;-26.0000 --89.0000;-25.5000 --89.0000;-25.0000 --89.0000;-24.5000 --89.0000;-24.0000 --89.0000;-23.5000 --89.0000;-23.0000 --89.0000;-22.5000 --89.0000;-22.0000 --89.0000;-21.5000 --89.0000;-21.0000 --89.0000;-20.5000 --89.0000;-20.0000 --89.0000;-19.5000 --89.0000;-19.0000 --89.0000;-18.5000 --89.0000;-18.0000 --89.0000;-17.5000 --89.0000;-17.0000 --89.0000;-16.5000 --89.0000;-16.0000 --89.0000;-15.5000 --89.0000;-15.0000 --89.0000;-14.5000 --89.0000;-2.5000 --89.0000;-2.0000 --89.0000;-1.5000 --89.0000;-1.0000 --89.0000;-0.5000 --89.0000;0.0000 --89.0000;0.5000 --89.0000;1.0000 --89.0000;1.5000 --89.0000;2.0000 --89.0000;2.5000 --89.0000;3.0000 --89.0000;3.5000 --89.0000;4.0000 --89.0000;4.5000 --89.0000;5.0000 --89.0000;5.5000 --89.0000;6.0000 --89.0000;6.5000 --89.0000;7.0000 --89.0000;7.5000 --89.0000;8.0000 --89.0000;8.5000 --89.0000;9.0000 --89.0000;9.5000 --89.0000;10.0000 --89.0000;10.5000 --89.0000;91.0000 --89.0000;91.5000 --89.0000;92.0000 --89.0000;92.5000 --89.0000;93.0000 --89.0000;93.5000 --89.0000;94.0000 --89.0000;94.5000 --89.0000;95.0000 --89.0000;95.5000 --89.0000;96.0000 --89.0000;96.5000 --89.0000;97.0000 --89.0000;97.5000 --89.0000;98.0000 --89.0000;98.5000 --89.0000;99.0000 --89.0000;99.5000 --89.0000;100.0000 --89.0000;100.5000 --89.0000;101.0000 --89.0000;101.5000 --89.0000;102.0000 --89.0000;102.5000 --89.0000;103.0000 --89.0000;103.5000 --89.0000;104.0000 --89.0000;104.5000 --89.0000;105.0000 --89.0000;105.5000 --89.0000;106.0000 --89.0000;106.5000 --89.0000;107.0000 --89.0000;107.5000 --89.0000;108.0000 --89.0000;108.5000 --89.0000;109.0000 --89.0000;109.5000 --89.0000;110.0000 --89.0000;110.5000 --89.0000;111.0000 --89.0000;111.5000 --89.0000;112.0000 --89.0000;112.5000 --89.0000;113.0000 --89.0000;113.5000 --89.0000;114.0000 --89.0000;114.5000 --89.0000;115.0000 --89.0000;115.5000 --89.0000;116.0000 --89.0000;116.5000 --89.0000;117.0000 --89.0000;117.5000 --89.0000;118.0000 --88.5000;-35.5000 --88.5000;-35.0000 --88.5000;-34.5000 --88.5000;-34.0000 --88.5000;-33.5000 --88.5000;-33.0000 --88.5000;-32.5000 --88.5000;-32.0000 --88.5000;-31.5000 --88.5000;-31.0000 --88.5000;-30.5000 --88.5000;-30.0000 --88.5000;-29.5000 --88.5000;-29.0000 --88.5000;-28.5000 --88.5000;-28.0000 --88.5000;-27.5000 --88.5000;-27.0000 --88.5000;-26.5000 --88.5000;-26.0000 --88.5000;-25.5000 --88.5000;-25.0000 --88.5000;-24.5000 --88.5000;-24.0000 --88.5000;-23.5000 --88.5000;-23.0000 --88.5000;-22.5000 --88.5000;-22.0000 --88.5000;-21.5000 --88.5000;-21.0000 --88.5000;-20.5000 --88.5000;-20.0000 --88.5000;-19.5000 --88.5000;-19.0000 --88.5000;-18.5000 --88.5000;-18.0000 --88.5000;-17.5000 --88.5000;-17.0000 --88.5000;-16.5000 --88.5000;-16.0000 --88.5000;-15.5000 --88.5000;-2.0000 --88.5000;-1.5000 --88.5000;-1.0000 --88.5000;-0.5000 --88.5000;0.0000 --88.5000;0.5000 --88.5000;1.0000 --88.5000;1.5000 --88.5000;2.0000 --88.5000;2.5000 --88.5000;3.0000 --88.5000;3.5000 --88.5000;4.0000 --88.5000;4.5000 --88.5000;5.0000 --88.5000;5.5000 --88.5000;6.0000 --88.5000;6.5000 --88.5000;7.0000 --88.5000;7.5000 --88.5000;8.0000 --88.5000;8.5000 --88.5000;9.0000 --88.5000;9.5000 --88.5000;10.0000 --88.5000;10.5000 --88.5000;11.0000 --88.5000;90.0000 --88.5000;90.5000 --88.5000;91.0000 --88.5000;91.5000 --88.5000;92.0000 --88.5000;92.5000 --88.5000;93.0000 --88.5000;93.5000 --88.5000;94.0000 --88.5000;94.5000 --88.5000;95.0000 --88.5000;95.5000 --88.5000;96.0000 --88.5000;96.5000 --88.5000;97.0000 --88.5000;97.5000 --88.5000;98.0000 --88.5000;98.5000 --88.5000;99.0000 --88.5000;99.5000 --88.5000;100.0000 --88.5000;100.5000 --88.5000;101.0000 --88.5000;101.5000 --88.5000;102.0000 --88.5000;102.5000 --88.5000;103.0000 --88.5000;103.5000 --88.5000;104.0000 --88.5000;104.5000 --88.5000;105.0000 --88.5000;105.5000 --88.5000;106.0000 --88.5000;106.5000 --88.5000;107.0000 --88.5000;107.5000 --88.5000;108.0000 --88.5000;108.5000 --88.5000;109.0000 --88.5000;109.5000 --88.5000;110.0000 --88.5000;110.5000 --88.5000;111.0000 --88.5000;111.5000 --88.5000;112.0000 --88.5000;112.5000 --88.5000;113.0000 --88.5000;113.5000 --88.5000;114.0000 --88.5000;114.5000 --88.5000;115.0000 --88.5000;115.5000 --88.5000;116.0000 --88.5000;116.5000 --88.5000;117.0000 --88.5000;117.5000 --88.5000;118.0000 --88.5000;118.5000 --88.0000;-36.0000 --88.0000;-35.5000 --88.0000;-35.0000 --88.0000;-34.5000 --88.0000;-34.0000 --88.0000;-33.5000 --88.0000;-33.0000 --88.0000;-32.5000 --88.0000;-32.0000 --88.0000;-31.5000 --88.0000;-31.0000 --88.0000;-30.5000 --88.0000;-30.0000 --88.0000;-29.5000 --88.0000;-29.0000 --88.0000;-28.5000 --88.0000;-28.0000 --88.0000;-27.5000 --88.0000;-27.0000 --88.0000;-26.5000 --88.0000;-26.0000 --88.0000;-25.5000 --88.0000;-25.0000 --88.0000;-24.5000 --88.0000;-24.0000 --88.0000;-23.5000 --88.0000;-23.0000 --88.0000;-22.5000 --88.0000;-22.0000 --88.0000;-21.5000 --88.0000;-21.0000 --88.0000;-20.5000 --88.0000;-20.0000 --88.0000;-19.5000 --88.0000;-19.0000 --88.0000;-18.5000 --88.0000;-18.0000 --88.0000;-17.5000 --88.0000;-17.0000 --88.0000;-1.0000 --88.0000;-0.5000 --88.0000;0.0000 --88.0000;0.5000 --88.0000;1.0000 --88.0000;1.5000 --88.0000;2.0000 --88.0000;2.5000 --88.0000;3.0000 --88.0000;3.5000 --88.0000;4.0000 --88.0000;4.5000 --88.0000;5.0000 --88.0000;5.5000 --88.0000;6.0000 --88.0000;6.5000 --88.0000;7.0000 --88.0000;7.5000 --88.0000;8.0000 --88.0000;8.5000 --88.0000;9.0000 --88.0000;9.5000 --88.0000;10.0000 --88.0000;10.5000 --88.0000;11.0000 --88.0000;89.0000 --88.0000;89.5000 --88.0000;90.0000 --88.0000;90.5000 --88.0000;91.0000 --88.0000;91.5000 --88.0000;92.0000 --88.0000;92.5000 --88.0000;93.0000 --88.0000;93.5000 --88.0000;94.0000 --88.0000;94.5000 --88.0000;95.0000 --88.0000;95.5000 --88.0000;96.0000 --88.0000;96.5000 --88.0000;97.0000 --88.0000;97.5000 --88.0000;98.0000 --88.0000;98.5000 --88.0000;99.0000 --88.0000;99.5000 --88.0000;100.0000 --88.0000;100.5000 --88.0000;101.0000 --88.0000;101.5000 --88.0000;102.0000 --88.0000;102.5000 --88.0000;103.0000 --88.0000;103.5000 --88.0000;104.0000 --88.0000;104.5000 --88.0000;105.0000 --88.0000;105.5000 --88.0000;106.0000 --88.0000;106.5000 --88.0000;107.0000 --88.0000;107.5000 --88.0000;108.0000 --88.0000;108.5000 --88.0000;109.0000 --88.0000;109.5000 --88.0000;110.0000 --88.0000;110.5000 --88.0000;111.0000 --88.0000;111.5000 --88.0000;112.0000 --88.0000;112.5000 --88.0000;113.0000 --88.0000;113.5000 --88.0000;114.0000 --88.0000;114.5000 --88.0000;115.0000 --88.0000;115.5000 --88.0000;116.0000 --88.0000;116.5000 --88.0000;117.0000 --88.0000;117.5000 --88.0000;118.0000 --88.0000;118.5000 --88.0000;119.0000 --87.5000;-37.0000 --87.5000;-36.5000 --87.5000;-36.0000 --87.5000;-35.5000 --87.5000;-35.0000 --87.5000;-34.5000 --87.5000;-34.0000 --87.5000;-33.5000 --87.5000;-33.0000 --87.5000;-32.5000 --87.5000;-32.0000 --87.5000;-31.5000 --87.5000;-31.0000 --87.5000;-30.5000 --87.5000;-30.0000 --87.5000;-29.5000 --87.5000;-29.0000 --87.5000;-28.5000 --87.5000;-28.0000 --87.5000;-27.5000 --87.5000;-27.0000 --87.5000;-26.5000 --87.5000;-26.0000 --87.5000;-25.5000 --87.5000;-25.0000 --87.5000;-24.5000 --87.5000;-24.0000 --87.5000;-23.5000 --87.5000;-23.0000 --87.5000;-22.5000 --87.5000;-22.0000 --87.5000;-21.5000 --87.5000;-21.0000 --87.5000;-20.5000 --87.5000;-20.0000 --87.5000;-19.5000 --87.5000;-19.0000 --87.5000;-18.5000 --87.5000;-18.0000 --87.5000;-0.5000 --87.5000;0.0000 --87.5000;0.5000 --87.5000;1.0000 --87.5000;1.5000 --87.5000;2.0000 --87.5000;2.5000 --87.5000;3.0000 --87.5000;3.5000 --87.5000;4.0000 --87.5000;4.5000 --87.5000;5.0000 --87.5000;5.5000 --87.5000;6.0000 --87.5000;6.5000 --87.5000;7.0000 --87.5000;7.5000 --87.5000;8.0000 --87.5000;8.5000 --87.5000;9.0000 --87.5000;9.5000 --87.5000;10.0000 --87.5000;10.5000 --87.5000;11.0000 --87.5000;11.5000 --87.5000;88.5000 --87.5000;89.0000 --87.5000;89.5000 --87.5000;90.0000 --87.5000;90.5000 --87.5000;91.0000 --87.5000;91.5000 --87.5000;92.0000 --87.5000;92.5000 --87.5000;93.0000 --87.5000;93.5000 --87.5000;94.0000 --87.5000;94.5000 --87.5000;95.0000 --87.5000;95.5000 --87.5000;96.0000 --87.5000;96.5000 --87.5000;97.0000 --87.5000;97.5000 --87.5000;98.0000 --87.5000;98.5000 --87.5000;99.0000 --87.5000;99.5000 --87.5000;100.0000 --87.5000;100.5000 --87.5000;101.0000 --87.5000;101.5000 --87.5000;102.0000 --87.5000;102.5000 --87.5000;103.0000 --87.5000;103.5000 --87.5000;104.0000 --87.5000;104.5000 --87.5000;105.0000 --87.5000;105.5000 --87.5000;106.0000 --87.5000;106.5000 --87.5000;107.0000 --87.5000;107.5000 --87.5000;108.0000 --87.5000;108.5000 --87.5000;109.0000 --87.5000;109.5000 --87.5000;110.0000 --87.5000;110.5000 --87.5000;111.0000 --87.5000;111.5000 --87.5000;112.0000 --87.5000;112.5000 --87.5000;113.0000 --87.5000;113.5000 --87.5000;114.0000 --87.5000;114.5000 --87.5000;115.0000 --87.5000;115.5000 --87.5000;116.0000 --87.5000;116.5000 --87.5000;117.0000 --87.5000;117.5000 --87.5000;118.0000 --87.5000;118.5000 --87.5000;119.0000 --87.5000;119.5000 --87.0000;-37.5000 --87.0000;-37.0000 --87.0000;-36.5000 --87.0000;-36.0000 --87.0000;-35.5000 --87.0000;-35.0000 --87.0000;-34.5000 --87.0000;-34.0000 --87.0000;-33.5000 --87.0000;-33.0000 --87.0000;-32.5000 --87.0000;-32.0000 --87.0000;-31.5000 --87.0000;-31.0000 --87.0000;-30.5000 --87.0000;-30.0000 --87.0000;-29.5000 --87.0000;-29.0000 --87.0000;-28.5000 --87.0000;-28.0000 --87.0000;-27.5000 --87.0000;-27.0000 --87.0000;-26.5000 --87.0000;-26.0000 --87.0000;-25.5000 --87.0000;-25.0000 --87.0000;-24.5000 --87.0000;-24.0000 --87.0000;-23.5000 --87.0000;-23.0000 --87.0000;-22.5000 --87.0000;-22.0000 --87.0000;-21.5000 --87.0000;-21.0000 --87.0000;-20.5000 --87.0000;-20.0000 --87.0000;-19.5000 --87.0000;-19.0000 --87.0000;0.0000 --87.0000;0.5000 --87.0000;1.0000 --87.0000;1.5000 --87.0000;2.0000 --87.0000;2.5000 --87.0000;3.0000 --87.0000;3.5000 --87.0000;4.0000 --87.0000;4.5000 --87.0000;5.0000 --87.0000;5.5000 --87.0000;6.0000 --87.0000;6.5000 --87.0000;7.0000 --87.0000;7.5000 --87.0000;8.0000 --87.0000;8.5000 --87.0000;9.0000 --87.0000;9.5000 --87.0000;10.0000 --87.0000;10.5000 --87.0000;11.0000 --87.0000;11.5000 --87.0000;87.5000 --87.0000;88.0000 --87.0000;88.5000 --87.0000;89.0000 --87.0000;89.5000 --87.0000;90.0000 --87.0000;90.5000 --87.0000;91.0000 --87.0000;91.5000 --87.0000;92.0000 --87.0000;92.5000 --87.0000;93.0000 --87.0000;93.5000 --87.0000;94.0000 --87.0000;94.5000 --87.0000;95.0000 --87.0000;95.5000 --87.0000;96.0000 --87.0000;96.5000 --87.0000;97.0000 --87.0000;97.5000 --87.0000;98.0000 --87.0000;98.5000 --87.0000;99.0000 --87.0000;99.5000 --87.0000;100.0000 --87.0000;100.5000 --87.0000;101.0000 --87.0000;101.5000 --87.0000;102.0000 --87.0000;102.5000 --87.0000;103.0000 --87.0000;103.5000 --87.0000;104.0000 --87.0000;104.5000 --87.0000;105.0000 --87.0000;105.5000 --87.0000;106.0000 --87.0000;106.5000 --87.0000;107.0000 --87.0000;107.5000 --87.0000;108.0000 --87.0000;108.5000 --87.0000;109.0000 --87.0000;109.5000 --87.0000;110.0000 --87.0000;110.5000 --87.0000;111.0000 --87.0000;111.5000 --87.0000;112.0000 --87.0000;112.5000 --87.0000;113.0000 --87.0000;113.5000 --87.0000;114.0000 --87.0000;114.5000 --87.0000;115.0000 --87.0000;115.5000 --87.0000;116.0000 --87.0000;116.5000 --87.0000;117.0000 --87.0000;117.5000 --87.0000;118.0000 --87.0000;118.5000 --87.0000;119.0000 --87.0000;119.5000 --87.0000;120.0000 --86.5000;-38.5000 --86.5000;-38.0000 --86.5000;-37.5000 --86.5000;-37.0000 --86.5000;-36.5000 --86.5000;-36.0000 --86.5000;-35.5000 --86.5000;-35.0000 --86.5000;-34.5000 --86.5000;-34.0000 --86.5000;-33.5000 --86.5000;-33.0000 --86.5000;-32.5000 --86.5000;-32.0000 --86.5000;-31.5000 --86.5000;-31.0000 --86.5000;-30.5000 --86.5000;-30.0000 --86.5000;-29.5000 --86.5000;-29.0000 --86.5000;-28.5000 --86.5000;-28.0000 --86.5000;-27.5000 --86.5000;-27.0000 --86.5000;-26.5000 --86.5000;-26.0000 --86.5000;-25.5000 --86.5000;-25.0000 --86.5000;-24.5000 --86.5000;-24.0000 --86.5000;-23.5000 --86.5000;-23.0000 --86.5000;-22.5000 --86.5000;-22.0000 --86.5000;-21.5000 --86.5000;-21.0000 --86.5000;-20.5000 --86.5000;-20.0000 --86.5000;0.5000 --86.5000;1.0000 --86.5000;1.5000 --86.5000;2.0000 --86.5000;2.5000 --86.5000;3.0000 --86.5000;3.5000 --86.5000;4.0000 --86.5000;4.5000 --86.5000;5.0000 --86.5000;5.5000 --86.5000;6.0000 --86.5000;6.5000 --86.5000;7.0000 --86.5000;7.5000 --86.5000;8.0000 --86.5000;8.5000 --86.5000;9.0000 --86.5000;9.5000 --86.5000;10.0000 --86.5000;10.5000 --86.5000;11.0000 --86.5000;11.5000 --86.5000;87.0000 --86.5000;87.5000 --86.5000;88.0000 --86.5000;88.5000 --86.5000;89.0000 --86.5000;89.5000 --86.5000;90.0000 --86.5000;90.5000 --86.5000;91.0000 --86.5000;91.5000 --86.5000;92.0000 --86.5000;92.5000 --86.5000;93.0000 --86.5000;93.5000 --86.5000;94.0000 --86.5000;94.5000 --86.5000;95.0000 --86.5000;95.5000 --86.5000;96.0000 --86.5000;96.5000 --86.5000;97.0000 --86.5000;97.5000 --86.5000;98.0000 --86.5000;98.5000 --86.5000;99.0000 --86.5000;99.5000 --86.5000;100.0000 --86.5000;100.5000 --86.5000;101.0000 --86.5000;101.5000 --86.5000;102.0000 --86.5000;102.5000 --86.5000;103.0000 --86.5000;103.5000 --86.5000;104.0000 --86.5000;104.5000 --86.5000;105.0000 --86.5000;105.5000 --86.5000;106.0000 --86.5000;106.5000 --86.5000;107.0000 --86.5000;107.5000 --86.5000;108.0000 --86.5000;108.5000 --86.5000;109.0000 --86.5000;109.5000 --86.5000;110.0000 --86.5000;110.5000 --86.5000;111.0000 --86.5000;111.5000 --86.5000;112.0000 --86.5000;112.5000 --86.5000;113.0000 --86.5000;113.5000 --86.5000;114.0000 --86.5000;114.5000 --86.5000;115.0000 --86.5000;115.5000 --86.5000;116.0000 --86.5000;116.5000 --86.5000;117.0000 --86.5000;117.5000 --86.5000;118.0000 --86.5000;118.5000 --86.5000;119.0000 --86.5000;119.5000 --86.5000;120.0000 --86.0000;-39.0000 --86.0000;-38.5000 --86.0000;-38.0000 --86.0000;-37.5000 --86.0000;-37.0000 --86.0000;-36.5000 --86.0000;-36.0000 --86.0000;-35.5000 --86.0000;-35.0000 --86.0000;-34.5000 --86.0000;-34.0000 --86.0000;-33.5000 --86.0000;-33.0000 --86.0000;-32.5000 --86.0000;-32.0000 --86.0000;-31.5000 --86.0000;-31.0000 --86.0000;-30.5000 --86.0000;-30.0000 --86.0000;-29.5000 --86.0000;-29.0000 --86.0000;-28.5000 --86.0000;-28.0000 --86.0000;-27.5000 --86.0000;-27.0000 --86.0000;-26.5000 --86.0000;-26.0000 --86.0000;-25.5000 --86.0000;-25.0000 --86.0000;-24.5000 --86.0000;-24.0000 --86.0000;-23.5000 --86.0000;-23.0000 --86.0000;-22.5000 --86.0000;-22.0000 --86.0000;-21.5000 --86.0000;-21.0000 --86.0000;-20.5000 --86.0000;1.0000 --86.0000;1.5000 --86.0000;2.0000 --86.0000;2.5000 --86.0000;3.0000 --86.0000;3.5000 --86.0000;4.0000 --86.0000;4.5000 --86.0000;5.0000 --86.0000;5.5000 --86.0000;6.0000 --86.0000;6.5000 --86.0000;7.0000 --86.0000;7.5000 --86.0000;8.0000 --86.0000;8.5000 --86.0000;9.0000 --86.0000;9.5000 --86.0000;10.0000 --86.0000;10.5000 --86.0000;11.0000 --86.0000;11.5000 --86.0000;86.0000 --86.0000;86.5000 --86.0000;87.0000 --86.0000;87.5000 --86.0000;88.0000 --86.0000;88.5000 --86.0000;89.0000 --86.0000;89.5000 --86.0000;90.0000 --86.0000;90.5000 --86.0000;91.0000 --86.0000;91.5000 --86.0000;92.0000 --86.0000;92.5000 --86.0000;93.0000 --86.0000;93.5000 --86.0000;94.0000 --86.0000;94.5000 --86.0000;95.0000 --86.0000;95.5000 --86.0000;96.0000 --86.0000;96.5000 --86.0000;97.0000 --86.0000;97.5000 --86.0000;98.0000 --86.0000;98.5000 --86.0000;99.0000 --86.0000;99.5000 --86.0000;100.0000 --86.0000;100.5000 --86.0000;101.0000 --86.0000;101.5000 --86.0000;102.0000 --86.0000;102.5000 --86.0000;103.0000 --86.0000;103.5000 --86.0000;104.0000 --86.0000;104.5000 --86.0000;105.0000 --86.0000;105.5000 --86.0000;106.0000 --86.0000;106.5000 --86.0000;107.0000 --86.0000;107.5000 --86.0000;108.0000 --86.0000;108.5000 --86.0000;109.0000 --86.0000;109.5000 --86.0000;110.0000 --86.0000;110.5000 --86.0000;111.0000 --86.0000;111.5000 --86.0000;112.0000 --86.0000;112.5000 --86.0000;113.0000 --86.0000;113.5000 --86.0000;114.0000 --86.0000;114.5000 --86.0000;115.0000 --86.0000;115.5000 --86.0000;116.0000 --86.0000;116.5000 --86.0000;117.0000 --86.0000;117.5000 --86.0000;118.0000 --86.0000;118.5000 --86.0000;119.0000 --86.0000;119.5000 --86.0000;120.0000 --86.0000;120.5000 --85.5000;-40.0000 --85.5000;-39.5000 --85.5000;-39.0000 --85.5000;-38.5000 --85.5000;-38.0000 --85.5000;-37.5000 --85.5000;-37.0000 --85.5000;-36.5000 --85.5000;-36.0000 --85.5000;-35.5000 --85.5000;-35.0000 --85.5000;-34.5000 --85.5000;-34.0000 --85.5000;-33.5000 --85.5000;-33.0000 --85.5000;-32.5000 --85.5000;-32.0000 --85.5000;-31.5000 --85.5000;-31.0000 --85.5000;-30.5000 --85.5000;-30.0000 --85.5000;-29.5000 --85.5000;-29.0000 --85.5000;-28.5000 --85.5000;-28.0000 --85.5000;-27.5000 --85.5000;-27.0000 --85.5000;-26.5000 --85.5000;-26.0000 --85.5000;-25.5000 --85.5000;-25.0000 --85.5000;-24.5000 --85.5000;-24.0000 --85.5000;-23.5000 --85.5000;-23.0000 --85.5000;-22.5000 --85.5000;-22.0000 --85.5000;-21.5000 --85.5000;1.0000 --85.5000;1.5000 --85.5000;2.0000 --85.5000;2.5000 --85.5000;3.0000 --85.5000;3.5000 --85.5000;4.0000 --85.5000;4.5000 --85.5000;5.0000 --85.5000;5.5000 --85.5000;6.0000 --85.5000;6.5000 --85.5000;7.0000 --85.5000;7.5000 --85.5000;8.0000 --85.5000;8.5000 --85.5000;9.0000 --85.5000;9.5000 --85.5000;10.0000 --85.5000;10.5000 --85.5000;11.0000 --85.5000;11.5000 --85.5000;12.0000 --85.5000;85.5000 --85.5000;86.0000 --85.5000;86.5000 --85.5000;87.0000 --85.5000;87.5000 --85.5000;88.0000 --85.5000;88.5000 --85.5000;89.0000 --85.5000;89.5000 --85.5000;90.0000 --85.5000;90.5000 --85.5000;91.0000 --85.5000;91.5000 --85.5000;92.0000 --85.5000;92.5000 --85.5000;93.0000 --85.5000;93.5000 --85.5000;94.0000 --85.5000;94.5000 --85.5000;95.0000 --85.5000;95.5000 --85.5000;96.0000 --85.5000;96.5000 --85.5000;97.0000 --85.5000;97.5000 --85.5000;98.0000 --85.5000;98.5000 --85.5000;99.0000 --85.5000;99.5000 --85.5000;100.0000 --85.5000;100.5000 --85.5000;101.0000 --85.5000;101.5000 --85.5000;102.0000 --85.5000;102.5000 --85.5000;103.0000 --85.5000;103.5000 --85.5000;104.0000 --85.5000;104.5000 --85.5000;105.0000 --85.5000;105.5000 --85.5000;106.0000 --85.5000;106.5000 --85.5000;107.0000 --85.5000;107.5000 --85.5000;108.0000 --85.5000;108.5000 --85.5000;109.0000 --85.5000;109.5000 --85.5000;110.0000 --85.5000;110.5000 --85.5000;111.0000 --85.5000;111.5000 --85.5000;112.0000 --85.5000;112.5000 --85.5000;113.0000 --85.5000;113.5000 --85.5000;114.0000 --85.5000;114.5000 --85.5000;115.0000 --85.5000;115.5000 --85.5000;116.0000 --85.5000;116.5000 --85.5000;117.0000 --85.5000;117.5000 --85.5000;118.0000 --85.5000;118.5000 --85.5000;119.0000 --85.5000;119.5000 --85.5000;120.0000 --85.5000;120.5000 --85.5000;121.0000 --85.0000;-40.5000 --85.0000;-40.0000 --85.0000;-39.5000 --85.0000;-39.0000 --85.0000;-38.5000 --85.0000;-38.0000 --85.0000;-37.5000 --85.0000;-37.0000 --85.0000;-36.5000 --85.0000;-36.0000 --85.0000;-35.5000 --85.0000;-35.0000 --85.0000;-34.5000 --85.0000;-34.0000 --85.0000;-33.5000 --85.0000;-33.0000 --85.0000;-32.5000 --85.0000;-32.0000 --85.0000;-31.5000 --85.0000;-31.0000 --85.0000;-30.5000 --85.0000;-30.0000 --85.0000;-29.5000 --85.0000;-29.0000 --85.0000;-28.5000 --85.0000;-28.0000 --85.0000;-27.5000 --85.0000;-27.0000 --85.0000;-26.5000 --85.0000;-26.0000 --85.0000;-25.5000 --85.0000;-25.0000 --85.0000;-24.5000 --85.0000;-24.0000 --85.0000;-23.5000 --85.0000;-23.0000 --85.0000;-22.5000 --85.0000;1.5000 --85.0000;2.0000 --85.0000;2.5000 --85.0000;3.0000 --85.0000;3.5000 --85.0000;4.0000 --85.0000;4.5000 --85.0000;5.0000 --85.0000;5.5000 --85.0000;6.0000 --85.0000;6.5000 --85.0000;7.0000 --85.0000;7.5000 --85.0000;8.0000 --85.0000;8.5000 --85.0000;9.0000 --85.0000;9.5000 --85.0000;10.0000 --85.0000;10.5000 --85.0000;11.0000 --85.0000;11.5000 --85.0000;12.0000 --85.0000;84.5000 --85.0000;85.0000 --85.0000;85.5000 --85.0000;86.0000 --85.0000;86.5000 --85.0000;87.0000 --85.0000;87.5000 --85.0000;88.0000 --85.0000;88.5000 --85.0000;89.0000 --85.0000;89.5000 --85.0000;90.0000 --85.0000;90.5000 --85.0000;91.0000 --85.0000;91.5000 --85.0000;92.0000 --85.0000;92.5000 --85.0000;93.0000 --85.0000;93.5000 --85.0000;94.0000 --85.0000;94.5000 --85.0000;95.0000 --85.0000;95.5000 --85.0000;96.0000 --85.0000;96.5000 --85.0000;97.0000 --85.0000;97.5000 --85.0000;98.0000 --85.0000;98.5000 --85.0000;99.0000 --85.0000;99.5000 --85.0000;100.0000 --85.0000;100.5000 --85.0000;101.0000 --85.0000;101.5000 --85.0000;102.0000 --85.0000;102.5000 --85.0000;103.0000 --85.0000;103.5000 --85.0000;104.0000 --85.0000;104.5000 --85.0000;105.0000 --85.0000;105.5000 --85.0000;106.0000 --85.0000;106.5000 --85.0000;107.0000 --85.0000;107.5000 --85.0000;108.0000 --85.0000;108.5000 --85.0000;109.0000 --85.0000;109.5000 --85.0000;110.0000 --85.0000;110.5000 --85.0000;111.0000 --85.0000;111.5000 --85.0000;112.0000 --85.0000;112.5000 --85.0000;113.0000 --85.0000;113.5000 --85.0000;114.0000 --85.0000;114.5000 --85.0000;115.0000 --85.0000;115.5000 --85.0000;116.0000 --85.0000;116.5000 --85.0000;117.0000 --85.0000;117.5000 --85.0000;118.0000 --85.0000;118.5000 --85.0000;119.0000 --85.0000;119.5000 --85.0000;120.0000 --85.0000;120.5000 --85.0000;121.0000 --84.5000;-41.0000 --84.5000;-40.5000 --84.5000;-40.0000 --84.5000;-39.5000 --84.5000;-39.0000 --84.5000;-38.5000 --84.5000;-38.0000 --84.5000;-37.5000 --84.5000;-37.0000 --84.5000;-36.5000 --84.5000;-36.0000 --84.5000;-35.5000 --84.5000;-35.0000 --84.5000;-34.5000 --84.5000;-34.0000 --84.5000;-33.5000 --84.5000;-33.0000 --84.5000;-32.5000 --84.5000;-32.0000 --84.5000;-31.5000 --84.5000;-31.0000 --84.5000;-30.5000 --84.5000;-30.0000 --84.5000;-29.5000 --84.5000;-29.0000 --84.5000;-28.5000 --84.5000;-28.0000 --84.5000;-27.5000 --84.5000;-27.0000 --84.5000;-26.5000 --84.5000;-26.0000 --84.5000;-25.5000 --84.5000;-25.0000 --84.5000;-24.5000 --84.5000;-24.0000 --84.5000;-23.5000 --84.5000;-23.0000 --84.5000;1.5000 --84.5000;2.0000 --84.5000;2.5000 --84.5000;3.0000 --84.5000;3.5000 --84.5000;4.0000 --84.5000;4.5000 --84.5000;5.0000 --84.5000;5.5000 --84.5000;6.0000 --84.5000;6.5000 --84.5000;7.0000 --84.5000;7.5000 --84.5000;8.0000 --84.5000;8.5000 --84.5000;9.0000 --84.5000;9.5000 --84.5000;10.0000 --84.5000;10.5000 --84.5000;11.0000 --84.5000;11.5000 --84.5000;12.0000 --84.5000;84.0000 --84.5000;84.5000 --84.5000;85.0000 --84.5000;85.5000 --84.5000;86.0000 --84.5000;86.5000 --84.5000;87.0000 --84.5000;87.5000 --84.5000;88.0000 --84.5000;88.5000 --84.5000;89.0000 --84.5000;89.5000 --84.5000;90.0000 --84.5000;90.5000 --84.5000;91.0000 --84.5000;91.5000 --84.5000;92.0000 --84.5000;92.5000 --84.5000;93.0000 --84.5000;93.5000 --84.5000;94.0000 --84.5000;94.5000 --84.5000;95.0000 --84.5000;95.5000 --84.5000;96.0000 --84.5000;96.5000 --84.5000;97.0000 --84.5000;97.5000 --84.5000;98.0000 --84.5000;98.5000 --84.5000;99.0000 --84.5000;99.5000 --84.5000;100.0000 --84.5000;100.5000 --84.5000;101.0000 --84.5000;101.5000 --84.5000;102.0000 --84.5000;102.5000 --84.5000;103.0000 --84.5000;103.5000 --84.5000;104.0000 --84.5000;104.5000 --84.5000;105.0000 --84.5000;105.5000 --84.5000;106.0000 --84.5000;106.5000 --84.5000;107.0000 --84.5000;107.5000 --84.5000;108.0000 --84.5000;108.5000 --84.5000;109.0000 --84.5000;109.5000 --84.5000;110.0000 --84.5000;110.5000 --84.5000;111.0000 --84.5000;111.5000 --84.5000;112.0000 --84.5000;112.5000 --84.5000;113.0000 --84.5000;113.5000 --84.5000;114.0000 --84.5000;114.5000 --84.5000;115.0000 --84.5000;115.5000 --84.5000;116.0000 --84.5000;116.5000 --84.5000;117.0000 --84.5000;117.5000 --84.5000;118.0000 --84.5000;118.5000 --84.5000;119.0000 --84.5000;119.5000 --84.5000;120.0000 --84.5000;120.5000 --84.5000;121.0000 --84.5000;121.5000 --84.0000;-42.0000 --84.0000;-41.5000 --84.0000;-41.0000 --84.0000;-40.5000 --84.0000;-40.0000 --84.0000;-39.5000 --84.0000;-39.0000 --84.0000;-38.5000 --84.0000;-38.0000 --84.0000;-37.5000 --84.0000;-37.0000 --84.0000;-36.5000 --84.0000;-36.0000 --84.0000;-35.5000 --84.0000;-35.0000 --84.0000;-34.5000 --84.0000;-34.0000 --84.0000;-33.5000 --84.0000;-33.0000 --84.0000;-32.5000 --84.0000;-32.0000 --84.0000;-31.5000 --84.0000;-31.0000 --84.0000;-30.5000 --84.0000;-30.0000 --84.0000;-29.5000 --84.0000;-29.0000 --84.0000;-28.5000 --84.0000;-28.0000 --84.0000;-27.5000 --84.0000;-27.0000 --84.0000;-26.5000 --84.0000;-26.0000 --84.0000;-25.5000 --84.0000;-25.0000 --84.0000;-24.5000 --84.0000;-24.0000 --84.0000;2.0000 --84.0000;2.5000 --84.0000;3.0000 --84.0000;3.5000 --84.0000;4.0000 --84.0000;4.5000 --84.0000;5.0000 --84.0000;5.5000 --84.0000;6.0000 --84.0000;6.5000 --84.0000;7.0000 --84.0000;7.5000 --84.0000;8.0000 --84.0000;8.5000 --84.0000;9.0000 --84.0000;9.5000 --84.0000;10.0000 --84.0000;10.5000 --84.0000;11.0000 --84.0000;11.5000 --84.0000;12.0000 --84.0000;83.0000 --84.0000;83.5000 --84.0000;84.0000 --84.0000;84.5000 --84.0000;85.0000 --84.0000;85.5000 --84.0000;86.0000 --84.0000;86.5000 --84.0000;87.0000 --84.0000;87.5000 --84.0000;88.0000 --84.0000;88.5000 --84.0000;89.0000 --84.0000;89.5000 --84.0000;90.0000 --84.0000;90.5000 --84.0000;91.0000 --84.0000;91.5000 --84.0000;92.0000 --84.0000;92.5000 --84.0000;93.0000 --84.0000;93.5000 --84.0000;94.0000 --84.0000;94.5000 --84.0000;95.0000 --84.0000;95.5000 --84.0000;96.0000 --84.0000;96.5000 --84.0000;97.0000 --84.0000;97.5000 --84.0000;98.0000 --84.0000;98.5000 --84.0000;99.0000 --84.0000;99.5000 --84.0000;100.0000 --84.0000;100.5000 --84.0000;101.0000 --84.0000;101.5000 --84.0000;102.0000 --84.0000;102.5000 --84.0000;103.0000 --84.0000;103.5000 --84.0000;104.0000 --84.0000;104.5000 --84.0000;105.0000 --84.0000;105.5000 --84.0000;106.0000 --84.0000;106.5000 --84.0000;107.0000 --84.0000;107.5000 --84.0000;108.0000 --84.0000;108.5000 --84.0000;109.0000 --84.0000;109.5000 --84.0000;110.0000 --84.0000;110.5000 --84.0000;111.0000 --84.0000;111.5000 --84.0000;112.0000 --84.0000;112.5000 --84.0000;113.0000 --84.0000;113.5000 --84.0000;114.0000 --84.0000;114.5000 --84.0000;115.0000 --84.0000;115.5000 --84.0000;116.0000 --84.0000;116.5000 --84.0000;117.0000 --84.0000;117.5000 --84.0000;118.0000 --84.0000;118.5000 --84.0000;119.0000 --84.0000;119.5000 --84.0000;120.0000 --84.0000;120.5000 --84.0000;121.0000 --84.0000;121.5000 --83.5000;-42.5000 --83.5000;-42.0000 --83.5000;-41.5000 --83.5000;-41.0000 --83.5000;-40.5000 --83.5000;-40.0000 --83.5000;-39.5000 --83.5000;-39.0000 --83.5000;-38.5000 --83.5000;-38.0000 --83.5000;-37.5000 --83.5000;-37.0000 --83.5000;-36.5000 --83.5000;-36.0000 --83.5000;-35.5000 --83.5000;-35.0000 --83.5000;-34.5000 --83.5000;-34.0000 --83.5000;-33.5000 --83.5000;-33.0000 --83.5000;-32.5000 --83.5000;-32.0000 --83.5000;-31.5000 --83.5000;-31.0000 --83.5000;-30.5000 --83.5000;-30.0000 --83.5000;-29.5000 --83.5000;-29.0000 --83.5000;-28.5000 --83.5000;-28.0000 --83.5000;-27.5000 --83.5000;-27.0000 --83.5000;-26.5000 --83.5000;-26.0000 --83.5000;-25.5000 --83.5000;-25.0000 --83.5000;-24.5000 --83.5000;2.0000 --83.5000;2.5000 --83.5000;3.0000 --83.5000;3.5000 --83.5000;4.0000 --83.5000;4.5000 --83.5000;5.0000 --83.5000;5.5000 --83.5000;6.0000 --83.5000;6.5000 --83.5000;7.0000 --83.5000;7.5000 --83.5000;8.0000 --83.5000;8.5000 --83.5000;9.0000 --83.5000;9.5000 --83.5000;10.0000 --83.5000;10.5000 --83.5000;11.0000 --83.5000;11.5000 --83.5000;12.0000 --83.5000;82.5000 --83.5000;83.0000 --83.5000;83.5000 --83.5000;84.0000 --83.5000;84.5000 --83.5000;85.0000 --83.5000;85.5000 --83.5000;86.0000 --83.5000;86.5000 --83.5000;87.0000 --83.5000;87.5000 --83.5000;88.0000 --83.5000;88.5000 --83.5000;89.0000 --83.5000;89.5000 --83.5000;90.0000 --83.5000;90.5000 --83.5000;91.0000 --83.5000;91.5000 --83.5000;92.0000 --83.5000;92.5000 --83.5000;93.0000 --83.5000;93.5000 --83.5000;94.0000 --83.5000;94.5000 --83.5000;95.0000 --83.5000;95.5000 --83.5000;96.0000 --83.5000;96.5000 --83.5000;97.0000 --83.5000;97.5000 --83.5000;98.0000 --83.5000;98.5000 --83.5000;99.0000 --83.5000;99.5000 --83.5000;100.0000 --83.5000;100.5000 --83.5000;101.0000 --83.5000;101.5000 --83.5000;102.0000 --83.5000;102.5000 --83.5000;103.0000 --83.5000;103.5000 --83.5000;104.0000 --83.5000;104.5000 --83.5000;105.0000 --83.5000;105.5000 --83.5000;106.0000 --83.5000;106.5000 --83.5000;107.0000 --83.5000;107.5000 --83.5000;108.0000 --83.5000;108.5000 --83.5000;109.0000 --83.5000;109.5000 --83.5000;110.0000 --83.5000;110.5000 --83.5000;111.0000 --83.5000;111.5000 --83.5000;112.0000 --83.5000;112.5000 --83.5000;113.0000 --83.5000;113.5000 --83.5000;114.0000 --83.5000;114.5000 --83.5000;115.0000 --83.5000;115.5000 --83.5000;116.0000 --83.5000;116.5000 --83.5000;117.0000 --83.5000;117.5000 --83.5000;118.0000 --83.5000;118.5000 --83.5000;119.0000 --83.5000;119.5000 --83.5000;120.0000 --83.5000;120.5000 --83.5000;121.0000 --83.5000;121.5000 --83.5000;122.0000 --83.0000;-43.5000 --83.0000;-43.0000 --83.0000;-42.5000 --83.0000;-42.0000 --83.0000;-41.5000 --83.0000;-41.0000 --83.0000;-40.5000 --83.0000;-40.0000 --83.0000;-39.5000 --83.0000;-39.0000 --83.0000;-38.5000 --83.0000;-38.0000 --83.0000;-37.5000 --83.0000;-37.0000 --83.0000;-36.5000 --83.0000;-36.0000 --83.0000;-35.5000 --83.0000;-35.0000 --83.0000;-34.5000 --83.0000;-34.0000 --83.0000;-33.5000 --83.0000;-33.0000 --83.0000;-32.5000 --83.0000;-32.0000 --83.0000;-31.5000 --83.0000;-31.0000 --83.0000;-30.5000 --83.0000;-30.0000 --83.0000;-29.5000 --83.0000;-29.0000 --83.0000;-28.5000 --83.0000;-28.0000 --83.0000;-27.5000 --83.0000;-27.0000 --83.0000;-26.5000 --83.0000;-26.0000 --83.0000;-25.5000 --83.0000;2.0000 --83.0000;2.5000 --83.0000;3.0000 --83.0000;3.5000 --83.0000;4.0000 --83.0000;4.5000 --83.0000;5.0000 --83.0000;5.5000 --83.0000;6.0000 --83.0000;6.5000 --83.0000;7.0000 --83.0000;7.5000 --83.0000;8.0000 --83.0000;8.5000 --83.0000;9.0000 --83.0000;9.5000 --83.0000;10.0000 --83.0000;10.5000 --83.0000;11.0000 --83.0000;11.5000 --83.0000;12.0000 --83.0000;82.0000 --83.0000;82.5000 --83.0000;83.0000 --83.0000;83.5000 --83.0000;84.0000 --83.0000;84.5000 --83.0000;85.0000 --83.0000;85.5000 --83.0000;86.0000 --83.0000;86.5000 --83.0000;87.0000 --83.0000;87.5000 --83.0000;88.0000 --83.0000;88.5000 --83.0000;89.0000 --83.0000;89.5000 --83.0000;90.0000 --83.0000;90.5000 --83.0000;91.0000 --83.0000;91.5000 --83.0000;92.0000 --83.0000;92.5000 --83.0000;93.0000 --83.0000;93.5000 --83.0000;94.0000 --83.0000;94.5000 --83.0000;95.0000 --83.0000;95.5000 --83.0000;96.0000 --83.0000;96.5000 --83.0000;97.0000 --83.0000;97.5000 --83.0000;98.0000 --83.0000;98.5000 --83.0000;99.0000 --83.0000;99.5000 --83.0000;100.0000 --83.0000;100.5000 --83.0000;101.0000 --83.0000;101.5000 --83.0000;102.0000 --83.0000;102.5000 --83.0000;103.0000 --83.0000;103.5000 --83.0000;104.0000 --83.0000;104.5000 --83.0000;105.0000 --83.0000;105.5000 --83.0000;106.0000 --83.0000;106.5000 --83.0000;107.0000 --83.0000;107.5000 --83.0000;108.0000 --83.0000;108.5000 --83.0000;109.0000 --83.0000;109.5000 --83.0000;110.0000 --83.0000;110.5000 --83.0000;111.0000 --83.0000;111.5000 --83.0000;112.0000 --83.0000;112.5000 --83.0000;113.0000 --83.0000;113.5000 --83.0000;114.0000 --83.0000;114.5000 --83.0000;115.0000 --83.0000;115.5000 --83.0000;116.0000 --83.0000;116.5000 --83.0000;117.0000 --83.0000;117.5000 --83.0000;118.0000 --83.0000;118.5000 --83.0000;119.0000 --83.0000;119.5000 --83.0000;120.0000 --83.0000;120.5000 --83.0000;121.0000 --83.0000;121.5000 --83.0000;122.0000 --82.5000;-44.0000 --82.5000;-43.5000 --82.5000;-43.0000 --82.5000;-42.5000 --82.5000;-42.0000 --82.5000;-41.5000 --82.5000;-41.0000 --82.5000;-40.5000 --82.5000;-40.0000 --82.5000;-39.5000 --82.5000;-39.0000 --82.5000;-38.5000 --82.5000;-38.0000 --82.5000;-37.5000 --82.5000;-37.0000 --82.5000;-36.5000 --82.5000;-36.0000 --82.5000;-35.5000 --82.5000;-35.0000 --82.5000;-34.5000 --82.5000;-34.0000 --82.5000;-33.5000 --82.5000;-33.0000 --82.5000;-32.5000 --82.5000;-32.0000 --82.5000;-31.5000 --82.5000;-31.0000 --82.5000;-30.5000 --82.5000;-30.0000 --82.5000;-29.5000 --82.5000;-29.0000 --82.5000;-28.5000 --82.5000;-28.0000 --82.5000;-27.5000 --82.5000;-27.0000 --82.5000;-26.5000 --82.5000;-26.0000 --82.5000;2.0000 --82.5000;2.5000 --82.5000;3.0000 --82.5000;3.5000 --82.5000;4.0000 --82.5000;4.5000 --82.5000;5.0000 --82.5000;5.5000 --82.5000;6.0000 --82.5000;6.5000 --82.5000;7.0000 --82.5000;7.5000 --82.5000;8.0000 --82.5000;8.5000 --82.5000;9.0000 --82.5000;9.5000 --82.5000;10.0000 --82.5000;10.5000 --82.5000;11.0000 --82.5000;11.5000 --82.5000;12.0000 --82.5000;81.0000 --82.5000;81.5000 --82.5000;82.0000 --82.5000;82.5000 --82.5000;83.0000 --82.5000;83.5000 --82.5000;84.0000 --82.5000;84.5000 --82.5000;85.0000 --82.5000;85.5000 --82.5000;86.0000 --82.5000;86.5000 --82.5000;87.0000 --82.5000;87.5000 --82.5000;88.0000 --82.5000;88.5000 --82.5000;89.0000 --82.5000;89.5000 --82.5000;90.0000 --82.5000;90.5000 --82.5000;91.0000 --82.5000;91.5000 --82.5000;92.0000 --82.5000;92.5000 --82.5000;93.0000 --82.5000;93.5000 --82.5000;94.0000 --82.5000;94.5000 --82.5000;95.0000 --82.5000;95.5000 --82.5000;96.0000 --82.5000;96.5000 --82.5000;97.0000 --82.5000;97.5000 --82.5000;98.0000 --82.5000;98.5000 --82.5000;99.0000 --82.5000;99.5000 --82.5000;100.0000 --82.5000;100.5000 --82.5000;101.0000 --82.5000;101.5000 --82.5000;102.0000 --82.5000;109.0000 --82.5000;109.5000 --82.5000;110.0000 --82.5000;110.5000 --82.5000;111.0000 --82.5000;111.5000 --82.5000;112.0000 --82.5000;112.5000 --82.5000;113.0000 --82.5000;113.5000 --82.5000;114.0000 --82.5000;114.5000 --82.5000;115.0000 --82.5000;115.5000 --82.5000;116.0000 --82.5000;116.5000 --82.5000;117.0000 --82.5000;117.5000 --82.5000;118.0000 --82.5000;118.5000 --82.5000;119.0000 --82.5000;119.5000 --82.5000;120.0000 --82.5000;120.5000 --82.5000;121.0000 --82.5000;121.5000 --82.5000;122.0000 --82.5000;122.5000 --82.0000;-45.0000 --82.0000;-44.5000 --82.0000;-44.0000 --82.0000;-43.5000 --82.0000;-43.0000 --82.0000;-42.5000 --82.0000;-42.0000 --82.0000;-41.5000 --82.0000;-41.0000 --82.0000;-40.5000 --82.0000;-40.0000 --82.0000;-39.5000 --82.0000;-39.0000 --82.0000;-38.5000 --82.0000;-38.0000 --82.0000;-37.5000 --82.0000;-37.0000 --82.0000;-36.5000 --82.0000;-36.0000 --82.0000;-35.5000 --82.0000;-35.0000 --82.0000;-34.5000 --82.0000;-34.0000 --82.0000;-33.5000 --82.0000;-33.0000 --82.0000;-32.5000 --82.0000;-32.0000 --82.0000;-31.5000 --82.0000;-31.0000 --82.0000;-30.5000 --82.0000;-30.0000 --82.0000;-29.5000 --82.0000;-29.0000 --82.0000;-28.5000 --82.0000;-28.0000 --82.0000;-27.5000 --82.0000;-27.0000 --82.0000;2.0000 --82.0000;2.5000 --82.0000;3.0000 --82.0000;3.5000 --82.0000;4.0000 --82.0000;4.5000 --82.0000;5.0000 --82.0000;5.5000 --82.0000;6.0000 --82.0000;6.5000 --82.0000;7.0000 --82.0000;7.5000 --82.0000;8.0000 --82.0000;8.5000 --82.0000;9.0000 --82.0000;9.5000 --82.0000;10.0000 --82.0000;10.5000 --82.0000;11.0000 --82.0000;11.5000 --82.0000;12.0000 --82.0000;80.5000 --82.0000;81.0000 --82.0000;81.5000 --82.0000;82.0000 --82.0000;82.5000 --82.0000;83.0000 --82.0000;83.5000 --82.0000;84.0000 --82.0000;84.5000 --82.0000;85.0000 --82.0000;85.5000 --82.0000;86.0000 --82.0000;86.5000 --82.0000;87.0000 --82.0000;87.5000 --82.0000;88.0000 --82.0000;88.5000 --82.0000;89.0000 --82.0000;89.5000 --82.0000;90.0000 --82.0000;90.5000 --82.0000;91.0000 --82.0000;91.5000 --82.0000;92.0000 --82.0000;92.5000 --82.0000;93.0000 --82.0000;93.5000 --82.0000;94.0000 --82.0000;94.5000 --82.0000;95.0000 --82.0000;95.5000 --82.0000;96.0000 --82.0000;96.5000 --82.0000;97.0000 --82.0000;97.5000 --82.0000;98.0000 --82.0000;98.5000 --82.0000;99.0000 --82.0000;99.5000 --82.0000;100.0000 --82.0000;110.0000 --82.0000;110.5000 --82.0000;111.0000 --82.0000;111.5000 --82.0000;112.0000 --82.0000;112.5000 --82.0000;113.0000 --82.0000;113.5000 --82.0000;114.0000 --82.0000;114.5000 --82.0000;115.0000 --82.0000;115.5000 --82.0000;116.0000 --82.0000;116.5000 --82.0000;117.0000 --82.0000;117.5000 --82.0000;118.0000 --82.0000;118.5000 --82.0000;119.0000 --82.0000;119.5000 --82.0000;120.0000 --82.0000;120.5000 --82.0000;121.0000 --82.0000;121.5000 --82.0000;122.0000 --82.0000;122.5000 --81.5000;-45.5000 --81.5000;-45.0000 --81.5000;-44.5000 --81.5000;-44.0000 --81.5000;-43.5000 --81.5000;-43.0000 --81.5000;-42.5000 --81.5000;-42.0000 --81.5000;-41.5000 --81.5000;-41.0000 --81.5000;-40.5000 --81.5000;-40.0000 --81.5000;-39.5000 --81.5000;-39.0000 --81.5000;-38.5000 --81.5000;-38.0000 --81.5000;-37.5000 --81.5000;-37.0000 --81.5000;-36.5000 --81.5000;-36.0000 --81.5000;-35.5000 --81.5000;-35.0000 --81.5000;-34.5000 --81.5000;-34.0000 --81.5000;-33.5000 --81.5000;-33.0000 --81.5000;-32.5000 --81.5000;-32.0000 --81.5000;-31.5000 --81.5000;-31.0000 --81.5000;-30.5000 --81.5000;-30.0000 --81.5000;-29.5000 --81.5000;-29.0000 --81.5000;-28.5000 --81.5000;-28.0000 --81.5000;-27.5000 --81.5000;2.0000 --81.5000;2.5000 --81.5000;3.0000 --81.5000;3.5000 --81.5000;4.0000 --81.5000;4.5000 --81.5000;5.0000 --81.5000;5.5000 --81.5000;6.0000 --81.5000;6.5000 --81.5000;7.0000 --81.5000;7.5000 --81.5000;8.0000 --81.5000;8.5000 --81.5000;9.0000 --81.5000;9.5000 --81.5000;10.0000 --81.5000;10.5000 --81.5000;11.0000 --81.5000;11.5000 --81.5000;12.0000 --81.5000;79.5000 --81.5000;80.0000 --81.5000;80.5000 --81.5000;81.0000 --81.5000;81.5000 --81.5000;82.0000 --81.5000;82.5000 --81.5000;83.0000 --81.5000;83.5000 --81.5000;84.0000 --81.5000;84.5000 --81.5000;85.0000 --81.5000;85.5000 --81.5000;86.0000 --81.5000;86.5000 --81.5000;87.0000 --81.5000;87.5000 --81.5000;88.0000 --81.5000;88.5000 --81.5000;89.0000 --81.5000;89.5000 --81.5000;90.0000 --81.5000;90.5000 --81.5000;91.0000 --81.5000;91.5000 --81.5000;92.0000 --81.5000;92.5000 --81.5000;93.0000 --81.5000;93.5000 --81.5000;94.0000 --81.5000;94.5000 --81.5000;95.0000 --81.5000;95.5000 --81.5000;96.0000 --81.5000;96.5000 --81.5000;97.0000 --81.5000;97.5000 --81.5000;98.0000 --81.5000;98.5000 --81.5000;99.0000 --81.5000;111.0000 --81.5000;111.5000 --81.5000;112.0000 --81.5000;112.5000 --81.5000;113.0000 --81.5000;113.5000 --81.5000;114.0000 --81.5000;114.5000 --81.5000;115.0000 --81.5000;115.5000 --81.5000;116.0000 --81.5000;116.5000 --81.5000;117.0000 --81.5000;117.5000 --81.5000;118.0000 --81.5000;118.5000 --81.5000;119.0000 --81.5000;119.5000 --81.5000;120.0000 --81.5000;120.5000 --81.5000;121.0000 --81.5000;121.5000 --81.5000;122.0000 --81.5000;122.5000 --81.0000;-46.5000 --81.0000;-46.0000 --81.0000;-45.5000 --81.0000;-45.0000 --81.0000;-44.5000 --81.0000;-44.0000 --81.0000;-43.5000 --81.0000;-43.0000 --81.0000;-42.5000 --81.0000;-42.0000 --81.0000;-41.5000 --81.0000;-41.0000 --81.0000;-40.5000 --81.0000;-40.0000 --81.0000;-39.5000 --81.0000;-39.0000 --81.0000;-38.5000 --81.0000;-38.0000 --81.0000;-37.5000 --81.0000;-37.0000 --81.0000;-36.5000 --81.0000;-36.0000 --81.0000;-35.5000 --81.0000;-35.0000 --81.0000;-34.5000 --81.0000;-34.0000 --81.0000;-33.5000 --81.0000;-33.0000 --81.0000;-32.5000 --81.0000;-32.0000 --81.0000;-31.5000 --81.0000;-31.0000 --81.0000;-30.5000 --81.0000;-30.0000 --81.0000;-29.5000 --81.0000;-29.0000 --81.0000;-28.5000 --81.0000;-28.0000 --81.0000;1.5000 --81.0000;2.0000 --81.0000;2.5000 --81.0000;3.0000 --81.0000;3.5000 --81.0000;4.0000 --81.0000;4.5000 --81.0000;5.0000 --81.0000;5.5000 --81.0000;6.0000 --81.0000;6.5000 --81.0000;7.0000 --81.0000;7.5000 --81.0000;8.0000 --81.0000;8.5000 --81.0000;9.0000 --81.0000;9.5000 --81.0000;10.0000 --81.0000;10.5000 --81.0000;11.0000 --81.0000;11.5000 --81.0000;12.0000 --81.0000;79.0000 --81.0000;79.5000 --81.0000;80.0000 --81.0000;80.5000 --81.0000;81.0000 --81.0000;81.5000 --81.0000;82.0000 --81.0000;82.5000 --81.0000;83.0000 --81.0000;83.5000 --81.0000;84.0000 --81.0000;84.5000 --81.0000;85.0000 --81.0000;85.5000 --81.0000;86.0000 --81.0000;86.5000 --81.0000;87.0000 --81.0000;87.5000 --81.0000;88.0000 --81.0000;88.5000 --81.0000;89.0000 --81.0000;89.5000 --81.0000;90.0000 --81.0000;90.5000 --81.0000;91.0000 --81.0000;91.5000 --81.0000;92.0000 --81.0000;92.5000 --81.0000;93.0000 --81.0000;93.5000 --81.0000;94.0000 --81.0000;94.5000 --81.0000;95.0000 --81.0000;95.5000 --81.0000;96.0000 --81.0000;96.5000 --81.0000;97.0000 --81.0000;97.5000 --81.0000;98.0000 --81.0000;111.5000 --81.0000;112.0000 --81.0000;112.5000 --81.0000;113.0000 --81.0000;113.5000 --81.0000;114.0000 --81.0000;114.5000 --81.0000;115.0000 --81.0000;115.5000 --81.0000;116.0000 --81.0000;116.5000 --81.0000;117.0000 --81.0000;117.5000 --81.0000;118.0000 --81.0000;118.5000 --81.0000;119.0000 --81.0000;119.5000 --81.0000;120.0000 --81.0000;120.5000 --81.0000;121.0000 --81.0000;121.5000 --81.0000;122.0000 --81.0000;122.5000 --80.5000;-47.0000 --80.5000;-46.5000 --80.5000;-46.0000 --80.5000;-45.5000 --80.5000;-45.0000 --80.5000;-44.5000 --80.5000;-44.0000 --80.5000;-43.5000 --80.5000;-43.0000 --80.5000;-42.5000 --80.5000;-42.0000 --80.5000;-41.5000 --80.5000;-41.0000 --80.5000;-40.5000 --80.5000;-40.0000 --80.5000;-39.5000 --80.5000;-39.0000 --80.5000;-38.5000 --80.5000;-38.0000 --80.5000;-37.5000 --80.5000;-37.0000 --80.5000;-36.5000 --80.5000;-36.0000 --80.5000;-35.5000 --80.5000;-35.0000 --80.5000;-34.5000 --80.5000;-34.0000 --80.5000;-33.5000 --80.5000;-33.0000 --80.5000;-32.5000 --80.5000;-32.0000 --80.5000;-31.5000 --80.5000;-31.0000 --80.5000;-30.5000 --80.5000;-30.0000 --80.5000;-29.5000 --80.5000;-29.0000 --80.5000;1.5000 --80.5000;2.0000 --80.5000;2.5000 --80.5000;3.0000 --80.5000;3.5000 --80.5000;4.0000 --80.5000;4.5000 --80.5000;5.0000 --80.5000;5.5000 --80.5000;6.0000 --80.5000;6.5000 --80.5000;7.0000 --80.5000;7.5000 --80.5000;8.0000 --80.5000;8.5000 --80.5000;9.0000 --80.5000;9.5000 --80.5000;10.0000 --80.5000;10.5000 --80.5000;11.0000 --80.5000;11.5000 --80.5000;12.0000 --80.5000;78.0000 --80.5000;78.5000 --80.5000;79.0000 --80.5000;79.5000 --80.5000;80.0000 --80.5000;80.5000 --80.5000;81.0000 --80.5000;81.5000 --80.5000;82.0000 --80.5000;82.5000 --80.5000;83.0000 --80.5000;83.5000 --80.5000;84.0000 --80.5000;84.5000 --80.5000;85.0000 --80.5000;85.5000 --80.5000;86.0000 --80.5000;86.5000 --80.5000;87.0000 --80.5000;87.5000 --80.5000;88.0000 --80.5000;88.5000 --80.5000;89.0000 --80.5000;89.5000 --80.5000;90.0000 --80.5000;90.5000 --80.5000;91.0000 --80.5000;91.5000 --80.5000;92.0000 --80.5000;92.5000 --80.5000;93.0000 --80.5000;93.5000 --80.5000;94.0000 --80.5000;94.5000 --80.5000;95.0000 --80.5000;95.5000 --80.5000;96.0000 --80.5000;96.5000 --80.5000;97.0000 --80.5000;112.0000 --80.5000;112.5000 --80.5000;113.0000 --80.5000;113.5000 --80.5000;114.0000 --80.5000;114.5000 --80.5000;115.0000 --80.5000;115.5000 --80.5000;116.0000 --80.5000;116.5000 --80.5000;117.0000 --80.5000;117.5000 --80.5000;118.0000 --80.5000;118.5000 --80.5000;119.0000 --80.5000;119.5000 --80.5000;120.0000 --80.5000;120.5000 --80.5000;121.0000 --80.5000;121.5000 --80.5000;122.0000 --80.5000;122.5000 --80.5000;123.0000 --80.0000;-47.5000 --80.0000;-47.0000 --80.0000;-46.5000 --80.0000;-46.0000 --80.0000;-45.5000 --80.0000;-45.0000 --80.0000;-44.5000 --80.0000;-44.0000 --80.0000;-43.5000 --80.0000;-43.0000 --80.0000;-42.5000 --80.0000;-42.0000 --80.0000;-41.5000 --80.0000;-41.0000 --80.0000;-40.5000 --80.0000;-40.0000 --80.0000;-39.5000 --80.0000;-39.0000 --80.0000;-38.5000 --80.0000;-38.0000 --80.0000;-37.5000 --80.0000;-37.0000 --80.0000;-36.5000 --80.0000;-36.0000 --80.0000;-35.5000 --80.0000;-35.0000 --80.0000;-34.5000 --80.0000;-34.0000 --80.0000;-33.5000 --80.0000;-33.0000 --80.0000;-32.5000 --80.0000;-32.0000 --80.0000;-31.5000 --80.0000;-31.0000 --80.0000;-30.5000 --80.0000;-30.0000 --80.0000;-29.5000 --80.0000;1.5000 --80.0000;2.0000 --80.0000;2.5000 --80.0000;3.0000 --80.0000;3.5000 --80.0000;4.0000 --80.0000;4.5000 --80.0000;5.0000 --80.0000;5.5000 --80.0000;6.0000 --80.0000;6.5000 --80.0000;7.0000 --80.0000;7.5000 --80.0000;8.0000 --80.0000;8.5000 --80.0000;9.0000 --80.0000;9.5000 --80.0000;10.0000 --80.0000;10.5000 --80.0000;11.0000 --80.0000;11.5000 --80.0000;12.0000 --80.0000;77.5000 --80.0000;78.0000 --80.0000;78.5000 --80.0000;79.0000 --80.0000;79.5000 --80.0000;80.0000 --80.0000;80.5000 --80.0000;81.0000 --80.0000;81.5000 --80.0000;82.0000 --80.0000;82.5000 --80.0000;83.0000 --80.0000;83.5000 --80.0000;84.0000 --80.0000;84.5000 --80.0000;85.0000 --80.0000;85.5000 --80.0000;86.0000 --80.0000;86.5000 --80.0000;87.0000 --80.0000;87.5000 --80.0000;88.0000 --80.0000;88.5000 --80.0000;89.0000 --80.0000;89.5000 --80.0000;90.0000 --80.0000;90.5000 --80.0000;91.0000 --80.0000;91.5000 --80.0000;92.0000 --80.0000;92.5000 --80.0000;93.0000 --80.0000;93.5000 --80.0000;94.0000 --80.0000;94.5000 --80.0000;95.0000 --80.0000;95.5000 --80.0000;96.0000 --80.0000;112.5000 --80.0000;113.0000 --80.0000;113.5000 --80.0000;114.0000 --80.0000;114.5000 --80.0000;115.0000 --80.0000;115.5000 --80.0000;116.0000 --80.0000;116.5000 --80.0000;117.0000 --80.0000;117.5000 --80.0000;118.0000 --80.0000;118.5000 --80.0000;119.0000 --80.0000;119.5000 --80.0000;120.0000 --80.0000;120.5000 --80.0000;121.0000 --80.0000;121.5000 --80.0000;122.0000 --80.0000;122.5000 --80.0000;123.0000 --79.5000;-48.5000 --79.5000;-48.0000 --79.5000;-47.5000 --79.5000;-47.0000 --79.5000;-46.5000 --79.5000;-46.0000 --79.5000;-45.5000 --79.5000;-45.0000 --79.5000;-44.5000 --79.5000;-44.0000 --79.5000;-43.5000 --79.5000;-43.0000 --79.5000;-42.5000 --79.5000;-42.0000 --79.5000;-41.5000 --79.5000;-41.0000 --79.5000;-40.5000 --79.5000;-40.0000 --79.5000;-39.5000 --79.5000;-39.0000 --79.5000;-38.5000 --79.5000;-38.0000 --79.5000;-37.5000 --79.5000;-37.0000 --79.5000;-36.5000 --79.5000;-36.0000 --79.5000;-35.5000 --79.5000;-35.0000 --79.5000;-34.5000 --79.5000;-34.0000 --79.5000;-33.5000 --79.5000;-33.0000 --79.5000;-32.5000 --79.5000;-32.0000 --79.5000;-31.5000 --79.5000;-31.0000 --79.5000;-30.5000 --79.5000;1.0000 --79.5000;1.5000 --79.5000;2.0000 --79.5000;2.5000 --79.5000;3.0000 --79.5000;3.5000 --79.5000;4.0000 --79.5000;4.5000 --79.5000;5.0000 --79.5000;5.5000 --79.5000;6.0000 --79.5000;6.5000 --79.5000;7.0000 --79.5000;7.5000 --79.5000;8.0000 --79.5000;8.5000 --79.5000;9.0000 --79.5000;9.5000 --79.5000;10.0000 --79.5000;10.5000 --79.5000;11.0000 --79.5000;11.5000 --79.5000;76.5000 --79.5000;77.0000 --79.5000;77.5000 --79.5000;78.0000 --79.5000;78.5000 --79.5000;79.0000 --79.5000;79.5000 --79.5000;80.0000 --79.5000;80.5000 --79.5000;81.0000 --79.5000;81.5000 --79.5000;82.0000 --79.5000;82.5000 --79.5000;83.0000 --79.5000;83.5000 --79.5000;84.0000 --79.5000;84.5000 --79.5000;85.0000 --79.5000;85.5000 --79.5000;86.0000 --79.5000;86.5000 --79.5000;87.0000 --79.5000;87.5000 --79.5000;88.0000 --79.5000;88.5000 --79.5000;89.0000 --79.5000;89.5000 --79.5000;90.0000 --79.5000;90.5000 --79.5000;91.0000 --79.5000;91.5000 --79.5000;92.0000 --79.5000;92.5000 --79.5000;93.0000 --79.5000;93.5000 --79.5000;94.0000 --79.5000;94.5000 --79.5000;95.0000 --79.5000;112.5000 --79.5000;113.0000 --79.5000;113.5000 --79.5000;114.0000 --79.5000;114.5000 --79.5000;115.0000 --79.5000;115.5000 --79.5000;116.0000 --79.5000;116.5000 --79.5000;117.0000 --79.5000;117.5000 --79.5000;118.0000 --79.5000;118.5000 --79.5000;119.0000 --79.5000;119.5000 --79.5000;120.0000 --79.5000;120.5000 --79.5000;121.0000 --79.5000;121.5000 --79.5000;122.0000 --79.5000;122.5000 --79.5000;123.0000 --79.0000;-49.0000 --79.0000;-48.5000 --79.0000;-48.0000 --79.0000;-47.5000 --79.0000;-47.0000 --79.0000;-46.5000 --79.0000;-46.0000 --79.0000;-45.5000 --79.0000;-45.0000 --79.0000;-44.5000 --79.0000;-44.0000 --79.0000;-43.5000 --79.0000;-43.0000 --79.0000;-42.5000 --79.0000;-42.0000 --79.0000;-41.5000 --79.0000;-41.0000 --79.0000;-40.5000 --79.0000;-40.0000 --79.0000;-39.5000 --79.0000;-39.0000 --79.0000;-38.5000 --79.0000;-38.0000 --79.0000;-37.5000 --79.0000;-37.0000 --79.0000;-36.5000 --79.0000;-36.0000 --79.0000;-35.5000 --79.0000;-35.0000 --79.0000;-34.5000 --79.0000;-34.0000 --79.0000;-33.5000 --79.0000;-33.0000 --79.0000;-32.5000 --79.0000;-32.0000 --79.0000;-31.5000 --79.0000;-31.0000 --79.0000;0.5000 --79.0000;1.0000 --79.0000;1.5000 --79.0000;2.0000 --79.0000;2.5000 --79.0000;3.0000 --79.0000;3.5000 --79.0000;4.0000 --79.0000;4.5000 --79.0000;5.0000 --79.0000;5.5000 --79.0000;6.0000 --79.0000;6.5000 --79.0000;7.0000 --79.0000;7.5000 --79.0000;8.0000 --79.0000;8.5000 --79.0000;9.0000 --79.0000;9.5000 --79.0000;10.0000 --79.0000;10.5000 --79.0000;11.0000 --79.0000;11.5000 --79.0000;76.0000 --79.0000;76.5000 --79.0000;77.0000 --79.0000;77.5000 --79.0000;78.0000 --79.0000;78.5000 --79.0000;79.0000 --79.0000;79.5000 --79.0000;80.0000 --79.0000;80.5000 --79.0000;81.0000 --79.0000;81.5000 --79.0000;82.0000 --79.0000;82.5000 --79.0000;83.0000 --79.0000;83.5000 --79.0000;84.0000 --79.0000;84.5000 --79.0000;85.0000 --79.0000;85.5000 --79.0000;86.0000 --79.0000;86.5000 --79.0000;87.0000 --79.0000;87.5000 --79.0000;88.0000 --79.0000;88.5000 --79.0000;89.0000 --79.0000;89.5000 --79.0000;90.0000 --79.0000;90.5000 --79.0000;91.0000 --79.0000;91.5000 --79.0000;92.0000 --79.0000;92.5000 --79.0000;93.0000 --79.0000;93.5000 --79.0000;94.0000 --79.0000;113.0000 --79.0000;113.5000 --79.0000;114.0000 --79.0000;114.5000 --79.0000;115.0000 --79.0000;115.5000 --79.0000;116.0000 --79.0000;116.5000 --79.0000;117.0000 --79.0000;117.5000 --79.0000;118.0000 --79.0000;118.5000 --79.0000;119.0000 --79.0000;119.5000 --79.0000;120.0000 --79.0000;120.5000 --79.0000;121.0000 --79.0000;121.5000 --79.0000;122.0000 --79.0000;122.5000 --79.0000;123.0000 --78.5000;-50.0000 --78.5000;-49.5000 --78.5000;-49.0000 --78.5000;-48.5000 --78.5000;-48.0000 --78.5000;-47.5000 --78.5000;-47.0000 --78.5000;-46.5000 --78.5000;-46.0000 --78.5000;-45.5000 --78.5000;-45.0000 --78.5000;-44.5000 --78.5000;-44.0000 --78.5000;-43.5000 --78.5000;-43.0000 --78.5000;-42.5000 --78.5000;-42.0000 --78.5000;-41.5000 --78.5000;-41.0000 --78.5000;-40.5000 --78.5000;-40.0000 --78.5000;-39.5000 --78.5000;-39.0000 --78.5000;-38.5000 --78.5000;-38.0000 --78.5000;-37.5000 --78.5000;-37.0000 --78.5000;-36.5000 --78.5000;-36.0000 --78.5000;-35.5000 --78.5000;-35.0000 --78.5000;-34.5000 --78.5000;-34.0000 --78.5000;-33.5000 --78.5000;-33.0000 --78.5000;-32.5000 --78.5000;-32.0000 --78.5000;0.0000 --78.5000;0.5000 --78.5000;1.0000 --78.5000;1.5000 --78.5000;2.0000 --78.5000;2.5000 --78.5000;3.0000 --78.5000;3.5000 --78.5000;4.0000 --78.5000;4.5000 --78.5000;5.0000 --78.5000;5.5000 --78.5000;6.0000 --78.5000;6.5000 --78.5000;7.0000 --78.5000;7.5000 --78.5000;8.0000 --78.5000;8.5000 --78.5000;9.0000 --78.5000;9.5000 --78.5000;10.0000 --78.5000;10.5000 --78.5000;11.0000 --78.5000;11.5000 --78.5000;75.5000 --78.5000;76.0000 --78.5000;76.5000 --78.5000;77.0000 --78.5000;77.5000 --78.5000;78.0000 --78.5000;78.5000 --78.5000;79.0000 --78.5000;79.5000 --78.5000;80.0000 --78.5000;80.5000 --78.5000;81.0000 --78.5000;81.5000 --78.5000;82.0000 --78.5000;82.5000 --78.5000;83.0000 --78.5000;83.5000 --78.5000;84.0000 --78.5000;84.5000 --78.5000;85.0000 --78.5000;85.5000 --78.5000;86.0000 --78.5000;86.5000 --78.5000;87.0000 --78.5000;87.5000 --78.5000;88.0000 --78.5000;88.5000 --78.5000;89.0000 --78.5000;89.5000 --78.5000;90.0000 --78.5000;90.5000 --78.5000;91.0000 --78.5000;91.5000 --78.5000;92.0000 --78.5000;92.5000 --78.5000;93.0000 --78.5000;93.5000 --78.5000;113.0000 --78.5000;113.5000 --78.5000;114.0000 --78.5000;114.5000 --78.5000;115.0000 --78.5000;115.5000 --78.5000;116.0000 --78.5000;116.5000 --78.5000;117.0000 --78.5000;117.5000 --78.5000;118.0000 --78.5000;118.5000 --78.5000;119.0000 --78.5000;119.5000 --78.5000;120.0000 --78.5000;120.5000 --78.5000;121.0000 --78.5000;121.5000 --78.5000;122.0000 --78.5000;122.5000 --78.5000;123.0000 --78.0000;-50.5000 --78.0000;-50.0000 --78.0000;-49.5000 --78.0000;-49.0000 --78.0000;-48.5000 --78.0000;-48.0000 --78.0000;-47.5000 --78.0000;-47.0000 --78.0000;-46.5000 --78.0000;-46.0000 --78.0000;-45.5000 --78.0000;-45.0000 --78.0000;-44.5000 --78.0000;-44.0000 --78.0000;-43.5000 --78.0000;-43.0000 --78.0000;-42.5000 --78.0000;-42.0000 --78.0000;-41.5000 --78.0000;-41.0000 --78.0000;-40.5000 --78.0000;-40.0000 --78.0000;-39.5000 --78.0000;-39.0000 --78.0000;-38.5000 --78.0000;-38.0000 --78.0000;-37.5000 --78.0000;-37.0000 --78.0000;-36.5000 --78.0000;-36.0000 --78.0000;-35.5000 --78.0000;-35.0000 --78.0000;-34.5000 --78.0000;-34.0000 --78.0000;-33.5000 --78.0000;-33.0000 --78.0000;-32.5000 --78.0000;-0.5000 --78.0000;0.0000 --78.0000;0.5000 --78.0000;1.0000 --78.0000;1.5000 --78.0000;2.0000 --78.0000;2.5000 --78.0000;3.0000 --78.0000;3.5000 --78.0000;4.0000 --78.0000;4.5000 --78.0000;5.0000 --78.0000;5.5000 --78.0000;6.0000 --78.0000;6.5000 --78.0000;7.0000 --78.0000;7.5000 --78.0000;8.0000 --78.0000;8.5000 --78.0000;9.0000 --78.0000;9.5000 --78.0000;10.0000 --78.0000;10.5000 --78.0000;11.0000 --78.0000;11.5000 --78.0000;74.5000 --78.0000;75.0000 --78.0000;75.5000 --78.0000;76.0000 --78.0000;76.5000 --78.0000;77.0000 --78.0000;77.5000 --78.0000;78.0000 --78.0000;78.5000 --78.0000;79.0000 --78.0000;79.5000 --78.0000;80.0000 --78.0000;80.5000 --78.0000;81.0000 --78.0000;81.5000 --78.0000;82.0000 --78.0000;82.5000 --78.0000;83.0000 --78.0000;83.5000 --78.0000;84.0000 --78.0000;84.5000 --78.0000;85.0000 --78.0000;85.5000 --78.0000;86.0000 --78.0000;86.5000 --78.0000;87.0000 --78.0000;87.5000 --78.0000;88.0000 --78.0000;88.5000 --78.0000;89.0000 --78.0000;89.5000 --78.0000;90.0000 --78.0000;90.5000 --78.0000;91.0000 --78.0000;91.5000 --78.0000;92.0000 --78.0000;92.5000 --78.0000;113.0000 --78.0000;113.5000 --78.0000;114.0000 --78.0000;114.5000 --78.0000;115.0000 --78.0000;115.5000 --78.0000;116.0000 --78.0000;116.5000 --78.0000;117.0000 --78.0000;117.5000 --78.0000;118.0000 --78.0000;118.5000 --78.0000;119.0000 --78.0000;119.5000 --78.0000;120.0000 --78.0000;120.5000 --78.0000;121.0000 --78.0000;121.5000 --78.0000;122.0000 --78.0000;122.5000 --78.0000;123.0000 --77.5000;-51.5000 --77.5000;-51.0000 --77.5000;-50.5000 --77.5000;-50.0000 --77.5000;-49.5000 --77.5000;-49.0000 --77.5000;-48.5000 --77.5000;-48.0000 --77.5000;-47.5000 --77.5000;-47.0000 --77.5000;-46.5000 --77.5000;-46.0000 --77.5000;-45.5000 --77.5000;-45.0000 --77.5000;-44.5000 --77.5000;-44.0000 --77.5000;-43.5000 --77.5000;-43.0000 --77.5000;-42.5000 --77.5000;-42.0000 --77.5000;-41.5000 --77.5000;-41.0000 --77.5000;-40.5000 --77.5000;-40.0000 --77.5000;-39.5000 --77.5000;-39.0000 --77.5000;-38.5000 --77.5000;-38.0000 --77.5000;-37.5000 --77.5000;-37.0000 --77.5000;-36.5000 --77.5000;-36.0000 --77.5000;-35.5000 --77.5000;-35.0000 --77.5000;-34.5000 --77.5000;-34.0000 --77.5000;-33.5000 --77.5000;-33.0000 --77.5000;-1.0000 --77.5000;-0.5000 --77.5000;0.0000 --77.5000;0.5000 --77.5000;1.0000 --77.5000;1.5000 --77.5000;2.0000 --77.5000;2.5000 --77.5000;3.0000 --77.5000;3.5000 --77.5000;4.0000 --77.5000;4.5000 --77.5000;5.0000 --77.5000;5.5000 --77.5000;6.0000 --77.5000;6.5000 --77.5000;7.0000 --77.5000;7.5000 --77.5000;8.0000 --77.5000;8.5000 --77.5000;9.0000 --77.5000;9.5000 --77.5000;10.0000 --77.5000;10.5000 --77.5000;11.0000 --77.5000;74.0000 --77.5000;74.5000 --77.5000;75.0000 --77.5000;75.5000 --77.5000;76.0000 --77.5000;76.5000 --77.5000;77.0000 --77.5000;77.5000 --77.5000;78.0000 --77.5000;78.5000 --77.5000;79.0000 --77.5000;79.5000 --77.5000;80.0000 --77.5000;80.5000 --77.5000;81.0000 --77.5000;81.5000 --77.5000;82.0000 --77.5000;82.5000 --77.5000;83.0000 --77.5000;83.5000 --77.5000;84.0000 --77.5000;84.5000 --77.5000;85.0000 --77.5000;85.5000 --77.5000;86.0000 --77.5000;86.5000 --77.5000;87.0000 --77.5000;87.5000 --77.5000;88.0000 --77.5000;88.5000 --77.5000;89.0000 --77.5000;89.5000 --77.5000;90.0000 --77.5000;90.5000 --77.5000;91.0000 --77.5000;91.5000 --77.5000;92.0000 --77.5000;113.0000 --77.5000;113.5000 --77.5000;114.0000 --77.5000;114.5000 --77.5000;115.0000 --77.5000;115.5000 --77.5000;116.0000 --77.5000;116.5000 --77.5000;117.0000 --77.5000;117.5000 --77.5000;118.0000 --77.5000;118.5000 --77.5000;119.0000 --77.5000;119.5000 --77.5000;120.0000 --77.5000;120.5000 --77.5000;121.0000 --77.5000;121.5000 --77.5000;122.0000 --77.5000;122.5000 --77.5000;123.0000 --77.0000;-52.0000 --77.0000;-51.5000 --77.0000;-51.0000 --77.0000;-50.5000 --77.0000;-50.0000 --77.0000;-49.5000 --77.0000;-49.0000 --77.0000;-48.5000 --77.0000;-48.0000 --77.0000;-47.5000 --77.0000;-47.0000 --77.0000;-46.5000 --77.0000;-46.0000 --77.0000;-45.5000 --77.0000;-45.0000 --77.0000;-44.5000 --77.0000;-44.0000 --77.0000;-43.5000 --77.0000;-43.0000 --77.0000;-42.5000 --77.0000;-42.0000 --77.0000;-41.5000 --77.0000;-41.0000 --77.0000;-40.5000 --77.0000;-40.0000 --77.0000;-39.5000 --77.0000;-39.0000 --77.0000;-38.5000 --77.0000;-38.0000 --77.0000;-37.5000 --77.0000;-37.0000 --77.0000;-36.5000 --77.0000;-36.0000 --77.0000;-35.5000 --77.0000;-35.0000 --77.0000;-34.5000 --77.0000;-34.0000 --77.0000;-2.0000 --77.0000;-1.5000 --77.0000;-1.0000 --77.0000;-0.5000 --77.0000;0.0000 --77.0000;0.5000 --77.0000;1.0000 --77.0000;1.5000 --77.0000;2.0000 --77.0000;2.5000 --77.0000;3.0000 --77.0000;3.5000 --77.0000;4.0000 --77.0000;4.5000 --77.0000;5.0000 --77.0000;5.5000 --77.0000;6.0000 --77.0000;6.5000 --77.0000;7.0000 --77.0000;7.5000 --77.0000;8.0000 --77.0000;8.5000 --77.0000;9.0000 --77.0000;9.5000 --77.0000;10.0000 --77.0000;10.5000 --77.0000;11.0000 --77.0000;73.0000 --77.0000;73.5000 --77.0000;74.0000 --77.0000;74.5000 --77.0000;75.0000 --77.0000;75.5000 --77.0000;76.0000 --77.0000;76.5000 --77.0000;77.0000 --77.0000;77.5000 --77.0000;78.0000 --77.0000;78.5000 --77.0000;79.0000 --77.0000;79.5000 --77.0000;80.0000 --77.0000;80.5000 --77.0000;81.0000 --77.0000;81.5000 --77.0000;82.0000 --77.0000;82.5000 --77.0000;83.0000 --77.0000;83.5000 --77.0000;84.0000 --77.0000;84.5000 --77.0000;85.0000 --77.0000;85.5000 --77.0000;86.0000 --77.0000;86.5000 --77.0000;87.0000 --77.0000;87.5000 --77.0000;88.0000 --77.0000;88.5000 --77.0000;89.0000 --77.0000;89.5000 --77.0000;90.0000 --77.0000;90.5000 --77.0000;91.0000 --77.0000;113.0000 --77.0000;113.5000 --77.0000;114.0000 --77.0000;114.5000 --77.0000;115.0000 --77.0000;115.5000 --77.0000;116.0000 --77.0000;116.5000 --77.0000;117.0000 --77.0000;117.5000 --77.0000;118.0000 --77.0000;118.5000 --77.0000;119.0000 --77.0000;119.5000 --77.0000;120.0000 --77.0000;120.5000 --77.0000;121.0000 --77.0000;121.5000 --77.0000;122.0000 --77.0000;122.5000 --77.0000;123.0000 --76.5000;-52.5000 --76.5000;-52.0000 --76.5000;-51.5000 --76.5000;-51.0000 --76.5000;-50.5000 --76.5000;-50.0000 --76.5000;-49.5000 --76.5000;-49.0000 --76.5000;-48.5000 --76.5000;-48.0000 --76.5000;-47.5000 --76.5000;-47.0000 --76.5000;-46.5000 --76.5000;-46.0000 --76.5000;-45.5000 --76.5000;-45.0000 --76.5000;-44.5000 --76.5000;-44.0000 --76.5000;-43.5000 --76.5000;-43.0000 --76.5000;-42.5000 --76.5000;-42.0000 --76.5000;-41.5000 --76.5000;-41.0000 --76.5000;-40.5000 --76.5000;-40.0000 --76.5000;-39.5000 --76.5000;-39.0000 --76.5000;-38.5000 --76.5000;-38.0000 --76.5000;-37.5000 --76.5000;-37.0000 --76.5000;-36.5000 --76.5000;-36.0000 --76.5000;-35.5000 --76.5000;-35.0000 --76.5000;-34.5000 --76.5000;-3.0000 --76.5000;-2.5000 --76.5000;-2.0000 --76.5000;-1.5000 --76.5000;-1.0000 --76.5000;-0.5000 --76.5000;0.0000 --76.5000;0.5000 --76.5000;1.0000 --76.5000;1.5000 --76.5000;2.0000 --76.5000;2.5000 --76.5000;3.0000 --76.5000;3.5000 --76.5000;4.0000 --76.5000;4.5000 --76.5000;5.0000 --76.5000;5.5000 --76.5000;6.0000 --76.5000;6.5000 --76.5000;7.0000 --76.5000;7.5000 --76.5000;8.0000 --76.5000;8.5000 --76.5000;9.0000 --76.5000;9.5000 --76.5000;10.0000 --76.5000;10.5000 --76.5000;11.0000 --76.5000;72.5000 --76.5000;73.0000 --76.5000;73.5000 --76.5000;74.0000 --76.5000;74.5000 --76.5000;75.0000 --76.5000;75.5000 --76.5000;76.0000 --76.5000;76.5000 --76.5000;77.0000 --76.5000;77.5000 --76.5000;78.0000 --76.5000;78.5000 --76.5000;79.0000 --76.5000;79.5000 --76.5000;80.0000 --76.5000;80.5000 --76.5000;81.0000 --76.5000;81.5000 --76.5000;82.0000 --76.5000;82.5000 --76.5000;83.0000 --76.5000;83.5000 --76.5000;84.0000 --76.5000;84.5000 --76.5000;85.0000 --76.5000;85.5000 --76.5000;86.0000 --76.5000;86.5000 --76.5000;87.0000 --76.5000;87.5000 --76.5000;88.0000 --76.5000;88.5000 --76.5000;89.0000 --76.5000;89.5000 --76.5000;90.0000 --76.5000;90.5000 --76.5000;113.0000 --76.5000;113.5000 --76.5000;114.0000 --76.5000;114.5000 --76.5000;115.0000 --76.5000;115.5000 --76.5000;116.0000 --76.5000;116.5000 --76.5000;117.0000 --76.5000;117.5000 --76.5000;118.0000 --76.5000;118.5000 --76.5000;119.0000 --76.5000;119.5000 --76.5000;120.0000 --76.5000;120.5000 --76.5000;121.0000 --76.5000;121.5000 --76.5000;122.0000 --76.5000;122.5000 --76.5000;123.0000 --76.0000;-53.5000 --76.0000;-53.0000 --76.0000;-52.5000 --76.0000;-52.0000 --76.0000;-51.5000 --76.0000;-51.0000 --76.0000;-50.5000 --76.0000;-50.0000 --76.0000;-49.5000 --76.0000;-49.0000 --76.0000;-48.5000 --76.0000;-48.0000 --76.0000;-47.5000 --76.0000;-47.0000 --76.0000;-46.5000 --76.0000;-46.0000 --76.0000;-45.5000 --76.0000;-45.0000 --76.0000;-44.5000 --76.0000;-44.0000 --76.0000;-43.5000 --76.0000;-43.0000 --76.0000;-42.5000 --76.0000;-42.0000 --76.0000;-41.5000 --76.0000;-41.0000 --76.0000;-40.5000 --76.0000;-40.0000 --76.0000;-39.5000 --76.0000;-39.0000 --76.0000;-38.5000 --76.0000;-38.0000 --76.0000;-37.5000 --76.0000;-37.0000 --76.0000;-36.5000 --76.0000;-36.0000 --76.0000;-35.5000 --76.0000;-4.0000 --76.0000;-3.5000 --76.0000;-3.0000 --76.0000;-2.5000 --76.0000;-2.0000 --76.0000;-1.5000 --76.0000;-1.0000 --76.0000;-0.5000 --76.0000;0.0000 --76.0000;0.5000 --76.0000;1.0000 --76.0000;1.5000 --76.0000;2.0000 --76.0000;2.5000 --76.0000;3.0000 --76.0000;3.5000 --76.0000;4.0000 --76.0000;4.5000 --76.0000;5.0000 --76.0000;5.5000 --76.0000;6.0000 --76.0000;6.5000 --76.0000;7.0000 --76.0000;7.5000 --76.0000;8.0000 --76.0000;8.5000 --76.0000;9.0000 --76.0000;9.5000 --76.0000;10.0000 --76.0000;10.5000 --76.0000;71.5000 --76.0000;72.0000 --76.0000;72.5000 --76.0000;73.0000 --76.0000;73.5000 --76.0000;74.0000 --76.0000;74.5000 --76.0000;75.0000 --76.0000;75.5000 --76.0000;76.0000 --76.0000;76.5000 --76.0000;77.0000 --76.0000;77.5000 --76.0000;78.0000 --76.0000;78.5000 --76.0000;79.0000 --76.0000;79.5000 --76.0000;80.0000 --76.0000;80.5000 --76.0000;81.0000 --76.0000;81.5000 --76.0000;82.0000 --76.0000;82.5000 --76.0000;83.0000 --76.0000;83.5000 --76.0000;84.0000 --76.0000;84.5000 --76.0000;85.0000 --76.0000;85.5000 --76.0000;86.0000 --76.0000;86.5000 --76.0000;87.0000 --76.0000;87.5000 --76.0000;88.0000 --76.0000;88.5000 --76.0000;89.0000 --76.0000;89.5000 --76.0000;90.0000 --76.0000;113.0000 --76.0000;113.5000 --76.0000;114.0000 --76.0000;114.5000 --76.0000;115.0000 --76.0000;115.5000 --76.0000;116.0000 --76.0000;116.5000 --76.0000;117.0000 --76.0000;117.5000 --76.0000;118.0000 --76.0000;118.5000 --76.0000;119.0000 --76.0000;119.5000 --76.0000;120.0000 --76.0000;120.5000 --76.0000;121.0000 --76.0000;121.5000 --76.0000;122.0000 --76.0000;122.5000 --76.0000;123.0000 --75.5000;-54.0000 --75.5000;-53.5000 --75.5000;-53.0000 --75.5000;-52.5000 --75.5000;-52.0000 --75.5000;-51.5000 --75.5000;-51.0000 --75.5000;-50.5000 --75.5000;-50.0000 --75.5000;-49.5000 --75.5000;-49.0000 --75.5000;-48.5000 --75.5000;-48.0000 --75.5000;-47.5000 --75.5000;-47.0000 --75.5000;-46.5000 --75.5000;-46.0000 --75.5000;-45.5000 --75.5000;-45.0000 --75.5000;-44.5000 --75.5000;-44.0000 --75.5000;-43.5000 --75.5000;-43.0000 --75.5000;-42.5000 --75.5000;-42.0000 --75.5000;-41.5000 --75.5000;-41.0000 --75.5000;-40.5000 --75.5000;-40.0000 --75.5000;-39.5000 --75.5000;-39.0000 --75.5000;-38.5000 --75.5000;-38.0000 --75.5000;-37.5000 --75.5000;-37.0000 --75.5000;-36.5000 --75.5000;-36.0000 --75.5000;-5.0000 --75.5000;-4.5000 --75.5000;-4.0000 --75.5000;-3.5000 --75.5000;-3.0000 --75.5000;-2.5000 --75.5000;-2.0000 --75.5000;-1.5000 --75.5000;-1.0000 --75.5000;-0.5000 --75.5000;0.0000 --75.5000;0.5000 --75.5000;1.0000 --75.5000;1.5000 --75.5000;2.0000 --75.5000;2.5000 --75.5000;3.0000 --75.5000;3.5000 --75.5000;4.0000 --75.5000;4.5000 --75.5000;5.0000 --75.5000;5.5000 --75.5000;6.0000 --75.5000;6.5000 --75.5000;7.0000 --75.5000;7.5000 --75.5000;8.0000 --75.5000;8.5000 --75.5000;9.0000 --75.5000;9.5000 --75.5000;10.0000 --75.5000;10.5000 --75.5000;71.0000 --75.5000;71.5000 --75.5000;72.0000 --75.5000;72.5000 --75.5000;73.0000 --75.5000;73.5000 --75.5000;74.0000 --75.5000;74.5000 --75.5000;75.0000 --75.5000;75.5000 --75.5000;76.0000 --75.5000;76.5000 --75.5000;77.0000 --75.5000;77.5000 --75.5000;78.0000 --75.5000;78.5000 --75.5000;79.0000 --75.5000;79.5000 --75.5000;80.0000 --75.5000;80.5000 --75.5000;81.0000 --75.5000;81.5000 --75.5000;82.0000 --75.5000;82.5000 --75.5000;83.0000 --75.5000;83.5000 --75.5000;84.0000 --75.5000;84.5000 --75.5000;85.0000 --75.5000;85.5000 --75.5000;86.0000 --75.5000;86.5000 --75.5000;87.0000 --75.5000;87.5000 --75.5000;88.0000 --75.5000;88.5000 --75.5000;89.0000 --75.5000;112.5000 --75.5000;113.0000 --75.5000;113.5000 --75.5000;114.0000 --75.5000;114.5000 --75.5000;115.0000 --75.5000;115.5000 --75.5000;116.0000 --75.5000;116.5000 --75.5000;117.0000 --75.5000;117.5000 --75.5000;118.0000 --75.5000;118.5000 --75.5000;119.0000 --75.5000;119.5000 --75.5000;120.0000 --75.5000;120.5000 --75.5000;121.0000 --75.5000;121.5000 --75.5000;122.0000 --75.5000;122.5000 --75.5000;123.0000 --75.0000;-55.0000 --75.0000;-54.5000 --75.0000;-54.0000 --75.0000;-53.5000 --75.0000;-53.0000 --75.0000;-52.5000 --75.0000;-52.0000 --75.0000;-51.5000 --75.0000;-51.0000 --75.0000;-50.5000 --75.0000;-50.0000 --75.0000;-49.5000 --75.0000;-49.0000 --75.0000;-48.5000 --75.0000;-48.0000 --75.0000;-47.5000 --75.0000;-47.0000 --75.0000;-46.5000 --75.0000;-46.0000 --75.0000;-45.5000 --75.0000;-45.0000 --75.0000;-44.5000 --75.0000;-44.0000 --75.0000;-43.5000 --75.0000;-43.0000 --75.0000;-42.5000 --75.0000;-42.0000 --75.0000;-41.5000 --75.0000;-41.0000 --75.0000;-40.5000 --75.0000;-40.0000 --75.0000;-39.5000 --75.0000;-39.0000 --75.0000;-38.5000 --75.0000;-38.0000 --75.0000;-37.5000 --75.0000;-37.0000 --75.0000;-6.5000 --75.0000;-6.0000 --75.0000;-5.5000 --75.0000;-5.0000 --75.0000;-4.5000 --75.0000;-4.0000 --75.0000;-3.5000 --75.0000;-3.0000 --75.0000;-2.5000 --75.0000;-2.0000 --75.0000;-1.5000 --75.0000;-1.0000 --75.0000;-0.5000 --75.0000;0.0000 --75.0000;0.5000 --75.0000;1.0000 --75.0000;1.5000 --75.0000;2.0000 --75.0000;2.5000 --75.0000;3.0000 --75.0000;3.5000 --75.0000;4.0000 --75.0000;4.5000 --75.0000;5.0000 --75.0000;5.5000 --75.0000;6.0000 --75.0000;6.5000 --75.0000;7.0000 --75.0000;7.5000 --75.0000;8.0000 --75.0000;8.5000 --75.0000;9.0000 --75.0000;9.5000 --75.0000;10.0000 --75.0000;70.5000 --75.0000;71.0000 --75.0000;71.5000 --75.0000;72.0000 --75.0000;72.5000 --75.0000;73.0000 --75.0000;73.5000 --75.0000;74.0000 --75.0000;74.5000 --75.0000;75.0000 --75.0000;75.5000 --75.0000;76.0000 --75.0000;76.5000 --75.0000;77.0000 --75.0000;77.5000 --75.0000;78.0000 --75.0000;78.5000 --75.0000;79.0000 --75.0000;79.5000 --75.0000;80.0000 --75.0000;80.5000 --75.0000;81.0000 --75.0000;81.5000 --75.0000;82.0000 --75.0000;82.5000 --75.0000;83.0000 --75.0000;83.5000 --75.0000;84.0000 --75.0000;84.5000 --75.0000;85.0000 --75.0000;85.5000 --75.0000;86.0000 --75.0000;86.5000 --75.0000;87.0000 --75.0000;87.5000 --75.0000;88.0000 --75.0000;88.5000 --75.0000;112.5000 --75.0000;113.0000 --75.0000;113.5000 --75.0000;114.0000 --75.0000;114.5000 --75.0000;115.0000 --75.0000;115.5000 --75.0000;116.0000 --75.0000;116.5000 --75.0000;117.0000 --75.0000;117.5000 --75.0000;118.0000 --75.0000;118.5000 --75.0000;119.0000 --75.0000;119.5000 --75.0000;120.0000 --75.0000;120.5000 --75.0000;121.0000 --75.0000;121.5000 --75.0000;122.0000 --75.0000;122.5000 --75.0000;123.0000 --74.5000;-55.5000 --74.5000;-55.0000 --74.5000;-54.5000 --74.5000;-54.0000 --74.5000;-53.5000 --74.5000;-53.0000 --74.5000;-52.5000 --74.5000;-52.0000 --74.5000;-51.5000 --74.5000;-51.0000 --74.5000;-50.5000 --74.5000;-50.0000 --74.5000;-49.5000 --74.5000;-49.0000 --74.5000;-48.5000 --74.5000;-48.0000 --74.5000;-47.5000 --74.5000;-47.0000 --74.5000;-46.5000 --74.5000;-46.0000 --74.5000;-45.5000 --74.5000;-45.0000 --74.5000;-44.5000 --74.5000;-44.0000 --74.5000;-43.5000 --74.5000;-43.0000 --74.5000;-42.5000 --74.5000;-42.0000 --74.5000;-41.5000 --74.5000;-41.0000 --74.5000;-40.5000 --74.5000;-40.0000 --74.5000;-39.5000 --74.5000;-39.0000 --74.5000;-38.5000 --74.5000;-38.0000 --74.5000;-37.5000 --74.5000;-8.5000 --74.5000;-8.0000 --74.5000;-7.5000 --74.5000;-7.0000 --74.5000;-6.5000 --74.5000;-6.0000 --74.5000;-5.5000 --74.5000;-5.0000 --74.5000;-4.5000 --74.5000;-4.0000 --74.5000;-3.5000 --74.5000;-3.0000 --74.5000;-2.5000 --74.5000;-2.0000 --74.5000;-1.5000 --74.5000;-1.0000 --74.5000;-0.5000 --74.5000;0.0000 --74.5000;0.5000 --74.5000;1.0000 --74.5000;1.5000 --74.5000;2.0000 --74.5000;2.5000 --74.5000;3.0000 --74.5000;3.5000 --74.5000;4.0000 --74.5000;4.5000 --74.5000;5.0000 --74.5000;5.5000 --74.5000;6.0000 --74.5000;6.5000 --74.5000;7.0000 --74.5000;7.5000 --74.5000;8.0000 --74.5000;8.5000 --74.5000;9.0000 --74.5000;9.5000 --74.5000;10.0000 --74.5000;69.5000 --74.5000;70.0000 --74.5000;70.5000 --74.5000;71.0000 --74.5000;71.5000 --74.5000;72.0000 --74.5000;72.5000 --74.5000;73.0000 --74.5000;73.5000 --74.5000;74.0000 --74.5000;74.5000 --74.5000;75.0000 --74.5000;75.5000 --74.5000;76.0000 --74.5000;76.5000 --74.5000;77.0000 --74.5000;77.5000 --74.5000;78.0000 --74.5000;78.5000 --74.5000;79.0000 --74.5000;79.5000 --74.5000;80.0000 --74.5000;80.5000 --74.5000;81.0000 --74.5000;81.5000 --74.5000;82.0000 --74.5000;82.5000 --74.5000;83.0000 --74.5000;83.5000 --74.5000;84.0000 --74.5000;84.5000 --74.5000;85.0000 --74.5000;85.5000 --74.5000;86.0000 --74.5000;86.5000 --74.5000;87.0000 --74.5000;87.5000 --74.5000;112.0000 --74.5000;112.5000 --74.5000;113.0000 --74.5000;113.5000 --74.5000;114.0000 --74.5000;114.5000 --74.5000;115.0000 --74.5000;115.5000 --74.5000;116.0000 --74.5000;116.5000 --74.5000;117.0000 --74.5000;117.5000 --74.5000;118.0000 --74.5000;118.5000 --74.5000;119.0000 --74.5000;119.5000 --74.5000;120.0000 --74.5000;120.5000 --74.5000;121.0000 --74.5000;121.5000 --74.5000;122.0000 --74.5000;122.5000 --74.5000;123.0000 --74.0000;-56.5000 --74.0000;-56.0000 --74.0000;-55.5000 --74.0000;-55.0000 --74.0000;-54.5000 --74.0000;-54.0000 --74.0000;-53.5000 --74.0000;-53.0000 --74.0000;-52.5000 --74.0000;-52.0000 --74.0000;-51.5000 --74.0000;-51.0000 --74.0000;-50.5000 --74.0000;-50.0000 --74.0000;-49.5000 --74.0000;-49.0000 --74.0000;-48.5000 --74.0000;-48.0000 --74.0000;-47.5000 --74.0000;-47.0000 --74.0000;-46.5000 --74.0000;-46.0000 --74.0000;-45.5000 --74.0000;-45.0000 --74.0000;-44.5000 --74.0000;-44.0000 --74.0000;-43.5000 --74.0000;-43.0000 --74.0000;-42.5000 --74.0000;-42.0000 --74.0000;-41.5000 --74.0000;-41.0000 --74.0000;-40.5000 --74.0000;-40.0000 --74.0000;-39.5000 --74.0000;-39.0000 --74.0000;-38.5000 --74.0000;-10.5000 --74.0000;-10.0000 --74.0000;-9.5000 --74.0000;-9.0000 --74.0000;-8.5000 --74.0000;-8.0000 --74.0000;-7.5000 --74.0000;-7.0000 --74.0000;-6.5000 --74.0000;-6.0000 --74.0000;-5.5000 --74.0000;-5.0000 --74.0000;-4.5000 --74.0000;-4.0000 --74.0000;-3.5000 --74.0000;-3.0000 --74.0000;-2.5000 --74.0000;-2.0000 --74.0000;-1.5000 --74.0000;-1.0000 --74.0000;-0.5000 --74.0000;0.0000 --74.0000;0.5000 --74.0000;1.0000 --74.0000;1.5000 --74.0000;2.0000 --74.0000;2.5000 --74.0000;3.0000 --74.0000;3.5000 --74.0000;4.0000 --74.0000;4.5000 --74.0000;5.0000 --74.0000;5.5000 --74.0000;6.0000 --74.0000;6.5000 --74.0000;7.0000 --74.0000;7.5000 --74.0000;8.0000 --74.0000;8.5000 --74.0000;9.0000 --74.0000;9.5000 --74.0000;69.0000 --74.0000;69.5000 --74.0000;70.0000 --74.0000;70.5000 --74.0000;71.0000 --74.0000;71.5000 --74.0000;72.0000 --74.0000;72.5000 --74.0000;73.0000 --74.0000;73.5000 --74.0000;74.0000 --74.0000;74.5000 --74.0000;75.0000 --74.0000;75.5000 --74.0000;76.0000 --74.0000;76.5000 --74.0000;77.0000 --74.0000;77.5000 --74.0000;78.0000 --74.0000;78.5000 --74.0000;79.0000 --74.0000;79.5000 --74.0000;80.0000 --74.0000;80.5000 --74.0000;81.0000 --74.0000;81.5000 --74.0000;82.0000 --74.0000;82.5000 --74.0000;83.0000 --74.0000;83.5000 --74.0000;84.0000 --74.0000;84.5000 --74.0000;85.0000 --74.0000;85.5000 --74.0000;86.0000 --74.0000;86.5000 --74.0000;87.0000 --74.0000;111.5000 --74.0000;112.0000 --74.0000;112.5000 --74.0000;113.0000 --74.0000;113.5000 --74.0000;114.0000 --74.0000;114.5000 --74.0000;115.0000 --74.0000;115.5000 --74.0000;116.0000 --74.0000;116.5000 --74.0000;117.0000 --74.0000;117.5000 --74.0000;118.0000 --74.0000;118.5000 --74.0000;119.0000 --74.0000;119.5000 --74.0000;120.0000 --74.0000;120.5000 --74.0000;121.0000 --74.0000;121.5000 --74.0000;122.0000 --74.0000;122.5000 --74.0000;123.0000 --73.5000;-57.0000 --73.5000;-56.5000 --73.5000;-56.0000 --73.5000;-55.5000 --73.5000;-55.0000 --73.5000;-54.5000 --73.5000;-54.0000 --73.5000;-53.5000 --73.5000;-53.0000 --73.5000;-52.5000 --73.5000;-52.0000 --73.5000;-51.5000 --73.5000;-51.0000 --73.5000;-50.5000 --73.5000;-50.0000 --73.5000;-49.5000 --73.5000;-49.0000 --73.5000;-48.5000 --73.5000;-48.0000 --73.5000;-47.5000 --73.5000;-47.0000 --73.5000;-46.5000 --73.5000;-46.0000 --73.5000;-45.5000 --73.5000;-45.0000 --73.5000;-44.5000 --73.5000;-44.0000 --73.5000;-43.5000 --73.5000;-43.0000 --73.5000;-42.5000 --73.5000;-42.0000 --73.5000;-41.5000 --73.5000;-41.0000 --73.5000;-40.5000 --73.5000;-40.0000 --73.5000;-39.5000 --73.5000;-39.0000 --73.5000;-12.5000 --73.5000;-12.0000 --73.5000;-11.5000 --73.5000;-11.0000 --73.5000;-10.5000 --73.5000;-10.0000 --73.5000;-9.5000 --73.5000;-9.0000 --73.5000;-8.5000 --73.5000;-8.0000 --73.5000;-7.5000 --73.5000;-7.0000 --73.5000;-6.5000 --73.5000;-6.0000 --73.5000;-5.5000 --73.5000;-5.0000 --73.5000;-4.5000 --73.5000;-4.0000 --73.5000;-3.5000 --73.5000;-3.0000 --73.5000;-2.5000 --73.5000;-2.0000 --73.5000;-1.5000 --73.5000;-1.0000 --73.5000;-0.5000 --73.5000;0.0000 --73.5000;0.5000 --73.5000;1.0000 --73.5000;1.5000 --73.5000;2.0000 --73.5000;2.5000 --73.5000;3.0000 --73.5000;3.5000 --73.5000;4.0000 --73.5000;4.5000 --73.5000;5.0000 --73.5000;5.5000 --73.5000;6.0000 --73.5000;6.5000 --73.5000;7.0000 --73.5000;7.5000 --73.5000;8.0000 --73.5000;8.5000 --73.5000;9.0000 --73.5000;68.0000 --73.5000;68.5000 --73.5000;69.0000 --73.5000;69.5000 --73.5000;70.0000 --73.5000;70.5000 --73.5000;71.0000 --73.5000;71.5000 --73.5000;72.0000 --73.5000;72.5000 --73.5000;73.0000 --73.5000;73.5000 --73.5000;74.0000 --73.5000;74.5000 --73.5000;75.0000 --73.5000;75.5000 --73.5000;76.0000 --73.5000;76.5000 --73.5000;77.0000 --73.5000;77.5000 --73.5000;78.0000 --73.5000;78.5000 --73.5000;79.0000 --73.5000;79.5000 --73.5000;80.0000 --73.5000;80.5000 --73.5000;81.0000 --73.5000;81.5000 --73.5000;82.0000 --73.5000;82.5000 --73.5000;83.0000 --73.5000;83.5000 --73.5000;84.0000 --73.5000;84.5000 --73.5000;85.0000 --73.5000;85.5000 --73.5000;86.0000 --73.5000;111.0000 --73.5000;111.5000 --73.5000;112.0000 --73.5000;112.5000 --73.5000;113.0000 --73.5000;113.5000 --73.5000;114.0000 --73.5000;114.5000 --73.5000;115.0000 --73.5000;115.5000 --73.5000;116.0000 --73.5000;116.5000 --73.5000;117.0000 --73.5000;117.5000 --73.5000;118.0000 --73.5000;118.5000 --73.5000;119.0000 --73.5000;119.5000 --73.5000;120.0000 --73.5000;120.5000 --73.5000;121.0000 --73.5000;121.5000 --73.5000;122.0000 --73.5000;122.5000 --73.0000;-57.5000 --73.0000;-57.0000 --73.0000;-56.5000 --73.0000;-56.0000 --73.0000;-55.5000 --73.0000;-55.0000 --73.0000;-54.5000 --73.0000;-54.0000 --73.0000;-53.5000 --73.0000;-53.0000 --73.0000;-52.5000 --73.0000;-52.0000 --73.0000;-51.5000 --73.0000;-51.0000 --73.0000;-50.5000 --73.0000;-50.0000 --73.0000;-49.5000 --73.0000;-49.0000 --73.0000;-48.5000 --73.0000;-48.0000 --73.0000;-47.5000 --73.0000;-47.0000 --73.0000;-46.5000 --73.0000;-46.0000 --73.0000;-45.5000 --73.0000;-45.0000 --73.0000;-44.5000 --73.0000;-44.0000 --73.0000;-43.5000 --73.0000;-43.0000 --73.0000;-42.5000 --73.0000;-42.0000 --73.0000;-41.5000 --73.0000;-41.0000 --73.0000;-40.5000 --73.0000;-40.0000 --73.0000;-39.5000 --73.0000;-14.0000 --73.0000;-13.5000 --73.0000;-13.0000 --73.0000;-12.5000 --73.0000;-12.0000 --73.0000;-11.5000 --73.0000;-11.0000 --73.0000;-10.5000 --73.0000;-10.0000 --73.0000;-9.5000 --73.0000;-9.0000 --73.0000;-8.5000 --73.0000;-8.0000 --73.0000;-7.5000 --73.0000;-7.0000 --73.0000;-6.5000 --73.0000;-6.0000 --73.0000;-5.5000 --73.0000;-5.0000 --73.0000;-4.5000 --73.0000;-4.0000 --73.0000;-3.5000 --73.0000;-3.0000 --73.0000;-2.5000 --73.0000;-2.0000 --73.0000;-1.5000 --73.0000;-1.0000 --73.0000;-0.5000 --73.0000;0.0000 --73.0000;0.5000 --73.0000;1.0000 --73.0000;1.5000 --73.0000;2.0000 --73.0000;2.5000 --73.0000;3.0000 --73.0000;3.5000 --73.0000;4.0000 --73.0000;4.5000 --73.0000;5.0000 --73.0000;5.5000 --73.0000;6.0000 --73.0000;6.5000 --73.0000;7.0000 --73.0000;7.5000 --73.0000;8.0000 --73.0000;8.5000 --73.0000;9.0000 --73.0000;67.5000 --73.0000;68.0000 --73.0000;68.5000 --73.0000;69.0000 --73.0000;69.5000 --73.0000;70.0000 --73.0000;70.5000 --73.0000;71.0000 --73.0000;71.5000 --73.0000;72.0000 --73.0000;72.5000 --73.0000;73.0000 --73.0000;73.5000 --73.0000;74.0000 --73.0000;74.5000 --73.0000;75.0000 --73.0000;75.5000 --73.0000;76.0000 --73.0000;76.5000 --73.0000;77.0000 --73.0000;77.5000 --73.0000;78.0000 --73.0000;78.5000 --73.0000;79.0000 --73.0000;79.5000 --73.0000;80.0000 --73.0000;80.5000 --73.0000;81.0000 --73.0000;81.5000 --73.0000;82.0000 --73.0000;82.5000 --73.0000;83.0000 --73.0000;83.5000 --73.0000;84.0000 --73.0000;84.5000 --73.0000;85.0000 --73.0000;85.5000 --73.0000;110.5000 --73.0000;111.0000 --73.0000;111.5000 --73.0000;112.0000 --73.0000;112.5000 --73.0000;113.0000 --73.0000;113.5000 --73.0000;114.0000 --73.0000;114.5000 --73.0000;115.0000 --73.0000;115.5000 --73.0000;116.0000 --73.0000;116.5000 --73.0000;117.0000 --73.0000;117.5000 --73.0000;118.0000 --73.0000;118.5000 --73.0000;119.0000 --73.0000;119.5000 --73.0000;120.0000 --73.0000;120.5000 --73.0000;121.0000 --73.0000;121.5000 --73.0000;122.0000 --73.0000;122.5000 --72.5000;-58.5000 --72.5000;-58.0000 --72.5000;-57.5000 --72.5000;-57.0000 --72.5000;-56.5000 --72.5000;-56.0000 --72.5000;-55.5000 --72.5000;-55.0000 --72.5000;-54.5000 --72.5000;-54.0000 --72.5000;-53.5000 --72.5000;-53.0000 --72.5000;-52.5000 --72.5000;-52.0000 --72.5000;-51.5000 --72.5000;-51.0000 --72.5000;-50.5000 --72.5000;-50.0000 --72.5000;-49.5000 --72.5000;-49.0000 --72.5000;-48.5000 --72.5000;-48.0000 --72.5000;-47.5000 --72.5000;-47.0000 --72.5000;-46.5000 --72.5000;-46.0000 --72.5000;-45.5000 --72.5000;-45.0000 --72.5000;-44.5000 --72.5000;-44.0000 --72.5000;-43.5000 --72.5000;-43.0000 --72.5000;-42.5000 --72.5000;-42.0000 --72.5000;-41.5000 --72.5000;-41.0000 --72.5000;-40.5000 --72.5000;-16.0000 --72.5000;-15.5000 --72.5000;-15.0000 --72.5000;-14.5000 --72.5000;-14.0000 --72.5000;-13.5000 --72.5000;-13.0000 --72.5000;-12.5000 --72.5000;-12.0000 --72.5000;-11.5000 --72.5000;-11.0000 --72.5000;-10.5000 --72.5000;-10.0000 --72.5000;-9.5000 --72.5000;-9.0000 --72.5000;-8.5000 --72.5000;-8.0000 --72.5000;-7.5000 --72.5000;-7.0000 --72.5000;-6.5000 --72.5000;-6.0000 --72.5000;-5.5000 --72.5000;-5.0000 --72.5000;-4.5000 --72.5000;-4.0000 --72.5000;-3.5000 --72.5000;-3.0000 --72.5000;-2.5000 --72.5000;-2.0000 --72.5000;-1.5000 --72.5000;-1.0000 --72.5000;-0.5000 --72.5000;0.0000 --72.5000;0.5000 --72.5000;1.0000 --72.5000;1.5000 --72.5000;2.0000 --72.5000;2.5000 --72.5000;3.0000 --72.5000;3.5000 --72.5000;4.0000 --72.5000;4.5000 --72.5000;5.0000 --72.5000;5.5000 --72.5000;6.0000 --72.5000;6.5000 --72.5000;7.0000 --72.5000;7.5000 --72.5000;8.0000 --72.5000;8.5000 --72.5000;66.5000 --72.5000;67.0000 --72.5000;67.5000 --72.5000;68.0000 --72.5000;68.5000 --72.5000;69.0000 --72.5000;69.5000 --72.5000;70.0000 --72.5000;70.5000 --72.5000;71.0000 --72.5000;71.5000 --72.5000;72.0000 --72.5000;72.5000 --72.5000;73.0000 --72.5000;73.5000 --72.5000;74.0000 --72.5000;74.5000 --72.5000;75.0000 --72.5000;75.5000 --72.5000;76.0000 --72.5000;76.5000 --72.5000;77.0000 --72.5000;77.5000 --72.5000;78.0000 --72.5000;78.5000 --72.5000;79.0000 --72.5000;79.5000 --72.5000;80.0000 --72.5000;80.5000 --72.5000;81.0000 --72.5000;81.5000 --72.5000;82.0000 --72.5000;82.5000 --72.5000;83.0000 --72.5000;83.5000 --72.5000;84.0000 --72.5000;84.5000 --72.5000;109.5000 --72.5000;110.0000 --72.5000;110.5000 --72.5000;111.0000 --72.5000;111.5000 --72.5000;112.0000 --72.5000;112.5000 --72.5000;113.0000 --72.5000;113.5000 --72.5000;114.0000 --72.5000;114.5000 --72.5000;115.0000 --72.5000;115.5000 --72.5000;116.0000 --72.5000;116.5000 --72.5000;117.0000 --72.5000;117.5000 --72.5000;118.0000 --72.5000;118.5000 --72.5000;119.0000 --72.5000;119.5000 --72.5000;120.0000 --72.5000;120.5000 --72.5000;121.0000 --72.5000;121.5000 --72.5000;122.0000 --72.5000;122.5000 --72.0000;-59.0000 --72.0000;-58.5000 --72.0000;-58.0000 --72.0000;-57.5000 --72.0000;-57.0000 --72.0000;-56.5000 --72.0000;-56.0000 --72.0000;-55.5000 --72.0000;-55.0000 --72.0000;-54.5000 --72.0000;-54.0000 --72.0000;-53.5000 --72.0000;-53.0000 --72.0000;-52.5000 --72.0000;-52.0000 --72.0000;-51.5000 --72.0000;-51.0000 --72.0000;-50.5000 --72.0000;-50.0000 --72.0000;-49.5000 --72.0000;-49.0000 --72.0000;-48.5000 --72.0000;-48.0000 --72.0000;-47.5000 --72.0000;-47.0000 --72.0000;-46.5000 --72.0000;-46.0000 --72.0000;-45.5000 --72.0000;-45.0000 --72.0000;-44.5000 --72.0000;-44.0000 --72.0000;-43.5000 --72.0000;-43.0000 --72.0000;-42.5000 --72.0000;-42.0000 --72.0000;-41.5000 --72.0000;-41.0000 --72.0000;-17.0000 --72.0000;-16.5000 --72.0000;-16.0000 --72.0000;-15.5000 --72.0000;-15.0000 --72.0000;-14.5000 --72.0000;-14.0000 --72.0000;-13.5000 --72.0000;-13.0000 --72.0000;-12.5000 --72.0000;-12.0000 --72.0000;-11.5000 --72.0000;-11.0000 --72.0000;-10.5000 --72.0000;-10.0000 --72.0000;-9.5000 --72.0000;-9.0000 --72.0000;-8.5000 --72.0000;-8.0000 --72.0000;-7.5000 --72.0000;-7.0000 --72.0000;-6.5000 --72.0000;-6.0000 --72.0000;-5.5000 --72.0000;-5.0000 --72.0000;-4.5000 --72.0000;-4.0000 --72.0000;-3.5000 --72.0000;-3.0000 --72.0000;-2.5000 --72.0000;-2.0000 --72.0000;-1.5000 --72.0000;-1.0000 --72.0000;-0.5000 --72.0000;0.0000 --72.0000;0.5000 --72.0000;1.0000 --72.0000;1.5000 --72.0000;2.0000 --72.0000;2.5000 --72.0000;3.0000 --72.0000;3.5000 --72.0000;4.0000 --72.0000;4.5000 --72.0000;5.0000 --72.0000;5.5000 --72.0000;6.0000 --72.0000;6.5000 --72.0000;7.0000 --72.0000;7.5000 --72.0000;8.0000 --72.0000;66.0000 --72.0000;66.5000 --72.0000;67.0000 --72.0000;67.5000 --72.0000;68.0000 --72.0000;68.5000 --72.0000;69.0000 --72.0000;69.5000 --72.0000;70.0000 --72.0000;70.5000 --72.0000;71.0000 --72.0000;71.5000 --72.0000;72.0000 --72.0000;72.5000 --72.0000;73.0000 --72.0000;73.5000 --72.0000;74.0000 --72.0000;74.5000 --72.0000;75.0000 --72.0000;75.5000 --72.0000;76.0000 --72.0000;76.5000 --72.0000;77.0000 --72.0000;77.5000 --72.0000;78.0000 --72.0000;78.5000 --72.0000;79.0000 --72.0000;79.5000 --72.0000;80.0000 --72.0000;80.5000 --72.0000;81.0000 --72.0000;81.5000 --72.0000;82.0000 --72.0000;82.5000 --72.0000;83.0000 --72.0000;83.5000 --72.0000;84.0000 --72.0000;108.5000 --72.0000;109.0000 --72.0000;109.5000 --72.0000;110.0000 --72.0000;110.5000 --72.0000;111.0000 --72.0000;111.5000 --72.0000;112.0000 --72.0000;112.5000 --72.0000;113.0000 --72.0000;113.5000 --72.0000;114.0000 --72.0000;114.5000 --72.0000;115.0000 --72.0000;115.5000 --72.0000;116.0000 --72.0000;116.5000 --72.0000;117.0000 --72.0000;117.5000 --72.0000;118.0000 --72.0000;118.5000 --72.0000;119.0000 --72.0000;119.5000 --72.0000;120.0000 --72.0000;120.5000 --72.0000;121.0000 --72.0000;121.5000 --72.0000;122.0000 --71.5000;-60.0000 --71.5000;-59.5000 --71.5000;-59.0000 --71.5000;-58.5000 --71.5000;-58.0000 --71.5000;-57.5000 --71.5000;-57.0000 --71.5000;-56.5000 --71.5000;-56.0000 --71.5000;-55.5000 --71.5000;-55.0000 --71.5000;-54.5000 --71.5000;-54.0000 --71.5000;-53.5000 --71.5000;-53.0000 --71.5000;-52.5000 --71.5000;-52.0000 --71.5000;-51.5000 --71.5000;-51.0000 --71.5000;-50.5000 --71.5000;-50.0000 --71.5000;-49.5000 --71.5000;-49.0000 --71.5000;-48.5000 --71.5000;-48.0000 --71.5000;-47.5000 --71.5000;-47.0000 --71.5000;-46.5000 --71.5000;-46.0000 --71.5000;-45.5000 --71.5000;-45.0000 --71.5000;-44.5000 --71.5000;-44.0000 --71.5000;-43.5000 --71.5000;-43.0000 --71.5000;-42.5000 --71.5000;-42.0000 --71.5000;-18.5000 --71.5000;-18.0000 --71.5000;-17.5000 --71.5000;-17.0000 --71.5000;-16.5000 --71.5000;-16.0000 --71.5000;-15.5000 --71.5000;-15.0000 --71.5000;-14.5000 --71.5000;-14.0000 --71.5000;-13.5000 --71.5000;-13.0000 --71.5000;-12.5000 --71.5000;-12.0000 --71.5000;-11.5000 --71.5000;-11.0000 --71.5000;-10.5000 --71.5000;-10.0000 --71.5000;-9.5000 --71.5000;-9.0000 --71.5000;-8.5000 --71.5000;-8.0000 --71.5000;-7.5000 --71.5000;-7.0000 --71.5000;-6.5000 --71.5000;-6.0000 --71.5000;-5.5000 --71.5000;-5.0000 --71.5000;-4.5000 --71.5000;-4.0000 --71.5000;-3.5000 --71.5000;-3.0000 --71.5000;-2.5000 --71.5000;-2.0000 --71.5000;-1.5000 --71.5000;-1.0000 --71.5000;-0.5000 --71.5000;0.0000 --71.5000;0.5000 --71.5000;1.0000 --71.5000;1.5000 --71.5000;2.0000 --71.5000;2.5000 --71.5000;3.0000 --71.5000;3.5000 --71.5000;4.0000 --71.5000;4.5000 --71.5000;5.0000 --71.5000;5.5000 --71.5000;6.0000 --71.5000;6.5000 --71.5000;7.0000 --71.5000;7.5000 --71.5000;65.0000 --71.5000;65.5000 --71.5000;66.0000 --71.5000;66.5000 --71.5000;67.0000 --71.5000;67.5000 --71.5000;68.0000 --71.5000;68.5000 --71.5000;69.0000 --71.5000;69.5000 --71.5000;70.0000 --71.5000;70.5000 --71.5000;71.0000 --71.5000;71.5000 --71.5000;72.0000 --71.5000;72.5000 --71.5000;73.0000 --71.5000;73.5000 --71.5000;74.0000 --71.5000;74.5000 --71.5000;75.0000 --71.5000;75.5000 --71.5000;76.0000 --71.5000;76.5000 --71.5000;77.0000 --71.5000;77.5000 --71.5000;78.0000 --71.5000;78.5000 --71.5000;79.0000 --71.5000;79.5000 --71.5000;80.0000 --71.5000;80.5000 --71.5000;81.0000 --71.5000;81.5000 --71.5000;82.0000 --71.5000;82.5000 --71.5000;83.0000 --71.5000;83.5000 --71.5000;107.0000 --71.5000;107.5000 --71.5000;108.0000 --71.5000;108.5000 --71.5000;109.0000 --71.5000;109.5000 --71.5000;110.0000 --71.5000;110.5000 --71.5000;111.0000 --71.5000;111.5000 --71.5000;112.0000 --71.5000;112.5000 --71.5000;113.0000 --71.5000;113.5000 --71.5000;114.0000 --71.5000;114.5000 --71.5000;115.0000 --71.5000;115.5000 --71.5000;116.0000 --71.5000;116.5000 --71.5000;117.0000 --71.5000;117.5000 --71.5000;118.0000 --71.5000;118.5000 --71.5000;119.0000 --71.5000;119.5000 --71.5000;120.0000 --71.5000;120.5000 --71.5000;121.0000 --71.5000;121.5000 --71.5000;122.0000 --71.0000;-60.5000 --71.0000;-60.0000 --71.0000;-59.5000 --71.0000;-59.0000 --71.0000;-58.5000 --71.0000;-58.0000 --71.0000;-57.5000 --71.0000;-57.0000 --71.0000;-56.5000 --71.0000;-56.0000 --71.0000;-55.5000 --71.0000;-55.0000 --71.0000;-54.5000 --71.0000;-54.0000 --71.0000;-53.5000 --71.0000;-53.0000 --71.0000;-52.5000 --71.0000;-52.0000 --71.0000;-51.5000 --71.0000;-51.0000 --71.0000;-50.5000 --71.0000;-50.0000 --71.0000;-49.5000 --71.0000;-49.0000 --71.0000;-48.5000 --71.0000;-48.0000 --71.0000;-47.5000 --71.0000;-47.0000 --71.0000;-46.5000 --71.0000;-46.0000 --71.0000;-45.5000 --71.0000;-45.0000 --71.0000;-44.5000 --71.0000;-44.0000 --71.0000;-43.5000 --71.0000;-43.0000 --71.0000;-42.5000 --71.0000;-19.5000 --71.0000;-19.0000 --71.0000;-18.5000 --71.0000;-18.0000 --71.0000;-17.5000 --71.0000;-17.0000 --71.0000;-16.5000 --71.0000;-16.0000 --71.0000;-15.5000 --71.0000;-15.0000 --71.0000;-14.5000 --71.0000;-14.0000 --71.0000;-13.5000 --71.0000;-13.0000 --71.0000;-12.5000 --71.0000;-12.0000 --71.0000;-11.5000 --71.0000;-11.0000 --71.0000;-10.5000 --71.0000;-10.0000 --71.0000;-9.5000 --71.0000;-9.0000 --71.0000;-8.5000 --71.0000;-8.0000 --71.0000;-7.5000 --71.0000;-7.0000 --71.0000;-6.5000 --71.0000;-6.0000 --71.0000;-5.5000 --71.0000;-5.0000 --71.0000;-4.5000 --71.0000;-4.0000 --71.0000;-3.5000 --71.0000;-3.0000 --71.0000;-2.5000 --71.0000;-2.0000 --71.0000;-1.5000 --71.0000;-1.0000 --71.0000;-0.5000 --71.0000;0.0000 --71.0000;0.5000 --71.0000;1.0000 --71.0000;1.5000 --71.0000;2.0000 --71.0000;2.5000 --71.0000;3.0000 --71.0000;3.5000 --71.0000;4.0000 --71.0000;4.5000 --71.0000;5.0000 --71.0000;5.5000 --71.0000;6.0000 --71.0000;6.5000 --71.0000;7.0000 --71.0000;64.5000 --71.0000;65.0000 --71.0000;65.5000 --71.0000;66.0000 --71.0000;66.5000 --71.0000;67.0000 --71.0000;67.5000 --71.0000;68.0000 --71.0000;68.5000 --71.0000;69.0000 --71.0000;69.5000 --71.0000;70.0000 --71.0000;70.5000 --71.0000;71.0000 --71.0000;71.5000 --71.0000;72.0000 --71.0000;72.5000 --71.0000;73.0000 --71.0000;73.5000 --71.0000;74.0000 --71.0000;74.5000 --71.0000;75.0000 --71.0000;75.5000 --71.0000;76.0000 --71.0000;76.5000 --71.0000;77.0000 --71.0000;77.5000 --71.0000;78.0000 --71.0000;78.5000 --71.0000;79.0000 --71.0000;79.5000 --71.0000;80.0000 --71.0000;80.5000 --71.0000;81.0000 --71.0000;81.5000 --71.0000;82.0000 --71.0000;82.5000 --71.0000;104.0000 --71.0000;104.5000 --71.0000;105.0000 --71.0000;105.5000 --71.0000;106.0000 --71.0000;106.5000 --71.0000;107.0000 --71.0000;107.5000 --71.0000;108.0000 --71.0000;108.5000 --71.0000;109.0000 --71.0000;109.5000 --71.0000;110.0000 --71.0000;110.5000 --71.0000;111.0000 --71.0000;111.5000 --71.0000;112.0000 --71.0000;112.5000 --71.0000;113.0000 --71.0000;113.5000 --71.0000;114.0000 --71.0000;114.5000 --71.0000;115.0000 --71.0000;115.5000 --71.0000;116.0000 --71.0000;116.5000 --71.0000;117.0000 --71.0000;117.5000 --71.0000;118.0000 --71.0000;118.5000 --71.0000;119.0000 --71.0000;119.5000 --71.0000;120.0000 --71.0000;120.5000 --71.0000;121.0000 --71.0000;121.5000 --71.0000;122.0000 --70.5000;-61.5000 --70.5000;-61.0000 --70.5000;-60.5000 --70.5000;-60.0000 --70.5000;-59.5000 --70.5000;-59.0000 --70.5000;-58.5000 --70.5000;-58.0000 --70.5000;-57.5000 --70.5000;-57.0000 --70.5000;-56.5000 --70.5000;-56.0000 --70.5000;-55.5000 --70.5000;-55.0000 --70.5000;-54.5000 --70.5000;-54.0000 --70.5000;-53.5000 --70.5000;-53.0000 --70.5000;-52.5000 --70.5000;-52.0000 --70.5000;-51.5000 --70.5000;-51.0000 --70.5000;-50.5000 --70.5000;-50.0000 --70.5000;-49.5000 --70.5000;-49.0000 --70.5000;-48.5000 --70.5000;-48.0000 --70.5000;-47.5000 --70.5000;-47.0000 --70.5000;-46.5000 --70.5000;-46.0000 --70.5000;-45.5000 --70.5000;-45.0000 --70.5000;-44.5000 --70.5000;-44.0000 --70.5000;-43.5000 --70.5000;-20.5000 --70.5000;-20.0000 --70.5000;-19.5000 --70.5000;-19.0000 --70.5000;-18.5000 --70.5000;-18.0000 --70.5000;-17.5000 --70.5000;-17.0000 --70.5000;-16.5000 --70.5000;-16.0000 --70.5000;-15.5000 --70.5000;-15.0000 --70.5000;-14.5000 --70.5000;-14.0000 --70.5000;-13.5000 --70.5000;-13.0000 --70.5000;-12.5000 --70.5000;-12.0000 --70.5000;-11.5000 --70.5000;-11.0000 --70.5000;-10.5000 --70.5000;-10.0000 --70.5000;-9.5000 --70.5000;-9.0000 --70.5000;-8.5000 --70.5000;-8.0000 --70.5000;-7.5000 --70.5000;-7.0000 --70.5000;-6.5000 --70.5000;-6.0000 --70.5000;-5.5000 --70.5000;-5.0000 --70.5000;-4.5000 --70.5000;-4.0000 --70.5000;-3.5000 --70.5000;-3.0000 --70.5000;-2.5000 --70.5000;-2.0000 --70.5000;-1.5000 --70.5000;-1.0000 --70.5000;-0.5000 --70.5000;0.0000 --70.5000;0.5000 --70.5000;1.0000 --70.5000;1.5000 --70.5000;2.0000 --70.5000;2.5000 --70.5000;3.0000 --70.5000;3.5000 --70.5000;4.0000 --70.5000;4.5000 --70.5000;5.0000 --70.5000;5.5000 --70.5000;6.0000 --70.5000;6.5000 --70.5000;64.0000 --70.5000;64.5000 --70.5000;65.0000 --70.5000;65.5000 --70.5000;66.0000 --70.5000;66.5000 --70.5000;67.0000 --70.5000;67.5000 --70.5000;68.0000 --70.5000;68.5000 --70.5000;69.0000 --70.5000;69.5000 --70.5000;70.0000 --70.5000;70.5000 --70.5000;71.0000 --70.5000;71.5000 --70.5000;72.0000 --70.5000;72.5000 --70.5000;73.0000 --70.5000;73.5000 --70.5000;74.0000 --70.5000;74.5000 --70.5000;75.0000 --70.5000;75.5000 --70.5000;76.0000 --70.5000;76.5000 --70.5000;77.0000 --70.5000;77.5000 --70.5000;78.0000 --70.5000;78.5000 --70.5000;79.0000 --70.5000;79.5000 --70.5000;80.0000 --70.5000;80.5000 --70.5000;81.0000 --70.5000;81.5000 --70.5000;82.0000 --70.5000;97.5000 --70.5000;98.0000 --70.5000;98.5000 --70.5000;99.0000 --70.5000;99.5000 --70.5000;100.0000 --70.5000;100.5000 --70.5000;101.0000 --70.5000;101.5000 --70.5000;102.0000 --70.5000;102.5000 --70.5000;103.0000 --70.5000;103.5000 --70.5000;104.0000 --70.5000;104.5000 --70.5000;105.0000 --70.5000;105.5000 --70.5000;106.0000 --70.5000;106.5000 --70.5000;107.0000 --70.5000;107.5000 --70.5000;108.0000 --70.5000;108.5000 --70.5000;109.0000 --70.5000;109.5000 --70.5000;110.0000 --70.5000;110.5000 --70.5000;111.0000 --70.5000;111.5000 --70.5000;112.0000 --70.5000;112.5000 --70.5000;113.0000 --70.5000;113.5000 --70.5000;114.0000 --70.5000;114.5000 --70.5000;115.0000 --70.5000;115.5000 --70.5000;116.0000 --70.5000;116.5000 --70.5000;117.0000 --70.5000;117.5000 --70.5000;118.0000 --70.5000;118.5000 --70.5000;119.0000 --70.5000;119.5000 --70.5000;120.0000 --70.5000;120.5000 --70.5000;121.0000 --70.5000;121.5000 --70.0000;-62.0000 --70.0000;-61.5000 --70.0000;-61.0000 --70.0000;-60.5000 --70.0000;-60.0000 --70.0000;-59.5000 --70.0000;-59.0000 --70.0000;-58.5000 --70.0000;-58.0000 --70.0000;-57.5000 --70.0000;-57.0000 --70.0000;-56.5000 --70.0000;-56.0000 --70.0000;-55.5000 --70.0000;-55.0000 --70.0000;-54.5000 --70.0000;-54.0000 --70.0000;-53.5000 --70.0000;-53.0000 --70.0000;-52.5000 --70.0000;-52.0000 --70.0000;-51.5000 --70.0000;-51.0000 --70.0000;-50.5000 --70.0000;-50.0000 --70.0000;-49.5000 --70.0000;-49.0000 --70.0000;-48.5000 --70.0000;-48.0000 --70.0000;-47.5000 --70.0000;-47.0000 --70.0000;-46.5000 --70.0000;-46.0000 --70.0000;-45.5000 --70.0000;-45.0000 --70.0000;-44.5000 --70.0000;-44.0000 --70.0000;-21.5000 --70.0000;-21.0000 --70.0000;-20.5000 --70.0000;-20.0000 --70.0000;-19.5000 --70.0000;-19.0000 --70.0000;-18.5000 --70.0000;-18.0000 --70.0000;-17.5000 --70.0000;-17.0000 --70.0000;-16.5000 --70.0000;-16.0000 --70.0000;-15.5000 --70.0000;-15.0000 --70.0000;-14.5000 --70.0000;-14.0000 --70.0000;-13.5000 --70.0000;-13.0000 --70.0000;-12.5000 --70.0000;-12.0000 --70.0000;-11.5000 --70.0000;-11.0000 --70.0000;-10.5000 --70.0000;-10.0000 --70.0000;-9.5000 --70.0000;-9.0000 --70.0000;-8.5000 --70.0000;-8.0000 --70.0000;-7.5000 --70.0000;-7.0000 --70.0000;-6.5000 --70.0000;-6.0000 --70.0000;-5.5000 --70.0000;-5.0000 --70.0000;-4.5000 --70.0000;-4.0000 --70.0000;-3.5000 --70.0000;-3.0000 --70.0000;-2.5000 --70.0000;-2.0000 --70.0000;-1.5000 --70.0000;-1.0000 --70.0000;-0.5000 --70.0000;0.0000 --70.0000;0.5000 --70.0000;1.0000 --70.0000;1.5000 --70.0000;2.0000 --70.0000;2.5000 --70.0000;3.0000 --70.0000;3.5000 --70.0000;4.0000 --70.0000;4.5000 --70.0000;5.0000 --70.0000;5.5000 --70.0000;6.0000 --70.0000;63.0000 --70.0000;63.5000 --70.0000;64.0000 --70.0000;64.5000 --70.0000;65.0000 --70.0000;65.5000 --70.0000;66.0000 --70.0000;66.5000 --70.0000;67.0000 --70.0000;67.5000 --70.0000;68.0000 --70.0000;68.5000 --70.0000;69.0000 --70.0000;69.5000 --70.0000;70.0000 --70.0000;70.5000 --70.0000;71.0000 --70.0000;71.5000 --70.0000;72.0000 --70.0000;72.5000 --70.0000;73.0000 --70.0000;73.5000 --70.0000;74.0000 --70.0000;74.5000 --70.0000;75.0000 --70.0000;75.5000 --70.0000;76.0000 --70.0000;76.5000 --70.0000;77.0000 --70.0000;77.5000 --70.0000;78.0000 --70.0000;78.5000 --70.0000;79.0000 --70.0000;79.5000 --70.0000;80.0000 --70.0000;80.5000 --70.0000;81.0000 --70.0000;93.0000 --70.0000;93.5000 --70.0000;94.0000 --70.0000;94.5000 --70.0000;95.0000 --70.0000;95.5000 --70.0000;96.0000 --70.0000;96.5000 --70.0000;97.0000 --70.0000;97.5000 --70.0000;98.0000 --70.0000;98.5000 --70.0000;99.0000 --70.0000;99.5000 --70.0000;100.0000 --70.0000;100.5000 --70.0000;101.0000 --70.0000;101.5000 --70.0000;102.0000 --70.0000;102.5000 --70.0000;103.0000 --70.0000;103.5000 --70.0000;104.0000 --70.0000;104.5000 --70.0000;105.0000 --70.0000;105.5000 --70.0000;106.0000 --70.0000;106.5000 --70.0000;107.0000 --70.0000;107.5000 --70.0000;108.0000 --70.0000;108.5000 --70.0000;109.0000 --70.0000;109.5000 --70.0000;110.0000 --70.0000;110.5000 --70.0000;111.0000 --70.0000;111.5000 --70.0000;112.0000 --70.0000;112.5000 --70.0000;113.0000 --70.0000;113.5000 --70.0000;114.0000 --70.0000;114.5000 --70.0000;115.0000 --70.0000;115.5000 --70.0000;116.0000 --70.0000;116.5000 --70.0000;117.0000 --70.0000;117.5000 --70.0000;118.0000 --70.0000;118.5000 --70.0000;119.0000 --70.0000;119.5000 --70.0000;120.0000 --70.0000;120.5000 --70.0000;121.0000 --70.0000;121.5000 --69.5000;-63.0000 --69.5000;-62.5000 --69.5000;-62.0000 --69.5000;-61.5000 --69.5000;-61.0000 --69.5000;-60.5000 --69.5000;-60.0000 --69.5000;-59.5000 --69.5000;-59.0000 --69.5000;-58.5000 --69.5000;-58.0000 --69.5000;-57.5000 --69.5000;-57.0000 --69.5000;-56.5000 --69.5000;-56.0000 --69.5000;-55.5000 --69.5000;-55.0000 --69.5000;-54.5000 --69.5000;-54.0000 --69.5000;-53.5000 --69.5000;-53.0000 --69.5000;-52.5000 --69.5000;-52.0000 --69.5000;-51.5000 --69.5000;-51.0000 --69.5000;-50.5000 --69.5000;-50.0000 --69.5000;-49.5000 --69.5000;-49.0000 --69.5000;-48.5000 --69.5000;-48.0000 --69.5000;-47.5000 --69.5000;-47.0000 --69.5000;-46.5000 --69.5000;-46.0000 --69.5000;-45.5000 --69.5000;-45.0000 --69.5000;-44.5000 --69.5000;-22.5000 --69.5000;-22.0000 --69.5000;-21.5000 --69.5000;-21.0000 --69.5000;-20.5000 --69.5000;-20.0000 --69.5000;-19.5000 --69.5000;-19.0000 --69.5000;-18.5000 --69.5000;-18.0000 --69.5000;-17.5000 --69.5000;-17.0000 --69.5000;-16.5000 --69.5000;-16.0000 --69.5000;-15.5000 --69.5000;-15.0000 --69.5000;-14.5000 --69.5000;-14.0000 --69.5000;-13.5000 --69.5000;-13.0000 --69.5000;-12.5000 --69.5000;-12.0000 --69.5000;-11.5000 --69.5000;-11.0000 --69.5000;-10.5000 --69.5000;-10.0000 --69.5000;-9.5000 --69.5000;-9.0000 --69.5000;-8.5000 --69.5000;-8.0000 --69.5000;-7.5000 --69.5000;-7.0000 --69.5000;-6.5000 --69.5000;-6.0000 --69.5000;-5.5000 --69.5000;-5.0000 --69.5000;-4.5000 --69.5000;-4.0000 --69.5000;-3.5000 --69.5000;-3.0000 --69.5000;-2.5000 --69.5000;-2.0000 --69.5000;-1.5000 --69.5000;-1.0000 --69.5000;-0.5000 --69.5000;0.0000 --69.5000;0.5000 --69.5000;1.0000 --69.5000;1.5000 --69.5000;2.0000 --69.5000;2.5000 --69.5000;3.0000 --69.5000;3.5000 --69.5000;4.0000 --69.5000;4.5000 --69.5000;5.0000 --69.5000;5.5000 --69.5000;62.5000 --69.5000;63.0000 --69.5000;63.5000 --69.5000;64.0000 --69.5000;64.5000 --69.5000;65.0000 --69.5000;65.5000 --69.5000;66.0000 --69.5000;66.5000 --69.5000;67.0000 --69.5000;67.5000 --69.5000;68.0000 --69.5000;68.5000 --69.5000;69.0000 --69.5000;69.5000 --69.5000;70.0000 --69.5000;70.5000 --69.5000;71.0000 --69.5000;71.5000 --69.5000;72.0000 --69.5000;72.5000 --69.5000;73.0000 --69.5000;73.5000 --69.5000;74.0000 --69.5000;74.5000 --69.5000;75.0000 --69.5000;75.5000 --69.5000;76.0000 --69.5000;76.5000 --69.5000;77.0000 --69.5000;77.5000 --69.5000;78.0000 --69.5000;78.5000 --69.5000;79.0000 --69.5000;79.5000 --69.5000;80.0000 --69.5000;80.5000 --69.5000;90.5000 --69.5000;91.0000 --69.5000;91.5000 --69.5000;92.0000 --69.5000;92.5000 --69.5000;93.0000 --69.5000;93.5000 --69.5000;94.0000 --69.5000;94.5000 --69.5000;95.0000 --69.5000;95.5000 --69.5000;96.0000 --69.5000;96.5000 --69.5000;97.0000 --69.5000;97.5000 --69.5000;98.0000 --69.5000;98.5000 --69.5000;99.0000 --69.5000;99.5000 --69.5000;100.0000 --69.5000;100.5000 --69.5000;101.0000 --69.5000;101.5000 --69.5000;102.0000 --69.5000;102.5000 --69.5000;103.0000 --69.5000;103.5000 --69.5000;104.0000 --69.5000;104.5000 --69.5000;105.0000 --69.5000;105.5000 --69.5000;106.0000 --69.5000;106.5000 --69.5000;107.0000 --69.5000;107.5000 --69.5000;108.0000 --69.5000;108.5000 --69.5000;109.0000 --69.5000;109.5000 --69.5000;110.0000 --69.5000;110.5000 --69.5000;111.0000 --69.5000;111.5000 --69.5000;112.0000 --69.5000;112.5000 --69.5000;113.0000 --69.5000;113.5000 --69.5000;114.0000 --69.5000;114.5000 --69.5000;115.0000 --69.5000;115.5000 --69.5000;116.0000 --69.5000;116.5000 --69.5000;117.0000 --69.5000;117.5000 --69.5000;118.0000 --69.5000;118.5000 --69.5000;119.0000 --69.5000;119.5000 --69.5000;120.0000 --69.5000;120.5000 --69.5000;121.0000 --69.0000;-63.5000 --69.0000;-63.0000 --69.0000;-62.5000 --69.0000;-62.0000 --69.0000;-61.5000 --69.0000;-61.0000 --69.0000;-60.5000 --69.0000;-60.0000 --69.0000;-59.5000 --69.0000;-59.0000 --69.0000;-58.5000 --69.0000;-58.0000 --69.0000;-57.5000 --69.0000;-57.0000 --69.0000;-56.5000 --69.0000;-56.0000 --69.0000;-55.5000 --69.0000;-55.0000 --69.0000;-54.5000 --69.0000;-54.0000 --69.0000;-53.5000 --69.0000;-53.0000 --69.0000;-52.5000 --69.0000;-52.0000 --69.0000;-51.5000 --69.0000;-51.0000 --69.0000;-50.5000 --69.0000;-50.0000 --69.0000;-49.5000 --69.0000;-49.0000 --69.0000;-48.5000 --69.0000;-48.0000 --69.0000;-47.5000 --69.0000;-47.0000 --69.0000;-46.5000 --69.0000;-46.0000 --69.0000;-45.5000 --69.0000;-23.0000 --69.0000;-22.5000 --69.0000;-22.0000 --69.0000;-21.5000 --69.0000;-21.0000 --69.0000;-20.5000 --69.0000;-20.0000 --69.0000;-19.5000 --69.0000;-19.0000 --69.0000;-18.5000 --69.0000;-18.0000 --69.0000;-17.5000 --69.0000;-17.0000 --69.0000;-16.5000 --69.0000;-16.0000 --69.0000;-15.5000 --69.0000;-15.0000 --69.0000;-14.5000 --69.0000;-14.0000 --69.0000;-13.5000 --69.0000;-13.0000 --69.0000;-12.5000 --69.0000;-12.0000 --69.0000;-11.5000 --69.0000;-11.0000 --69.0000;-10.5000 --69.0000;-10.0000 --69.0000;-9.5000 --69.0000;-9.0000 --69.0000;-8.5000 --69.0000;-8.0000 --69.0000;-7.5000 --69.0000;-7.0000 --69.0000;-6.5000 --69.0000;-6.0000 --69.0000;-5.5000 --69.0000;-5.0000 --69.0000;-4.5000 --69.0000;-4.0000 --69.0000;-3.5000 --69.0000;-3.0000 --69.0000;-2.5000 --69.0000;-2.0000 --69.0000;-1.5000 --69.0000;-1.0000 --69.0000;-0.5000 --69.0000;0.0000 --69.0000;0.5000 --69.0000;1.0000 --69.0000;1.5000 --69.0000;2.0000 --69.0000;2.5000 --69.0000;3.0000 --69.0000;3.5000 --69.0000;4.0000 --69.0000;4.5000 --69.0000;61.5000 --69.0000;62.0000 --69.0000;62.5000 --69.0000;63.0000 --69.0000;63.5000 --69.0000;64.0000 --69.0000;64.5000 --69.0000;65.0000 --69.0000;65.5000 --69.0000;66.0000 --69.0000;66.5000 --69.0000;67.0000 --69.0000;67.5000 --69.0000;68.0000 --69.0000;68.5000 --69.0000;69.0000 --69.0000;69.5000 --69.0000;70.0000 --69.0000;70.5000 --69.0000;71.0000 --69.0000;71.5000 --69.0000;72.0000 --69.0000;72.5000 --69.0000;73.0000 --69.0000;73.5000 --69.0000;74.0000 --69.0000;74.5000 --69.0000;75.0000 --69.0000;75.5000 --69.0000;76.0000 --69.0000;76.5000 --69.0000;77.0000 --69.0000;77.5000 --69.0000;78.0000 --69.0000;78.5000 --69.0000;79.0000 --69.0000;79.5000 --69.0000;89.0000 --69.0000;89.5000 --69.0000;90.0000 --69.0000;90.5000 --69.0000;91.0000 --69.0000;91.5000 --69.0000;92.0000 --69.0000;92.5000 --69.0000;93.0000 --69.0000;93.5000 --69.0000;94.0000 --69.0000;94.5000 --69.0000;95.0000 --69.0000;95.5000 --69.0000;96.0000 --69.0000;96.5000 --69.0000;97.0000 --69.0000;97.5000 --69.0000;98.0000 --69.0000;98.5000 --69.0000;99.0000 --69.0000;99.5000 --69.0000;100.0000 --69.0000;100.5000 --69.0000;101.0000 --69.0000;101.5000 --69.0000;102.0000 --69.0000;102.5000 --69.0000;103.0000 --69.0000;103.5000 --69.0000;104.0000 --69.0000;104.5000 --69.0000;105.0000 --69.0000;105.5000 --69.0000;106.0000 --69.0000;106.5000 --69.0000;107.0000 --69.0000;107.5000 --69.0000;108.0000 --69.0000;108.5000 --69.0000;109.0000 --69.0000;109.5000 --69.0000;110.0000 --69.0000;110.5000 --69.0000;111.0000 --69.0000;111.5000 --69.0000;112.0000 --69.0000;112.5000 --69.0000;113.0000 --69.0000;113.5000 --69.0000;114.0000 --69.0000;114.5000 --69.0000;115.0000 --69.0000;115.5000 --69.0000;116.0000 --69.0000;116.5000 --69.0000;117.0000 --69.0000;117.5000 --69.0000;118.0000 --69.0000;118.5000 --69.0000;119.0000 --69.0000;119.5000 --69.0000;120.0000 --69.0000;120.5000 --68.5000;-64.0000 --68.5000;-63.5000 --68.5000;-63.0000 --68.5000;-62.5000 --68.5000;-62.0000 --68.5000;-61.5000 --68.5000;-61.0000 --68.5000;-60.5000 --68.5000;-60.0000 --68.5000;-59.5000 --68.5000;-59.0000 --68.5000;-58.5000 --68.5000;-58.0000 --68.5000;-57.5000 --68.5000;-57.0000 --68.5000;-56.5000 --68.5000;-56.0000 --68.5000;-55.5000 --68.5000;-55.0000 --68.5000;-54.5000 --68.5000;-54.0000 --68.5000;-53.5000 --68.5000;-53.0000 --68.5000;-52.5000 --68.5000;-52.0000 --68.5000;-51.5000 --68.5000;-51.0000 --68.5000;-50.5000 --68.5000;-50.0000 --68.5000;-49.5000 --68.5000;-49.0000 --68.5000;-48.5000 --68.5000;-48.0000 --68.5000;-47.5000 --68.5000;-47.0000 --68.5000;-46.5000 --68.5000;-46.0000 --68.5000;-24.0000 --68.5000;-23.5000 --68.5000;-23.0000 --68.5000;-22.5000 --68.5000;-22.0000 --68.5000;-21.5000 --68.5000;-21.0000 --68.5000;-20.5000 --68.5000;-20.0000 --68.5000;-19.5000 --68.5000;-19.0000 --68.5000;-18.5000 --68.5000;-18.0000 --68.5000;-17.5000 --68.5000;-17.0000 --68.5000;-16.5000 --68.5000;-16.0000 --68.5000;-15.5000 --68.5000;-15.0000 --68.5000;-14.5000 --68.5000;-14.0000 --68.5000;-13.5000 --68.5000;-13.0000 --68.5000;-12.5000 --68.5000;-12.0000 --68.5000;-11.5000 --68.5000;-11.0000 --68.5000;-10.5000 --68.5000;-10.0000 --68.5000;-9.5000 --68.5000;-9.0000 --68.5000;-8.5000 --68.5000;-8.0000 --68.5000;-7.5000 --68.5000;-7.0000 --68.5000;-6.5000 --68.5000;-6.0000 --68.5000;-5.5000 --68.5000;-5.0000 --68.5000;-4.5000 --68.5000;-4.0000 --68.5000;-3.5000 --68.5000;-3.0000 --68.5000;-2.5000 --68.5000;-2.0000 --68.5000;-1.5000 --68.5000;-1.0000 --68.5000;-0.5000 --68.5000;0.0000 --68.5000;0.5000 --68.5000;1.0000 --68.5000;1.5000 --68.5000;2.0000 --68.5000;2.5000 --68.5000;3.0000 --68.5000;3.5000 --68.5000;4.0000 --68.5000;61.0000 --68.5000;61.5000 --68.5000;62.0000 --68.5000;62.5000 --68.5000;63.0000 --68.5000;63.5000 --68.5000;64.0000 --68.5000;64.5000 --68.5000;65.0000 --68.5000;65.5000 --68.5000;66.0000 --68.5000;66.5000 --68.5000;67.0000 --68.5000;67.5000 --68.5000;68.0000 --68.5000;68.5000 --68.5000;69.0000 --68.5000;69.5000 --68.5000;70.0000 --68.5000;70.5000 --68.5000;71.0000 --68.5000;71.5000 --68.5000;72.0000 --68.5000;72.5000 --68.5000;73.0000 --68.5000;73.5000 --68.5000;74.0000 --68.5000;74.5000 --68.5000;75.0000 --68.5000;75.5000 --68.5000;76.0000 --68.5000;76.5000 --68.5000;77.0000 --68.5000;77.5000 --68.5000;78.0000 --68.5000;78.5000 --68.5000;79.0000 --68.5000;87.5000 --68.5000;88.0000 --68.5000;88.5000 --68.5000;89.0000 --68.5000;89.5000 --68.5000;90.0000 --68.5000;90.5000 --68.5000;91.0000 --68.5000;91.5000 --68.5000;92.0000 --68.5000;92.5000 --68.5000;93.0000 --68.5000;93.5000 --68.5000;94.0000 --68.5000;94.5000 --68.5000;95.0000 --68.5000;95.5000 --68.5000;96.0000 --68.5000;96.5000 --68.5000;97.0000 --68.5000;97.5000 --68.5000;98.0000 --68.5000;98.5000 --68.5000;99.0000 --68.5000;99.5000 --68.5000;100.0000 --68.5000;100.5000 --68.5000;101.0000 --68.5000;101.5000 --68.5000;102.0000 --68.5000;102.5000 --68.5000;103.0000 --68.5000;103.5000 --68.5000;104.0000 --68.5000;104.5000 --68.5000;105.0000 --68.5000;105.5000 --68.5000;106.0000 --68.5000;106.5000 --68.5000;107.0000 --68.5000;107.5000 --68.5000;108.0000 --68.5000;108.5000 --68.5000;109.0000 --68.5000;109.5000 --68.5000;110.0000 --68.5000;110.5000 --68.5000;111.0000 --68.5000;111.5000 --68.5000;112.0000 --68.5000;112.5000 --68.5000;113.0000 --68.5000;113.5000 --68.5000;114.0000 --68.5000;114.5000 --68.5000;115.0000 --68.5000;115.5000 --68.5000;116.0000 --68.5000;116.5000 --68.5000;117.0000 --68.5000;117.5000 --68.5000;118.0000 --68.5000;118.5000 --68.5000;119.0000 --68.5000;119.5000 --68.5000;120.0000 --68.5000;120.5000 --68.0000;-65.0000 --68.0000;-64.5000 --68.0000;-64.0000 --68.0000;-63.5000 --68.0000;-63.0000 --68.0000;-62.5000 --68.0000;-62.0000 --68.0000;-61.5000 --68.0000;-61.0000 --68.0000;-60.5000 --68.0000;-60.0000 --68.0000;-59.5000 --68.0000;-59.0000 --68.0000;-58.5000 --68.0000;-58.0000 --68.0000;-57.5000 --68.0000;-57.0000 --68.0000;-56.5000 --68.0000;-56.0000 --68.0000;-55.5000 --68.0000;-55.0000 --68.0000;-54.5000 --68.0000;-54.0000 --68.0000;-53.5000 --68.0000;-53.0000 --68.0000;-52.5000 --68.0000;-52.0000 --68.0000;-51.5000 --68.0000;-51.0000 --68.0000;-50.5000 --68.0000;-50.0000 --68.0000;-49.5000 --68.0000;-49.0000 --68.0000;-48.5000 --68.0000;-48.0000 --68.0000;-47.5000 --68.0000;-47.0000 --68.0000;-24.5000 --68.0000;-24.0000 --68.0000;-23.5000 --68.0000;-23.0000 --68.0000;-22.5000 --68.0000;-22.0000 --68.0000;-21.5000 --68.0000;-21.0000 --68.0000;-20.5000 --68.0000;-20.0000 --68.0000;-19.5000 --68.0000;-19.0000 --68.0000;-18.5000 --68.0000;-18.0000 --68.0000;-17.5000 --68.0000;-17.0000 --68.0000;-16.5000 --68.0000;-16.0000 --68.0000;-15.5000 --68.0000;-15.0000 --68.0000;-14.5000 --68.0000;-14.0000 --68.0000;-13.5000 --68.0000;-13.0000 --68.0000;-12.5000 --68.0000;-12.0000 --68.0000;-11.5000 --68.0000;-11.0000 --68.0000;-10.5000 --68.0000;-10.0000 --68.0000;-9.5000 --68.0000;-9.0000 --68.0000;-8.5000 --68.0000;-8.0000 --68.0000;-7.5000 --68.0000;-7.0000 --68.0000;-6.5000 --68.0000;-6.0000 --68.0000;-5.5000 --68.0000;-5.0000 --68.0000;-4.5000 --68.0000;-4.0000 --68.0000;-3.5000 --68.0000;-3.0000 --68.0000;-2.5000 --68.0000;-2.0000 --68.0000;-1.5000 --68.0000;-1.0000 --68.0000;-0.5000 --68.0000;0.0000 --68.0000;0.5000 --68.0000;1.0000 --68.0000;1.5000 --68.0000;2.0000 --68.0000;2.5000 --68.0000;3.0000 --68.0000;60.0000 --68.0000;60.5000 --68.0000;61.0000 --68.0000;61.5000 --68.0000;62.0000 --68.0000;62.5000 --68.0000;63.0000 --68.0000;63.5000 --68.0000;64.0000 --68.0000;64.5000 --68.0000;65.0000 --68.0000;65.5000 --68.0000;66.0000 --68.0000;66.5000 --68.0000;67.0000 --68.0000;67.5000 --68.0000;68.0000 --68.0000;68.5000 --68.0000;69.0000 --68.0000;69.5000 --68.0000;70.0000 --68.0000;70.5000 --68.0000;71.0000 --68.0000;71.5000 --68.0000;72.0000 --68.0000;72.5000 --68.0000;73.0000 --68.0000;73.5000 --68.0000;74.0000 --68.0000;74.5000 --68.0000;75.0000 --68.0000;75.5000 --68.0000;76.0000 --68.0000;76.5000 --68.0000;77.0000 --68.0000;77.5000 --68.0000;78.0000 --68.0000;78.5000 --68.0000;86.5000 --68.0000;87.0000 --68.0000;87.5000 --68.0000;88.0000 --68.0000;88.5000 --68.0000;89.0000 --68.0000;89.5000 --68.0000;90.0000 --68.0000;90.5000 --68.0000;91.0000 --68.0000;91.5000 --68.0000;92.0000 --68.0000;92.5000 --68.0000;93.0000 --68.0000;93.5000 --68.0000;94.0000 --68.0000;94.5000 --68.0000;95.0000 --68.0000;95.5000 --68.0000;96.0000 --68.0000;96.5000 --68.0000;97.0000 --68.0000;97.5000 --68.0000;98.0000 --68.0000;98.5000 --68.0000;99.0000 --68.0000;99.5000 --68.0000;100.0000 --68.0000;100.5000 --68.0000;101.0000 --68.0000;101.5000 --68.0000;102.0000 --68.0000;102.5000 --68.0000;103.0000 --68.0000;103.5000 --68.0000;104.0000 --68.0000;104.5000 --68.0000;105.0000 --68.0000;105.5000 --68.0000;106.0000 --68.0000;106.5000 --68.0000;107.0000 --68.0000;107.5000 --68.0000;108.0000 --68.0000;108.5000 --68.0000;109.0000 --68.0000;109.5000 --68.0000;110.0000 --68.0000;110.5000 --68.0000;111.0000 --68.0000;111.5000 --68.0000;112.0000 --68.0000;112.5000 --68.0000;113.0000 --68.0000;113.5000 --68.0000;114.0000 --68.0000;114.5000 --68.0000;115.0000 --68.0000;115.5000 --68.0000;116.0000 --68.0000;116.5000 --68.0000;117.0000 --68.0000;117.5000 --68.0000;118.0000 --68.0000;118.5000 --68.0000;119.0000 --68.0000;119.5000 --68.0000;120.0000 --67.5000;-65.5000 --67.5000;-65.0000 --67.5000;-64.5000 --67.5000;-64.0000 --67.5000;-63.5000 --67.5000;-63.0000 --67.5000;-62.5000 --67.5000;-62.0000 --67.5000;-61.5000 --67.5000;-61.0000 --67.5000;-60.5000 --67.5000;-60.0000 --67.5000;-59.5000 --67.5000;-59.0000 --67.5000;-58.5000 --67.5000;-58.0000 --67.5000;-57.5000 --67.5000;-57.0000 --67.5000;-56.5000 --67.5000;-56.0000 --67.5000;-55.5000 --67.5000;-55.0000 --67.5000;-54.5000 --67.5000;-54.0000 --67.5000;-53.5000 --67.5000;-53.0000 --67.5000;-52.5000 --67.5000;-52.0000 --67.5000;-51.5000 --67.5000;-51.0000 --67.5000;-50.5000 --67.5000;-50.0000 --67.5000;-49.5000 --67.5000;-49.0000 --67.5000;-48.5000 --67.5000;-48.0000 --67.5000;-47.5000 --67.5000;-25.0000 --67.5000;-24.5000 --67.5000;-24.0000 --67.5000;-23.5000 --67.5000;-23.0000 --67.5000;-22.5000 --67.5000;-22.0000 --67.5000;-21.5000 --67.5000;-21.0000 --67.5000;-20.5000 --67.5000;-20.0000 --67.5000;-19.5000 --67.5000;-19.0000 --67.5000;-18.5000 --67.5000;-18.0000 --67.5000;-17.5000 --67.5000;-17.0000 --67.5000;-16.5000 --67.5000;-16.0000 --67.5000;-15.5000 --67.5000;-15.0000 --67.5000;-14.5000 --67.5000;-14.0000 --67.5000;-13.5000 --67.5000;-13.0000 --67.5000;-12.5000 --67.5000;-12.0000 --67.5000;-11.5000 --67.5000;-11.0000 --67.5000;-10.5000 --67.5000;-10.0000 --67.5000;-9.5000 --67.5000;-9.0000 --67.5000;-8.5000 --67.5000;-8.0000 --67.5000;-7.5000 --67.5000;-7.0000 --67.5000;-6.5000 --67.5000;-6.0000 --67.5000;-5.5000 --67.5000;-5.0000 --67.5000;-4.5000 --67.5000;-4.0000 --67.5000;-3.5000 --67.5000;-3.0000 --67.5000;-2.5000 --67.5000;-2.0000 --67.5000;-1.5000 --67.5000;-1.0000 --67.5000;-0.5000 --67.5000;0.0000 --67.5000;0.5000 --67.5000;1.0000 --67.5000;1.5000 --67.5000;2.0000 --67.5000;2.5000 --67.5000;59.5000 --67.5000;60.0000 --67.5000;60.5000 --67.5000;61.0000 --67.5000;61.5000 --67.5000;62.0000 --67.5000;62.5000 --67.5000;63.0000 --67.5000;63.5000 --67.5000;64.0000 --67.5000;64.5000 --67.5000;65.0000 --67.5000;65.5000 --67.5000;66.0000 --67.5000;66.5000 --67.5000;67.0000 --67.5000;67.5000 --67.5000;68.0000 --67.5000;68.5000 --67.5000;69.0000 --67.5000;69.5000 --67.5000;70.0000 --67.5000;70.5000 --67.5000;71.0000 --67.5000;71.5000 --67.5000;72.0000 --67.5000;72.5000 --67.5000;73.0000 --67.5000;73.5000 --67.5000;74.0000 --67.5000;74.5000 --67.5000;75.0000 --67.5000;75.5000 --67.5000;76.0000 --67.5000;76.5000 --67.5000;77.0000 --67.5000;77.5000 --67.5000;85.5000 --67.5000;86.0000 --67.5000;86.5000 --67.5000;87.0000 --67.5000;87.5000 --67.5000;88.0000 --67.5000;88.5000 --67.5000;89.0000 --67.5000;89.5000 --67.5000;90.0000 --67.5000;90.5000 --67.5000;91.0000 --67.5000;91.5000 --67.5000;92.0000 --67.5000;92.5000 --67.5000;93.0000 --67.5000;93.5000 --67.5000;94.0000 --67.5000;94.5000 --67.5000;95.0000 --67.5000;95.5000 --67.5000;96.0000 --67.5000;96.5000 --67.5000;97.0000 --67.5000;97.5000 --67.5000;98.0000 --67.5000;98.5000 --67.5000;99.0000 --67.5000;99.5000 --67.5000;100.0000 --67.5000;100.5000 --67.5000;101.0000 --67.5000;101.5000 --67.5000;102.0000 --67.5000;102.5000 --67.5000;103.0000 --67.5000;103.5000 --67.5000;104.0000 --67.5000;104.5000 --67.5000;105.0000 --67.5000;105.5000 --67.5000;106.0000 --67.5000;106.5000 --67.5000;107.0000 --67.5000;107.5000 --67.5000;108.0000 --67.5000;108.5000 --67.5000;109.0000 --67.5000;109.5000 --67.5000;110.0000 --67.5000;110.5000 --67.5000;111.0000 --67.5000;111.5000 --67.5000;112.0000 --67.5000;112.5000 --67.5000;113.0000 --67.5000;113.5000 --67.5000;114.0000 --67.5000;114.5000 --67.5000;115.0000 --67.5000;115.5000 --67.5000;116.0000 --67.5000;116.5000 --67.5000;117.0000 --67.5000;117.5000 --67.5000;118.0000 --67.5000;118.5000 --67.5000;119.0000 --67.5000;119.5000 --67.0000;-66.0000 --67.0000;-65.5000 --67.0000;-65.0000 --67.0000;-64.5000 --67.0000;-64.0000 --67.0000;-63.5000 --67.0000;-63.0000 --67.0000;-62.5000 --67.0000;-62.0000 --67.0000;-61.5000 --67.0000;-61.0000 --67.0000;-60.5000 --67.0000;-60.0000 --67.0000;-59.5000 --67.0000;-59.0000 --67.0000;-58.5000 --67.0000;-58.0000 --67.0000;-57.5000 --67.0000;-57.0000 --67.0000;-56.5000 --67.0000;-56.0000 --67.0000;-55.5000 --67.0000;-55.0000 --67.0000;-54.5000 --67.0000;-54.0000 --67.0000;-53.5000 --67.0000;-53.0000 --67.0000;-52.5000 --67.0000;-52.0000 --67.0000;-51.5000 --67.0000;-51.0000 --67.0000;-50.5000 --67.0000;-50.0000 --67.0000;-49.5000 --67.0000;-49.0000 --67.0000;-48.5000 --67.0000;-25.5000 --67.0000;-25.0000 --67.0000;-24.5000 --67.0000;-24.0000 --67.0000;-23.5000 --67.0000;-23.0000 --67.0000;-22.5000 --67.0000;-22.0000 --67.0000;-21.5000 --67.0000;-21.0000 --67.0000;-20.5000 --67.0000;-20.0000 --67.0000;-19.5000 --67.0000;-19.0000 --67.0000;-18.5000 --67.0000;-18.0000 --67.0000;-17.5000 --67.0000;-17.0000 --67.0000;-16.5000 --67.0000;-16.0000 --67.0000;-15.5000 --67.0000;-15.0000 --67.0000;-14.5000 --67.0000;-14.0000 --67.0000;-13.5000 --67.0000;-13.0000 --67.0000;-12.5000 --67.0000;-12.0000 --67.0000;-11.5000 --67.0000;-11.0000 --67.0000;-10.5000 --67.0000;-10.0000 --67.0000;-9.5000 --67.0000;-9.0000 --67.0000;-8.5000 --67.0000;-8.0000 --67.0000;-7.5000 --67.0000;-7.0000 --67.0000;-6.5000 --67.0000;-6.0000 --67.0000;-5.5000 --67.0000;-5.0000 --67.0000;-4.5000 --67.0000;-4.0000 --67.0000;-3.5000 --67.0000;-3.0000 --67.0000;-2.5000 --67.0000;-2.0000 --67.0000;-1.5000 --67.0000;-1.0000 --67.0000;-0.5000 --67.0000;0.0000 --67.0000;0.5000 --67.0000;1.0000 --67.0000;1.5000 --67.0000;59.0000 --67.0000;59.5000 --67.0000;60.0000 --67.0000;60.5000 --67.0000;61.0000 --67.0000;61.5000 --67.0000;62.0000 --67.0000;62.5000 --67.0000;63.0000 --67.0000;63.5000 --67.0000;64.0000 --67.0000;64.5000 --67.0000;65.0000 --67.0000;65.5000 --67.0000;66.0000 --67.0000;66.5000 --67.0000;67.0000 --67.0000;67.5000 --67.0000;68.0000 --67.0000;68.5000 --67.0000;69.0000 --67.0000;69.5000 --67.0000;70.0000 --67.0000;70.5000 --67.0000;71.0000 --67.0000;71.5000 --67.0000;72.0000 --67.0000;72.5000 --67.0000;73.0000 --67.0000;73.5000 --67.0000;74.0000 --67.0000;74.5000 --67.0000;75.0000 --67.0000;75.5000 --67.0000;76.0000 --67.0000;76.5000 --67.0000;77.0000 --67.0000;84.5000 --67.0000;85.0000 --67.0000;85.5000 --67.0000;86.0000 --67.0000;86.5000 --67.0000;87.0000 --67.0000;87.5000 --67.0000;88.0000 --67.0000;88.5000 --67.0000;89.0000 --67.0000;89.5000 --67.0000;90.0000 --67.0000;90.5000 --67.0000;91.0000 --67.0000;91.5000 --67.0000;92.0000 --67.0000;92.5000 --67.0000;93.0000 --67.0000;93.5000 --67.0000;94.0000 --67.0000;94.5000 --67.0000;95.0000 --67.0000;95.5000 --67.0000;96.0000 --67.0000;96.5000 --67.0000;97.0000 --67.0000;97.5000 --67.0000;98.0000 --67.0000;98.5000 --67.0000;99.0000 --67.0000;99.5000 --67.0000;100.0000 --67.0000;100.5000 --67.0000;101.0000 --67.0000;101.5000 --67.0000;102.0000 --67.0000;102.5000 --67.0000;103.0000 --67.0000;103.5000 --67.0000;104.0000 --67.0000;104.5000 --67.0000;105.0000 --67.0000;105.5000 --67.0000;106.0000 --67.0000;106.5000 --67.0000;107.0000 --67.0000;107.5000 --67.0000;108.0000 --67.0000;108.5000 --67.0000;109.0000 --67.0000;109.5000 --67.0000;110.0000 --67.0000;110.5000 --67.0000;111.0000 --67.0000;111.5000 --67.0000;112.0000 --67.0000;112.5000 --67.0000;113.0000 --67.0000;113.5000 --67.0000;114.0000 --67.0000;114.5000 --67.0000;115.0000 --67.0000;115.5000 --67.0000;116.0000 --67.0000;116.5000 --67.0000;117.0000 --67.0000;117.5000 --67.0000;118.0000 --67.0000;118.5000 --67.0000;119.0000 --66.5000;-66.5000 --66.5000;-66.0000 --66.5000;-65.5000 --66.5000;-65.0000 --66.5000;-64.5000 --66.5000;-64.0000 --66.5000;-63.5000 --66.5000;-63.0000 --66.5000;-62.5000 --66.5000;-62.0000 --66.5000;-61.5000 --66.5000;-61.0000 --66.5000;-60.5000 --66.5000;-60.0000 --66.5000;-59.5000 --66.5000;-59.0000 --66.5000;-58.5000 --66.5000;-58.0000 --66.5000;-57.5000 --66.5000;-57.0000 --66.5000;-56.5000 --66.5000;-56.0000 --66.5000;-55.5000 --66.5000;-55.0000 --66.5000;-54.5000 --66.5000;-54.0000 --66.5000;-53.5000 --66.5000;-53.0000 --66.5000;-52.5000 --66.5000;-52.0000 --66.5000;-51.5000 --66.5000;-51.0000 --66.5000;-50.5000 --66.5000;-50.0000 --66.5000;-49.5000 --66.5000;-49.0000 --66.5000;-26.0000 --66.5000;-25.5000 --66.5000;-25.0000 --66.5000;-24.5000 --66.5000;-24.0000 --66.5000;-23.5000 --66.5000;-23.0000 --66.5000;-22.5000 --66.5000;-22.0000 --66.5000;-21.5000 --66.5000;-21.0000 --66.5000;-20.5000 --66.5000;-20.0000 --66.5000;-19.5000 --66.5000;-19.0000 --66.5000;-18.5000 --66.5000;-18.0000 --66.5000;-17.5000 --66.5000;-17.0000 --66.5000;-16.5000 --66.5000;-16.0000 --66.5000;-15.5000 --66.5000;-15.0000 --66.5000;-14.5000 --66.5000;-14.0000 --66.5000;-13.5000 --66.5000;-13.0000 --66.5000;-12.5000 --66.5000;-12.0000 --66.5000;-11.5000 --66.5000;-11.0000 --66.5000;-10.5000 --66.5000;-10.0000 --66.5000;-9.5000 --66.5000;-9.0000 --66.5000;-8.5000 --66.5000;-8.0000 --66.5000;-7.5000 --66.5000;-7.0000 --66.5000;-6.5000 --66.5000;-6.0000 --66.5000;-5.5000 --66.5000;-5.0000 --66.5000;-4.5000 --66.5000;-4.0000 --66.5000;-3.5000 --66.5000;-3.0000 --66.5000;-2.5000 --66.5000;-2.0000 --66.5000;-1.5000 --66.5000;-1.0000 --66.5000;-0.5000 --66.5000;0.0000 --66.5000;0.5000 --66.5000;58.0000 --66.5000;58.5000 --66.5000;59.0000 --66.5000;59.5000 --66.5000;60.0000 --66.5000;60.5000 --66.5000;61.0000 --66.5000;61.5000 --66.5000;62.0000 --66.5000;62.5000 --66.5000;63.0000 --66.5000;63.5000 --66.5000;64.0000 --66.5000;64.5000 --66.5000;65.0000 --66.5000;65.5000 --66.5000;66.0000 --66.5000;66.5000 --66.5000;67.0000 --66.5000;67.5000 --66.5000;68.0000 --66.5000;68.5000 --66.5000;69.0000 --66.5000;69.5000 --66.5000;70.0000 --66.5000;70.5000 --66.5000;71.0000 --66.5000;71.5000 --66.5000;72.0000 --66.5000;72.5000 --66.5000;73.0000 --66.5000;73.5000 --66.5000;74.0000 --66.5000;74.5000 --66.5000;75.0000 --66.5000;75.5000 --66.5000;76.0000 --66.5000;83.5000 --66.5000;84.0000 --66.5000;84.5000 --66.5000;85.0000 --66.5000;85.5000 --66.5000;86.0000 --66.5000;86.5000 --66.5000;87.0000 --66.5000;87.5000 --66.5000;88.0000 --66.5000;88.5000 --66.5000;89.0000 --66.5000;89.5000 --66.5000;90.0000 --66.5000;90.5000 --66.5000;91.0000 --66.5000;91.5000 --66.5000;92.0000 --66.5000;92.5000 --66.5000;93.0000 --66.5000;93.5000 --66.5000;94.0000 --66.5000;94.5000 --66.5000;95.0000 --66.5000;95.5000 --66.5000;96.0000 --66.5000;96.5000 --66.5000;97.0000 --66.5000;97.5000 --66.5000;98.0000 --66.5000;98.5000 --66.5000;99.0000 --66.5000;99.5000 --66.5000;100.0000 --66.5000;100.5000 --66.5000;101.0000 --66.5000;101.5000 --66.5000;102.0000 --66.5000;102.5000 --66.5000;103.0000 --66.5000;103.5000 --66.5000;104.0000 --66.5000;104.5000 --66.5000;105.0000 --66.5000;105.5000 --66.5000;106.0000 --66.5000;106.5000 --66.5000;107.0000 --66.5000;107.5000 --66.5000;108.0000 --66.5000;108.5000 --66.5000;109.0000 --66.5000;109.5000 --66.5000;110.0000 --66.5000;110.5000 --66.5000;111.0000 --66.5000;111.5000 --66.5000;112.0000 --66.5000;112.5000 --66.5000;113.0000 --66.5000;113.5000 --66.5000;114.0000 --66.5000;114.5000 --66.5000;115.0000 --66.5000;115.5000 --66.5000;116.0000 --66.5000;116.5000 --66.5000;117.0000 --66.5000;117.5000 --66.5000;118.0000 --66.5000;118.5000 --66.0000;-67.5000 --66.0000;-67.0000 --66.0000;-66.5000 --66.0000;-66.0000 --66.0000;-65.5000 --66.0000;-65.0000 --66.0000;-64.5000 --66.0000;-64.0000 --66.0000;-63.5000 --66.0000;-63.0000 --66.0000;-62.5000 --66.0000;-62.0000 --66.0000;-61.5000 --66.0000;-61.0000 --66.0000;-60.5000 --66.0000;-60.0000 --66.0000;-59.5000 --66.0000;-59.0000 --66.0000;-58.5000 --66.0000;-58.0000 --66.0000;-57.5000 --66.0000;-57.0000 --66.0000;-56.5000 --66.0000;-56.0000 --66.0000;-55.5000 --66.0000;-55.0000 --66.0000;-54.5000 --66.0000;-54.0000 --66.0000;-53.5000 --66.0000;-53.0000 --66.0000;-52.5000 --66.0000;-52.0000 --66.0000;-51.5000 --66.0000;-51.0000 --66.0000;-50.5000 --66.0000;-50.0000 --66.0000;-49.5000 --66.0000;-26.5000 --66.0000;-26.0000 --66.0000;-25.5000 --66.0000;-25.0000 --66.0000;-24.5000 --66.0000;-24.0000 --66.0000;-23.5000 --66.0000;-23.0000 --66.0000;-22.5000 --66.0000;-22.0000 --66.0000;-21.5000 --66.0000;-21.0000 --66.0000;-20.5000 --66.0000;-20.0000 --66.0000;-19.5000 --66.0000;-19.0000 --66.0000;-18.5000 --66.0000;-18.0000 --66.0000;-17.5000 --66.0000;-17.0000 --66.0000;-16.5000 --66.0000;-16.0000 --66.0000;-15.5000 --66.0000;-15.0000 --66.0000;-14.5000 --66.0000;-14.0000 --66.0000;-13.5000 --66.0000;-13.0000 --66.0000;-12.5000 --66.0000;-12.0000 --66.0000;-11.5000 --66.0000;-11.0000 --66.0000;-10.5000 --66.0000;-10.0000 --66.0000;-9.5000 --66.0000;-9.0000 --66.0000;-8.5000 --66.0000;-8.0000 --66.0000;-7.5000 --66.0000;-7.0000 --66.0000;-6.5000 --66.0000;-6.0000 --66.0000;-5.5000 --66.0000;-5.0000 --66.0000;-4.5000 --66.0000;-4.0000 --66.0000;-3.5000 --66.0000;-3.0000 --66.0000;-2.5000 --66.0000;-2.0000 --66.0000;-1.5000 --66.0000;-1.0000 --66.0000;57.5000 --66.0000;58.0000 --66.0000;58.5000 --66.0000;59.0000 --66.0000;59.5000 --66.0000;60.0000 --66.0000;60.5000 --66.0000;61.0000 --66.0000;61.5000 --66.0000;62.0000 --66.0000;62.5000 --66.0000;63.0000 --66.0000;63.5000 --66.0000;64.0000 --66.0000;64.5000 --66.0000;65.0000 --66.0000;65.5000 --66.0000;66.0000 --66.0000;66.5000 --66.0000;67.0000 --66.0000;67.5000 --66.0000;68.0000 --66.0000;68.5000 --66.0000;69.0000 --66.0000;69.5000 --66.0000;70.0000 --66.0000;70.5000 --66.0000;71.0000 --66.0000;71.5000 --66.0000;72.0000 --66.0000;72.5000 --66.0000;73.0000 --66.0000;73.5000 --66.0000;74.0000 --66.0000;74.5000 --66.0000;75.0000 --66.0000;75.5000 --66.0000;83.0000 --66.0000;83.5000 --66.0000;84.0000 --66.0000;84.5000 --66.0000;85.0000 --66.0000;85.5000 --66.0000;86.0000 --66.0000;86.5000 --66.0000;87.0000 --66.0000;87.5000 --66.0000;88.0000 --66.0000;88.5000 --66.0000;89.0000 --66.0000;89.5000 --66.0000;90.0000 --66.0000;90.5000 --66.0000;91.0000 --66.0000;91.5000 --66.0000;92.0000 --66.0000;92.5000 --66.0000;93.0000 --66.0000;93.5000 --66.0000;94.0000 --66.0000;94.5000 --66.0000;95.0000 --66.0000;95.5000 --66.0000;96.0000 --66.0000;96.5000 --66.0000;97.0000 --66.0000;97.5000 --66.0000;98.0000 --66.0000;98.5000 --66.0000;99.0000 --66.0000;99.5000 --66.0000;100.0000 --66.0000;100.5000 --66.0000;101.0000 --66.0000;101.5000 --66.0000;102.0000 --66.0000;102.5000 --66.0000;103.0000 --66.0000;103.5000 --66.0000;104.0000 --66.0000;104.5000 --66.0000;105.0000 --66.0000;105.5000 --66.0000;106.0000 --66.0000;106.5000 --66.0000;107.0000 --66.0000;107.5000 --66.0000;108.0000 --66.0000;108.5000 --66.0000;109.0000 --66.0000;109.5000 --66.0000;110.0000 --66.0000;110.5000 --66.0000;111.0000 --66.0000;111.5000 --66.0000;112.0000 --66.0000;112.5000 --66.0000;113.0000 --66.0000;113.5000 --66.0000;114.0000 --66.0000;114.5000 --66.0000;115.0000 --66.0000;115.5000 --66.0000;116.0000 --66.0000;116.5000 --66.0000;117.0000 --66.0000;117.5000 --66.0000;118.0000 --65.5000;-68.0000 --65.5000;-67.5000 --65.5000;-67.0000 --65.5000;-66.5000 --65.5000;-66.0000 --65.5000;-65.5000 --65.5000;-65.0000 --65.5000;-64.5000 --65.5000;-64.0000 --65.5000;-63.5000 --65.5000;-63.0000 --65.5000;-62.5000 --65.5000;-62.0000 --65.5000;-61.5000 --65.5000;-61.0000 --65.5000;-60.5000 --65.5000;-60.0000 --65.5000;-59.5000 --65.5000;-59.0000 --65.5000;-58.5000 --65.5000;-58.0000 --65.5000;-57.5000 --65.5000;-57.0000 --65.5000;-56.5000 --65.5000;-56.0000 --65.5000;-55.5000 --65.5000;-55.0000 --65.5000;-54.5000 --65.5000;-54.0000 --65.5000;-53.5000 --65.5000;-53.0000 --65.5000;-52.5000 --65.5000;-52.0000 --65.5000;-51.5000 --65.5000;-51.0000 --65.5000;-50.5000 --65.5000;-27.0000 --65.5000;-26.5000 --65.5000;-26.0000 --65.5000;-25.5000 --65.5000;-25.0000 --65.5000;-24.5000 --65.5000;-24.0000 --65.5000;-23.5000 --65.5000;-23.0000 --65.5000;-22.5000 --65.5000;-22.0000 --65.5000;-21.5000 --65.5000;-21.0000 --65.5000;-20.5000 --65.5000;-20.0000 --65.5000;-19.5000 --65.5000;-19.0000 --65.5000;-18.5000 --65.5000;-18.0000 --65.5000;-17.5000 --65.5000;-17.0000 --65.5000;-16.5000 --65.5000;-16.0000 --65.5000;-15.5000 --65.5000;-15.0000 --65.5000;-14.5000 --65.5000;-14.0000 --65.5000;-13.5000 --65.5000;-13.0000 --65.5000;-12.5000 --65.5000;-12.0000 --65.5000;-11.5000 --65.5000;-11.0000 --65.5000;-10.5000 --65.5000;-10.0000 --65.5000;-9.5000 --65.5000;-9.0000 --65.5000;-8.5000 --65.5000;-8.0000 --65.5000;-7.5000 --65.5000;-7.0000 --65.5000;-6.5000 --65.5000;-6.0000 --65.5000;-5.5000 --65.5000;-5.0000 --65.5000;-4.5000 --65.5000;-4.0000 --65.5000;-3.5000 --65.5000;-3.0000 --65.5000;-2.5000 --65.5000;-2.0000 --65.5000;56.5000 --65.5000;57.0000 --65.5000;57.5000 --65.5000;58.0000 --65.5000;58.5000 --65.5000;59.0000 --65.5000;59.5000 --65.5000;60.0000 --65.5000;60.5000 --65.5000;61.0000 --65.5000;61.5000 --65.5000;62.0000 --65.5000;62.5000 --65.5000;63.0000 --65.5000;63.5000 --65.5000;64.0000 --65.5000;64.5000 --65.5000;65.0000 --65.5000;65.5000 --65.5000;66.0000 --65.5000;66.5000 --65.5000;67.0000 --65.5000;67.5000 --65.5000;68.0000 --65.5000;68.5000 --65.5000;69.0000 --65.5000;69.5000 --65.5000;70.0000 --65.5000;70.5000 --65.5000;71.0000 --65.5000;71.5000 --65.5000;72.0000 --65.5000;72.5000 --65.5000;73.0000 --65.5000;73.5000 --65.5000;74.0000 --65.5000;74.5000 --65.5000;82.0000 --65.5000;82.5000 --65.5000;83.0000 --65.5000;83.5000 --65.5000;84.0000 --65.5000;84.5000 --65.5000;85.0000 --65.5000;85.5000 --65.5000;86.0000 --65.5000;86.5000 --65.5000;87.0000 --65.5000;87.5000 --65.5000;88.0000 --65.5000;88.5000 --65.5000;89.0000 --65.5000;89.5000 --65.5000;90.0000 --65.5000;90.5000 --65.5000;91.0000 --65.5000;91.5000 --65.5000;92.0000 --65.5000;92.5000 --65.5000;93.0000 --65.5000;93.5000 --65.5000;94.0000 --65.5000;94.5000 --65.5000;95.0000 --65.5000;95.5000 --65.5000;96.0000 --65.5000;96.5000 --65.5000;97.0000 --65.5000;97.5000 --65.5000;98.0000 --65.5000;98.5000 --65.5000;99.0000 --65.5000;99.5000 --65.5000;100.0000 --65.5000;100.5000 --65.5000;101.0000 --65.5000;101.5000 --65.5000;102.0000 --65.5000;102.5000 --65.5000;103.0000 --65.5000;103.5000 --65.5000;104.0000 --65.5000;104.5000 --65.5000;105.0000 --65.5000;105.5000 --65.5000;106.0000 --65.5000;106.5000 --65.5000;107.0000 --65.5000;107.5000 --65.5000;108.0000 --65.5000;108.5000 --65.5000;109.0000 --65.5000;109.5000 --65.5000;110.0000 --65.5000;110.5000 --65.5000;111.0000 --65.5000;111.5000 --65.5000;112.0000 --65.5000;112.5000 --65.5000;113.0000 --65.5000;113.5000 --65.5000;114.0000 --65.5000;114.5000 --65.5000;115.0000 --65.5000;115.5000 --65.5000;116.0000 --65.5000;116.5000 --65.5000;117.0000 --65.5000;117.5000 --65.0000;-68.5000 --65.0000;-68.0000 --65.0000;-67.5000 --65.0000;-67.0000 --65.0000;-66.5000 --65.0000;-66.0000 --65.0000;-65.5000 --65.0000;-65.0000 --65.0000;-64.5000 --65.0000;-64.0000 --65.0000;-63.5000 --65.0000;-63.0000 --65.0000;-62.5000 --65.0000;-62.0000 --65.0000;-61.5000 --65.0000;-61.0000 --65.0000;-60.5000 --65.0000;-60.0000 --65.0000;-59.5000 --65.0000;-59.0000 --65.0000;-58.5000 --65.0000;-58.0000 --65.0000;-57.5000 --65.0000;-57.0000 --65.0000;-56.5000 --65.0000;-56.0000 --65.0000;-55.5000 --65.0000;-55.0000 --65.0000;-54.5000 --65.0000;-54.0000 --65.0000;-53.5000 --65.0000;-53.0000 --65.0000;-52.5000 --65.0000;-52.0000 --65.0000;-51.5000 --65.0000;-51.0000 --65.0000;-27.5000 --65.0000;-27.0000 --65.0000;-26.5000 --65.0000;-26.0000 --65.0000;-25.5000 --65.0000;-25.0000 --65.0000;-24.5000 --65.0000;-24.0000 --65.0000;-23.5000 --65.0000;-23.0000 --65.0000;-22.5000 --65.0000;-22.0000 --65.0000;-21.5000 --65.0000;-21.0000 --65.0000;-20.5000 --65.0000;-20.0000 --65.0000;-19.5000 --65.0000;-19.0000 --65.0000;-18.5000 --65.0000;-18.0000 --65.0000;-17.5000 --65.0000;-17.0000 --65.0000;-16.5000 --65.0000;-16.0000 --65.0000;-15.5000 --65.0000;-15.0000 --65.0000;-14.5000 --65.0000;-14.0000 --65.0000;-13.5000 --65.0000;-13.0000 --65.0000;-12.5000 --65.0000;-12.0000 --65.0000;-11.5000 --65.0000;-11.0000 --65.0000;-10.5000 --65.0000;-10.0000 --65.0000;-9.5000 --65.0000;-9.0000 --65.0000;-8.5000 --65.0000;-8.0000 --65.0000;-7.5000 --65.0000;-7.0000 --65.0000;-6.5000 --65.0000;-6.0000 --65.0000;-5.5000 --65.0000;-5.0000 --65.0000;-4.5000 --65.0000;-4.0000 --65.0000;-3.5000 --65.0000;56.0000 --65.0000;56.5000 --65.0000;57.0000 --65.0000;57.5000 --65.0000;58.0000 --65.0000;58.5000 --65.0000;59.0000 --65.0000;59.5000 --65.0000;60.0000 --65.0000;60.5000 --65.0000;61.0000 --65.0000;61.5000 --65.0000;62.0000 --65.0000;62.5000 --65.0000;63.0000 --65.0000;63.5000 --65.0000;64.0000 --65.0000;64.5000 --65.0000;65.0000 --65.0000;65.5000 --65.0000;66.0000 --65.0000;66.5000 --65.0000;67.0000 --65.0000;67.5000 --65.0000;68.0000 --65.0000;68.5000 --65.0000;69.0000 --65.0000;69.5000 --65.0000;70.0000 --65.0000;70.5000 --65.0000;71.0000 --65.0000;71.5000 --65.0000;72.0000 --65.0000;72.5000 --65.0000;73.0000 --65.0000;73.5000 --65.0000;74.0000 --65.0000;81.5000 --65.0000;82.0000 --65.0000;82.5000 --65.0000;83.0000 --65.0000;83.5000 --65.0000;84.0000 --65.0000;84.5000 --65.0000;85.0000 --65.0000;85.5000 --65.0000;86.0000 --65.0000;86.5000 --65.0000;87.0000 --65.0000;87.5000 --65.0000;88.0000 --65.0000;88.5000 --65.0000;89.0000 --65.0000;89.5000 --65.0000;90.0000 --65.0000;90.5000 --65.0000;91.0000 --65.0000;91.5000 --65.0000;92.0000 --65.0000;92.5000 --65.0000;93.0000 --65.0000;93.5000 --65.0000;94.0000 --65.0000;94.5000 --65.0000;95.0000 --65.0000;95.5000 --65.0000;96.0000 --65.0000;96.5000 --65.0000;97.0000 --65.0000;97.5000 --65.0000;98.0000 --65.0000;98.5000 --65.0000;99.0000 --65.0000;99.5000 --65.0000;100.0000 --65.0000;100.5000 --65.0000;101.0000 --65.0000;101.5000 --65.0000;102.0000 --65.0000;102.5000 --65.0000;103.0000 --65.0000;103.5000 --65.0000;104.0000 --65.0000;104.5000 --65.0000;105.0000 --65.0000;105.5000 --65.0000;106.0000 --65.0000;106.5000 --65.0000;107.0000 --65.0000;107.5000 --65.0000;108.0000 --65.0000;108.5000 --65.0000;109.0000 --65.0000;109.5000 --65.0000;110.0000 --65.0000;110.5000 --65.0000;111.0000 --65.0000;111.5000 --65.0000;112.0000 --65.0000;112.5000 --65.0000;113.0000 --65.0000;113.5000 --65.0000;114.0000 --65.0000;114.5000 --65.0000;115.0000 --65.0000;115.5000 --65.0000;116.0000 --65.0000;116.5000 --65.0000;117.0000 --64.5000;-69.0000 --64.5000;-68.5000 --64.5000;-68.0000 --64.5000;-67.5000 --64.5000;-67.0000 --64.5000;-66.5000 --64.5000;-66.0000 --64.5000;-65.5000 --64.5000;-65.0000 --64.5000;-64.5000 --64.5000;-64.0000 --64.5000;-63.5000 --64.5000;-63.0000 --64.5000;-62.5000 --64.5000;-62.0000 --64.5000;-61.5000 --64.5000;-61.0000 --64.5000;-60.5000 --64.5000;-60.0000 --64.5000;-59.5000 --64.5000;-59.0000 --64.5000;-58.5000 --64.5000;-58.0000 --64.5000;-57.5000 --64.5000;-57.0000 --64.5000;-56.5000 --64.5000;-56.0000 --64.5000;-55.5000 --64.5000;-55.0000 --64.5000;-54.5000 --64.5000;-54.0000 --64.5000;-53.5000 --64.5000;-53.0000 --64.5000;-52.5000 --64.5000;-52.0000 --64.5000;-28.0000 --64.5000;-27.5000 --64.5000;-27.0000 --64.5000;-26.5000 --64.5000;-26.0000 --64.5000;-25.5000 --64.5000;-25.0000 --64.5000;-24.5000 --64.5000;-24.0000 --64.5000;-23.5000 --64.5000;-23.0000 --64.5000;-22.5000 --64.5000;-22.0000 --64.5000;-21.5000 --64.5000;-21.0000 --64.5000;-20.5000 --64.5000;-20.0000 --64.5000;-19.5000 --64.5000;-19.0000 --64.5000;-18.5000 --64.5000;-18.0000 --64.5000;-17.5000 --64.5000;-17.0000 --64.5000;-16.5000 --64.5000;-16.0000 --64.5000;-15.5000 --64.5000;-15.0000 --64.5000;-14.5000 --64.5000;-14.0000 --64.5000;-13.5000 --64.5000;-13.0000 --64.5000;-12.5000 --64.5000;-12.0000 --64.5000;-11.5000 --64.5000;-11.0000 --64.5000;-10.5000 --64.5000;-10.0000 --64.5000;-9.5000 --64.5000;-9.0000 --64.5000;-8.5000 --64.5000;-8.0000 --64.5000;-7.5000 --64.5000;-7.0000 --64.5000;-6.5000 --64.5000;-6.0000 --64.5000;-5.5000 --64.5000;55.0000 --64.5000;55.5000 --64.5000;56.0000 --64.5000;56.5000 --64.5000;57.0000 --64.5000;57.5000 --64.5000;58.0000 --64.5000;58.5000 --64.5000;59.0000 --64.5000;59.5000 --64.5000;60.0000 --64.5000;60.5000 --64.5000;61.0000 --64.5000;61.5000 --64.5000;62.0000 --64.5000;62.5000 --64.5000;63.0000 --64.5000;63.5000 --64.5000;64.0000 --64.5000;64.5000 --64.5000;65.0000 --64.5000;65.5000 --64.5000;66.0000 --64.5000;66.5000 --64.5000;67.0000 --64.5000;67.5000 --64.5000;68.0000 --64.5000;68.5000 --64.5000;69.0000 --64.5000;69.5000 --64.5000;70.0000 --64.5000;70.5000 --64.5000;71.0000 --64.5000;71.5000 --64.5000;72.0000 --64.5000;72.5000 --64.5000;73.0000 --64.5000;81.0000 --64.5000;81.5000 --64.5000;82.0000 --64.5000;82.5000 --64.5000;83.0000 --64.5000;83.5000 --64.5000;84.0000 --64.5000;84.5000 --64.5000;85.0000 --64.5000;85.5000 --64.5000;86.0000 --64.5000;86.5000 --64.5000;87.0000 --64.5000;87.5000 --64.5000;88.0000 --64.5000;88.5000 --64.5000;89.0000 --64.5000;89.5000 --64.5000;90.0000 --64.5000;90.5000 --64.5000;91.0000 --64.5000;91.5000 --64.5000;92.0000 --64.5000;92.5000 --64.5000;93.0000 --64.5000;93.5000 --64.5000;94.0000 --64.5000;94.5000 --64.5000;95.0000 --64.5000;95.5000 --64.5000;96.0000 --64.5000;96.5000 --64.5000;97.0000 --64.5000;97.5000 --64.5000;98.0000 --64.5000;98.5000 --64.5000;99.0000 --64.5000;99.5000 --64.5000;100.0000 --64.5000;100.5000 --64.5000;101.0000 --64.5000;101.5000 --64.5000;102.0000 --64.5000;102.5000 --64.5000;103.0000 --64.5000;103.5000 --64.5000;104.0000 --64.5000;104.5000 --64.5000;105.0000 --64.5000;105.5000 --64.5000;106.0000 --64.5000;106.5000 --64.5000;107.0000 --64.5000;107.5000 --64.5000;108.0000 --64.5000;108.5000 --64.5000;109.0000 --64.5000;109.5000 --64.5000;110.0000 --64.5000;110.5000 --64.5000;111.0000 --64.5000;111.5000 --64.5000;112.0000 --64.5000;112.5000 --64.5000;113.0000 --64.5000;113.5000 --64.5000;114.0000 --64.5000;114.5000 --64.5000;115.0000 --64.5000;115.5000 --64.5000;116.0000 --64.5000;116.5000 --64.0000;-69.5000 --64.0000;-69.0000 --64.0000;-68.5000 --64.0000;-68.0000 --64.0000;-67.5000 --64.0000;-67.0000 --64.0000;-66.5000 --64.0000;-66.0000 --64.0000;-65.5000 --64.0000;-65.0000 --64.0000;-64.5000 --64.0000;-64.0000 --64.0000;-63.5000 --64.0000;-63.0000 --64.0000;-62.5000 --64.0000;-62.0000 --64.0000;-61.5000 --64.0000;-61.0000 --64.0000;-60.5000 --64.0000;-60.0000 --64.0000;-59.5000 --64.0000;-59.0000 --64.0000;-58.5000 --64.0000;-58.0000 --64.0000;-57.5000 --64.0000;-57.0000 --64.0000;-56.5000 --64.0000;-56.0000 --64.0000;-55.5000 --64.0000;-55.0000 --64.0000;-54.5000 --64.0000;-54.0000 --64.0000;-53.5000 --64.0000;-53.0000 --64.0000;-52.5000 --64.0000;-28.0000 --64.0000;-27.5000 --64.0000;-27.0000 --64.0000;-26.5000 --64.0000;-26.0000 --64.0000;-25.5000 --64.0000;-25.0000 --64.0000;-24.5000 --64.0000;-24.0000 --64.0000;-23.5000 --64.0000;-23.0000 --64.0000;-22.5000 --64.0000;-22.0000 --64.0000;-21.5000 --64.0000;-21.0000 --64.0000;-20.5000 --64.0000;-20.0000 --64.0000;-19.5000 --64.0000;-19.0000 --64.0000;-18.5000 --64.0000;-18.0000 --64.0000;-17.5000 --64.0000;-17.0000 --64.0000;-16.5000 --64.0000;-16.0000 --64.0000;-15.5000 --64.0000;-15.0000 --64.0000;-14.5000 --64.0000;-14.0000 --64.0000;-13.5000 --64.0000;-13.0000 --64.0000;-12.5000 --64.0000;-12.0000 --64.0000;-11.5000 --64.0000;-11.0000 --64.0000;-10.5000 --64.0000;-10.0000 --64.0000;-9.5000 --64.0000;-9.0000 --64.0000;-8.5000 --64.0000;-8.0000 --64.0000;-7.5000 --64.0000;-7.0000 --64.0000;54.5000 --64.0000;55.0000 --64.0000;55.5000 --64.0000;56.0000 --64.0000;56.5000 --64.0000;57.0000 --64.0000;57.5000 --64.0000;58.0000 --64.0000;58.5000 --64.0000;59.0000 --64.0000;59.5000 --64.0000;60.0000 --64.0000;60.5000 --64.0000;61.0000 --64.0000;61.5000 --64.0000;62.0000 --64.0000;62.5000 --64.0000;63.0000 --64.0000;63.5000 --64.0000;64.0000 --64.0000;64.5000 --64.0000;65.0000 --64.0000;65.5000 --64.0000;66.0000 --64.0000;66.5000 --64.0000;67.0000 --64.0000;67.5000 --64.0000;68.0000 --64.0000;68.5000 --64.0000;69.0000 --64.0000;69.5000 --64.0000;70.0000 --64.0000;70.5000 --64.0000;71.0000 --64.0000;71.5000 --64.0000;72.0000 --64.0000;72.5000 --64.0000;80.5000 --64.0000;81.0000 --64.0000;81.5000 --64.0000;82.0000 --64.0000;82.5000 --64.0000;83.0000 --64.0000;83.5000 --64.0000;84.0000 --64.0000;84.5000 --64.0000;85.0000 --64.0000;85.5000 --64.0000;86.0000 --64.0000;86.5000 --64.0000;87.0000 --64.0000;87.5000 --64.0000;88.0000 --64.0000;88.5000 --64.0000;89.0000 --64.0000;89.5000 --64.0000;90.0000 --64.0000;90.5000 --64.0000;91.0000 --64.0000;91.5000 --64.0000;92.0000 --64.0000;92.5000 --64.0000;93.0000 --64.0000;93.5000 --64.0000;94.0000 --64.0000;94.5000 --64.0000;95.0000 --64.0000;95.5000 --64.0000;96.0000 --64.0000;96.5000 --64.0000;97.0000 --64.0000;97.5000 --64.0000;98.0000 --64.0000;98.5000 --64.0000;99.0000 --64.0000;99.5000 --64.0000;100.0000 --64.0000;100.5000 --64.0000;101.0000 --64.0000;101.5000 --64.0000;102.0000 --64.0000;102.5000 --64.0000;103.0000 --64.0000;103.5000 --64.0000;104.0000 --64.0000;104.5000 --64.0000;105.0000 --64.0000;105.5000 --64.0000;106.0000 --64.0000;106.5000 --64.0000;107.0000 --64.0000;107.5000 --64.0000;108.0000 --64.0000;108.5000 --64.0000;109.0000 --64.0000;109.5000 --64.0000;110.0000 --64.0000;110.5000 --64.0000;111.0000 --64.0000;111.5000 --64.0000;112.0000 --64.0000;112.5000 --64.0000;113.0000 --64.0000;113.5000 --64.0000;114.0000 --64.0000;114.5000 --64.0000;115.0000 --64.0000;115.5000 --63.5000;-70.0000 --63.5000;-69.5000 --63.5000;-69.0000 --63.5000;-68.5000 --63.5000;-68.0000 --63.5000;-67.5000 --63.5000;-67.0000 --63.5000;-66.5000 --63.5000;-66.0000 --63.5000;-65.5000 --63.5000;-65.0000 --63.5000;-64.5000 --63.5000;-64.0000 --63.5000;-63.5000 --63.5000;-63.0000 --63.5000;-62.5000 --63.5000;-62.0000 --63.5000;-61.5000 --63.5000;-61.0000 --63.5000;-60.5000 --63.5000;-60.0000 --63.5000;-59.5000 --63.5000;-59.0000 --63.5000;-58.5000 --63.5000;-58.0000 --63.5000;-57.5000 --63.5000;-57.0000 --63.5000;-56.5000 --63.5000;-56.0000 --63.5000;-55.5000 --63.5000;-55.0000 --63.5000;-54.5000 --63.5000;-54.0000 --63.5000;-53.5000 --63.5000;-28.5000 --63.5000;-28.0000 --63.5000;-27.5000 --63.5000;-27.0000 --63.5000;-26.5000 --63.5000;-26.0000 --63.5000;-25.5000 --63.5000;-25.0000 --63.5000;-24.5000 --63.5000;-24.0000 --63.5000;-23.5000 --63.5000;-23.0000 --63.5000;-22.5000 --63.5000;-22.0000 --63.5000;-21.5000 --63.5000;-21.0000 --63.5000;-20.5000 --63.5000;-20.0000 --63.5000;-19.5000 --63.5000;-19.0000 --63.5000;-18.5000 --63.5000;-18.0000 --63.5000;-17.5000 --63.5000;-17.0000 --63.5000;-16.5000 --63.5000;-16.0000 --63.5000;-15.5000 --63.5000;-15.0000 --63.5000;-14.5000 --63.5000;-14.0000 --63.5000;-13.5000 --63.5000;-13.0000 --63.5000;-12.5000 --63.5000;-12.0000 --63.5000;-11.5000 --63.5000;-11.0000 --63.5000;-10.5000 --63.5000;-10.0000 --63.5000;-9.5000 --63.5000;-9.0000 --63.5000;54.0000 --63.5000;54.5000 --63.5000;55.0000 --63.5000;55.5000 --63.5000;56.0000 --63.5000;56.5000 --63.5000;57.0000 --63.5000;57.5000 --63.5000;58.0000 --63.5000;58.5000 --63.5000;59.0000 --63.5000;59.5000 --63.5000;60.0000 --63.5000;60.5000 --63.5000;61.0000 --63.5000;61.5000 --63.5000;62.0000 --63.5000;62.5000 --63.5000;63.0000 --63.5000;63.5000 --63.5000;64.0000 --63.5000;64.5000 --63.5000;65.0000 --63.5000;65.5000 --63.5000;66.0000 --63.5000;66.5000 --63.5000;67.0000 --63.5000;67.5000 --63.5000;68.0000 --63.5000;68.5000 --63.5000;69.0000 --63.5000;69.5000 --63.5000;70.0000 --63.5000;70.5000 --63.5000;71.0000 --63.5000;71.5000 --63.5000;72.0000 --63.5000;80.0000 --63.5000;80.5000 --63.5000;81.0000 --63.5000;81.5000 --63.5000;82.0000 --63.5000;82.5000 --63.5000;83.0000 --63.5000;83.5000 --63.5000;84.0000 --63.5000;84.5000 --63.5000;85.0000 --63.5000;85.5000 --63.5000;86.0000 --63.5000;86.5000 --63.5000;87.0000 --63.5000;87.5000 --63.5000;88.0000 --63.5000;88.5000 --63.5000;89.0000 --63.5000;89.5000 --63.5000;90.0000 --63.5000;90.5000 --63.5000;91.0000 --63.5000;91.5000 --63.5000;92.0000 --63.5000;92.5000 --63.5000;93.0000 --63.5000;93.5000 --63.5000;94.0000 --63.5000;94.5000 --63.5000;95.0000 --63.5000;95.5000 --63.5000;96.0000 --63.5000;96.5000 --63.5000;97.0000 --63.5000;97.5000 --63.5000;98.0000 --63.5000;98.5000 --63.5000;99.0000 --63.5000;99.5000 --63.5000;100.0000 --63.5000;100.5000 --63.5000;101.0000 --63.5000;101.5000 --63.5000;102.0000 --63.5000;102.5000 --63.5000;103.0000 --63.5000;103.5000 --63.5000;104.0000 --63.5000;104.5000 --63.5000;105.0000 --63.5000;105.5000 --63.5000;106.0000 --63.5000;106.5000 --63.5000;107.0000 --63.5000;107.5000 --63.5000;108.0000 --63.5000;108.5000 --63.5000;109.0000 --63.5000;109.5000 --63.5000;110.0000 --63.5000;110.5000 --63.5000;111.0000 --63.5000;111.5000 --63.5000;112.0000 --63.5000;112.5000 --63.5000;113.0000 --63.5000;113.5000 --63.5000;114.0000 --63.5000;114.5000 --63.0000;-70.5000 --63.0000;-70.0000 --63.0000;-69.5000 --63.0000;-69.0000 --63.0000;-68.5000 --63.0000;-68.0000 --63.0000;-67.5000 --63.0000;-67.0000 --63.0000;-66.5000 --63.0000;-66.0000 --63.0000;-65.5000 --63.0000;-65.0000 --63.0000;-64.5000 --63.0000;-64.0000 --63.0000;-63.5000 --63.0000;-63.0000 --63.0000;-62.5000 --63.0000;-62.0000 --63.0000;-61.5000 --63.0000;-61.0000 --63.0000;-60.5000 --63.0000;-60.0000 --63.0000;-59.5000 --63.0000;-59.0000 --63.0000;-58.5000 --63.0000;-58.0000 --63.0000;-57.5000 --63.0000;-57.0000 --63.0000;-56.5000 --63.0000;-56.0000 --63.0000;-55.5000 --63.0000;-55.0000 --63.0000;-54.5000 --63.0000;-54.0000 --63.0000;-29.0000 --63.0000;-28.5000 --63.0000;-28.0000 --63.0000;-27.5000 --63.0000;-27.0000 --63.0000;-26.5000 --63.0000;-26.0000 --63.0000;-25.5000 --63.0000;-25.0000 --63.0000;-24.5000 --63.0000;-24.0000 --63.0000;-23.5000 --63.0000;-23.0000 --63.0000;-22.5000 --63.0000;-22.0000 --63.0000;-21.5000 --63.0000;-21.0000 --63.0000;-20.5000 --63.0000;-20.0000 --63.0000;-19.5000 --63.0000;-19.0000 --63.0000;-18.5000 --63.0000;-18.0000 --63.0000;-17.5000 --63.0000;-17.0000 --63.0000;-16.5000 --63.0000;-16.0000 --63.0000;-15.5000 --63.0000;-15.0000 --63.0000;-14.5000 --63.0000;-14.0000 --63.0000;-13.5000 --63.0000;-13.0000 --63.0000;-12.5000 --63.0000;-12.0000 --63.0000;-11.5000 --63.0000;-11.0000 --63.0000;53.0000 --63.0000;53.5000 --63.0000;54.0000 --63.0000;54.5000 --63.0000;55.0000 --63.0000;55.5000 --63.0000;56.0000 --63.0000;56.5000 --63.0000;57.0000 --63.0000;57.5000 --63.0000;58.0000 --63.0000;58.5000 --63.0000;59.0000 --63.0000;59.5000 --63.0000;60.0000 --63.0000;60.5000 --63.0000;61.0000 --63.0000;61.5000 --63.0000;62.0000 --63.0000;62.5000 --63.0000;63.0000 --63.0000;63.5000 --63.0000;64.0000 --63.0000;64.5000 --63.0000;65.0000 --63.0000;65.5000 --63.0000;66.0000 --63.0000;66.5000 --63.0000;67.0000 --63.0000;67.5000 --63.0000;68.0000 --63.0000;68.5000 --63.0000;69.0000 --63.0000;69.5000 --63.0000;70.0000 --63.0000;70.5000 --63.0000;71.0000 --63.0000;79.5000 --63.0000;80.0000 --63.0000;80.5000 --63.0000;81.0000 --63.0000;81.5000 --63.0000;82.0000 --63.0000;82.5000 --63.0000;83.0000 --63.0000;83.5000 --63.0000;84.0000 --63.0000;84.5000 --63.0000;85.0000 --63.0000;85.5000 --63.0000;86.0000 --63.0000;86.5000 --63.0000;87.0000 --63.0000;87.5000 --63.0000;88.0000 --63.0000;88.5000 --63.0000;89.0000 --63.0000;89.5000 --63.0000;90.0000 --63.0000;90.5000 --63.0000;91.0000 --63.0000;91.5000 --63.0000;92.0000 --63.0000;92.5000 --63.0000;93.0000 --63.0000;93.5000 --63.0000;94.0000 --63.0000;94.5000 --63.0000;95.0000 --63.0000;95.5000 --63.0000;96.0000 --63.0000;96.5000 --63.0000;97.0000 --63.0000;97.5000 --63.0000;98.0000 --63.0000;98.5000 --63.0000;99.0000 --63.0000;99.5000 --63.0000;100.0000 --63.0000;100.5000 --63.0000;101.0000 --63.0000;101.5000 --63.0000;102.0000 --63.0000;102.5000 --63.0000;103.0000 --63.0000;103.5000 --63.0000;104.0000 --63.0000;104.5000 --63.0000;105.0000 --63.0000;105.5000 --63.0000;106.0000 --63.0000;106.5000 --63.0000;107.0000 --63.0000;107.5000 --63.0000;108.0000 --63.0000;108.5000 --63.0000;109.0000 --63.0000;109.5000 --63.0000;110.0000 --63.0000;110.5000 --63.0000;111.0000 --63.0000;111.5000 --63.0000;112.0000 --63.0000;112.5000 --63.0000;113.0000 --63.0000;113.5000 --63.0000;114.0000 --62.5000;-70.5000 --62.5000;-70.0000 --62.5000;-69.5000 --62.5000;-69.0000 --62.5000;-68.5000 --62.5000;-68.0000 --62.5000;-67.5000 --62.5000;-67.0000 --62.5000;-66.5000 --62.5000;-66.0000 --62.5000;-65.5000 --62.5000;-65.0000 --62.5000;-64.5000 --62.5000;-64.0000 --62.5000;-63.5000 --62.5000;-63.0000 --62.5000;-62.5000 --62.5000;-62.0000 --62.5000;-61.5000 --62.5000;-61.0000 --62.5000;-60.5000 --62.5000;-60.0000 --62.5000;-59.5000 --62.5000;-59.0000 --62.5000;-58.5000 --62.5000;-58.0000 --62.5000;-57.5000 --62.5000;-57.0000 --62.5000;-56.5000 --62.5000;-56.0000 --62.5000;-55.5000 --62.5000;-55.0000 --62.5000;-29.0000 --62.5000;-28.5000 --62.5000;-28.0000 --62.5000;-27.5000 --62.5000;-27.0000 --62.5000;-26.5000 --62.5000;-26.0000 --62.5000;-25.5000 --62.5000;-25.0000 --62.5000;-24.5000 --62.5000;-24.0000 --62.5000;-23.5000 --62.5000;-23.0000 --62.5000;-22.5000 --62.5000;-22.0000 --62.5000;-21.5000 --62.5000;-21.0000 --62.5000;-20.5000 --62.5000;-20.0000 --62.5000;-19.5000 --62.5000;-19.0000 --62.5000;-18.5000 --62.5000;-18.0000 --62.5000;-17.5000 --62.5000;-17.0000 --62.5000;-16.5000 --62.5000;-16.0000 --62.5000;-15.5000 --62.5000;-15.0000 --62.5000;-14.5000 --62.5000;-14.0000 --62.5000;-13.5000 --62.5000;-13.0000 --62.5000;-12.5000 --62.5000;52.5000 --62.5000;53.0000 --62.5000;53.5000 --62.5000;54.0000 --62.5000;54.5000 --62.5000;55.0000 --62.5000;55.5000 --62.5000;56.0000 --62.5000;56.5000 --62.5000;57.0000 --62.5000;57.5000 --62.5000;58.0000 --62.5000;58.5000 --62.5000;59.0000 --62.5000;59.5000 --62.5000;60.0000 --62.5000;60.5000 --62.5000;61.0000 --62.5000;61.5000 --62.5000;62.0000 --62.5000;62.5000 --62.5000;63.0000 --62.5000;63.5000 --62.5000;64.0000 --62.5000;64.5000 --62.5000;65.0000 --62.5000;65.5000 --62.5000;66.0000 --62.5000;66.5000 --62.5000;67.0000 --62.5000;67.5000 --62.5000;68.0000 --62.5000;68.5000 --62.5000;69.0000 --62.5000;69.5000 --62.5000;70.0000 --62.5000;70.5000 --62.5000;79.0000 --62.5000;79.5000 --62.5000;80.0000 --62.5000;80.5000 --62.5000;81.0000 --62.5000;81.5000 --62.5000;82.0000 --62.5000;82.5000 --62.5000;83.0000 --62.5000;83.5000 --62.5000;84.0000 --62.5000;84.5000 --62.5000;85.0000 --62.5000;85.5000 --62.5000;86.0000 --62.5000;86.5000 --62.5000;87.0000 --62.5000;87.5000 --62.5000;88.0000 --62.5000;88.5000 --62.5000;89.0000 --62.5000;89.5000 --62.5000;90.0000 --62.5000;90.5000 --62.5000;91.0000 --62.5000;91.5000 --62.5000;92.0000 --62.5000;92.5000 --62.5000;93.0000 --62.5000;93.5000 --62.5000;94.0000 --62.5000;94.5000 --62.5000;95.0000 --62.5000;95.5000 --62.5000;96.0000 --62.5000;96.5000 --62.5000;97.0000 --62.5000;97.5000 --62.5000;98.0000 --62.5000;98.5000 --62.5000;99.0000 --62.5000;99.5000 --62.5000;100.0000 --62.5000;100.5000 --62.5000;101.0000 --62.5000;101.5000 --62.5000;102.0000 --62.5000;102.5000 --62.5000;103.0000 --62.5000;103.5000 --62.5000;104.0000 --62.5000;104.5000 --62.5000;105.0000 --62.5000;105.5000 --62.5000;106.0000 --62.5000;106.5000 --62.5000;107.0000 --62.5000;107.5000 --62.5000;108.0000 --62.5000;108.5000 --62.5000;109.0000 --62.5000;109.5000 --62.5000;110.0000 --62.5000;110.5000 --62.5000;111.0000 --62.5000;111.5000 --62.5000;112.0000 --62.5000;112.5000 --62.0000;-71.0000 --62.0000;-70.5000 --62.0000;-70.0000 --62.0000;-69.5000 --62.0000;-69.0000 --62.0000;-68.5000 --62.0000;-68.0000 --62.0000;-67.5000 --62.0000;-67.0000 --62.0000;-66.5000 --62.0000;-66.0000 --62.0000;-65.5000 --62.0000;-65.0000 --62.0000;-64.5000 --62.0000;-64.0000 --62.0000;-63.5000 --62.0000;-63.0000 --62.0000;-62.5000 --62.0000;-62.0000 --62.0000;-61.5000 --62.0000;-61.0000 --62.0000;-60.5000 --62.0000;-60.0000 --62.0000;-59.5000 --62.0000;-59.0000 --62.0000;-58.5000 --62.0000;-58.0000 --62.0000;-57.5000 --62.0000;-57.0000 --62.0000;-56.5000 --62.0000;-56.0000 --62.0000;-55.5000 --62.0000;-29.5000 --62.0000;-29.0000 --62.0000;-28.5000 --62.0000;-28.0000 --62.0000;-27.5000 --62.0000;-27.0000 --62.0000;-26.5000 --62.0000;-26.0000 --62.0000;-25.5000 --62.0000;-25.0000 --62.0000;-24.5000 --62.0000;-24.0000 --62.0000;-23.5000 --62.0000;-23.0000 --62.0000;-22.5000 --62.0000;-22.0000 --62.0000;-21.5000 --62.0000;-21.0000 --62.0000;-20.5000 --62.0000;-20.0000 --62.0000;-19.5000 --62.0000;-19.0000 --62.0000;-18.5000 --62.0000;-18.0000 --62.0000;-17.5000 --62.0000;-17.0000 --62.0000;-16.5000 --62.0000;-16.0000 --62.0000;-15.5000 --62.0000;-15.0000 --62.0000;-14.5000 --62.0000;-14.0000 --62.0000;51.5000 --62.0000;52.0000 --62.0000;52.5000 --62.0000;53.0000 --62.0000;53.5000 --62.0000;54.0000 --62.0000;54.5000 --62.0000;55.0000 --62.0000;55.5000 --62.0000;56.0000 --62.0000;56.5000 --62.0000;57.0000 --62.0000;57.5000 --62.0000;58.0000 --62.0000;58.5000 --62.0000;59.0000 --62.0000;59.5000 --62.0000;60.0000 --62.0000;60.5000 --62.0000;61.0000 --62.0000;61.5000 --62.0000;62.0000 --62.0000;62.5000 --62.0000;63.0000 --62.0000;63.5000 --62.0000;64.0000 --62.0000;64.5000 --62.0000;65.0000 --62.0000;65.5000 --62.0000;66.0000 --62.0000;66.5000 --62.0000;67.0000 --62.0000;67.5000 --62.0000;68.0000 --62.0000;68.5000 --62.0000;69.0000 --62.0000;69.5000 --62.0000;78.5000 --62.0000;79.0000 --62.0000;79.5000 --62.0000;80.0000 --62.0000;80.5000 --62.0000;81.0000 --62.0000;81.5000 --62.0000;82.0000 --62.0000;82.5000 --62.0000;83.0000 --62.0000;83.5000 --62.0000;84.0000 --62.0000;84.5000 --62.0000;85.0000 --62.0000;85.5000 --62.0000;86.0000 --62.0000;86.5000 --62.0000;87.0000 --62.0000;87.5000 --62.0000;88.0000 --62.0000;88.5000 --62.0000;89.0000 --62.0000;89.5000 --62.0000;90.0000 --62.0000;90.5000 --62.0000;91.0000 --62.0000;91.5000 --62.0000;92.0000 --62.0000;92.5000 --62.0000;93.0000 --62.0000;93.5000 --62.0000;94.0000 --62.0000;94.5000 --62.0000;95.0000 --62.0000;95.5000 --62.0000;96.0000 --62.0000;96.5000 --62.0000;97.0000 --62.0000;97.5000 --62.0000;98.0000 --62.0000;98.5000 --62.0000;99.0000 --62.0000;99.5000 --62.0000;100.0000 --62.0000;100.5000 --62.0000;101.0000 --62.0000;101.5000 --62.0000;102.0000 --62.0000;102.5000 --62.0000;103.0000 --62.0000;103.5000 --62.0000;104.0000 --62.0000;104.5000 --62.0000;105.0000 --62.0000;105.5000 --62.0000;106.0000 --62.0000;106.5000 --62.0000;107.0000 --62.0000;107.5000 --62.0000;108.0000 --62.0000;108.5000 --62.0000;109.0000 --62.0000;109.5000 --62.0000;110.0000 --62.0000;110.5000 --62.0000;111.0000 --62.0000;111.5000 --61.5000;-71.5000 --61.5000;-71.0000 --61.5000;-70.5000 --61.5000;-70.0000 --61.5000;-69.5000 --61.5000;-69.0000 --61.5000;-68.5000 --61.5000;-68.0000 --61.5000;-67.5000 --61.5000;-67.0000 --61.5000;-66.5000 --61.5000;-66.0000 --61.5000;-65.5000 --61.5000;-65.0000 --61.5000;-64.5000 --61.5000;-64.0000 --61.5000;-63.5000 --61.5000;-63.0000 --61.5000;-62.5000 --61.5000;-62.0000 --61.5000;-61.5000 --61.5000;-61.0000 --61.5000;-60.5000 --61.5000;-60.0000 --61.5000;-59.5000 --61.5000;-59.0000 --61.5000;-58.5000 --61.5000;-58.0000 --61.5000;-57.5000 --61.5000;-57.0000 --61.5000;-56.5000 --61.5000;-56.0000 --61.5000;-29.5000 --61.5000;-29.0000 --61.5000;-28.5000 --61.5000;-28.0000 --61.5000;-27.5000 --61.5000;-27.0000 --61.5000;-26.5000 --61.5000;-26.0000 --61.5000;-25.5000 --61.5000;-25.0000 --61.5000;-24.5000 --61.5000;-24.0000 --61.5000;-23.5000 --61.5000;-23.0000 --61.5000;-22.5000 --61.5000;-22.0000 --61.5000;-21.5000 --61.5000;-21.0000 --61.5000;-20.5000 --61.5000;-20.0000 --61.5000;-19.5000 --61.5000;-19.0000 --61.5000;-18.5000 --61.5000;-18.0000 --61.5000;-17.5000 --61.5000;-17.0000 --61.5000;-16.5000 --61.5000;-16.0000 --61.5000;-15.5000 --61.5000;51.0000 --61.5000;51.5000 --61.5000;52.0000 --61.5000;52.5000 --61.5000;53.0000 --61.5000;53.5000 --61.5000;54.0000 --61.5000;54.5000 --61.5000;55.0000 --61.5000;55.5000 --61.5000;56.0000 --61.5000;56.5000 --61.5000;57.0000 --61.5000;57.5000 --61.5000;58.0000 --61.5000;58.5000 --61.5000;59.0000 --61.5000;59.5000 --61.5000;60.0000 --61.5000;60.5000 --61.5000;61.0000 --61.5000;61.5000 --61.5000;62.0000 --61.5000;62.5000 --61.5000;63.0000 --61.5000;63.5000 --61.5000;64.0000 --61.5000;64.5000 --61.5000;65.0000 --61.5000;65.5000 --61.5000;66.0000 --61.5000;66.5000 --61.5000;67.0000 --61.5000;67.5000 --61.5000;68.0000 --61.5000;68.5000 --61.5000;69.0000 --61.5000;78.0000 --61.5000;78.5000 --61.5000;79.0000 --61.5000;79.5000 --61.5000;80.0000 --61.5000;80.5000 --61.5000;81.0000 --61.5000;81.5000 --61.5000;82.0000 --61.5000;82.5000 --61.5000;83.0000 --61.5000;83.5000 --61.5000;84.0000 --61.5000;84.5000 --61.5000;85.0000 --61.5000;85.5000 --61.5000;86.0000 --61.5000;86.5000 --61.5000;87.0000 --61.5000;87.5000 --61.5000;88.0000 --61.5000;88.5000 --61.5000;89.0000 --61.5000;89.5000 --61.5000;90.0000 --61.5000;90.5000 --61.5000;91.0000 --61.5000;91.5000 --61.5000;92.0000 --61.5000;92.5000 --61.5000;93.0000 --61.5000;93.5000 --61.5000;94.0000 --61.5000;94.5000 --61.5000;95.0000 --61.5000;95.5000 --61.5000;96.0000 --61.5000;96.5000 --61.5000;97.0000 --61.5000;97.5000 --61.5000;98.0000 --61.5000;98.5000 --61.5000;99.0000 --61.5000;99.5000 --61.5000;100.0000 --61.5000;100.5000 --61.5000;101.0000 --61.5000;101.5000 --61.5000;102.0000 --61.5000;102.5000 --61.5000;103.0000 --61.5000;103.5000 --61.5000;104.0000 --61.5000;104.5000 --61.5000;105.0000 --61.5000;105.5000 --61.5000;106.0000 --61.5000;106.5000 --61.5000;107.0000 --61.5000;107.5000 --61.5000;108.0000 --61.5000;108.5000 --61.5000;109.0000 --61.5000;109.5000 --61.5000;110.0000 --61.0000;-72.0000 --61.0000;-71.5000 --61.0000;-71.0000 --61.0000;-70.5000 --61.0000;-70.0000 --61.0000;-69.5000 --61.0000;-69.0000 --61.0000;-68.5000 --61.0000;-68.0000 --61.0000;-67.5000 --61.0000;-67.0000 --61.0000;-66.5000 --61.0000;-66.0000 --61.0000;-65.5000 --61.0000;-65.0000 --61.0000;-64.5000 --61.0000;-64.0000 --61.0000;-63.5000 --61.0000;-63.0000 --61.0000;-62.5000 --61.0000;-62.0000 --61.0000;-61.5000 --61.0000;-61.0000 --61.0000;-60.5000 --61.0000;-60.0000 --61.0000;-59.5000 --61.0000;-59.0000 --61.0000;-58.5000 --61.0000;-58.0000 --61.0000;-57.5000 --61.0000;-57.0000 --61.0000;-30.0000 --61.0000;-29.5000 --61.0000;-29.0000 --61.0000;-28.5000 --61.0000;-28.0000 --61.0000;-27.5000 --61.0000;-27.0000 --61.0000;-26.5000 --61.0000;-26.0000 --61.0000;-25.5000 --61.0000;-25.0000 --61.0000;-24.5000 --61.0000;-24.0000 --61.0000;-23.5000 --61.0000;-23.0000 --61.0000;-22.5000 --61.0000;-22.0000 --61.0000;-21.5000 --61.0000;-21.0000 --61.0000;-20.5000 --61.0000;-20.0000 --61.0000;-19.5000 --61.0000;-19.0000 --61.0000;-18.5000 --61.0000;-18.0000 --61.0000;-17.5000 --61.0000;-17.0000 --61.0000;-16.5000 --61.0000;50.0000 --61.0000;50.5000 --61.0000;51.0000 --61.0000;51.5000 --61.0000;52.0000 --61.0000;52.5000 --61.0000;53.0000 --61.0000;53.5000 --61.0000;54.0000 --61.0000;54.5000 --61.0000;55.0000 --61.0000;55.5000 --61.0000;56.0000 --61.0000;56.5000 --61.0000;57.0000 --61.0000;57.5000 --61.0000;58.0000 --61.0000;58.5000 --61.0000;59.0000 --61.0000;59.5000 --61.0000;60.0000 --61.0000;60.5000 --61.0000;61.0000 --61.0000;61.5000 --61.0000;62.0000 --61.0000;62.5000 --61.0000;63.0000 --61.0000;63.5000 --61.0000;64.0000 --61.0000;64.5000 --61.0000;65.0000 --61.0000;65.5000 --61.0000;66.0000 --61.0000;66.5000 --61.0000;67.0000 --61.0000;67.5000 --61.0000;68.0000 --61.0000;78.0000 --61.0000;78.5000 --61.0000;79.0000 --61.0000;79.5000 --61.0000;80.0000 --61.0000;80.5000 --61.0000;81.0000 --61.0000;81.5000 --61.0000;82.0000 --61.0000;82.5000 --61.0000;83.0000 --61.0000;83.5000 --61.0000;84.0000 --61.0000;84.5000 --61.0000;85.0000 --61.0000;85.5000 --61.0000;86.0000 --61.0000;86.5000 --61.0000;87.0000 --61.0000;87.5000 --61.0000;88.0000 --61.0000;88.5000 --61.0000;89.0000 --61.0000;89.5000 --61.0000;90.0000 --61.0000;90.5000 --61.0000;91.0000 --61.0000;91.5000 --61.0000;92.0000 --61.0000;92.5000 --61.0000;93.0000 --61.0000;93.5000 --61.0000;94.0000 --61.0000;94.5000 --61.0000;95.0000 --61.0000;95.5000 --61.0000;96.0000 --61.0000;96.5000 --61.0000;97.0000 --61.0000;97.5000 --61.0000;98.0000 --61.0000;98.5000 --61.0000;99.0000 --61.0000;99.5000 --61.0000;100.0000 --61.0000;100.5000 --61.0000;101.0000 --61.0000;101.5000 --61.0000;102.0000 --61.0000;102.5000 --61.0000;103.0000 --61.0000;103.5000 --61.0000;104.0000 --61.0000;104.5000 --61.0000;105.0000 --61.0000;105.5000 --61.0000;106.0000 --61.0000;106.5000 --61.0000;107.0000 --61.0000;107.5000 --61.0000;108.0000 --60.5000;-72.0000 --60.5000;-71.5000 --60.5000;-71.0000 --60.5000;-70.5000 --60.5000;-70.0000 --60.5000;-69.5000 --60.5000;-69.0000 --60.5000;-68.5000 --60.5000;-68.0000 --60.5000;-67.5000 --60.5000;-67.0000 --60.5000;-66.5000 --60.5000;-66.0000 --60.5000;-65.5000 --60.5000;-65.0000 --60.5000;-64.5000 --60.5000;-64.0000 --60.5000;-63.5000 --60.5000;-63.0000 --60.5000;-62.5000 --60.5000;-62.0000 --60.5000;-61.5000 --60.5000;-61.0000 --60.5000;-60.5000 --60.5000;-60.0000 --60.5000;-59.5000 --60.5000;-59.0000 --60.5000;-58.5000 --60.5000;-58.0000 --60.5000;-57.5000 --60.5000;-30.0000 --60.5000;-29.5000 --60.5000;-29.0000 --60.5000;-28.5000 --60.5000;-28.0000 --60.5000;-27.5000 --60.5000;-27.0000 --60.5000;-26.5000 --60.5000;-26.0000 --60.5000;-25.5000 --60.5000;-25.0000 --60.5000;-24.5000 --60.5000;-24.0000 --60.5000;-23.5000 --60.5000;-23.0000 --60.5000;-22.5000 --60.5000;-22.0000 --60.5000;-21.5000 --60.5000;-21.0000 --60.5000;-20.5000 --60.5000;-20.0000 --60.5000;-19.5000 --60.5000;-19.0000 --60.5000;-18.5000 --60.5000;-18.0000 --60.5000;-17.5000 --60.5000;49.5000 --60.5000;50.0000 --60.5000;50.5000 --60.5000;51.0000 --60.5000;51.5000 --60.5000;52.0000 --60.5000;52.5000 --60.5000;53.0000 --60.5000;53.5000 --60.5000;54.0000 --60.5000;54.5000 --60.5000;55.0000 --60.5000;55.5000 --60.5000;56.0000 --60.5000;56.5000 --60.5000;57.0000 --60.5000;57.5000 --60.5000;58.0000 --60.5000;58.5000 --60.5000;59.0000 --60.5000;59.5000 --60.5000;60.0000 --60.5000;60.5000 --60.5000;61.0000 --60.5000;61.5000 --60.5000;62.0000 --60.5000;62.5000 --60.5000;63.0000 --60.5000;63.5000 --60.5000;64.0000 --60.5000;64.5000 --60.5000;65.0000 --60.5000;65.5000 --60.5000;66.0000 --60.5000;66.5000 --60.5000;67.0000 --60.5000;67.5000 --60.5000;77.5000 --60.5000;78.0000 --60.5000;78.5000 --60.5000;79.0000 --60.5000;79.5000 --60.5000;80.0000 --60.5000;80.5000 --60.5000;81.0000 --60.5000;81.5000 --60.5000;82.0000 --60.5000;82.5000 --60.5000;83.0000 --60.5000;83.5000 --60.5000;84.0000 --60.5000;84.5000 --60.5000;85.0000 --60.5000;85.5000 --60.5000;86.0000 --60.5000;86.5000 --60.5000;87.0000 --60.5000;87.5000 --60.5000;88.0000 --60.5000;88.5000 --60.5000;89.0000 --60.5000;89.5000 --60.5000;90.0000 --60.5000;90.5000 --60.5000;91.0000 --60.5000;91.5000 --60.5000;92.0000 --60.5000;92.5000 --60.5000;93.0000 --60.5000;93.5000 --60.5000;94.0000 --60.5000;94.5000 --60.5000;95.0000 --60.5000;95.5000 --60.5000;96.0000 --60.5000;96.5000 --60.5000;97.0000 --60.5000;97.5000 --60.5000;98.0000 --60.5000;98.5000 --60.5000;99.0000 --60.5000;99.5000 --60.5000;100.0000 --60.5000;100.5000 --60.5000;101.0000 --60.5000;101.5000 --60.5000;102.0000 --60.5000;102.5000 --60.5000;103.0000 --60.5000;103.5000 --60.5000;104.0000 --60.5000;104.5000 --60.5000;105.0000 --60.0000;-72.5000 --60.0000;-72.0000 --60.0000;-71.5000 --60.0000;-71.0000 --60.0000;-70.5000 --60.0000;-70.0000 --60.0000;-69.5000 --60.0000;-69.0000 --60.0000;-68.5000 --60.0000;-68.0000 --60.0000;-67.5000 --60.0000;-67.0000 --60.0000;-66.5000 --60.0000;-66.0000 --60.0000;-65.5000 --60.0000;-65.0000 --60.0000;-64.5000 --60.0000;-64.0000 --60.0000;-63.5000 --60.0000;-63.0000 --60.0000;-62.5000 --60.0000;-62.0000 --60.0000;-61.5000 --60.0000;-61.0000 --60.0000;-60.5000 --60.0000;-60.0000 --60.0000;-59.5000 --60.0000;-59.0000 --60.0000;-58.5000 --60.0000;-30.0000 --60.0000;-29.5000 --60.0000;-29.0000 --60.0000;-28.5000 --60.0000;-28.0000 --60.0000;-27.5000 --60.0000;-27.0000 --60.0000;-26.5000 --60.0000;-26.0000 --60.0000;-25.5000 --60.0000;-25.0000 --60.0000;-24.5000 --60.0000;-24.0000 --60.0000;-23.5000 --60.0000;-23.0000 --60.0000;-22.5000 --60.0000;-22.0000 --60.0000;-21.5000 --60.0000;-21.0000 --60.0000;-20.5000 --60.0000;-20.0000 --60.0000;-19.5000 --60.0000;-19.0000 --60.0000;-18.5000 --60.0000;-18.0000 --60.0000;48.5000 --60.0000;49.0000 --60.0000;49.5000 --60.0000;50.0000 --60.0000;50.5000 --60.0000;51.0000 --60.0000;51.5000 --60.0000;52.0000 --60.0000;52.5000 --60.0000;53.0000 --60.0000;53.5000 --60.0000;54.0000 --60.0000;54.5000 --60.0000;55.0000 --60.0000;55.5000 --60.0000;56.0000 --60.0000;56.5000 --60.0000;57.0000 --60.0000;57.5000 --60.0000;58.0000 --60.0000;58.5000 --60.0000;59.0000 --60.0000;59.5000 --60.0000;60.0000 --60.0000;60.5000 --60.0000;61.0000 --60.0000;61.5000 --60.0000;62.0000 --60.0000;62.5000 --60.0000;63.0000 --60.0000;63.5000 --60.0000;64.0000 --60.0000;64.5000 --60.0000;65.0000 --60.0000;65.5000 --60.0000;66.0000 --60.0000;66.5000 --60.0000;67.0000 --60.0000;77.0000 --60.0000;77.5000 --60.0000;78.0000 --60.0000;78.5000 --60.0000;79.0000 --60.0000;79.5000 --60.0000;80.0000 --60.0000;80.5000 --60.0000;81.0000 --60.0000;81.5000 --60.0000;82.0000 --60.0000;82.5000 --60.0000;83.0000 --60.0000;83.5000 --60.0000;84.0000 --60.0000;84.5000 --60.0000;85.0000 --60.0000;85.5000 --60.0000;86.0000 --60.0000;86.5000 --60.0000;87.0000 --60.0000;87.5000 --60.0000;88.0000 --60.0000;88.5000 --60.0000;89.0000 --60.0000;89.5000 --60.0000;90.0000 --60.0000;90.5000 --60.0000;91.0000 --60.0000;91.5000 --60.0000;92.0000 --60.0000;92.5000 --60.0000;93.0000 --60.0000;93.5000 --60.0000;94.0000 --60.0000;94.5000 --60.0000;95.0000 --60.0000;95.5000 --60.0000;96.0000 --60.0000;96.5000 --60.0000;97.0000 --60.0000;97.5000 --60.0000;98.0000 --60.0000;98.5000 --59.5000;-72.5000 --59.5000;-72.0000 --59.5000;-71.5000 --59.5000;-71.0000 --59.5000;-70.5000 --59.5000;-70.0000 --59.5000;-69.5000 --59.5000;-69.0000 --59.5000;-68.5000 --59.5000;-68.0000 --59.5000;-67.5000 --59.5000;-67.0000 --59.5000;-66.5000 --59.5000;-66.0000 --59.5000;-65.5000 --59.5000;-65.0000 --59.5000;-64.5000 --59.5000;-64.0000 --59.5000;-63.5000 --59.5000;-63.0000 --59.5000;-62.5000 --59.5000;-62.0000 --59.5000;-61.5000 --59.5000;-61.0000 --59.5000;-60.5000 --59.5000;-60.0000 --59.5000;-59.5000 --59.5000;-59.0000 --59.5000;-30.5000 --59.5000;-30.0000 --59.5000;-29.5000 --59.5000;-29.0000 --59.5000;-28.5000 --59.5000;-28.0000 --59.5000;-27.5000 --59.5000;-27.0000 --59.5000;-26.5000 --59.5000;-26.0000 --59.5000;-25.5000 --59.5000;-25.0000 --59.5000;-24.5000 --59.5000;-24.0000 --59.5000;-23.5000 --59.5000;-23.0000 --59.5000;-22.5000 --59.5000;-22.0000 --59.5000;-21.5000 --59.5000;-21.0000 --59.5000;-20.5000 --59.5000;-20.0000 --59.5000;-19.5000 --59.5000;-19.0000 --59.5000;-18.5000 --59.5000;48.0000 --59.5000;48.5000 --59.5000;49.0000 --59.5000;49.5000 --59.5000;50.0000 --59.5000;50.5000 --59.5000;51.0000 --59.5000;51.5000 --59.5000;52.0000 --59.5000;52.5000 --59.5000;53.0000 --59.5000;53.5000 --59.5000;54.0000 --59.5000;54.5000 --59.5000;55.0000 --59.5000;55.5000 --59.5000;56.0000 --59.5000;56.5000 --59.5000;57.0000 --59.5000;57.5000 --59.5000;58.0000 --59.5000;58.5000 --59.5000;59.0000 --59.5000;59.5000 --59.5000;60.0000 --59.5000;60.5000 --59.5000;61.0000 --59.5000;61.5000 --59.5000;62.0000 --59.5000;62.5000 --59.5000;63.0000 --59.5000;63.5000 --59.5000;64.0000 --59.5000;64.5000 --59.5000;65.0000 --59.5000;65.5000 --59.5000;66.0000 --59.5000;77.0000 --59.5000;77.5000 --59.5000;78.0000 --59.5000;78.5000 --59.5000;79.0000 --59.5000;79.5000 --59.5000;80.0000 --59.5000;80.5000 --59.5000;81.0000 --59.5000;81.5000 --59.5000;82.0000 --59.5000;82.5000 --59.5000;83.0000 --59.5000;83.5000 --59.5000;84.0000 --59.5000;84.5000 --59.5000;85.0000 --59.5000;85.5000 --59.5000;86.0000 --59.5000;86.5000 --59.5000;87.0000 --59.5000;87.5000 --59.5000;88.0000 --59.5000;88.5000 --59.5000;89.0000 --59.5000;89.5000 --59.5000;90.0000 --59.5000;90.5000 --59.5000;91.0000 --59.5000;91.5000 --59.5000;92.0000 --59.5000;92.5000 --59.5000;93.0000 --59.5000;93.5000 --59.5000;94.0000 --59.0000;-73.0000 --59.0000;-72.5000 --59.0000;-72.0000 --59.0000;-71.5000 --59.0000;-71.0000 --59.0000;-70.5000 --59.0000;-70.0000 --59.0000;-69.5000 --59.0000;-69.0000 --59.0000;-68.5000 --59.0000;-68.0000 --59.0000;-67.5000 --59.0000;-67.0000 --59.0000;-66.5000 --59.0000;-66.0000 --59.0000;-65.5000 --59.0000;-65.0000 --59.0000;-64.5000 --59.0000;-64.0000 --59.0000;-63.5000 --59.0000;-63.0000 --59.0000;-62.5000 --59.0000;-62.0000 --59.0000;-61.5000 --59.0000;-61.0000 --59.0000;-60.5000 --59.0000;-60.0000 --59.0000;-59.5000 --59.0000;-30.5000 --59.0000;-30.0000 --59.0000;-29.5000 --59.0000;-29.0000 --59.0000;-28.5000 --59.0000;-28.0000 --59.0000;-27.5000 --59.0000;-27.0000 --59.0000;-26.5000 --59.0000;-26.0000 --59.0000;-25.5000 --59.0000;-25.0000 --59.0000;-24.5000 --59.0000;-24.0000 --59.0000;-23.5000 --59.0000;-23.0000 --59.0000;-22.5000 --59.0000;-22.0000 --59.0000;-21.5000 --59.0000;-21.0000 --59.0000;-20.5000 --59.0000;-20.0000 --59.0000;-19.5000 --59.0000;-19.0000 --59.0000;47.5000 --59.0000;48.0000 --59.0000;48.5000 --59.0000;49.0000 --59.0000;49.5000 --59.0000;50.0000 --59.0000;50.5000 --59.0000;51.0000 --59.0000;51.5000 --59.0000;52.0000 --59.0000;52.5000 --59.0000;53.0000 --59.0000;53.5000 --59.0000;54.0000 --59.0000;54.5000 --59.0000;55.0000 --59.0000;55.5000 --59.0000;56.0000 --59.0000;56.5000 --59.0000;57.0000 --59.0000;57.5000 --59.0000;58.0000 --59.0000;58.5000 --59.0000;59.0000 --59.0000;59.5000 --59.0000;60.0000 --59.0000;60.5000 --59.0000;61.0000 --59.0000;61.5000 --59.0000;62.0000 --59.0000;62.5000 --59.0000;63.0000 --59.0000;63.5000 --59.0000;64.0000 --59.0000;64.5000 --59.0000;65.0000 --59.0000;65.5000 --59.0000;76.5000 --59.0000;77.0000 --59.0000;77.5000 --59.0000;78.0000 --59.0000;78.5000 --59.0000;79.0000 --59.0000;79.5000 --59.0000;80.0000 --59.0000;80.5000 --59.0000;81.0000 --59.0000;81.5000 --59.0000;82.0000 --59.0000;82.5000 --59.0000;83.0000 --59.0000;83.5000 --59.0000;84.0000 --59.0000;84.5000 --59.0000;85.0000 --59.0000;85.5000 --59.0000;86.0000 --59.0000;86.5000 --59.0000;87.0000 --59.0000;87.5000 --59.0000;88.0000 --59.0000;88.5000 --59.0000;89.0000 --59.0000;89.5000 --59.0000;90.0000 --59.0000;90.5000 --59.0000;91.0000 --59.0000;91.5000 --59.0000;92.0000 --58.5000;-73.0000 --58.5000;-72.5000 --58.5000;-72.0000 --58.5000;-71.5000 --58.5000;-71.0000 --58.5000;-70.5000 --58.5000;-70.0000 --58.5000;-69.5000 --58.5000;-69.0000 --58.5000;-68.5000 --58.5000;-68.0000 --58.5000;-67.5000 --58.5000;-67.0000 --58.5000;-66.5000 --58.5000;-66.0000 --58.5000;-65.5000 --58.5000;-65.0000 --58.5000;-64.5000 --58.5000;-64.0000 --58.5000;-63.5000 --58.5000;-63.0000 --58.5000;-62.5000 --58.5000;-62.0000 --58.5000;-61.5000 --58.5000;-61.0000 --58.5000;-60.5000 --58.5000;-30.5000 --58.5000;-30.0000 --58.5000;-29.5000 --58.5000;-29.0000 --58.5000;-28.5000 --58.5000;-28.0000 --58.5000;-27.5000 --58.5000;-27.0000 --58.5000;-26.5000 --58.5000;-26.0000 --58.5000;-25.5000 --58.5000;-25.0000 --58.5000;-24.5000 --58.5000;-24.0000 --58.5000;-23.5000 --58.5000;-23.0000 --58.5000;-22.5000 --58.5000;-22.0000 --58.5000;-21.5000 --58.5000;-21.0000 --58.5000;-20.5000 --58.5000;-20.0000 --58.5000;-19.5000 --58.5000;46.5000 --58.5000;47.0000 --58.5000;47.5000 --58.5000;48.0000 --58.5000;48.5000 --58.5000;49.0000 --58.5000;49.5000 --58.5000;50.0000 --58.5000;50.5000 --58.5000;51.0000 --58.5000;51.5000 --58.5000;52.0000 --58.5000;52.5000 --58.5000;53.0000 --58.5000;53.5000 --58.5000;54.0000 --58.5000;54.5000 --58.5000;55.0000 --58.5000;55.5000 --58.5000;56.0000 --58.5000;56.5000 --58.5000;57.0000 --58.5000;57.5000 --58.5000;58.0000 --58.5000;58.5000 --58.5000;59.0000 --58.5000;59.5000 --58.5000;60.0000 --58.5000;60.5000 --58.5000;61.0000 --58.5000;61.5000 --58.5000;62.0000 --58.5000;62.5000 --58.5000;63.0000 --58.5000;63.5000 --58.5000;64.0000 --58.5000;64.5000 --58.5000;76.0000 --58.5000;76.5000 --58.5000;77.0000 --58.5000;77.5000 --58.5000;78.0000 --58.5000;78.5000 --58.5000;79.0000 --58.5000;79.5000 --58.5000;80.0000 --58.5000;80.5000 --58.5000;81.0000 --58.5000;81.5000 --58.5000;82.0000 --58.5000;82.5000 --58.5000;83.0000 --58.5000;83.5000 --58.5000;84.0000 --58.5000;84.5000 --58.5000;85.0000 --58.5000;85.5000 --58.5000;86.0000 --58.5000;86.5000 --58.5000;87.0000 --58.5000;87.5000 --58.5000;88.0000 --58.5000;88.5000 --58.5000;89.0000 --58.5000;89.5000 --58.5000;90.0000 --58.5000;90.5000 --58.0000;-73.5000 --58.0000;-73.0000 --58.0000;-72.5000 --58.0000;-72.0000 --58.0000;-71.5000 --58.0000;-71.0000 --58.0000;-70.5000 --58.0000;-70.0000 --58.0000;-69.5000 --58.0000;-69.0000 --58.0000;-68.5000 --58.0000;-68.0000 --58.0000;-67.5000 --58.0000;-67.0000 --58.0000;-66.5000 --58.0000;-66.0000 --58.0000;-65.5000 --58.0000;-65.0000 --58.0000;-64.5000 --58.0000;-64.0000 --58.0000;-63.5000 --58.0000;-63.0000 --58.0000;-62.5000 --58.0000;-62.0000 --58.0000;-61.5000 --58.0000;-61.0000 --58.0000;-30.5000 --58.0000;-30.0000 --58.0000;-29.5000 --58.0000;-29.0000 --58.0000;-28.5000 --58.0000;-28.0000 --58.0000;-27.5000 --58.0000;-27.0000 --58.0000;-26.5000 --58.0000;-26.0000 --58.0000;-25.5000 --58.0000;-25.0000 --58.0000;-24.5000 --58.0000;-24.0000 --58.0000;-23.5000 --58.0000;-23.0000 --58.0000;-22.5000 --58.0000;-22.0000 --58.0000;-21.5000 --58.0000;-21.0000 --58.0000;-20.5000 --58.0000;-20.0000 --58.0000;46.0000 --58.0000;46.5000 --58.0000;47.0000 --58.0000;47.5000 --58.0000;48.0000 --58.0000;48.5000 --58.0000;49.0000 --58.0000;49.5000 --58.0000;50.0000 --58.0000;50.5000 --58.0000;51.0000 --58.0000;51.5000 --58.0000;52.0000 --58.0000;52.5000 --58.0000;53.0000 --58.0000;53.5000 --58.0000;54.0000 --58.0000;54.5000 --58.0000;55.0000 --58.0000;55.5000 --58.0000;56.0000 --58.0000;56.5000 --58.0000;57.0000 --58.0000;57.5000 --58.0000;58.0000 --58.0000;58.5000 --58.0000;59.0000 --58.0000;59.5000 --58.0000;60.0000 --58.0000;60.5000 --58.0000;61.0000 --58.0000;61.5000 --58.0000;62.0000 --58.0000;62.5000 --58.0000;63.0000 --58.0000;63.5000 --58.0000;64.0000 --58.0000;76.0000 --58.0000;76.5000 --58.0000;77.0000 --58.0000;77.5000 --58.0000;78.0000 --58.0000;78.5000 --58.0000;79.0000 --58.0000;79.5000 --58.0000;80.0000 --58.0000;80.5000 --58.0000;81.0000 --58.0000;81.5000 --58.0000;82.0000 --58.0000;82.5000 --58.0000;83.0000 --58.0000;83.5000 --58.0000;84.0000 --58.0000;84.5000 --58.0000;85.0000 --58.0000;85.5000 --58.0000;86.0000 --58.0000;86.5000 --58.0000;87.0000 --58.0000;87.5000 --58.0000;88.0000 --58.0000;88.5000 --58.0000;89.0000 --58.0000;89.5000 --57.5000;-73.5000 --57.5000;-73.0000 --57.5000;-72.5000 --57.5000;-72.0000 --57.5000;-71.5000 --57.5000;-71.0000 --57.5000;-70.5000 --57.5000;-70.0000 --57.5000;-69.5000 --57.5000;-69.0000 --57.5000;-68.5000 --57.5000;-68.0000 --57.5000;-67.5000 --57.5000;-67.0000 --57.5000;-66.5000 --57.5000;-66.0000 --57.5000;-65.5000 --57.5000;-65.0000 --57.5000;-64.5000 --57.5000;-64.0000 --57.5000;-63.5000 --57.5000;-63.0000 --57.5000;-62.5000 --57.5000;-62.0000 --57.5000;-61.5000 --57.5000;-31.0000 --57.5000;-30.5000 --57.5000;-30.0000 --57.5000;-29.5000 --57.5000;-29.0000 --57.5000;-28.5000 --57.5000;-28.0000 --57.5000;-27.5000 --57.5000;-27.0000 --57.5000;-26.5000 --57.5000;-26.0000 --57.5000;-25.5000 --57.5000;-25.0000 --57.5000;-24.5000 --57.5000;-24.0000 --57.5000;-23.5000 --57.5000;-23.0000 --57.5000;-22.5000 --57.5000;-22.0000 --57.5000;-21.5000 --57.5000;-21.0000 --57.5000;-20.5000 --57.5000;45.0000 --57.5000;45.5000 --57.5000;46.0000 --57.5000;46.5000 --57.5000;47.0000 --57.5000;47.5000 --57.5000;48.0000 --57.5000;48.5000 --57.5000;49.0000 --57.5000;49.5000 --57.5000;50.0000 --57.5000;50.5000 --57.5000;51.0000 --57.5000;51.5000 --57.5000;52.0000 --57.5000;52.5000 --57.5000;53.0000 --57.5000;53.5000 --57.5000;54.0000 --57.5000;54.5000 --57.5000;55.0000 --57.5000;55.5000 --57.5000;56.0000 --57.5000;56.5000 --57.5000;57.0000 --57.5000;57.5000 --57.5000;58.0000 --57.5000;58.5000 --57.5000;59.0000 --57.5000;59.5000 --57.5000;60.0000 --57.5000;60.5000 --57.5000;61.0000 --57.5000;61.5000 --57.5000;62.0000 --57.5000;62.5000 --57.5000;63.0000 --57.5000;75.5000 --57.5000;76.0000 --57.5000;76.5000 --57.5000;77.0000 --57.5000;77.5000 --57.5000;78.0000 --57.5000;78.5000 --57.5000;79.0000 --57.5000;79.5000 --57.5000;80.0000 --57.5000;80.5000 --57.5000;81.0000 --57.5000;81.5000 --57.5000;82.0000 --57.5000;82.5000 --57.5000;83.0000 --57.5000;83.5000 --57.5000;84.0000 --57.5000;84.5000 --57.5000;85.0000 --57.5000;85.5000 --57.5000;86.0000 --57.5000;86.5000 --57.5000;87.0000 --57.5000;87.5000 --57.5000;88.0000 --57.5000;88.5000 --57.0000;-74.0000 --57.0000;-73.5000 --57.0000;-73.0000 --57.0000;-72.5000 --57.0000;-72.0000 --57.0000;-71.5000 --57.0000;-71.0000 --57.0000;-70.5000 --57.0000;-70.0000 --57.0000;-69.5000 --57.0000;-69.0000 --57.0000;-68.5000 --57.0000;-68.0000 --57.0000;-67.5000 --57.0000;-67.0000 --57.0000;-66.5000 --57.0000;-66.0000 --57.0000;-65.5000 --57.0000;-65.0000 --57.0000;-64.5000 --57.0000;-64.0000 --57.0000;-63.5000 --57.0000;-63.0000 --57.0000;-62.5000 --57.0000;-62.0000 --57.0000;-31.0000 --57.0000;-30.5000 --57.0000;-30.0000 --57.0000;-29.5000 --57.0000;-29.0000 --57.0000;-28.5000 --57.0000;-28.0000 --57.0000;-27.5000 --57.0000;-27.0000 --57.0000;-26.5000 --57.0000;-26.0000 --57.0000;-25.5000 --57.0000;-25.0000 --57.0000;-24.5000 --57.0000;-24.0000 --57.0000;-23.5000 --57.0000;-23.0000 --57.0000;-22.5000 --57.0000;-22.0000 --57.0000;-21.5000 --57.0000;-21.0000 --57.0000;-20.5000 --57.0000;44.5000 --57.0000;45.0000 --57.0000;45.5000 --57.0000;46.0000 --57.0000;46.5000 --57.0000;47.0000 --57.0000;47.5000 --57.0000;48.0000 --57.0000;48.5000 --57.0000;49.0000 --57.0000;49.5000 --57.0000;50.0000 --57.0000;50.5000 --57.0000;51.0000 --57.0000;51.5000 --57.0000;52.0000 --57.0000;52.5000 --57.0000;53.0000 --57.0000;53.5000 --57.0000;54.0000 --57.0000;54.5000 --57.0000;55.0000 --57.0000;55.5000 --57.0000;56.0000 --57.0000;56.5000 --57.0000;57.0000 --57.0000;57.5000 --57.0000;58.0000 --57.0000;58.5000 --57.0000;59.0000 --57.0000;59.5000 --57.0000;60.0000 --57.0000;60.5000 --57.0000;61.0000 --57.0000;61.5000 --57.0000;62.0000 --57.0000;62.5000 --57.0000;75.5000 --57.0000;76.0000 --57.0000;76.5000 --57.0000;77.0000 --57.0000;77.5000 --57.0000;78.0000 --57.0000;78.5000 --57.0000;79.0000 --57.0000;79.5000 --57.0000;80.0000 --57.0000;80.5000 --57.0000;81.0000 --57.0000;81.5000 --57.0000;82.0000 --57.0000;82.5000 --57.0000;83.0000 --57.0000;83.5000 --57.0000;84.0000 --57.0000;84.5000 --57.0000;85.0000 --57.0000;85.5000 --57.0000;86.0000 --57.0000;86.5000 --57.0000;87.0000 --57.0000;87.5000 --57.0000;88.0000 --56.5000;-74.0000 --56.5000;-73.5000 --56.5000;-73.0000 --56.5000;-72.5000 --56.5000;-72.0000 --56.5000;-71.5000 --56.5000;-71.0000 --56.5000;-70.5000 --56.5000;-70.0000 --56.5000;-69.5000 --56.5000;-69.0000 --56.5000;-68.5000 --56.5000;-68.0000 --56.5000;-67.5000 --56.5000;-67.0000 --56.5000;-66.5000 --56.5000;-66.0000 --56.5000;-65.5000 --56.5000;-65.0000 --56.5000;-64.5000 --56.5000;-64.0000 --56.5000;-63.5000 --56.5000;-63.0000 --56.5000;-62.5000 --56.5000;-31.0000 --56.5000;-30.5000 --56.5000;-30.0000 --56.5000;-29.5000 --56.5000;-29.0000 --56.5000;-28.5000 --56.5000;-28.0000 --56.5000;-27.5000 --56.5000;-27.0000 --56.5000;-26.5000 --56.5000;-26.0000 --56.5000;-25.5000 --56.5000;-25.0000 --56.5000;-24.5000 --56.5000;-24.0000 --56.5000;-23.5000 --56.5000;-23.0000 --56.5000;-22.5000 --56.5000;-22.0000 --56.5000;-21.5000 --56.5000;-21.0000 --56.5000;-20.5000 --56.5000;43.5000 --56.5000;44.0000 --56.5000;44.5000 --56.5000;45.0000 --56.5000;45.5000 --56.5000;46.0000 --56.5000;46.5000 --56.5000;47.0000 --56.5000;47.5000 --56.5000;48.0000 --56.5000;48.5000 --56.5000;49.0000 --56.5000;49.5000 --56.5000;50.0000 --56.5000;50.5000 --56.5000;51.0000 --56.5000;51.5000 --56.5000;52.0000 --56.5000;52.5000 --56.5000;53.0000 --56.5000;53.5000 --56.5000;54.0000 --56.5000;54.5000 --56.5000;55.0000 --56.5000;55.5000 --56.5000;56.0000 --56.5000;56.5000 --56.5000;57.0000 --56.5000;57.5000 --56.5000;58.0000 --56.5000;58.5000 --56.5000;59.0000 --56.5000;59.5000 --56.5000;60.0000 --56.5000;60.5000 --56.5000;61.0000 --56.5000;61.5000 --56.5000;62.0000 --56.5000;75.0000 --56.5000;75.5000 --56.5000;76.0000 --56.5000;76.5000 --56.5000;77.0000 --56.5000;77.5000 --56.5000;78.0000 --56.5000;78.5000 --56.5000;79.0000 --56.5000;79.5000 --56.5000;80.0000 --56.5000;80.5000 --56.5000;81.0000 --56.5000;81.5000 --56.5000;82.0000 --56.5000;82.5000 --56.5000;83.0000 --56.5000;83.5000 --56.5000;84.0000 --56.5000;84.5000 --56.5000;85.0000 --56.5000;85.5000 --56.5000;86.0000 --56.5000;86.5000 --56.5000;87.0000 --56.5000;87.5000 --56.0000;-74.0000 --56.0000;-73.5000 --56.0000;-73.0000 --56.0000;-72.5000 --56.0000;-72.0000 --56.0000;-71.5000 --56.0000;-71.0000 --56.0000;-70.5000 --56.0000;-70.0000 --56.0000;-69.5000 --56.0000;-69.0000 --56.0000;-68.5000 --56.0000;-68.0000 --56.0000;-67.5000 --56.0000;-67.0000 --56.0000;-66.5000 --56.0000;-66.0000 --56.0000;-65.5000 --56.0000;-65.0000 --56.0000;-64.5000 --56.0000;-64.0000 --56.0000;-63.5000 --56.0000;-63.0000 --56.0000;-31.0000 --56.0000;-30.5000 --56.0000;-30.0000 --56.0000;-29.5000 --56.0000;-29.0000 --56.0000;-28.5000 --56.0000;-28.0000 --56.0000;-27.5000 --56.0000;-27.0000 --56.0000;-26.5000 --56.0000;-26.0000 --56.0000;-25.5000 --56.0000;-25.0000 --56.0000;-24.5000 --56.0000;-24.0000 --56.0000;-23.5000 --56.0000;-23.0000 --56.0000;-22.5000 --56.0000;-22.0000 --56.0000;-21.5000 --56.0000;-21.0000 --56.0000;43.0000 --56.0000;43.5000 --56.0000;44.0000 --56.0000;44.5000 --56.0000;45.0000 --56.0000;45.5000 --56.0000;46.0000 --56.0000;46.5000 --56.0000;47.0000 --56.0000;47.5000 --56.0000;48.0000 --56.0000;48.5000 --56.0000;49.0000 --56.0000;49.5000 --56.0000;50.0000 --56.0000;50.5000 --56.0000;51.0000 --56.0000;51.5000 --56.0000;52.0000 --56.0000;52.5000 --56.0000;53.0000 --56.0000;53.5000 --56.0000;54.0000 --56.0000;54.5000 --56.0000;55.0000 --56.0000;55.5000 --56.0000;56.0000 --56.0000;56.5000 --56.0000;57.0000 --56.0000;57.5000 --56.0000;58.0000 --56.0000;58.5000 --56.0000;59.0000 --56.0000;59.5000 --56.0000;60.0000 --56.0000;60.5000 --56.0000;61.0000 --56.0000;75.0000 --56.0000;75.5000 --56.0000;76.0000 --56.0000;76.5000 --56.0000;77.0000 --56.0000;77.5000 --56.0000;78.0000 --56.0000;78.5000 --56.0000;79.0000 --56.0000;79.5000 --56.0000;80.0000 --56.0000;80.5000 --56.0000;81.0000 --56.0000;81.5000 --56.0000;82.0000 --56.0000;82.5000 --56.0000;83.0000 --56.0000;83.5000 --56.0000;84.0000 --56.0000;84.5000 --56.0000;85.0000 --56.0000;85.5000 --56.0000;86.0000 --56.0000;86.5000 --56.0000;87.0000 --55.5000;-74.5000 --55.5000;-74.0000 --55.5000;-73.5000 --55.5000;-73.0000 --55.5000;-72.5000 --55.5000;-72.0000 --55.5000;-71.5000 --55.5000;-71.0000 --55.5000;-70.5000 --55.5000;-70.0000 --55.5000;-69.5000 --55.5000;-69.0000 --55.5000;-68.5000 --55.5000;-68.0000 --55.5000;-67.5000 --55.5000;-67.0000 --55.5000;-66.5000 --55.5000;-66.0000 --55.5000;-65.5000 --55.5000;-65.0000 --55.5000;-64.5000 --55.5000;-64.0000 --55.5000;-63.5000 --55.5000;-63.0000 --55.5000;-31.0000 --55.5000;-30.5000 --55.5000;-30.0000 --55.5000;-29.5000 --55.5000;-29.0000 --55.5000;-28.5000 --55.5000;-28.0000 --55.5000;-27.5000 --55.5000;-27.0000 --55.5000;-26.5000 --55.5000;-26.0000 --55.5000;-25.5000 --55.5000;-25.0000 --55.5000;-24.5000 --55.5000;-24.0000 --55.5000;-23.5000 --55.5000;-23.0000 --55.5000;-22.5000 --55.5000;-22.0000 --55.5000;-21.5000 --55.5000;-21.0000 --55.5000;42.5000 --55.5000;43.0000 --55.5000;43.5000 --55.5000;44.0000 --55.5000;44.5000 --55.5000;45.0000 --55.5000;45.5000 --55.5000;46.0000 --55.5000;46.5000 --55.5000;47.0000 --55.5000;47.5000 --55.5000;48.0000 --55.5000;48.5000 --55.5000;49.0000 --55.5000;49.5000 --55.5000;50.0000 --55.5000;50.5000 --55.5000;51.0000 --55.5000;51.5000 --55.5000;52.0000 --55.5000;52.5000 --55.5000;53.0000 --55.5000;53.5000 --55.5000;54.0000 --55.5000;54.5000 --55.5000;55.0000 --55.5000;55.5000 --55.5000;56.0000 --55.5000;56.5000 --55.5000;57.0000 --55.5000;57.5000 --55.5000;58.0000 --55.5000;58.5000 --55.5000;59.0000 --55.5000;59.5000 --55.5000;60.0000 --55.5000;60.5000 --55.5000;75.0000 --55.5000;75.5000 --55.5000;76.0000 --55.5000;76.5000 --55.5000;77.0000 --55.5000;77.5000 --55.5000;78.0000 --55.5000;78.5000 --55.5000;79.0000 --55.5000;79.5000 --55.5000;80.0000 --55.5000;80.5000 --55.5000;81.0000 --55.5000;81.5000 --55.5000;82.0000 --55.5000;82.5000 --55.5000;83.0000 --55.5000;83.5000 --55.5000;84.0000 --55.5000;84.5000 --55.5000;85.0000 --55.5000;85.5000 --55.5000;86.0000 --55.5000;86.5000 --55.0000;-74.5000 --55.0000;-74.0000 --55.0000;-73.5000 --55.0000;-73.0000 --55.0000;-72.5000 --55.0000;-72.0000 --55.0000;-71.5000 --55.0000;-71.0000 --55.0000;-70.5000 --55.0000;-70.0000 --55.0000;-69.5000 --55.0000;-69.0000 --55.0000;-68.5000 --55.0000;-68.0000 --55.0000;-67.5000 --55.0000;-67.0000 --55.0000;-66.5000 --55.0000;-66.0000 --55.0000;-65.5000 --55.0000;-65.0000 --55.0000;-64.5000 --55.0000;-64.0000 --55.0000;-63.5000 --55.0000;-31.0000 --55.0000;-30.5000 --55.0000;-30.0000 --55.0000;-29.5000 --55.0000;-29.0000 --55.0000;-28.5000 --55.0000;-28.0000 --55.0000;-27.5000 --55.0000;-27.0000 --55.0000;-26.5000 --55.0000;-26.0000 --55.0000;-25.5000 --55.0000;-25.0000 --55.0000;-24.5000 --55.0000;-24.0000 --55.0000;-23.5000 --55.0000;-23.0000 --55.0000;-22.5000 --55.0000;-22.0000 --55.0000;-21.5000 --55.0000;-21.0000 --55.0000;41.5000 --55.0000;42.0000 --55.0000;42.5000 --55.0000;43.0000 --55.0000;43.5000 --55.0000;44.0000 --55.0000;44.5000 --55.0000;45.0000 --55.0000;45.5000 --55.0000;46.0000 --55.0000;46.5000 --55.0000;47.0000 --55.0000;47.5000 --55.0000;48.0000 --55.0000;48.5000 --55.0000;49.0000 --55.0000;49.5000 --55.0000;50.0000 --55.0000;50.5000 --55.0000;51.0000 --55.0000;51.5000 --55.0000;52.0000 --55.0000;52.5000 --55.0000;53.0000 --55.0000;53.5000 --55.0000;54.0000 --55.0000;54.5000 --55.0000;55.0000 --55.0000;55.5000 --55.0000;56.0000 --55.0000;56.5000 --55.0000;57.0000 --55.0000;57.5000 --55.0000;58.0000 --55.0000;58.5000 --55.0000;59.0000 --55.0000;59.5000 --55.0000;74.5000 --55.0000;75.0000 --55.0000;75.5000 --55.0000;76.0000 --55.0000;76.5000 --55.0000;77.0000 --55.0000;77.5000 --55.0000;78.0000 --55.0000;78.5000 --55.0000;79.0000 --55.0000;79.5000 --55.0000;80.0000 --55.0000;80.5000 --55.0000;81.0000 --55.0000;81.5000 --55.0000;82.0000 --55.0000;82.5000 --55.0000;83.0000 --55.0000;83.5000 --55.0000;84.0000 --55.0000;84.5000 --55.0000;85.0000 --55.0000;85.5000 --55.0000;86.0000 --54.5000;-74.5000 --54.5000;-74.0000 --54.5000;-73.5000 --54.5000;-73.0000 --54.5000;-72.5000 --54.5000;-72.0000 --54.5000;-71.5000 --54.5000;-71.0000 --54.5000;-70.5000 --54.5000;-70.0000 --54.5000;-69.5000 --54.5000;-69.0000 --54.5000;-68.5000 --54.5000;-68.0000 --54.5000;-67.5000 --54.5000;-67.0000 --54.5000;-66.5000 --54.5000;-66.0000 --54.5000;-65.5000 --54.5000;-65.0000 --54.5000;-64.5000 --54.5000;-64.0000 --54.5000;-31.0000 --54.5000;-30.5000 --54.5000;-30.0000 --54.5000;-29.5000 --54.5000;-29.0000 --54.5000;-28.5000 --54.5000;-28.0000 --54.5000;-27.5000 --54.5000;-27.0000 --54.5000;-26.5000 --54.5000;-26.0000 --54.5000;-25.5000 --54.5000;-25.0000 --54.5000;-24.5000 --54.5000;-24.0000 --54.5000;-23.5000 --54.5000;-23.0000 --54.5000;-22.5000 --54.5000;-22.0000 --54.5000;-21.5000 --54.5000;-21.0000 --54.5000;41.0000 --54.5000;41.5000 --54.5000;42.0000 --54.5000;42.5000 --54.5000;43.0000 --54.5000;43.5000 --54.5000;44.0000 --54.5000;44.5000 --54.5000;45.0000 --54.5000;45.5000 --54.5000;46.0000 --54.5000;46.5000 --54.5000;47.0000 --54.5000;47.5000 --54.5000;48.0000 --54.5000;48.5000 --54.5000;49.0000 --54.5000;49.5000 --54.5000;50.0000 --54.5000;50.5000 --54.5000;51.0000 --54.5000;51.5000 --54.5000;52.0000 --54.5000;52.5000 --54.5000;53.0000 --54.5000;53.5000 --54.5000;54.0000 --54.5000;54.5000 --54.5000;55.0000 --54.5000;55.5000 --54.5000;56.0000 --54.5000;56.5000 --54.5000;57.0000 --54.5000;57.5000 --54.5000;58.0000 --54.5000;58.5000 --54.5000;59.0000 --54.5000;74.5000 --54.5000;75.0000 --54.5000;75.5000 --54.5000;76.0000 --54.5000;76.5000 --54.5000;77.0000 --54.5000;77.5000 --54.5000;78.0000 --54.5000;78.5000 --54.5000;79.0000 --54.5000;79.5000 --54.5000;80.0000 --54.5000;80.5000 --54.5000;81.0000 --54.5000;81.5000 --54.5000;82.0000 --54.5000;82.5000 --54.5000;83.0000 --54.5000;83.5000 --54.5000;84.0000 --54.5000;84.5000 --54.5000;85.0000 --54.5000;85.5000 --54.0000;-74.5000 --54.0000;-74.0000 --54.0000;-73.5000 --54.0000;-73.0000 --54.0000;-72.5000 --54.0000;-72.0000 --54.0000;-71.5000 --54.0000;-71.0000 --54.0000;-70.5000 --54.0000;-70.0000 --54.0000;-69.5000 --54.0000;-69.0000 --54.0000;-68.5000 --54.0000;-68.0000 --54.0000;-67.5000 --54.0000;-67.0000 --54.0000;-66.5000 --54.0000;-66.0000 --54.0000;-65.5000 --54.0000;-65.0000 --54.0000;-64.5000 --54.0000;-64.0000 --54.0000;-31.0000 --54.0000;-30.5000 --54.0000;-30.0000 --54.0000;-29.5000 --54.0000;-29.0000 --54.0000;-28.5000 --54.0000;-28.0000 --54.0000;-27.5000 --54.0000;-27.0000 --54.0000;-26.5000 --54.0000;-26.0000 --54.0000;-25.5000 --54.0000;-25.0000 --54.0000;-24.5000 --54.0000;-24.0000 --54.0000;-23.5000 --54.0000;-23.0000 --54.0000;-22.5000 --54.0000;-22.0000 --54.0000;-21.5000 --54.0000;-21.0000 --54.0000;40.0000 --54.0000;40.5000 --54.0000;41.0000 --54.0000;41.5000 --54.0000;42.0000 --54.0000;42.5000 --54.0000;43.0000 --54.0000;43.5000 --54.0000;44.0000 --54.0000;44.5000 --54.0000;45.0000 --54.0000;45.5000 --54.0000;46.0000 --54.0000;46.5000 --54.0000;47.0000 --54.0000;47.5000 --54.0000;48.0000 --54.0000;48.5000 --54.0000;49.0000 --54.0000;49.5000 --54.0000;50.0000 --54.0000;50.5000 --54.0000;51.0000 --54.0000;51.5000 --54.0000;52.0000 --54.0000;52.5000 --54.0000;53.0000 --54.0000;53.5000 --54.0000;54.0000 --54.0000;54.5000 --54.0000;55.0000 --54.0000;55.5000 --54.0000;56.0000 --54.0000;56.5000 --54.0000;57.0000 --54.0000;57.5000 --54.0000;58.0000 --54.0000;74.5000 --54.0000;75.0000 --54.0000;75.5000 --54.0000;76.0000 --54.0000;76.5000 --54.0000;77.0000 --54.0000;77.5000 --54.0000;78.0000 --54.0000;78.5000 --54.0000;79.0000 --54.0000;79.5000 --54.0000;80.0000 --54.0000;80.5000 --54.0000;81.0000 --54.0000;81.5000 --54.0000;82.0000 --54.0000;82.5000 --54.0000;83.0000 --54.0000;83.5000 --54.0000;84.0000 --54.0000;84.5000 --54.0000;85.0000 --54.0000;85.5000 --53.5000;-74.5000 --53.5000;-74.0000 --53.5000;-73.5000 --53.5000;-73.0000 --53.5000;-72.5000 --53.5000;-72.0000 --53.5000;-71.5000 --53.5000;-71.0000 --53.5000;-70.5000 --53.5000;-70.0000 --53.5000;-69.5000 --53.5000;-69.0000 --53.5000;-68.5000 --53.5000;-68.0000 --53.5000;-67.5000 --53.5000;-67.0000 --53.5000;-66.5000 --53.5000;-66.0000 --53.5000;-65.5000 --53.5000;-65.0000 --53.5000;-64.5000 --53.5000;-31.0000 --53.5000;-30.5000 --53.5000;-30.0000 --53.5000;-29.5000 --53.5000;-29.0000 --53.5000;-28.5000 --53.5000;-28.0000 --53.5000;-27.5000 --53.5000;-27.0000 --53.5000;-26.5000 --53.5000;-26.0000 --53.5000;-25.5000 --53.5000;-25.0000 --53.5000;-24.5000 --53.5000;-24.0000 --53.5000;-23.5000 --53.5000;-23.0000 --53.5000;-22.5000 --53.5000;-22.0000 --53.5000;-21.5000 --53.5000;-21.0000 --53.5000;39.5000 --53.5000;40.0000 --53.5000;40.5000 --53.5000;41.0000 --53.5000;41.5000 --53.5000;42.0000 --53.5000;42.5000 --53.5000;43.0000 --53.5000;43.5000 --53.5000;44.0000 --53.5000;44.5000 --53.5000;45.0000 --53.5000;45.5000 --53.5000;46.0000 --53.5000;46.5000 --53.5000;47.0000 --53.5000;47.5000 --53.5000;48.0000 --53.5000;48.5000 --53.5000;49.0000 --53.5000;49.5000 --53.5000;50.0000 --53.5000;50.5000 --53.5000;51.0000 --53.5000;51.5000 --53.5000;52.0000 --53.5000;52.5000 --53.5000;53.0000 --53.5000;53.5000 --53.5000;54.0000 --53.5000;54.5000 --53.5000;55.0000 --53.5000;55.5000 --53.5000;56.0000 --53.5000;56.5000 --53.5000;57.0000 --53.5000;57.5000 --53.5000;74.0000 --53.5000;74.5000 --53.5000;75.0000 --53.5000;75.5000 --53.5000;76.0000 --53.5000;76.5000 --53.5000;77.0000 --53.5000;77.5000 --53.5000;78.0000 --53.5000;78.5000 --53.5000;79.0000 --53.5000;79.5000 --53.5000;80.0000 --53.5000;80.5000 --53.5000;81.0000 --53.5000;81.5000 --53.5000;82.0000 --53.5000;82.5000 --53.5000;83.0000 --53.5000;83.5000 --53.5000;84.0000 --53.5000;84.5000 --53.5000;85.0000 --53.0000;-75.0000 --53.0000;-74.5000 --53.0000;-74.0000 --53.0000;-73.5000 --53.0000;-73.0000 --53.0000;-72.5000 --53.0000;-72.0000 --53.0000;-71.5000 --53.0000;-71.0000 --53.0000;-70.5000 --53.0000;-70.0000 --53.0000;-69.5000 --53.0000;-69.0000 --53.0000;-68.5000 --53.0000;-68.0000 --53.0000;-67.5000 --53.0000;-67.0000 --53.0000;-66.5000 --53.0000;-66.0000 --53.0000;-65.5000 --53.0000;-65.0000 --53.0000;-64.5000 --53.0000;-31.0000 --53.0000;-30.5000 --53.0000;-30.0000 --53.0000;-29.5000 --53.0000;-29.0000 --53.0000;-28.5000 --53.0000;-28.0000 --53.0000;-27.5000 --53.0000;-27.0000 --53.0000;-26.5000 --53.0000;-26.0000 --53.0000;-25.5000 --53.0000;-25.0000 --53.0000;-24.5000 --53.0000;-24.0000 --53.0000;-23.5000 --53.0000;-23.0000 --53.0000;-22.5000 --53.0000;-22.0000 --53.0000;-21.5000 --53.0000;-21.0000 --53.0000;-20.5000 --53.0000;38.5000 --53.0000;39.0000 --53.0000;39.5000 --53.0000;40.0000 --53.0000;40.5000 --53.0000;41.0000 --53.0000;41.5000 --53.0000;42.0000 --53.0000;42.5000 --53.0000;43.0000 --53.0000;43.5000 --53.0000;44.0000 --53.0000;44.5000 --53.0000;45.0000 --53.0000;45.5000 --53.0000;46.0000 --53.0000;46.5000 --53.0000;47.0000 --53.0000;47.5000 --53.0000;48.0000 --53.0000;48.5000 --53.0000;49.0000 --53.0000;49.5000 --53.0000;50.0000 --53.0000;50.5000 --53.0000;51.0000 --53.0000;51.5000 --53.0000;52.0000 --53.0000;52.5000 --53.0000;53.0000 --53.0000;53.5000 --53.0000;54.0000 --53.0000;54.5000 --53.0000;55.0000 --53.0000;55.5000 --53.0000;56.0000 --53.0000;56.5000 --53.0000;74.0000 --53.0000;74.5000 --53.0000;75.0000 --53.0000;75.5000 --53.0000;76.0000 --53.0000;76.5000 --53.0000;77.0000 --53.0000;77.5000 --53.0000;78.0000 --53.0000;78.5000 --53.0000;79.0000 --53.0000;79.5000 --53.0000;80.0000 --53.0000;80.5000 --53.0000;81.0000 --53.0000;81.5000 --53.0000;82.0000 --53.0000;82.5000 --53.0000;83.0000 --53.0000;83.5000 --53.0000;84.0000 --53.0000;84.5000 --53.0000;85.0000 --52.5000;-75.0000 --52.5000;-74.5000 --52.5000;-74.0000 --52.5000;-73.5000 --52.5000;-73.0000 --52.5000;-72.5000 --52.5000;-72.0000 --52.5000;-71.5000 --52.5000;-71.0000 --52.5000;-70.5000 --52.5000;-70.0000 --52.5000;-69.5000 --52.5000;-69.0000 --52.5000;-68.5000 --52.5000;-68.0000 --52.5000;-67.5000 --52.5000;-67.0000 --52.5000;-66.5000 --52.5000;-66.0000 --52.5000;-65.5000 --52.5000;-65.0000 --52.5000;-64.5000 --52.5000;-31.0000 --52.5000;-30.5000 --52.5000;-30.0000 --52.5000;-29.5000 --52.5000;-29.0000 --52.5000;-28.5000 --52.5000;-28.0000 --52.5000;-27.5000 --52.5000;-27.0000 --52.5000;-26.5000 --52.5000;-26.0000 --52.5000;-25.5000 --52.5000;-25.0000 --52.5000;-24.5000 --52.5000;-24.0000 --52.5000;-23.5000 --52.5000;-23.0000 --52.5000;-22.5000 --52.5000;-22.0000 --52.5000;-21.5000 --52.5000;-21.0000 --52.5000;-20.5000 --52.5000;38.0000 --52.5000;38.5000 --52.5000;39.0000 --52.5000;39.5000 --52.5000;40.0000 --52.5000;40.5000 --52.5000;41.0000 --52.5000;41.5000 --52.5000;42.0000 --52.5000;42.5000 --52.5000;43.0000 --52.5000;43.5000 --52.5000;44.0000 --52.5000;44.5000 --52.5000;45.0000 --52.5000;45.5000 --52.5000;46.0000 --52.5000;46.5000 --52.5000;47.0000 --52.5000;47.5000 --52.5000;48.0000 --52.5000;48.5000 --52.5000;49.0000 --52.5000;49.5000 --52.5000;50.0000 --52.5000;50.5000 --52.5000;51.0000 --52.5000;51.5000 --52.5000;52.0000 --52.5000;52.5000 --52.5000;53.0000 --52.5000;53.5000 --52.5000;54.0000 --52.5000;54.5000 --52.5000;55.0000 --52.5000;55.5000 --52.5000;56.0000 --52.5000;74.0000 --52.5000;74.5000 --52.5000;75.0000 --52.5000;75.5000 --52.5000;76.0000 --52.5000;76.5000 --52.5000;77.0000 --52.5000;77.5000 --52.5000;78.0000 --52.5000;78.5000 --52.5000;79.0000 --52.5000;79.5000 --52.5000;80.0000 --52.5000;80.5000 --52.5000;81.0000 --52.5000;81.5000 --52.5000;82.0000 --52.5000;82.5000 --52.5000;83.0000 --52.5000;83.5000 --52.5000;84.0000 --52.5000;84.5000 --52.0000;-75.0000 --52.0000;-74.5000 --52.0000;-74.0000 --52.0000;-73.5000 --52.0000;-73.0000 --52.0000;-72.5000 --52.0000;-72.0000 --52.0000;-71.5000 --52.0000;-71.0000 --52.0000;-70.5000 --52.0000;-70.0000 --52.0000;-69.5000 --52.0000;-69.0000 --52.0000;-68.5000 --52.0000;-68.0000 --52.0000;-67.5000 --52.0000;-67.0000 --52.0000;-66.5000 --52.0000;-66.0000 --52.0000;-65.5000 --52.0000;-65.0000 --52.0000;-64.5000 --52.0000;-31.0000 --52.0000;-30.5000 --52.0000;-30.0000 --52.0000;-29.5000 --52.0000;-29.0000 --52.0000;-28.5000 --52.0000;-28.0000 --52.0000;-27.5000 --52.0000;-27.0000 --52.0000;-26.5000 --52.0000;-26.0000 --52.0000;-25.5000 --52.0000;-25.0000 --52.0000;-24.5000 --52.0000;-24.0000 --52.0000;-23.5000 --52.0000;-23.0000 --52.0000;-22.5000 --52.0000;-22.0000 --52.0000;-21.5000 --52.0000;-21.0000 --52.0000;-20.5000 --52.0000;37.0000 --52.0000;37.5000 --52.0000;38.0000 --52.0000;38.5000 --52.0000;39.0000 --52.0000;39.5000 --52.0000;40.0000 --52.0000;40.5000 --52.0000;41.0000 --52.0000;41.5000 --52.0000;42.0000 --52.0000;42.5000 --52.0000;43.0000 --52.0000;43.5000 --52.0000;44.0000 --52.0000;44.5000 --52.0000;45.0000 --52.0000;45.5000 --52.0000;46.0000 --52.0000;46.5000 --52.0000;47.0000 --52.0000;47.5000 --52.0000;48.0000 --52.0000;48.5000 --52.0000;49.0000 --52.0000;49.5000 --52.0000;50.0000 --52.0000;50.5000 --52.0000;51.0000 --52.0000;51.5000 --52.0000;52.0000 --52.0000;52.5000 --52.0000;53.0000 --52.0000;53.5000 --52.0000;54.0000 --52.0000;54.5000 --52.0000;55.0000 --52.0000;55.5000 --52.0000;74.0000 --52.0000;74.5000 --52.0000;75.0000 --52.0000;75.5000 --52.0000;76.0000 --52.0000;76.5000 --52.0000;77.0000 --52.0000;77.5000 --52.0000;78.0000 --52.0000;78.5000 --52.0000;79.0000 --52.0000;79.5000 --52.0000;80.0000 --52.0000;80.5000 --52.0000;81.0000 --52.0000;81.5000 --52.0000;82.0000 --52.0000;82.5000 --52.0000;83.0000 --52.0000;83.5000 --52.0000;84.0000 --52.0000;84.5000 --51.5000;-75.0000 --51.5000;-74.5000 --51.5000;-74.0000 --51.5000;-73.5000 --51.5000;-73.0000 --51.5000;-72.5000 --51.5000;-72.0000 --51.5000;-71.5000 --51.5000;-71.0000 --51.5000;-70.5000 --51.5000;-70.0000 --51.5000;-69.5000 --51.5000;-69.0000 --51.5000;-68.5000 --51.5000;-68.0000 --51.5000;-67.5000 --51.5000;-67.0000 --51.5000;-66.5000 --51.5000;-66.0000 --51.5000;-65.5000 --51.5000;-65.0000 --51.5000;-30.5000 --51.5000;-30.0000 --51.5000;-29.5000 --51.5000;-29.0000 --51.5000;-28.5000 --51.5000;-28.0000 --51.5000;-27.5000 --51.5000;-27.0000 --51.5000;-26.5000 --51.5000;-26.0000 --51.5000;-25.5000 --51.5000;-25.0000 --51.5000;-24.5000 --51.5000;-24.0000 --51.5000;-23.5000 --51.5000;-23.0000 --51.5000;-22.5000 --51.5000;-22.0000 --51.5000;-21.5000 --51.5000;-21.0000 --51.5000;-20.5000 --51.5000;-20.0000 --51.5000;36.5000 --51.5000;37.0000 --51.5000;37.5000 --51.5000;38.0000 --51.5000;38.5000 --51.5000;39.0000 --51.5000;39.5000 --51.5000;40.0000 --51.5000;40.5000 --51.5000;41.0000 --51.5000;41.5000 --51.5000;42.0000 --51.5000;42.5000 --51.5000;43.0000 --51.5000;43.5000 --51.5000;44.0000 --51.5000;44.5000 --51.5000;45.0000 --51.5000;45.5000 --51.5000;46.0000 --51.5000;46.5000 --51.5000;47.0000 --51.5000;47.5000 --51.5000;48.0000 --51.5000;48.5000 --51.5000;49.0000 --51.5000;49.5000 --51.5000;50.0000 --51.5000;50.5000 --51.5000;51.0000 --51.5000;51.5000 --51.5000;52.0000 --51.5000;52.5000 --51.5000;53.0000 --51.5000;53.5000 --51.5000;54.0000 --51.5000;54.5000 --51.5000;74.0000 --51.5000;74.5000 --51.5000;75.0000 --51.5000;75.5000 --51.5000;76.0000 --51.5000;76.5000 --51.5000;77.0000 --51.5000;77.5000 --51.5000;78.0000 --51.5000;78.5000 --51.5000;79.0000 --51.5000;79.5000 --51.5000;80.0000 --51.5000;80.5000 --51.5000;81.0000 --51.5000;81.5000 --51.5000;82.0000 --51.5000;82.5000 --51.5000;83.0000 --51.5000;83.5000 --51.5000;84.0000 --51.0000;-75.0000 --51.0000;-74.5000 --51.0000;-74.0000 --51.0000;-73.5000 --51.0000;-73.0000 --51.0000;-72.5000 --51.0000;-72.0000 --51.0000;-71.5000 --51.0000;-71.0000 --51.0000;-70.5000 --51.0000;-70.0000 --51.0000;-69.5000 --51.0000;-69.0000 --51.0000;-68.5000 --51.0000;-68.0000 --51.0000;-67.5000 --51.0000;-67.0000 --51.0000;-66.5000 --51.0000;-66.0000 --51.0000;-65.5000 --51.0000;-65.0000 --51.0000;-30.5000 --51.0000;-30.0000 --51.0000;-29.5000 --51.0000;-29.0000 --51.0000;-28.5000 --51.0000;-28.0000 --51.0000;-27.5000 --51.0000;-27.0000 --51.0000;-26.5000 --51.0000;-26.0000 --51.0000;-25.5000 --51.0000;-25.0000 --51.0000;-24.5000 --51.0000;-24.0000 --51.0000;-23.5000 --51.0000;-23.0000 --51.0000;-22.5000 --51.0000;-22.0000 --51.0000;-21.5000 --51.0000;-21.0000 --51.0000;-20.5000 --51.0000;-20.0000 --51.0000;36.0000 --51.0000;36.5000 --51.0000;37.0000 --51.0000;37.5000 --51.0000;38.0000 --51.0000;38.5000 --51.0000;39.0000 --51.0000;39.5000 --51.0000;40.0000 --51.0000;40.5000 --51.0000;41.0000 --51.0000;41.5000 --51.0000;42.0000 --51.0000;42.5000 --51.0000;43.0000 --51.0000;43.5000 --51.0000;44.0000 --51.0000;44.5000 --51.0000;45.0000 --51.0000;45.5000 --51.0000;46.0000 --51.0000;46.5000 --51.0000;47.0000 --51.0000;47.5000 --51.0000;48.0000 --51.0000;48.5000 --51.0000;49.0000 --51.0000;49.5000 --51.0000;50.0000 --51.0000;50.5000 --51.0000;51.0000 --51.0000;51.5000 --51.0000;52.0000 --51.0000;52.5000 --51.0000;53.0000 --51.0000;53.5000 --51.0000;54.0000 --51.0000;74.0000 --51.0000;74.5000 --51.0000;75.0000 --51.0000;75.5000 --51.0000;76.0000 --51.0000;76.5000 --51.0000;77.0000 --51.0000;77.5000 --51.0000;78.0000 --51.0000;78.5000 --51.0000;79.0000 --51.0000;79.5000 --51.0000;80.0000 --51.0000;80.5000 --51.0000;81.0000 --51.0000;81.5000 --51.0000;82.0000 --51.0000;82.5000 --51.0000;83.0000 --51.0000;83.5000 --51.0000;84.0000 --50.5000;-75.0000 --50.5000;-74.5000 --50.5000;-74.0000 --50.5000;-73.5000 --50.5000;-73.0000 --50.5000;-72.5000 --50.5000;-72.0000 --50.5000;-71.5000 --50.5000;-71.0000 --50.5000;-70.5000 --50.5000;-70.0000 --50.5000;-69.5000 --50.5000;-69.0000 --50.5000;-68.5000 --50.5000;-68.0000 --50.5000;-67.5000 --50.5000;-67.0000 --50.5000;-66.5000 --50.5000;-66.0000 --50.5000;-65.5000 --50.5000;-65.0000 --50.5000;-64.5000 --50.5000;-30.5000 --50.5000;-30.0000 --50.5000;-29.5000 --50.5000;-29.0000 --50.5000;-28.5000 --50.5000;-28.0000 --50.5000;-27.5000 --50.5000;-27.0000 --50.5000;-26.5000 --50.5000;-26.0000 --50.5000;-25.5000 --50.5000;-25.0000 --50.5000;-24.5000 --50.5000;-24.0000 --50.5000;-23.5000 --50.5000;-23.0000 --50.5000;-22.5000 --50.5000;-22.0000 --50.5000;-21.5000 --50.5000;-21.0000 --50.5000;-20.5000 --50.5000;-20.0000 --50.5000;-19.5000 --50.5000;35.0000 --50.5000;35.5000 --50.5000;36.0000 --50.5000;36.5000 --50.5000;37.0000 --50.5000;37.5000 --50.5000;38.0000 --50.5000;38.5000 --50.5000;39.0000 --50.5000;39.5000 --50.5000;40.0000 --50.5000;40.5000 --50.5000;41.0000 --50.5000;41.5000 --50.5000;42.0000 --50.5000;42.5000 --50.5000;43.0000 --50.5000;43.5000 --50.5000;44.0000 --50.5000;44.5000 --50.5000;45.0000 --50.5000;45.5000 --50.5000;46.0000 --50.5000;46.5000 --50.5000;47.0000 --50.5000;47.5000 --50.5000;48.0000 --50.5000;48.5000 --50.5000;49.0000 --50.5000;49.5000 --50.5000;50.0000 --50.5000;50.5000 --50.5000;51.0000 --50.5000;51.5000 --50.5000;52.0000 --50.5000;52.5000 --50.5000;53.0000 --50.5000;73.5000 --50.5000;74.0000 --50.5000;74.5000 --50.5000;75.0000 --50.5000;75.5000 --50.5000;76.0000 --50.5000;76.5000 --50.5000;77.0000 --50.5000;77.5000 --50.5000;78.0000 --50.5000;78.5000 --50.5000;79.0000 --50.5000;79.5000 --50.5000;80.0000 --50.5000;80.5000 --50.5000;81.0000 --50.5000;81.5000 --50.5000;82.0000 --50.5000;82.5000 --50.5000;83.0000 --50.5000;83.5000 --50.5000;84.0000 --50.0000;-75.0000 --50.0000;-74.5000 --50.0000;-74.0000 --50.0000;-73.5000 --50.0000;-73.0000 --50.0000;-72.5000 --50.0000;-72.0000 --50.0000;-71.5000 --50.0000;-71.0000 --50.0000;-70.5000 --50.0000;-70.0000 --50.0000;-69.5000 --50.0000;-69.0000 --50.0000;-68.5000 --50.0000;-68.0000 --50.0000;-67.5000 --50.0000;-67.0000 --50.0000;-66.5000 --50.0000;-66.0000 --50.0000;-65.5000 --50.0000;-65.0000 --50.0000;-64.5000 --50.0000;-30.5000 --50.0000;-30.0000 --50.0000;-29.5000 --50.0000;-29.0000 --50.0000;-28.5000 --50.0000;-28.0000 --50.0000;-27.5000 --50.0000;-27.0000 --50.0000;-26.5000 --50.0000;-26.0000 --50.0000;-25.5000 --50.0000;-25.0000 --50.0000;-24.5000 --50.0000;-24.0000 --50.0000;-23.5000 --50.0000;-23.0000 --50.0000;-22.5000 --50.0000;-22.0000 --50.0000;-21.5000 --50.0000;-21.0000 --50.0000;-20.5000 --50.0000;-20.0000 --50.0000;-19.5000 --50.0000;-19.0000 --50.0000;34.5000 --50.0000;35.0000 --50.0000;35.5000 --50.0000;36.0000 --50.0000;36.5000 --50.0000;37.0000 --50.0000;37.5000 --50.0000;38.0000 --50.0000;38.5000 --50.0000;39.0000 --50.0000;39.5000 --50.0000;40.0000 --50.0000;40.5000 --50.0000;41.0000 --50.0000;41.5000 --50.0000;42.0000 --50.0000;42.5000 --50.0000;43.0000 --50.0000;43.5000 --50.0000;44.0000 --50.0000;44.5000 --50.0000;45.0000 --50.0000;45.5000 --50.0000;46.0000 --50.0000;46.5000 --50.0000;47.0000 --50.0000;47.5000 --50.0000;48.0000 --50.0000;48.5000 --50.0000;49.0000 --50.0000;49.5000 --50.0000;50.0000 --50.0000;50.5000 --50.0000;51.0000 --50.0000;51.5000 --50.0000;52.0000 --50.0000;52.5000 --50.0000;73.5000 --50.0000;74.0000 --50.0000;74.5000 --50.0000;75.0000 --50.0000;75.5000 --50.0000;76.0000 --50.0000;76.5000 --50.0000;77.0000 --50.0000;77.5000 --50.0000;78.0000 --50.0000;78.5000 --50.0000;79.0000 --50.0000;79.5000 --50.0000;80.0000 --50.0000;80.5000 --50.0000;81.0000 --50.0000;81.5000 --50.0000;82.0000 --50.0000;82.5000 --50.0000;83.0000 --50.0000;83.5000 --50.0000;84.0000 --49.5000;-74.5000 --49.5000;-74.0000 --49.5000;-73.5000 --49.5000;-73.0000 --49.5000;-72.5000 --49.5000;-72.0000 --49.5000;-71.5000 --49.5000;-71.0000 --49.5000;-70.5000 --49.5000;-70.0000 --49.5000;-69.5000 --49.5000;-69.0000 --49.5000;-68.5000 --49.5000;-68.0000 --49.5000;-67.5000 --49.5000;-67.0000 --49.5000;-66.5000 --49.5000;-66.0000 --49.5000;-65.5000 --49.5000;-65.0000 --49.5000;-64.5000 --49.5000;-30.0000 --49.5000;-29.5000 --49.5000;-29.0000 --49.5000;-28.5000 --49.5000;-28.0000 --49.5000;-27.5000 --49.5000;-27.0000 --49.5000;-26.5000 --49.5000;-26.0000 --49.5000;-25.5000 --49.5000;-25.0000 --49.5000;-24.5000 --49.5000;-24.0000 --49.5000;-23.5000 --49.5000;-23.0000 --49.5000;-22.5000 --49.5000;-22.0000 --49.5000;-21.5000 --49.5000;-21.0000 --49.5000;-20.5000 --49.5000;-20.0000 --49.5000;-19.5000 --49.5000;-19.0000 --49.5000;33.5000 --49.5000;34.0000 --49.5000;34.5000 --49.5000;35.0000 --49.5000;35.5000 --49.5000;36.0000 --49.5000;36.5000 --49.5000;37.0000 --49.5000;37.5000 --49.5000;38.0000 --49.5000;38.5000 --49.5000;39.0000 --49.5000;39.5000 --49.5000;40.0000 --49.5000;40.5000 --49.5000;41.0000 --49.5000;41.5000 --49.5000;42.0000 --49.5000;42.5000 --49.5000;43.0000 --49.5000;43.5000 --49.5000;44.0000 --49.5000;44.5000 --49.5000;45.0000 --49.5000;45.5000 --49.5000;46.0000 --49.5000;46.5000 --49.5000;47.0000 --49.5000;47.5000 --49.5000;48.0000 --49.5000;48.5000 --49.5000;49.0000 --49.5000;49.5000 --49.5000;50.0000 --49.5000;50.5000 --49.5000;51.0000 --49.5000;51.5000 --49.5000;73.5000 --49.5000;74.0000 --49.5000;74.5000 --49.5000;75.0000 --49.5000;75.5000 --49.5000;76.0000 --49.5000;76.5000 --49.5000;77.0000 --49.5000;77.5000 --49.5000;78.0000 --49.5000;78.5000 --49.5000;79.0000 --49.5000;79.5000 --49.5000;80.0000 --49.5000;80.5000 --49.5000;81.0000 --49.5000;81.5000 --49.5000;82.0000 --49.5000;82.5000 --49.5000;83.0000 --49.5000;83.5000 --49.0000;-74.5000 --49.0000;-74.0000 --49.0000;-73.5000 --49.0000;-73.0000 --49.0000;-72.5000 --49.0000;-72.0000 --49.0000;-71.5000 --49.0000;-71.0000 --49.0000;-70.5000 --49.0000;-70.0000 --49.0000;-69.5000 --49.0000;-69.0000 --49.0000;-68.5000 --49.0000;-68.0000 --49.0000;-67.5000 --49.0000;-67.0000 --49.0000;-66.5000 --49.0000;-66.0000 --49.0000;-65.5000 --49.0000;-65.0000 --49.0000;-64.5000 --49.0000;-64.0000 --49.0000;-30.0000 --49.0000;-29.5000 --49.0000;-29.0000 --49.0000;-28.5000 --49.0000;-28.0000 --49.0000;-27.5000 --49.0000;-27.0000 --49.0000;-26.5000 --49.0000;-26.0000 --49.0000;-25.5000 --49.0000;-25.0000 --49.0000;-24.5000 --49.0000;-24.0000 --49.0000;-23.5000 --49.0000;-23.0000 --49.0000;-22.5000 --49.0000;-22.0000 --49.0000;-21.5000 --49.0000;-21.0000 --49.0000;-20.5000 --49.0000;-20.0000 --49.0000;-19.5000 --49.0000;-19.0000 --49.0000;-18.5000 --49.0000;33.0000 --49.0000;33.5000 --49.0000;34.0000 --49.0000;34.5000 --49.0000;35.0000 --49.0000;35.5000 --49.0000;36.0000 --49.0000;36.5000 --49.0000;37.0000 --49.0000;37.5000 --49.0000;38.0000 --49.0000;38.5000 --49.0000;39.0000 --49.0000;39.5000 --49.0000;40.0000 --49.0000;40.5000 --49.0000;41.0000 --49.0000;41.5000 --49.0000;42.0000 --49.0000;42.5000 --49.0000;43.0000 --49.0000;43.5000 --49.0000;44.0000 --49.0000;44.5000 --49.0000;45.0000 --49.0000;45.5000 --49.0000;46.0000 --49.0000;46.5000 --49.0000;47.0000 --49.0000;47.5000 --49.0000;48.0000 --49.0000;48.5000 --49.0000;49.0000 --49.0000;49.5000 --49.0000;50.0000 --49.0000;50.5000 --49.0000;51.0000 --49.0000;73.5000 --49.0000;74.0000 --49.0000;74.5000 --49.0000;75.0000 --49.0000;75.5000 --49.0000;76.0000 --49.0000;76.5000 --49.0000;77.0000 --49.0000;77.5000 --49.0000;78.0000 --49.0000;78.5000 --49.0000;79.0000 --49.0000;79.5000 --49.0000;80.0000 --49.0000;80.5000 --49.0000;81.0000 --49.0000;81.5000 --49.0000;82.0000 --49.0000;82.5000 --49.0000;83.0000 --49.0000;83.5000 --48.5000;-74.5000 --48.5000;-74.0000 --48.5000;-73.5000 --48.5000;-73.0000 --48.5000;-72.5000 --48.5000;-72.0000 --48.5000;-71.5000 --48.5000;-71.0000 --48.5000;-70.5000 --48.5000;-70.0000 --48.5000;-69.5000 --48.5000;-69.0000 --48.5000;-68.5000 --48.5000;-68.0000 --48.5000;-67.5000 --48.5000;-67.0000 --48.5000;-66.5000 --48.5000;-66.0000 --48.5000;-65.5000 --48.5000;-65.0000 --48.5000;-64.5000 --48.5000;-64.0000 --48.5000;-30.0000 --48.5000;-29.5000 --48.5000;-29.0000 --48.5000;-28.5000 --48.5000;-28.0000 --48.5000;-27.5000 --48.5000;-27.0000 --48.5000;-26.5000 --48.5000;-26.0000 --48.5000;-25.5000 --48.5000;-25.0000 --48.5000;-24.5000 --48.5000;-24.0000 --48.5000;-23.5000 --48.5000;-23.0000 --48.5000;-22.5000 --48.5000;-22.0000 --48.5000;-21.5000 --48.5000;-21.0000 --48.5000;-20.5000 --48.5000;-20.0000 --48.5000;-19.5000 --48.5000;-19.0000 --48.5000;-18.5000 --48.5000;-18.0000 --48.5000;32.0000 --48.5000;32.5000 --48.5000;33.0000 --48.5000;33.5000 --48.5000;34.0000 --48.5000;34.5000 --48.5000;35.0000 --48.5000;35.5000 --48.5000;36.0000 --48.5000;36.5000 --48.5000;37.0000 --48.5000;37.5000 --48.5000;38.0000 --48.5000;38.5000 --48.5000;39.0000 --48.5000;39.5000 --48.5000;40.0000 --48.5000;40.5000 --48.5000;41.0000 --48.5000;41.5000 --48.5000;42.0000 --48.5000;42.5000 --48.5000;43.0000 --48.5000;43.5000 --48.5000;44.0000 --48.5000;44.5000 --48.5000;45.0000 --48.5000;45.5000 --48.5000;46.0000 --48.5000;46.5000 --48.5000;47.0000 --48.5000;47.5000 --48.5000;48.0000 --48.5000;48.5000 --48.5000;49.0000 --48.5000;49.5000 --48.5000;50.0000 --48.5000;50.5000 --48.5000;73.5000 --48.5000;74.0000 --48.5000;74.5000 --48.5000;75.0000 --48.5000;75.5000 --48.5000;76.0000 --48.5000;76.5000 --48.5000;77.0000 --48.5000;77.5000 --48.5000;78.0000 --48.5000;78.5000 --48.5000;79.0000 --48.5000;79.5000 --48.5000;80.0000 --48.5000;80.5000 --48.5000;81.0000 --48.5000;81.5000 --48.5000;82.0000 --48.5000;82.5000 --48.5000;83.0000 --48.5000;83.5000 --48.0000;-74.5000 --48.0000;-74.0000 --48.0000;-73.5000 --48.0000;-73.0000 --48.0000;-72.5000 --48.0000;-72.0000 --48.0000;-71.5000 --48.0000;-71.0000 --48.0000;-70.5000 --48.0000;-70.0000 --48.0000;-69.5000 --48.0000;-69.0000 --48.0000;-68.5000 --48.0000;-68.0000 --48.0000;-67.5000 --48.0000;-67.0000 --48.0000;-66.5000 --48.0000;-66.0000 --48.0000;-65.5000 --48.0000;-65.0000 --48.0000;-64.5000 --48.0000;-64.0000 --48.0000;-63.5000 --48.0000;-29.5000 --48.0000;-29.0000 --48.0000;-28.5000 --48.0000;-28.0000 --48.0000;-27.5000 --48.0000;-27.0000 --48.0000;-26.5000 --48.0000;-26.0000 --48.0000;-25.5000 --48.0000;-25.0000 --48.0000;-24.5000 --48.0000;-24.0000 --48.0000;-23.5000 --48.0000;-23.0000 --48.0000;-22.5000 --48.0000;-22.0000 --48.0000;-21.5000 --48.0000;-21.0000 --48.0000;-20.5000 --48.0000;-20.0000 --48.0000;-19.5000 --48.0000;-19.0000 --48.0000;-18.5000 --48.0000;-18.0000 --48.0000;-17.5000 --48.0000;31.5000 --48.0000;32.0000 --48.0000;32.5000 --48.0000;33.0000 --48.0000;33.5000 --48.0000;34.0000 --48.0000;34.5000 --48.0000;35.0000 --48.0000;35.5000 --48.0000;36.0000 --48.0000;36.5000 --48.0000;37.0000 --48.0000;37.5000 --48.0000;38.0000 --48.0000;38.5000 --48.0000;39.0000 --48.0000;39.5000 --48.0000;40.0000 --48.0000;40.5000 --48.0000;41.0000 --48.0000;41.5000 --48.0000;42.0000 --48.0000;42.5000 --48.0000;43.0000 --48.0000;43.5000 --48.0000;44.0000 --48.0000;44.5000 --48.0000;45.0000 --48.0000;45.5000 --48.0000;46.0000 --48.0000;46.5000 --48.0000;47.0000 --48.0000;47.5000 --48.0000;48.0000 --48.0000;48.5000 --48.0000;49.0000 --48.0000;49.5000 --48.0000;73.5000 --48.0000;74.0000 --48.0000;74.5000 --48.0000;75.0000 --48.0000;75.5000 --48.0000;76.0000 --48.0000;76.5000 --48.0000;77.0000 --48.0000;77.5000 --48.0000;78.0000 --48.0000;78.5000 --48.0000;79.0000 --48.0000;79.5000 --48.0000;80.0000 --48.0000;80.5000 --48.0000;81.0000 --48.0000;81.5000 --48.0000;82.0000 --48.0000;82.5000 --48.0000;83.0000 --48.0000;83.5000 --47.5000;-74.5000 --47.5000;-74.0000 --47.5000;-73.5000 --47.5000;-73.0000 --47.5000;-72.5000 --47.5000;-72.0000 --47.5000;-71.5000 --47.5000;-71.0000 --47.5000;-70.5000 --47.5000;-70.0000 --47.5000;-69.5000 --47.5000;-69.0000 --47.5000;-68.5000 --47.5000;-68.0000 --47.5000;-67.5000 --47.5000;-67.0000 --47.5000;-66.5000 --47.5000;-66.0000 --47.5000;-65.5000 --47.5000;-65.0000 --47.5000;-64.5000 --47.5000;-64.0000 --47.5000;-63.5000 --47.5000;-29.5000 --47.5000;-29.0000 --47.5000;-28.5000 --47.5000;-28.0000 --47.5000;-27.5000 --47.5000;-27.0000 --47.5000;-26.5000 --47.5000;-26.0000 --47.5000;-25.5000 --47.5000;-25.0000 --47.5000;-24.5000 --47.5000;-24.0000 --47.5000;-23.5000 --47.5000;-23.0000 --47.5000;-22.5000 --47.5000;-22.0000 --47.5000;-21.5000 --47.5000;-21.0000 --47.5000;-20.5000 --47.5000;-20.0000 --47.5000;-19.5000 --47.5000;-19.0000 --47.5000;-18.5000 --47.5000;-18.0000 --47.5000;-17.5000 --47.5000;-17.0000 --47.5000;30.5000 --47.5000;31.0000 --47.5000;31.5000 --47.5000;32.0000 --47.5000;32.5000 --47.5000;33.0000 --47.5000;33.5000 --47.5000;34.0000 --47.5000;34.5000 --47.5000;35.0000 --47.5000;35.5000 --47.5000;36.0000 --47.5000;36.5000 --47.5000;37.0000 --47.5000;37.5000 --47.5000;38.0000 --47.5000;38.5000 --47.5000;39.0000 --47.5000;39.5000 --47.5000;40.0000 --47.5000;40.5000 --47.5000;41.0000 --47.5000;41.5000 --47.5000;42.0000 --47.5000;42.5000 --47.5000;43.0000 --47.5000;43.5000 --47.5000;44.0000 --47.5000;44.5000 --47.5000;45.0000 --47.5000;45.5000 --47.5000;46.0000 --47.5000;46.5000 --47.5000;47.0000 --47.5000;47.5000 --47.5000;48.0000 --47.5000;48.5000 --47.5000;49.0000 --47.5000;73.5000 --47.5000;74.0000 --47.5000;74.5000 --47.5000;75.0000 --47.5000;75.5000 --47.5000;76.0000 --47.5000;76.5000 --47.5000;77.0000 --47.5000;77.5000 --47.5000;78.0000 --47.5000;78.5000 --47.5000;79.0000 --47.5000;79.5000 --47.5000;80.0000 --47.5000;80.5000 --47.5000;81.0000 --47.5000;81.5000 --47.5000;82.0000 --47.5000;82.5000 --47.5000;83.0000 --47.5000;83.5000 --47.0000;-74.0000 --47.0000;-73.5000 --47.0000;-73.0000 --47.0000;-72.5000 --47.0000;-72.0000 --47.0000;-71.5000 --47.0000;-71.0000 --47.0000;-70.5000 --47.0000;-70.0000 --47.0000;-69.5000 --47.0000;-69.0000 --47.0000;-68.5000 --47.0000;-68.0000 --47.0000;-67.5000 --47.0000;-67.0000 --47.0000;-66.5000 --47.0000;-66.0000 --47.0000;-65.5000 --47.0000;-65.0000 --47.0000;-64.5000 --47.0000;-64.0000 --47.0000;-63.5000 --47.0000;-63.0000 --47.0000;-29.0000 --47.0000;-28.5000 --47.0000;-28.0000 --47.0000;-27.5000 --47.0000;-27.0000 --47.0000;-26.5000 --47.0000;-26.0000 --47.0000;-25.5000 --47.0000;-25.0000 --47.0000;-24.5000 --47.0000;-24.0000 --47.0000;-23.5000 --47.0000;-23.0000 --47.0000;-22.5000 --47.0000;-22.0000 --47.0000;-21.5000 --47.0000;-21.0000 --47.0000;-20.5000 --47.0000;-20.0000 --47.0000;-19.5000 --47.0000;-19.0000 --47.0000;-18.5000 --47.0000;-18.0000 --47.0000;-17.5000 --47.0000;-17.0000 --47.0000;-16.5000 --47.0000;30.0000 --47.0000;30.5000 --47.0000;31.0000 --47.0000;31.5000 --47.0000;32.0000 --47.0000;32.5000 --47.0000;33.0000 --47.0000;33.5000 --47.0000;34.0000 --47.0000;34.5000 --47.0000;35.0000 --47.0000;35.5000 --47.0000;36.0000 --47.0000;36.5000 --47.0000;37.0000 --47.0000;37.5000 --47.0000;38.0000 --47.0000;38.5000 --47.0000;39.0000 --47.0000;39.5000 --47.0000;40.0000 --47.0000;40.5000 --47.0000;41.0000 --47.0000;41.5000 --47.0000;42.0000 --47.0000;42.5000 --47.0000;43.0000 --47.0000;43.5000 --47.0000;44.0000 --47.0000;44.5000 --47.0000;45.0000 --47.0000;45.5000 --47.0000;46.0000 --47.0000;46.5000 --47.0000;47.0000 --47.0000;47.5000 --47.0000;48.0000 --47.0000;73.5000 --47.0000;74.0000 --47.0000;74.5000 --47.0000;75.0000 --47.0000;75.5000 --47.0000;76.0000 --47.0000;76.5000 --47.0000;77.0000 --47.0000;77.5000 --47.0000;78.0000 --47.0000;78.5000 --47.0000;79.0000 --47.0000;79.5000 --47.0000;80.0000 --47.0000;80.5000 --47.0000;81.0000 --47.0000;81.5000 --47.0000;82.0000 --47.0000;82.5000 --47.0000;83.0000 --47.0000;83.5000 --46.5000;-74.0000 --46.5000;-73.5000 --46.5000;-73.0000 --46.5000;-72.5000 --46.5000;-72.0000 --46.5000;-71.5000 --46.5000;-71.0000 --46.5000;-70.5000 --46.5000;-70.0000 --46.5000;-69.5000 --46.5000;-69.0000 --46.5000;-68.5000 --46.5000;-68.0000 --46.5000;-67.5000 --46.5000;-67.0000 --46.5000;-66.5000 --46.5000;-66.0000 --46.5000;-65.5000 --46.5000;-65.0000 --46.5000;-64.5000 --46.5000;-64.0000 --46.5000;-63.5000 --46.5000;-63.0000 --46.5000;-62.5000 --46.5000;-29.0000 --46.5000;-28.5000 --46.5000;-28.0000 --46.5000;-27.5000 --46.5000;-27.0000 --46.5000;-26.5000 --46.5000;-26.0000 --46.5000;-25.5000 --46.5000;-25.0000 --46.5000;-24.5000 --46.5000;-24.0000 --46.5000;-23.5000 --46.5000;-23.0000 --46.5000;-22.5000 --46.5000;-22.0000 --46.5000;-21.5000 --46.5000;-21.0000 --46.5000;-20.5000 --46.5000;-20.0000 --46.5000;-19.5000 --46.5000;-19.0000 --46.5000;-18.5000 --46.5000;-18.0000 --46.5000;-17.5000 --46.5000;-17.0000 --46.5000;-16.5000 --46.5000;-16.0000 --46.5000;29.0000 --46.5000;29.5000 --46.5000;30.0000 --46.5000;30.5000 --46.5000;31.0000 --46.5000;31.5000 --46.5000;32.0000 --46.5000;32.5000 --46.5000;33.0000 --46.5000;33.5000 --46.5000;34.0000 --46.5000;34.5000 --46.5000;35.0000 --46.5000;35.5000 --46.5000;36.0000 --46.5000;36.5000 --46.5000;37.0000 --46.5000;37.5000 --46.5000;38.0000 --46.5000;38.5000 --46.5000;39.0000 --46.5000;39.5000 --46.5000;40.0000 --46.5000;40.5000 --46.5000;41.0000 --46.5000;41.5000 --46.5000;42.0000 --46.5000;42.5000 --46.5000;43.0000 --46.5000;43.5000 --46.5000;44.0000 --46.5000;44.5000 --46.5000;45.0000 --46.5000;45.5000 --46.5000;46.0000 --46.5000;46.5000 --46.5000;47.0000 --46.5000;47.5000 --46.5000;73.5000 --46.5000;74.0000 --46.5000;74.5000 --46.5000;75.0000 --46.5000;75.5000 --46.5000;76.0000 --46.5000;76.5000 --46.5000;77.0000 --46.5000;77.5000 --46.5000;78.0000 --46.5000;78.5000 --46.5000;79.0000 --46.5000;79.5000 --46.5000;80.0000 --46.5000;80.5000 --46.5000;81.0000 --46.5000;81.5000 --46.5000;82.0000 --46.5000;82.5000 --46.5000;83.0000 --46.5000;83.5000 --46.5000;84.0000 --46.0000;-74.0000 --46.0000;-73.5000 --46.0000;-73.0000 --46.0000;-72.5000 --46.0000;-72.0000 --46.0000;-71.5000 --46.0000;-71.0000 --46.0000;-70.5000 --46.0000;-70.0000 --46.0000;-69.5000 --46.0000;-69.0000 --46.0000;-68.5000 --46.0000;-68.0000 --46.0000;-67.5000 --46.0000;-67.0000 --46.0000;-66.5000 --46.0000;-66.0000 --46.0000;-65.5000 --46.0000;-65.0000 --46.0000;-64.5000 --46.0000;-64.0000 --46.0000;-63.5000 --46.0000;-63.0000 --46.0000;-62.5000 --46.0000;-28.5000 --46.0000;-28.0000 --46.0000;-27.5000 --46.0000;-27.0000 --46.0000;-26.5000 --46.0000;-26.0000 --46.0000;-25.5000 --46.0000;-25.0000 --46.0000;-24.5000 --46.0000;-24.0000 --46.0000;-23.5000 --46.0000;-23.0000 --46.0000;-22.5000 --46.0000;-22.0000 --46.0000;-21.5000 --46.0000;-21.0000 --46.0000;-20.5000 --46.0000;-20.0000 --46.0000;-19.5000 --46.0000;-19.0000 --46.0000;-18.5000 --46.0000;-18.0000 --46.0000;-17.5000 --46.0000;-17.0000 --46.0000;-16.5000 --46.0000;-16.0000 --46.0000;-15.5000 --46.0000;-15.0000 --46.0000;28.5000 --46.0000;29.0000 --46.0000;29.5000 --46.0000;30.0000 --46.0000;30.5000 --46.0000;31.0000 --46.0000;31.5000 --46.0000;32.0000 --46.0000;32.5000 --46.0000;33.0000 --46.0000;33.5000 --46.0000;34.0000 --46.0000;34.5000 --46.0000;35.0000 --46.0000;35.5000 --46.0000;36.0000 --46.0000;36.5000 --46.0000;37.0000 --46.0000;37.5000 --46.0000;38.0000 --46.0000;38.5000 --46.0000;39.0000 --46.0000;39.5000 --46.0000;40.0000 --46.0000;40.5000 --46.0000;41.0000 --46.0000;41.5000 --46.0000;42.0000 --46.0000;42.5000 --46.0000;43.0000 --46.0000;43.5000 --46.0000;44.0000 --46.0000;44.5000 --46.0000;45.0000 --46.0000;45.5000 --46.0000;46.0000 --46.0000;46.5000 --46.0000;73.5000 --46.0000;74.0000 --46.0000;74.5000 --46.0000;75.0000 --46.0000;75.5000 --46.0000;76.0000 --46.0000;76.5000 --46.0000;77.0000 --46.0000;77.5000 --46.0000;78.0000 --46.0000;78.5000 --46.0000;79.0000 --46.0000;79.5000 --46.0000;80.0000 --46.0000;80.5000 --46.0000;81.0000 --46.0000;81.5000 --46.0000;82.0000 --46.0000;82.5000 --46.0000;83.0000 --46.0000;83.5000 --46.0000;84.0000 --45.5000;-73.5000 --45.5000;-73.0000 --45.5000;-72.5000 --45.5000;-72.0000 --45.5000;-71.5000 --45.5000;-71.0000 --45.5000;-70.5000 --45.5000;-70.0000 --45.5000;-69.5000 --45.5000;-69.0000 --45.5000;-68.5000 --45.5000;-68.0000 --45.5000;-67.5000 --45.5000;-67.0000 --45.5000;-66.5000 --45.5000;-66.0000 --45.5000;-65.5000 --45.5000;-65.0000 --45.5000;-64.5000 --45.5000;-64.0000 --45.5000;-63.5000 --45.5000;-63.0000 --45.5000;-62.5000 --45.5000;-62.0000 --45.5000;-28.5000 --45.5000;-28.0000 --45.5000;-27.5000 --45.5000;-27.0000 --45.5000;-26.5000 --45.5000;-26.0000 --45.5000;-25.5000 --45.5000;-25.0000 --45.5000;-24.5000 --45.5000;-24.0000 --45.5000;-23.5000 --45.5000;-23.0000 --45.5000;-22.5000 --45.5000;-22.0000 --45.5000;-21.5000 --45.5000;-21.0000 --45.5000;-20.5000 --45.5000;-20.0000 --45.5000;-19.5000 --45.5000;-19.0000 --45.5000;-18.5000 --45.5000;-18.0000 --45.5000;-17.5000 --45.5000;-17.0000 --45.5000;-16.5000 --45.5000;-16.0000 --45.5000;-15.5000 --45.5000;-15.0000 --45.5000;-14.5000 --45.5000;27.5000 --45.5000;28.0000 --45.5000;28.5000 --45.5000;29.0000 --45.5000;29.5000 --45.5000;30.0000 --45.5000;30.5000 --45.5000;31.0000 --45.5000;31.5000 --45.5000;32.0000 --45.5000;32.5000 --45.5000;33.0000 --45.5000;33.5000 --45.5000;34.0000 --45.5000;34.5000 --45.5000;35.0000 --45.5000;35.5000 --45.5000;36.0000 --45.5000;36.5000 --45.5000;37.0000 --45.5000;37.5000 --45.5000;38.0000 --45.5000;38.5000 --45.5000;39.0000 --45.5000;39.5000 --45.5000;40.0000 --45.5000;40.5000 --45.5000;41.0000 --45.5000;41.5000 --45.5000;42.0000 --45.5000;42.5000 --45.5000;43.0000 --45.5000;43.5000 --45.5000;44.0000 --45.5000;44.5000 --45.5000;45.0000 --45.5000;45.5000 --45.5000;46.0000 --45.5000;73.5000 --45.5000;74.0000 --45.5000;74.5000 --45.5000;75.0000 --45.5000;75.5000 --45.5000;76.0000 --45.5000;76.5000 --45.5000;77.0000 --45.5000;77.5000 --45.5000;78.0000 --45.5000;78.5000 --45.5000;79.0000 --45.5000;79.5000 --45.5000;80.0000 --45.5000;80.5000 --45.5000;81.0000 --45.5000;81.5000 --45.5000;82.0000 --45.5000;82.5000 --45.5000;83.0000 --45.5000;83.5000 --45.5000;84.0000 --45.0000;-73.5000 --45.0000;-73.0000 --45.0000;-72.5000 --45.0000;-72.0000 --45.0000;-71.5000 --45.0000;-71.0000 --45.0000;-70.5000 --45.0000;-70.0000 --45.0000;-69.5000 --45.0000;-69.0000 --45.0000;-68.5000 --45.0000;-68.0000 --45.0000;-67.5000 --45.0000;-67.0000 --45.0000;-66.5000 --45.0000;-66.0000 --45.0000;-65.5000 --45.0000;-65.0000 --45.0000;-64.5000 --45.0000;-64.0000 --45.0000;-63.5000 --45.0000;-63.0000 --45.0000;-62.5000 --45.0000;-62.0000 --45.0000;-61.5000 --45.0000;-28.0000 --45.0000;-27.5000 --45.0000;-27.0000 --45.0000;-26.5000 --45.0000;-26.0000 --45.0000;-25.5000 --45.0000;-25.0000 --45.0000;-24.5000 --45.0000;-24.0000 --45.0000;-23.5000 --45.0000;-23.0000 --45.0000;-22.5000 --45.0000;-22.0000 --45.0000;-21.5000 --45.0000;-21.0000 --45.0000;-20.5000 --45.0000;-20.0000 --45.0000;-19.5000 --45.0000;-19.0000 --45.0000;-18.5000 --45.0000;-18.0000 --45.0000;-17.5000 --45.0000;-17.0000 --45.0000;-16.5000 --45.0000;-16.0000 --45.0000;-15.5000 --45.0000;-15.0000 --45.0000;-14.5000 --45.0000;-14.0000 --45.0000;27.0000 --45.0000;27.5000 --45.0000;28.0000 --45.0000;28.5000 --45.0000;29.0000 --45.0000;29.5000 --45.0000;30.0000 --45.0000;30.5000 --45.0000;31.0000 --45.0000;31.5000 --45.0000;32.0000 --45.0000;32.5000 --45.0000;33.0000 --45.0000;33.5000 --45.0000;34.0000 --45.0000;34.5000 --45.0000;35.0000 --45.0000;35.5000 --45.0000;36.0000 --45.0000;36.5000 --45.0000;37.0000 --45.0000;37.5000 --45.0000;38.0000 --45.0000;38.5000 --45.0000;39.0000 --45.0000;39.5000 --45.0000;40.0000 --45.0000;40.5000 --45.0000;41.0000 --45.0000;41.5000 --45.0000;42.0000 --45.0000;42.5000 --45.0000;43.0000 --45.0000;43.5000 --45.0000;44.0000 --45.0000;44.5000 --45.0000;45.0000 --45.0000;74.0000 --45.0000;74.5000 --45.0000;75.0000 --45.0000;75.5000 --45.0000;76.0000 --45.0000;76.5000 --45.0000;77.0000 --45.0000;77.5000 --45.0000;78.0000 --45.0000;78.5000 --45.0000;79.0000 --45.0000;79.5000 --45.0000;80.0000 --45.0000;80.5000 --45.0000;81.0000 --45.0000;81.5000 --45.0000;82.0000 --45.0000;82.5000 --45.0000;83.0000 --45.0000;83.5000 --45.0000;84.0000 --44.5000;-73.5000 --44.5000;-73.0000 --44.5000;-72.5000 --44.5000;-72.0000 --44.5000;-71.5000 --44.5000;-71.0000 --44.5000;-70.5000 --44.5000;-70.0000 --44.5000;-69.5000 --44.5000;-69.0000 --44.5000;-68.5000 --44.5000;-68.0000 --44.5000;-67.5000 --44.5000;-67.0000 --44.5000;-66.5000 --44.5000;-66.0000 --44.5000;-65.5000 --44.5000;-65.0000 --44.5000;-64.5000 --44.5000;-64.0000 --44.5000;-63.5000 --44.5000;-63.0000 --44.5000;-62.5000 --44.5000;-62.0000 --44.5000;-61.5000 --44.5000;-61.0000 --44.5000;-27.5000 --44.5000;-27.0000 --44.5000;-26.5000 --44.5000;-26.0000 --44.5000;-25.5000 --44.5000;-25.0000 --44.5000;-24.5000 --44.5000;-24.0000 --44.5000;-23.5000 --44.5000;-23.0000 --44.5000;-22.5000 --44.5000;-22.0000 --44.5000;-21.5000 --44.5000;-21.0000 --44.5000;-20.5000 --44.5000;-20.0000 --44.5000;-19.5000 --44.5000;-19.0000 --44.5000;-18.5000 --44.5000;-18.0000 --44.5000;-17.5000 --44.5000;-17.0000 --44.5000;-16.5000 --44.5000;-16.0000 --44.5000;-15.5000 --44.5000;-15.0000 --44.5000;-14.5000 --44.5000;-14.0000 --44.5000;-13.5000 --44.5000;-13.0000 --44.5000;26.0000 --44.5000;26.5000 --44.5000;27.0000 --44.5000;27.5000 --44.5000;28.0000 --44.5000;28.5000 --44.5000;29.0000 --44.5000;29.5000 --44.5000;30.0000 --44.5000;30.5000 --44.5000;31.0000 --44.5000;31.5000 --44.5000;32.0000 --44.5000;32.5000 --44.5000;33.0000 --44.5000;33.5000 --44.5000;34.0000 --44.5000;34.5000 --44.5000;35.0000 --44.5000;35.5000 --44.5000;36.0000 --44.5000;36.5000 --44.5000;37.0000 --44.5000;37.5000 --44.5000;38.0000 --44.5000;38.5000 --44.5000;39.0000 --44.5000;39.5000 --44.5000;40.0000 --44.5000;40.5000 --44.5000;41.0000 --44.5000;41.5000 --44.5000;42.0000 --44.5000;42.5000 --44.5000;43.0000 --44.5000;43.5000 --44.5000;44.0000 --44.5000;44.5000 --44.5000;74.0000 --44.5000;74.5000 --44.5000;75.0000 --44.5000;75.5000 --44.5000;76.0000 --44.5000;76.5000 --44.5000;77.0000 --44.5000;77.5000 --44.5000;78.0000 --44.5000;78.5000 --44.5000;79.0000 --44.5000;79.5000 --44.5000;80.0000 --44.5000;80.5000 --44.5000;81.0000 --44.5000;81.5000 --44.5000;82.0000 --44.5000;82.5000 --44.5000;83.0000 --44.5000;83.5000 --44.5000;84.0000 --44.0000;-73.0000 --44.0000;-72.5000 --44.0000;-72.0000 --44.0000;-71.5000 --44.0000;-71.0000 --44.0000;-70.5000 --44.0000;-70.0000 --44.0000;-69.5000 --44.0000;-69.0000 --44.0000;-68.5000 --44.0000;-68.0000 --44.0000;-67.5000 --44.0000;-67.0000 --44.0000;-66.5000 --44.0000;-66.0000 --44.0000;-65.5000 --44.0000;-65.0000 --44.0000;-64.5000 --44.0000;-64.0000 --44.0000;-63.5000 --44.0000;-63.0000 --44.0000;-62.5000 --44.0000;-62.0000 --44.0000;-61.5000 --44.0000;-61.0000 --44.0000;-60.5000 --44.0000;-27.5000 --44.0000;-27.0000 --44.0000;-26.5000 --44.0000;-26.0000 --44.0000;-25.5000 --44.0000;-25.0000 --44.0000;-24.5000 --44.0000;-24.0000 --44.0000;-23.5000 --44.0000;-23.0000 --44.0000;-22.5000 --44.0000;-22.0000 --44.0000;-21.5000 --44.0000;-21.0000 --44.0000;-20.5000 --44.0000;-20.0000 --44.0000;-19.5000 --44.0000;-19.0000 --44.0000;-18.5000 --44.0000;-18.0000 --44.0000;-17.5000 --44.0000;-17.0000 --44.0000;-16.5000 --44.0000;-16.0000 --44.0000;-15.5000 --44.0000;-15.0000 --44.0000;-14.5000 --44.0000;-14.0000 --44.0000;-13.5000 --44.0000;-13.0000 --44.0000;-12.5000 --44.0000;25.0000 --44.0000;25.5000 --44.0000;26.0000 --44.0000;26.5000 --44.0000;27.0000 --44.0000;27.5000 --44.0000;28.0000 --44.0000;28.5000 --44.0000;29.0000 --44.0000;29.5000 --44.0000;30.0000 --44.0000;30.5000 --44.0000;31.0000 --44.0000;31.5000 --44.0000;32.0000 --44.0000;32.5000 --44.0000;33.0000 --44.0000;33.5000 --44.0000;34.0000 --44.0000;34.5000 --44.0000;35.0000 --44.0000;35.5000 --44.0000;36.0000 --44.0000;36.5000 --44.0000;37.0000 --44.0000;37.5000 --44.0000;38.0000 --44.0000;38.5000 --44.0000;39.0000 --44.0000;39.5000 --44.0000;40.0000 --44.0000;40.5000 --44.0000;41.0000 --44.0000;41.5000 --44.0000;42.0000 --44.0000;42.5000 --44.0000;43.0000 --44.0000;43.5000 --44.0000;44.0000 --44.0000;74.0000 --44.0000;74.5000 --44.0000;75.0000 --44.0000;75.5000 --44.0000;76.0000 --44.0000;76.5000 --44.0000;77.0000 --44.0000;77.5000 --44.0000;78.0000 --44.0000;78.5000 --44.0000;79.0000 --44.0000;79.5000 --44.0000;80.0000 --44.0000;80.5000 --44.0000;81.0000 --44.0000;81.5000 --44.0000;82.0000 --44.0000;82.5000 --44.0000;83.0000 --44.0000;83.5000 --44.0000;84.0000 --44.0000;84.5000 --43.5000;-73.0000 --43.5000;-72.5000 --43.5000;-72.0000 --43.5000;-71.5000 --43.5000;-71.0000 --43.5000;-70.5000 --43.5000;-70.0000 --43.5000;-69.5000 --43.5000;-69.0000 --43.5000;-68.5000 --43.5000;-68.0000 --43.5000;-67.5000 --43.5000;-67.0000 --43.5000;-66.5000 --43.5000;-66.0000 --43.5000;-65.5000 --43.5000;-65.0000 --43.5000;-64.5000 --43.5000;-64.0000 --43.5000;-63.5000 --43.5000;-63.0000 --43.5000;-62.5000 --43.5000;-62.0000 --43.5000;-61.5000 --43.5000;-61.0000 --43.5000;-60.5000 --43.5000;-60.0000 --43.5000;-59.5000 --43.5000;-27.0000 --43.5000;-26.5000 --43.5000;-26.0000 --43.5000;-25.5000 --43.5000;-25.0000 --43.5000;-24.5000 --43.5000;-24.0000 --43.5000;-23.5000 --43.5000;-23.0000 --43.5000;-22.5000 --43.5000;-22.0000 --43.5000;-21.5000 --43.5000;-21.0000 --43.5000;-20.5000 --43.5000;-20.0000 --43.5000;-19.5000 --43.5000;-19.0000 --43.5000;-18.5000 --43.5000;-18.0000 --43.5000;-17.5000 --43.5000;-17.0000 --43.5000;-16.5000 --43.5000;-16.0000 --43.5000;-15.5000 --43.5000;-15.0000 --43.5000;-14.5000 --43.5000;-14.0000 --43.5000;-13.5000 --43.5000;-13.0000 --43.5000;-12.5000 --43.5000;-12.0000 --43.5000;-11.5000 --43.5000;24.5000 --43.5000;25.0000 --43.5000;25.5000 --43.5000;26.0000 --43.5000;26.5000 --43.5000;27.0000 --43.5000;27.5000 --43.5000;28.0000 --43.5000;28.5000 --43.5000;29.0000 --43.5000;29.5000 --43.5000;30.0000 --43.5000;30.5000 --43.5000;31.0000 --43.5000;31.5000 --43.5000;32.0000 --43.5000;32.5000 --43.5000;33.0000 --43.5000;33.5000 --43.5000;34.0000 --43.5000;34.5000 --43.5000;35.0000 --43.5000;35.5000 --43.5000;36.0000 --43.5000;36.5000 --43.5000;37.0000 --43.5000;37.5000 --43.5000;38.0000 --43.5000;38.5000 --43.5000;39.0000 --43.5000;39.5000 --43.5000;40.0000 --43.5000;40.5000 --43.5000;41.0000 --43.5000;41.5000 --43.5000;42.0000 --43.5000;42.5000 --43.5000;43.0000 --43.5000;74.0000 --43.5000;74.5000 --43.5000;75.0000 --43.5000;75.5000 --43.5000;76.0000 --43.5000;76.5000 --43.5000;77.0000 --43.5000;77.5000 --43.5000;78.0000 --43.5000;78.5000 --43.5000;79.0000 --43.5000;79.5000 --43.5000;80.0000 --43.5000;80.5000 --43.5000;81.0000 --43.5000;81.5000 --43.5000;82.0000 --43.5000;82.5000 --43.5000;83.0000 --43.5000;83.5000 --43.5000;84.0000 --43.5000;84.5000 --43.0000;-72.5000 --43.0000;-72.0000 --43.0000;-71.5000 --43.0000;-71.0000 --43.0000;-70.5000 --43.0000;-70.0000 --43.0000;-69.5000 --43.0000;-69.0000 --43.0000;-68.5000 --43.0000;-68.0000 --43.0000;-67.5000 --43.0000;-67.0000 --43.0000;-66.5000 --43.0000;-66.0000 --43.0000;-65.5000 --43.0000;-65.0000 --43.0000;-64.5000 --43.0000;-64.0000 --43.0000;-63.5000 --43.0000;-63.0000 --43.0000;-62.5000 --43.0000;-62.0000 --43.0000;-61.5000 --43.0000;-61.0000 --43.0000;-60.5000 --43.0000;-60.0000 --43.0000;-59.5000 --43.0000;-59.0000 --43.0000;-26.5000 --43.0000;-26.0000 --43.0000;-25.5000 --43.0000;-25.0000 --43.0000;-24.5000 --43.0000;-24.0000 --43.0000;-23.5000 --43.0000;-23.0000 --43.0000;-22.5000 --43.0000;-22.0000 --43.0000;-21.5000 --43.0000;-21.0000 --43.0000;-20.5000 --43.0000;-20.0000 --43.0000;-19.5000 --43.0000;-19.0000 --43.0000;-18.5000 --43.0000;-18.0000 --43.0000;-17.5000 --43.0000;-17.0000 --43.0000;-16.5000 --43.0000;-16.0000 --43.0000;-15.5000 --43.0000;-15.0000 --43.0000;-14.5000 --43.0000;-14.0000 --43.0000;-13.5000 --43.0000;-13.0000 --43.0000;-12.5000 --43.0000;-12.0000 --43.0000;-11.5000 --43.0000;-11.0000 --43.0000;-10.5000 --43.0000;23.5000 --43.0000;24.0000 --43.0000;24.5000 --43.0000;25.0000 --43.0000;25.5000 --43.0000;26.0000 --43.0000;26.5000 --43.0000;27.0000 --43.0000;27.5000 --43.0000;28.0000 --43.0000;28.5000 --43.0000;29.0000 --43.0000;29.5000 --43.0000;30.0000 --43.0000;30.5000 --43.0000;31.0000 --43.0000;31.5000 --43.0000;32.0000 --43.0000;32.5000 --43.0000;33.0000 --43.0000;33.5000 --43.0000;34.0000 --43.0000;34.5000 --43.0000;35.0000 --43.0000;35.5000 --43.0000;36.0000 --43.0000;36.5000 --43.0000;37.0000 --43.0000;37.5000 --43.0000;38.0000 --43.0000;38.5000 --43.0000;39.0000 --43.0000;39.5000 --43.0000;40.0000 --43.0000;40.5000 --43.0000;41.0000 --43.0000;41.5000 --43.0000;42.0000 --43.0000;42.5000 --43.0000;74.0000 --43.0000;74.5000 --43.0000;75.0000 --43.0000;75.5000 --43.0000;76.0000 --43.0000;76.5000 --43.0000;77.0000 --43.0000;77.5000 --43.0000;78.0000 --43.0000;78.5000 --43.0000;79.0000 --43.0000;79.5000 --43.0000;80.0000 --43.0000;80.5000 --43.0000;81.0000 --43.0000;81.5000 --43.0000;82.0000 --43.0000;82.5000 --43.0000;83.0000 --43.0000;83.5000 --43.0000;84.0000 --43.0000;84.5000 --43.0000;85.0000 --42.5000;-72.5000 --42.5000;-72.0000 --42.5000;-71.5000 --42.5000;-71.0000 --42.5000;-70.5000 --42.5000;-70.0000 --42.5000;-69.5000 --42.5000;-69.0000 --42.5000;-68.5000 --42.5000;-68.0000 --42.5000;-67.5000 --42.5000;-67.0000 --42.5000;-66.5000 --42.5000;-66.0000 --42.5000;-65.5000 --42.5000;-65.0000 --42.5000;-64.5000 --42.5000;-64.0000 --42.5000;-63.5000 --42.5000;-63.0000 --42.5000;-62.5000 --42.5000;-62.0000 --42.5000;-61.5000 --42.5000;-61.0000 --42.5000;-60.5000 --42.5000;-60.0000 --42.5000;-59.5000 --42.5000;-59.0000 --42.5000;-58.5000 --42.5000;-26.5000 --42.5000;-26.0000 --42.5000;-25.5000 --42.5000;-25.0000 --42.5000;-24.5000 --42.5000;-24.0000 --42.5000;-23.5000 --42.5000;-23.0000 --42.5000;-22.5000 --42.5000;-22.0000 --42.5000;-21.5000 --42.5000;-21.0000 --42.5000;-20.5000 --42.5000;-20.0000 --42.5000;-19.5000 --42.5000;-19.0000 --42.5000;-18.5000 --42.5000;-18.0000 --42.5000;-17.5000 --42.5000;-17.0000 --42.5000;-16.5000 --42.5000;-16.0000 --42.5000;-15.5000 --42.5000;-15.0000 --42.5000;-14.5000 --42.5000;-14.0000 --42.5000;-13.5000 --42.5000;-13.0000 --42.5000;-12.5000 --42.5000;-12.0000 --42.5000;-11.5000 --42.5000;-11.0000 --42.5000;-10.5000 --42.5000;-10.0000 --42.5000;-9.5000 --42.5000;22.5000 --42.5000;23.0000 --42.5000;23.5000 --42.5000;24.0000 --42.5000;24.5000 --42.5000;25.0000 --42.5000;25.5000 --42.5000;26.0000 --42.5000;26.5000 --42.5000;27.0000 --42.5000;27.5000 --42.5000;28.0000 --42.5000;28.5000 --42.5000;29.0000 --42.5000;29.5000 --42.5000;30.0000 --42.5000;30.5000 --42.5000;31.0000 --42.5000;31.5000 --42.5000;32.0000 --42.5000;32.5000 --42.5000;33.0000 --42.5000;33.5000 --42.5000;34.0000 --42.5000;34.5000 --42.5000;35.0000 --42.5000;35.5000 --42.5000;36.0000 --42.5000;36.5000 --42.5000;37.0000 --42.5000;37.5000 --42.5000;38.0000 --42.5000;38.5000 --42.5000;39.0000 --42.5000;39.5000 --42.5000;40.0000 --42.5000;40.5000 --42.5000;41.0000 --42.5000;41.5000 --42.5000;74.5000 --42.5000;75.0000 --42.5000;75.5000 --42.5000;76.0000 --42.5000;76.5000 --42.5000;77.0000 --42.5000;77.5000 --42.5000;78.0000 --42.5000;78.5000 --42.5000;79.0000 --42.5000;79.5000 --42.5000;80.0000 --42.5000;80.5000 --42.5000;81.0000 --42.5000;81.5000 --42.5000;82.0000 --42.5000;82.5000 --42.5000;83.0000 --42.5000;83.5000 --42.5000;84.0000 --42.5000;84.5000 --42.5000;85.0000 --42.0000;-72.0000 --42.0000;-71.5000 --42.0000;-71.0000 --42.0000;-70.5000 --42.0000;-70.0000 --42.0000;-69.5000 --42.0000;-69.0000 --42.0000;-68.5000 --42.0000;-68.0000 --42.0000;-67.5000 --42.0000;-67.0000 --42.0000;-66.5000 --42.0000;-66.0000 --42.0000;-65.5000 --42.0000;-65.0000 --42.0000;-64.5000 --42.0000;-64.0000 --42.0000;-63.5000 --42.0000;-63.0000 --42.0000;-62.5000 --42.0000;-62.0000 --42.0000;-61.5000 --42.0000;-61.0000 --42.0000;-60.5000 --42.0000;-60.0000 --42.0000;-59.5000 --42.0000;-59.0000 --42.0000;-58.5000 --42.0000;-58.0000 --42.0000;-26.0000 --42.0000;-25.5000 --42.0000;-25.0000 --42.0000;-24.5000 --42.0000;-24.0000 --42.0000;-23.5000 --42.0000;-23.0000 --42.0000;-22.5000 --42.0000;-22.0000 --42.0000;-21.5000 --42.0000;-21.0000 --42.0000;-20.5000 --42.0000;-20.0000 --42.0000;-19.5000 --42.0000;-19.0000 --42.0000;-18.5000 --42.0000;-18.0000 --42.0000;-17.5000 --42.0000;-17.0000 --42.0000;-16.5000 --42.0000;-16.0000 --42.0000;-15.5000 --42.0000;-15.0000 --42.0000;-14.5000 --42.0000;-14.0000 --42.0000;-13.5000 --42.0000;-13.0000 --42.0000;-12.5000 --42.0000;-12.0000 --42.0000;-11.5000 --42.0000;-11.0000 --42.0000;-10.5000 --42.0000;-10.0000 --42.0000;-9.5000 --42.0000;-9.0000 --42.0000;-8.5000 --42.0000;21.5000 --42.0000;22.0000 --42.0000;22.5000 --42.0000;23.0000 --42.0000;23.5000 --42.0000;24.0000 --42.0000;24.5000 --42.0000;25.0000 --42.0000;25.5000 --42.0000;26.0000 --42.0000;26.5000 --42.0000;27.0000 --42.0000;27.5000 --42.0000;28.0000 --42.0000;28.5000 --42.0000;29.0000 --42.0000;29.5000 --42.0000;30.0000 --42.0000;30.5000 --42.0000;31.0000 --42.0000;31.5000 --42.0000;32.0000 --42.0000;32.5000 --42.0000;33.0000 --42.0000;33.5000 --42.0000;34.0000 --42.0000;34.5000 --42.0000;35.0000 --42.0000;35.5000 --42.0000;36.0000 --42.0000;36.5000 --42.0000;37.0000 --42.0000;37.5000 --42.0000;38.0000 --42.0000;38.5000 --42.0000;39.0000 --42.0000;39.5000 --42.0000;40.0000 --42.0000;40.5000 --42.0000;41.0000 --42.0000;74.5000 --42.0000;75.0000 --42.0000;75.5000 --42.0000;76.0000 --42.0000;76.5000 --42.0000;77.0000 --42.0000;77.5000 --42.0000;78.0000 --42.0000;78.5000 --42.0000;79.0000 --42.0000;79.5000 --42.0000;80.0000 --42.0000;80.5000 --42.0000;81.0000 --42.0000;81.5000 --42.0000;82.0000 --42.0000;82.5000 --42.0000;83.0000 --42.0000;83.5000 --42.0000;84.0000 --42.0000;84.5000 --42.0000;85.0000 --42.0000;85.5000 --41.5000;-71.5000 --41.5000;-71.0000 --41.5000;-70.5000 --41.5000;-70.0000 --41.5000;-69.5000 --41.5000;-69.0000 --41.5000;-68.5000 --41.5000;-68.0000 --41.5000;-67.5000 --41.5000;-67.0000 --41.5000;-66.5000 --41.5000;-66.0000 --41.5000;-65.5000 --41.5000;-65.0000 --41.5000;-64.5000 --41.5000;-64.0000 --41.5000;-63.5000 --41.5000;-63.0000 --41.5000;-62.5000 --41.5000;-62.0000 --41.5000;-61.5000 --41.5000;-61.0000 --41.5000;-60.5000 --41.5000;-60.0000 --41.5000;-59.5000 --41.5000;-59.0000 --41.5000;-58.5000 --41.5000;-58.0000 --41.5000;-57.5000 --41.5000;-57.0000 --41.5000;-25.5000 --41.5000;-25.0000 --41.5000;-24.5000 --41.5000;-24.0000 --41.5000;-23.5000 --41.5000;-23.0000 --41.5000;-22.5000 --41.5000;-22.0000 --41.5000;-21.5000 --41.5000;-21.0000 --41.5000;-20.5000 --41.5000;-20.0000 --41.5000;-19.5000 --41.5000;-19.0000 --41.5000;-18.5000 --41.5000;-18.0000 --41.5000;-17.5000 --41.5000;-17.0000 --41.5000;-16.5000 --41.5000;-16.0000 --41.5000;-15.5000 --41.5000;-15.0000 --41.5000;-14.5000 --41.5000;-14.0000 --41.5000;-13.5000 --41.5000;-13.0000 --41.5000;-12.5000 --41.5000;-12.0000 --41.5000;-11.5000 --41.5000;-11.0000 --41.5000;-10.5000 --41.5000;-10.0000 --41.5000;-9.5000 --41.5000;-9.0000 --41.5000;-8.5000 --41.5000;-8.0000 --41.5000;-7.5000 --41.5000;20.0000 --41.5000;20.5000 --41.5000;21.0000 --41.5000;21.5000 --41.5000;22.0000 --41.5000;22.5000 --41.5000;23.0000 --41.5000;23.5000 --41.5000;24.0000 --41.5000;24.5000 --41.5000;25.0000 --41.5000;25.5000 --41.5000;26.0000 --41.5000;26.5000 --41.5000;27.0000 --41.5000;27.5000 --41.5000;28.0000 --41.5000;28.5000 --41.5000;29.0000 --41.5000;29.5000 --41.5000;30.0000 --41.5000;30.5000 --41.5000;31.0000 --41.5000;31.5000 --41.5000;32.0000 --41.5000;32.5000 --41.5000;33.0000 --41.5000;33.5000 --41.5000;34.0000 --41.5000;34.5000 --41.5000;35.0000 --41.5000;35.5000 --41.5000;36.0000 --41.5000;36.5000 --41.5000;37.0000 --41.5000;37.5000 --41.5000;38.0000 --41.5000;38.5000 --41.5000;39.0000 --41.5000;39.5000 --41.5000;40.0000 --41.5000;74.5000 --41.5000;75.0000 --41.5000;75.5000 --41.5000;76.0000 --41.5000;76.5000 --41.5000;77.0000 --41.5000;77.5000 --41.5000;78.0000 --41.5000;78.5000 --41.5000;79.0000 --41.5000;79.5000 --41.5000;80.0000 --41.5000;80.5000 --41.5000;81.0000 --41.5000;81.5000 --41.5000;82.0000 --41.5000;82.5000 --41.5000;83.0000 --41.5000;83.5000 --41.5000;84.0000 --41.5000;84.5000 --41.5000;85.0000 --41.5000;85.5000 --41.5000;86.0000 --41.0000;-71.5000 --41.0000;-71.0000 --41.0000;-70.5000 --41.0000;-70.0000 --41.0000;-69.5000 --41.0000;-69.0000 --41.0000;-68.5000 --41.0000;-68.0000 --41.0000;-67.5000 --41.0000;-67.0000 --41.0000;-66.5000 --41.0000;-66.0000 --41.0000;-65.5000 --41.0000;-65.0000 --41.0000;-64.5000 --41.0000;-64.0000 --41.0000;-63.5000 --41.0000;-63.0000 --41.0000;-62.5000 --41.0000;-62.0000 --41.0000;-61.5000 --41.0000;-61.0000 --41.0000;-60.5000 --41.0000;-60.0000 --41.0000;-59.5000 --41.0000;-59.0000 --41.0000;-58.5000 --41.0000;-58.0000 --41.0000;-57.5000 --41.0000;-57.0000 --41.0000;-56.5000 --41.0000;-25.0000 --41.0000;-24.5000 --41.0000;-24.0000 --41.0000;-23.5000 --41.0000;-23.0000 --41.0000;-22.5000 --41.0000;-22.0000 --41.0000;-21.5000 --41.0000;-21.0000 --41.0000;-20.5000 --41.0000;-20.0000 --41.0000;-19.5000 --41.0000;-19.0000 --41.0000;-18.5000 --41.0000;-18.0000 --41.0000;-17.5000 --41.0000;-17.0000 --41.0000;-16.5000 --41.0000;-16.0000 --41.0000;-15.5000 --41.0000;-15.0000 --41.0000;-14.5000 --41.0000;-14.0000 --41.0000;-13.5000 --41.0000;-13.0000 --41.0000;-12.5000 --41.0000;-12.0000 --41.0000;-11.5000 --41.0000;-11.0000 --41.0000;-10.5000 --41.0000;-10.0000 --41.0000;-9.5000 --41.0000;-9.0000 --41.0000;-8.5000 --41.0000;-8.0000 --41.0000;-7.5000 --41.0000;-7.0000 --41.0000;-6.5000 --41.0000;19.0000 --41.0000;19.5000 --41.0000;20.0000 --41.0000;20.5000 --41.0000;21.0000 --41.0000;21.5000 --41.0000;22.0000 --41.0000;22.5000 --41.0000;23.0000 --41.0000;23.5000 --41.0000;24.0000 --41.0000;24.5000 --41.0000;25.0000 --41.0000;25.5000 --41.0000;26.0000 --41.0000;26.5000 --41.0000;27.0000 --41.0000;27.5000 --41.0000;28.0000 --41.0000;28.5000 --41.0000;29.0000 --41.0000;29.5000 --41.0000;30.0000 --41.0000;30.5000 --41.0000;31.0000 --41.0000;31.5000 --41.0000;32.0000 --41.0000;32.5000 --41.0000;33.0000 --41.0000;33.5000 --41.0000;34.0000 --41.0000;34.5000 --41.0000;35.0000 --41.0000;35.5000 --41.0000;36.0000 --41.0000;36.5000 --41.0000;37.0000 --41.0000;37.5000 --41.0000;38.0000 --41.0000;38.5000 --41.0000;39.0000 --41.0000;39.5000 --41.0000;74.5000 --41.0000;75.0000 --41.0000;75.5000 --41.0000;76.0000 --41.0000;76.5000 --41.0000;77.0000 --41.0000;77.5000 --41.0000;78.0000 --41.0000;78.5000 --41.0000;79.0000 --41.0000;79.5000 --41.0000;80.0000 --41.0000;80.5000 --41.0000;81.0000 --41.0000;81.5000 --41.0000;82.0000 --41.0000;82.5000 --41.0000;83.0000 --41.0000;83.5000 --41.0000;84.0000 --41.0000;84.5000 --41.0000;85.0000 --41.0000;85.5000 --41.0000;86.0000 --40.5000;-71.0000 --40.5000;-70.5000 --40.5000;-70.0000 --40.5000;-69.5000 --40.5000;-69.0000 --40.5000;-68.5000 --40.5000;-68.0000 --40.5000;-67.5000 --40.5000;-67.0000 --40.5000;-66.5000 --40.5000;-66.0000 --40.5000;-65.5000 --40.5000;-65.0000 --40.5000;-64.5000 --40.5000;-64.0000 --40.5000;-63.5000 --40.5000;-63.0000 --40.5000;-62.5000 --40.5000;-62.0000 --40.5000;-61.5000 --40.5000;-61.0000 --40.5000;-60.5000 --40.5000;-60.0000 --40.5000;-59.5000 --40.5000;-59.0000 --40.5000;-58.5000 --40.5000;-58.0000 --40.5000;-57.5000 --40.5000;-57.0000 --40.5000;-56.5000 --40.5000;-56.0000 --40.5000;-24.5000 --40.5000;-24.0000 --40.5000;-23.5000 --40.5000;-23.0000 --40.5000;-22.5000 --40.5000;-22.0000 --40.5000;-21.5000 --40.5000;-21.0000 --40.5000;-20.5000 --40.5000;-20.0000 --40.5000;-19.5000 --40.5000;-19.0000 --40.5000;-18.5000 --40.5000;-18.0000 --40.5000;-17.5000 --40.5000;-17.0000 --40.5000;-16.5000 --40.5000;-16.0000 --40.5000;-15.5000 --40.5000;-15.0000 --40.5000;-14.5000 --40.5000;-14.0000 --40.5000;-13.5000 --40.5000;-13.0000 --40.5000;-12.5000 --40.5000;-12.0000 --40.5000;-11.5000 --40.5000;-11.0000 --40.5000;-10.5000 --40.5000;-10.0000 --40.5000;-9.5000 --40.5000;-9.0000 --40.5000;-8.5000 --40.5000;-8.0000 --40.5000;-7.5000 --40.5000;-7.0000 --40.5000;-6.5000 --40.5000;-6.0000 --40.5000;-5.5000 --40.5000;-5.0000 --40.5000;17.5000 --40.5000;18.0000 --40.5000;18.5000 --40.5000;19.0000 --40.5000;19.5000 --40.5000;20.0000 --40.5000;20.5000 --40.5000;21.0000 --40.5000;21.5000 --40.5000;22.0000 --40.5000;22.5000 --40.5000;23.0000 --40.5000;23.5000 --40.5000;24.0000 --40.5000;24.5000 --40.5000;25.0000 --40.5000;25.5000 --40.5000;26.0000 --40.5000;26.5000 --40.5000;27.0000 --40.5000;27.5000 --40.5000;28.0000 --40.5000;28.5000 --40.5000;29.0000 --40.5000;29.5000 --40.5000;30.0000 --40.5000;30.5000 --40.5000;31.0000 --40.5000;31.5000 --40.5000;32.0000 --40.5000;32.5000 --40.5000;33.0000 --40.5000;33.5000 --40.5000;34.0000 --40.5000;34.5000 --40.5000;35.0000 --40.5000;35.5000 --40.5000;36.0000 --40.5000;36.5000 --40.5000;37.0000 --40.5000;37.5000 --40.5000;38.0000 --40.5000;38.5000 --40.5000;39.0000 --40.5000;75.0000 --40.5000;75.5000 --40.5000;76.0000 --40.5000;76.5000 --40.5000;77.0000 --40.5000;77.5000 --40.5000;78.0000 --40.5000;78.5000 --40.5000;79.0000 --40.5000;79.5000 --40.5000;80.0000 --40.5000;80.5000 --40.5000;81.0000 --40.5000;81.5000 --40.5000;82.0000 --40.5000;82.5000 --40.5000;83.0000 --40.5000;83.5000 --40.5000;84.0000 --40.5000;84.5000 --40.5000;85.0000 --40.5000;85.5000 --40.5000;86.0000 --40.5000;86.5000 --40.0000;-70.5000 --40.0000;-70.0000 --40.0000;-69.5000 --40.0000;-69.0000 --40.0000;-68.5000 --40.0000;-68.0000 --40.0000;-67.5000 --40.0000;-67.0000 --40.0000;-66.5000 --40.0000;-66.0000 --40.0000;-65.5000 --40.0000;-65.0000 --40.0000;-64.5000 --40.0000;-64.0000 --40.0000;-63.5000 --40.0000;-63.0000 --40.0000;-62.5000 --40.0000;-62.0000 --40.0000;-61.5000 --40.0000;-61.0000 --40.0000;-60.5000 --40.0000;-60.0000 --40.0000;-59.5000 --40.0000;-59.0000 --40.0000;-58.5000 --40.0000;-58.0000 --40.0000;-57.5000 --40.0000;-57.0000 --40.0000;-56.5000 --40.0000;-56.0000 --40.0000;-55.5000 --40.0000;-55.0000 --40.0000;-24.0000 --40.0000;-23.5000 --40.0000;-23.0000 --40.0000;-22.5000 --40.0000;-22.0000 --40.0000;-21.5000 --40.0000;-21.0000 --40.0000;-20.5000 --40.0000;-20.0000 --40.0000;-19.5000 --40.0000;-19.0000 --40.0000;-18.5000 --40.0000;-18.0000 --40.0000;-17.5000 --40.0000;-17.0000 --40.0000;-16.5000 --40.0000;-16.0000 --40.0000;-15.5000 --40.0000;-15.0000 --40.0000;-14.5000 --40.0000;-14.0000 --40.0000;-13.5000 --40.0000;-13.0000 --40.0000;-12.5000 --40.0000;-12.0000 --40.0000;-11.5000 --40.0000;-11.0000 --40.0000;-10.5000 --40.0000;-10.0000 --40.0000;-9.5000 --40.0000;-9.0000 --40.0000;-8.5000 --40.0000;-8.0000 --40.0000;-7.5000 --40.0000;-7.0000 --40.0000;-6.5000 --40.0000;-6.0000 --40.0000;-5.5000 --40.0000;-5.0000 --40.0000;-4.5000 --40.0000;-4.0000 --40.0000;-3.5000 --40.0000;16.0000 --40.0000;16.5000 --40.0000;17.0000 --40.0000;17.5000 --40.0000;18.0000 --40.0000;18.5000 --40.0000;19.0000 --40.0000;19.5000 --40.0000;20.0000 --40.0000;20.5000 --40.0000;21.0000 --40.0000;21.5000 --40.0000;22.0000 --40.0000;22.5000 --40.0000;23.0000 --40.0000;23.5000 --40.0000;24.0000 --40.0000;24.5000 --40.0000;25.0000 --40.0000;25.5000 --40.0000;26.0000 --40.0000;26.5000 --40.0000;27.0000 --40.0000;27.5000 --40.0000;28.0000 --40.0000;28.5000 --40.0000;29.0000 --40.0000;29.5000 --40.0000;30.0000 --40.0000;30.5000 --40.0000;31.0000 --40.0000;31.5000 --40.0000;32.0000 --40.0000;32.5000 --40.0000;33.0000 --40.0000;33.5000 --40.0000;34.0000 --40.0000;34.5000 --40.0000;35.0000 --40.0000;35.5000 --40.0000;36.0000 --40.0000;36.5000 --40.0000;37.0000 --40.0000;37.5000 --40.0000;38.0000 --40.0000;75.0000 --40.0000;75.5000 --40.0000;76.0000 --40.0000;76.5000 --40.0000;77.0000 --40.0000;77.5000 --40.0000;78.0000 --40.0000;78.5000 --40.0000;79.0000 --40.0000;79.5000 --40.0000;80.0000 --40.0000;80.5000 --40.0000;81.0000 --40.0000;81.5000 --40.0000;82.0000 --40.0000;82.5000 --40.0000;83.0000 --40.0000;83.5000 --40.0000;84.0000 --40.0000;84.5000 --40.0000;85.0000 --40.0000;85.5000 --40.0000;86.0000 --40.0000;86.5000 --40.0000;87.0000 --39.5000;-70.0000 --39.5000;-69.5000 --39.5000;-69.0000 --39.5000;-68.5000 --39.5000;-68.0000 --39.5000;-67.5000 --39.5000;-67.0000 --39.5000;-66.5000 --39.5000;-66.0000 --39.5000;-65.5000 --39.5000;-65.0000 --39.5000;-64.5000 --39.5000;-64.0000 --39.5000;-63.5000 --39.5000;-63.0000 --39.5000;-62.5000 --39.5000;-62.0000 --39.5000;-61.5000 --39.5000;-61.0000 --39.5000;-60.5000 --39.5000;-60.0000 --39.5000;-59.5000 --39.5000;-59.0000 --39.5000;-58.5000 --39.5000;-58.0000 --39.5000;-57.5000 --39.5000;-57.0000 --39.5000;-56.5000 --39.5000;-56.0000 --39.5000;-55.5000 --39.5000;-55.0000 --39.5000;-54.5000 --39.5000;-23.5000 --39.5000;-23.0000 --39.5000;-22.5000 --39.5000;-22.0000 --39.5000;-21.5000 --39.5000;-21.0000 --39.5000;-20.5000 --39.5000;-20.0000 --39.5000;-19.5000 --39.5000;-19.0000 --39.5000;-18.5000 --39.5000;-18.0000 --39.5000;-17.5000 --39.5000;-17.0000 --39.5000;-16.5000 --39.5000;-16.0000 --39.5000;-15.5000 --39.5000;-15.0000 --39.5000;-14.5000 --39.5000;-14.0000 --39.5000;-13.5000 --39.5000;-13.0000 --39.5000;-12.5000 --39.5000;-12.0000 --39.5000;-11.5000 --39.5000;-11.0000 --39.5000;-10.5000 --39.5000;-10.0000 --39.5000;-9.5000 --39.5000;-9.0000 --39.5000;-8.5000 --39.5000;-8.0000 --39.5000;-7.5000 --39.5000;-7.0000 --39.5000;-6.5000 --39.5000;-6.0000 --39.5000;-5.5000 --39.5000;-5.0000 --39.5000;-4.5000 --39.5000;-4.0000 --39.5000;-3.5000 --39.5000;-3.0000 --39.5000;-2.5000 --39.5000;-2.0000 --39.5000;-1.5000 --39.5000;14.0000 --39.5000;14.5000 --39.5000;15.0000 --39.5000;15.5000 --39.5000;16.0000 --39.5000;16.5000 --39.5000;17.0000 --39.5000;17.5000 --39.5000;18.0000 --39.5000;18.5000 --39.5000;19.0000 --39.5000;19.5000 --39.5000;20.0000 --39.5000;20.5000 --39.5000;21.0000 --39.5000;21.5000 --39.5000;22.0000 --39.5000;22.5000 --39.5000;23.0000 --39.5000;23.5000 --39.5000;24.0000 --39.5000;24.5000 --39.5000;25.0000 --39.5000;25.5000 --39.5000;26.0000 --39.5000;26.5000 --39.5000;27.0000 --39.5000;27.5000 --39.5000;28.0000 --39.5000;28.5000 --39.5000;29.0000 --39.5000;29.5000 --39.5000;30.0000 --39.5000;30.5000 --39.5000;31.0000 --39.5000;31.5000 --39.5000;32.0000 --39.5000;32.5000 --39.5000;33.0000 --39.5000;33.5000 --39.5000;34.0000 --39.5000;34.5000 --39.5000;35.0000 --39.5000;35.5000 --39.5000;36.0000 --39.5000;36.5000 --39.5000;37.0000 --39.5000;37.5000 --39.5000;75.5000 --39.5000;76.0000 --39.5000;76.5000 --39.5000;77.0000 --39.5000;77.5000 --39.5000;78.0000 --39.5000;78.5000 --39.5000;79.0000 --39.5000;79.5000 --39.5000;80.0000 --39.5000;80.5000 --39.5000;81.0000 --39.5000;81.5000 --39.5000;82.0000 --39.5000;82.5000 --39.5000;83.0000 --39.5000;83.5000 --39.5000;84.0000 --39.5000;84.5000 --39.5000;85.0000 --39.5000;85.5000 --39.5000;86.0000 --39.5000;86.5000 --39.5000;87.0000 --39.5000;87.5000 --39.0000;-70.0000 --39.0000;-69.5000 --39.0000;-69.0000 --39.0000;-68.5000 --39.0000;-68.0000 --39.0000;-67.5000 --39.0000;-67.0000 --39.0000;-66.5000 --39.0000;-66.0000 --39.0000;-65.5000 --39.0000;-65.0000 --39.0000;-64.5000 --39.0000;-64.0000 --39.0000;-63.5000 --39.0000;-63.0000 --39.0000;-62.5000 --39.0000;-62.0000 --39.0000;-61.5000 --39.0000;-61.0000 --39.0000;-60.5000 --39.0000;-60.0000 --39.0000;-59.5000 --39.0000;-59.0000 --39.0000;-58.5000 --39.0000;-58.0000 --39.0000;-57.5000 --39.0000;-57.0000 --39.0000;-56.5000 --39.0000;-56.0000 --39.0000;-55.5000 --39.0000;-55.0000 --39.0000;-54.5000 --39.0000;-54.0000 --39.0000;-23.0000 --39.0000;-22.5000 --39.0000;-22.0000 --39.0000;-21.5000 --39.0000;-21.0000 --39.0000;-20.5000 --39.0000;-20.0000 --39.0000;-19.5000 --39.0000;-19.0000 --39.0000;-18.5000 --39.0000;-18.0000 --39.0000;-17.5000 --39.0000;-17.0000 --39.0000;-16.5000 --39.0000;-16.0000 --39.0000;-15.5000 --39.0000;-15.0000 --39.0000;-14.5000 --39.0000;-14.0000 --39.0000;-13.5000 --39.0000;-13.0000 --39.0000;-12.5000 --39.0000;-12.0000 --39.0000;-11.5000 --39.0000;-11.0000 --39.0000;-10.5000 --39.0000;-10.0000 --39.0000;-9.5000 --39.0000;-9.0000 --39.0000;-8.5000 --39.0000;-8.0000 --39.0000;-7.5000 --39.0000;-7.0000 --39.0000;-6.5000 --39.0000;-6.0000 --39.0000;-5.5000 --39.0000;-5.0000 --39.0000;-4.5000 --39.0000;-4.0000 --39.0000;-3.5000 --39.0000;-3.0000 --39.0000;-2.5000 --39.0000;-2.0000 --39.0000;-1.5000 --39.0000;-1.0000 --39.0000;-0.5000 --39.0000;0.0000 --39.0000;0.5000 --39.0000;1.0000 --39.0000;1.5000 --39.0000;11.0000 --39.0000;11.5000 --39.0000;12.0000 --39.0000;12.5000 --39.0000;13.0000 --39.0000;13.5000 --39.0000;14.0000 --39.0000;14.5000 --39.0000;15.0000 --39.0000;15.5000 --39.0000;16.0000 --39.0000;16.5000 --39.0000;17.0000 --39.0000;17.5000 --39.0000;18.0000 --39.0000;18.5000 --39.0000;19.0000 --39.0000;19.5000 --39.0000;20.0000 --39.0000;20.5000 --39.0000;21.0000 --39.0000;21.5000 --39.0000;22.0000 --39.0000;22.5000 --39.0000;23.0000 --39.0000;23.5000 --39.0000;24.0000 --39.0000;24.5000 --39.0000;25.0000 --39.0000;25.5000 --39.0000;26.0000 --39.0000;26.5000 --39.0000;27.0000 --39.0000;27.5000 --39.0000;28.0000 --39.0000;28.5000 --39.0000;29.0000 --39.0000;29.5000 --39.0000;30.0000 --39.0000;30.5000 --39.0000;31.0000 --39.0000;31.5000 --39.0000;32.0000 --39.0000;32.5000 --39.0000;33.0000 --39.0000;33.5000 --39.0000;34.0000 --39.0000;34.5000 --39.0000;35.0000 --39.0000;35.5000 --39.0000;36.0000 --39.0000;36.5000 --39.0000;75.5000 --39.0000;76.0000 --39.0000;76.5000 --39.0000;77.0000 --39.0000;77.5000 --39.0000;78.0000 --39.0000;78.5000 --39.0000;79.0000 --39.0000;79.5000 --39.0000;80.0000 --39.0000;80.5000 --39.0000;81.0000 --39.0000;81.5000 --39.0000;82.0000 --39.0000;82.5000 --39.0000;83.0000 --39.0000;83.5000 --39.0000;84.0000 --39.0000;84.5000 --39.0000;85.0000 --39.0000;85.5000 --39.0000;86.0000 --39.0000;86.5000 --39.0000;87.0000 --39.0000;87.5000 --39.0000;88.0000 --38.5000;-69.5000 --38.5000;-69.0000 --38.5000;-68.5000 --38.5000;-68.0000 --38.5000;-67.5000 --38.5000;-67.0000 --38.5000;-66.5000 --38.5000;-66.0000 --38.5000;-65.5000 --38.5000;-65.0000 --38.5000;-64.5000 --38.5000;-64.0000 --38.5000;-63.5000 --38.5000;-63.0000 --38.5000;-62.5000 --38.5000;-62.0000 --38.5000;-61.5000 --38.5000;-61.0000 --38.5000;-60.5000 --38.5000;-60.0000 --38.5000;-59.5000 --38.5000;-59.0000 --38.5000;-58.5000 --38.5000;-58.0000 --38.5000;-57.5000 --38.5000;-57.0000 --38.5000;-56.5000 --38.5000;-56.0000 --38.5000;-55.5000 --38.5000;-55.0000 --38.5000;-54.5000 --38.5000;-54.0000 --38.5000;-53.5000 --38.5000;-53.0000 --38.5000;-22.5000 --38.5000;-22.0000 --38.5000;-21.5000 --38.5000;-21.0000 --38.5000;-20.5000 --38.5000;-20.0000 --38.5000;-19.5000 --38.5000;-19.0000 --38.5000;-18.5000 --38.5000;-18.0000 --38.5000;-17.5000 --38.5000;-17.0000 --38.5000;-16.5000 --38.5000;-16.0000 --38.5000;-15.5000 --38.5000;-15.0000 --38.5000;-14.5000 --38.5000;-14.0000 --38.5000;-13.5000 --38.5000;-13.0000 --38.5000;-12.5000 --38.5000;-12.0000 --38.5000;-11.5000 --38.5000;-11.0000 --38.5000;-10.5000 --38.5000;-10.0000 --38.5000;-9.5000 --38.5000;-9.0000 --38.5000;-8.5000 --38.5000;-8.0000 --38.5000;-7.5000 --38.5000;-7.0000 --38.5000;-6.5000 --38.5000;-6.0000 --38.5000;-5.5000 --38.5000;-5.0000 --38.5000;-4.5000 --38.5000;-4.0000 --38.5000;-3.5000 --38.5000;-3.0000 --38.5000;-2.5000 --38.5000;-2.0000 --38.5000;-1.5000 --38.5000;-1.0000 --38.5000;-0.5000 --38.5000;0.0000 --38.5000;0.5000 --38.5000;1.0000 --38.5000;1.5000 --38.5000;2.0000 --38.5000;2.5000 --38.5000;3.0000 --38.5000;3.5000 --38.5000;4.0000 --38.5000;4.5000 --38.5000;5.0000 --38.5000;5.5000 --38.5000;6.0000 --38.5000;6.5000 --38.5000;7.0000 --38.5000;7.5000 --38.5000;8.0000 --38.5000;8.5000 --38.5000;9.0000 --38.5000;9.5000 --38.5000;10.0000 --38.5000;10.5000 --38.5000;11.0000 --38.5000;11.5000 --38.5000;12.0000 --38.5000;12.5000 --38.5000;13.0000 --38.5000;13.5000 --38.5000;14.0000 --38.5000;14.5000 --38.5000;15.0000 --38.5000;15.5000 --38.5000;16.0000 --38.5000;16.5000 --38.5000;17.0000 --38.5000;17.5000 --38.5000;18.0000 --38.5000;18.5000 --38.5000;19.0000 --38.5000;19.5000 --38.5000;20.0000 --38.5000;20.5000 --38.5000;21.0000 --38.5000;21.5000 --38.5000;22.0000 --38.5000;22.5000 --38.5000;23.0000 --38.5000;23.5000 --38.5000;24.0000 --38.5000;24.5000 --38.5000;25.0000 --38.5000;25.5000 --38.5000;26.0000 --38.5000;26.5000 --38.5000;27.0000 --38.5000;27.5000 --38.5000;28.0000 --38.5000;28.5000 --38.5000;29.0000 --38.5000;29.5000 --38.5000;30.0000 --38.5000;30.5000 --38.5000;31.0000 --38.5000;31.5000 --38.5000;32.0000 --38.5000;32.5000 --38.5000;33.0000 --38.5000;33.5000 --38.5000;34.0000 --38.5000;34.5000 --38.5000;35.0000 --38.5000;35.5000 --38.5000;36.0000 --38.5000;76.0000 --38.5000;76.5000 --38.5000;77.0000 --38.5000;77.5000 --38.5000;78.0000 --38.5000;78.5000 --38.5000;79.0000 --38.5000;79.5000 --38.5000;80.0000 --38.5000;80.5000 --38.5000;81.0000 --38.5000;81.5000 --38.5000;82.0000 --38.5000;82.5000 --38.5000;83.0000 --38.5000;83.5000 --38.5000;84.0000 --38.5000;84.5000 --38.5000;85.0000 --38.5000;85.5000 --38.5000;86.0000 --38.5000;86.5000 --38.5000;87.0000 --38.5000;87.5000 --38.5000;88.0000 --38.5000;88.5000 --38.0000;-69.0000 --38.0000;-68.5000 --38.0000;-68.0000 --38.0000;-67.5000 --38.0000;-67.0000 --38.0000;-66.5000 --38.0000;-66.0000 --38.0000;-65.5000 --38.0000;-65.0000 --38.0000;-64.5000 --38.0000;-64.0000 --38.0000;-63.5000 --38.0000;-63.0000 --38.0000;-62.5000 --38.0000;-62.0000 --38.0000;-61.5000 --38.0000;-61.0000 --38.0000;-60.5000 --38.0000;-60.0000 --38.0000;-59.5000 --38.0000;-59.0000 --38.0000;-58.5000 --38.0000;-58.0000 --38.0000;-57.5000 --38.0000;-57.0000 --38.0000;-56.5000 --38.0000;-56.0000 --38.0000;-55.5000 --38.0000;-55.0000 --38.0000;-54.5000 --38.0000;-54.0000 --38.0000;-53.5000 --38.0000;-53.0000 --38.0000;-52.5000 --38.0000;-21.5000 --38.0000;-21.0000 --38.0000;-20.5000 --38.0000;-20.0000 --38.0000;-19.5000 --38.0000;-19.0000 --38.0000;-18.5000 --38.0000;-18.0000 --38.0000;-17.5000 --38.0000;-17.0000 --38.0000;-16.5000 --38.0000;-16.0000 --38.0000;-15.5000 --38.0000;-15.0000 --38.0000;-14.5000 --38.0000;-14.0000 --38.0000;-13.5000 --38.0000;-13.0000 --38.0000;-12.5000 --38.0000;-12.0000 --38.0000;-11.5000 --38.0000;-11.0000 --38.0000;-10.5000 --38.0000;-10.0000 --38.0000;-9.5000 --38.0000;-9.0000 --38.0000;-8.5000 --38.0000;-8.0000 --38.0000;-7.5000 --38.0000;-7.0000 --38.0000;-6.5000 --38.0000;-6.0000 --38.0000;-5.5000 --38.0000;-5.0000 --38.0000;-4.5000 --38.0000;-4.0000 --38.0000;-3.5000 --38.0000;-3.0000 --38.0000;-2.5000 --38.0000;-2.0000 --38.0000;-1.5000 --38.0000;-1.0000 --38.0000;-0.5000 --38.0000;0.0000 --38.0000;0.5000 --38.0000;1.0000 --38.0000;1.5000 --38.0000;2.0000 --38.0000;2.5000 --38.0000;3.0000 --38.0000;3.5000 --38.0000;4.0000 --38.0000;4.5000 --38.0000;5.0000 --38.0000;5.5000 --38.0000;6.0000 --38.0000;6.5000 --38.0000;7.0000 --38.0000;7.5000 --38.0000;8.0000 --38.0000;8.5000 --38.0000;9.0000 --38.0000;9.5000 --38.0000;10.0000 --38.0000;10.5000 --38.0000;11.0000 --38.0000;11.5000 --38.0000;12.0000 --38.0000;12.5000 --38.0000;13.0000 --38.0000;13.5000 --38.0000;14.0000 --38.0000;14.5000 --38.0000;15.0000 --38.0000;15.5000 --38.0000;16.0000 --38.0000;16.5000 --38.0000;17.0000 --38.0000;17.5000 --38.0000;18.0000 --38.0000;18.5000 --38.0000;19.0000 --38.0000;19.5000 --38.0000;20.0000 --38.0000;20.5000 --38.0000;21.0000 --38.0000;21.5000 --38.0000;22.0000 --38.0000;22.5000 --38.0000;23.0000 --38.0000;23.5000 --38.0000;24.0000 --38.0000;24.5000 --38.0000;25.0000 --38.0000;25.5000 --38.0000;26.0000 --38.0000;26.5000 --38.0000;27.0000 --38.0000;27.5000 --38.0000;28.0000 --38.0000;28.5000 --38.0000;29.0000 --38.0000;29.5000 --38.0000;30.0000 --38.0000;30.5000 --38.0000;31.0000 --38.0000;31.5000 --38.0000;32.0000 --38.0000;32.5000 --38.0000;33.0000 --38.0000;33.5000 --38.0000;34.0000 --38.0000;34.5000 --38.0000;35.0000 --38.0000;76.0000 --38.0000;76.5000 --38.0000;77.0000 --38.0000;77.5000 --38.0000;78.0000 --38.0000;78.5000 --38.0000;79.0000 --38.0000;79.5000 --38.0000;80.0000 --38.0000;80.5000 --38.0000;81.0000 --38.0000;81.5000 --38.0000;82.0000 --38.0000;82.5000 --38.0000;83.0000 --38.0000;83.5000 --38.0000;84.0000 --38.0000;84.5000 --38.0000;85.0000 --38.0000;85.5000 --38.0000;86.0000 --38.0000;86.5000 --38.0000;87.0000 --38.0000;87.5000 --38.0000;88.0000 --38.0000;88.5000 --38.0000;89.0000 --37.5000;-68.5000 --37.5000;-68.0000 --37.5000;-67.5000 --37.5000;-67.0000 --37.5000;-66.5000 --37.5000;-66.0000 --37.5000;-65.5000 --37.5000;-65.0000 --37.5000;-64.5000 --37.5000;-64.0000 --37.5000;-63.5000 --37.5000;-63.0000 --37.5000;-62.5000 --37.5000;-62.0000 --37.5000;-61.5000 --37.5000;-61.0000 --37.5000;-60.5000 --37.5000;-60.0000 --37.5000;-59.5000 --37.5000;-59.0000 --37.5000;-58.5000 --37.5000;-58.0000 --37.5000;-57.5000 --37.5000;-57.0000 --37.5000;-56.5000 --37.5000;-56.0000 --37.5000;-55.5000 --37.5000;-55.0000 --37.5000;-54.5000 --37.5000;-54.0000 --37.5000;-53.5000 --37.5000;-53.0000 --37.5000;-52.5000 --37.5000;-52.0000 --37.5000;-51.5000 --37.5000;-21.0000 --37.5000;-20.5000 --37.5000;-20.0000 --37.5000;-19.5000 --37.5000;-19.0000 --37.5000;-18.5000 --37.5000;-18.0000 --37.5000;-17.5000 --37.5000;-17.0000 --37.5000;-16.5000 --37.5000;-16.0000 --37.5000;-15.5000 --37.5000;-15.0000 --37.5000;-14.5000 --37.5000;-14.0000 --37.5000;-13.5000 --37.5000;-13.0000 --37.5000;-12.5000 --37.5000;-12.0000 --37.5000;-11.5000 --37.5000;-11.0000 --37.5000;-10.5000 --37.5000;-10.0000 --37.5000;-9.5000 --37.5000;-9.0000 --37.5000;-8.5000 --37.5000;-8.0000 --37.5000;-7.5000 --37.5000;-7.0000 --37.5000;-6.5000 --37.5000;-6.0000 --37.5000;-5.5000 --37.5000;-5.0000 --37.5000;-4.5000 --37.5000;-4.0000 --37.5000;-3.5000 --37.5000;-3.0000 --37.5000;-2.5000 --37.5000;-2.0000 --37.5000;-1.5000 --37.5000;-1.0000 --37.5000;-0.5000 --37.5000;0.0000 --37.5000;0.5000 --37.5000;1.0000 --37.5000;1.5000 --37.5000;2.0000 --37.5000;2.5000 --37.5000;3.0000 --37.5000;3.5000 --37.5000;4.0000 --37.5000;4.5000 --37.5000;5.0000 --37.5000;5.5000 --37.5000;6.0000 --37.5000;6.5000 --37.5000;7.0000 --37.5000;7.5000 --37.5000;8.0000 --37.5000;8.5000 --37.5000;9.0000 --37.5000;9.5000 --37.5000;10.0000 --37.5000;10.5000 --37.5000;11.0000 --37.5000;11.5000 --37.5000;12.0000 --37.5000;12.5000 --37.5000;13.0000 --37.5000;13.5000 --37.5000;14.0000 --37.5000;14.5000 --37.5000;15.0000 --37.5000;15.5000 --37.5000;16.0000 --37.5000;16.5000 --37.5000;17.0000 --37.5000;17.5000 --37.5000;18.0000 --37.5000;18.5000 --37.5000;19.0000 --37.5000;19.5000 --37.5000;20.0000 --37.5000;20.5000 --37.5000;21.0000 --37.5000;21.5000 --37.5000;22.0000 --37.5000;22.5000 --37.5000;23.0000 --37.5000;23.5000 --37.5000;24.0000 --37.5000;24.5000 --37.5000;25.0000 --37.5000;25.5000 --37.5000;26.0000 --37.5000;26.5000 --37.5000;27.0000 --37.5000;27.5000 --37.5000;28.0000 --37.5000;28.5000 --37.5000;29.0000 --37.5000;29.5000 --37.5000;30.0000 --37.5000;30.5000 --37.5000;31.0000 --37.5000;31.5000 --37.5000;32.0000 --37.5000;32.5000 --37.5000;33.0000 --37.5000;33.5000 --37.5000;34.0000 --37.5000;34.5000 --37.5000;76.5000 --37.5000;77.0000 --37.5000;77.5000 --37.5000;78.0000 --37.5000;78.5000 --37.5000;79.0000 --37.5000;79.5000 --37.5000;80.0000 --37.5000;80.5000 --37.5000;81.0000 --37.5000;81.5000 --37.5000;82.0000 --37.5000;82.5000 --37.5000;83.0000 --37.5000;83.5000 --37.5000;84.0000 --37.5000;84.5000 --37.5000;85.0000 --37.5000;85.5000 --37.5000;86.0000 --37.5000;86.5000 --37.5000;87.0000 --37.5000;87.5000 --37.5000;88.0000 --37.5000;88.5000 --37.5000;89.0000 --37.5000;89.5000 --37.5000;90.0000 --37.0000;-68.0000 --37.0000;-67.5000 --37.0000;-67.0000 --37.0000;-66.5000 --37.0000;-66.0000 --37.0000;-65.5000 --37.0000;-65.0000 --37.0000;-64.5000 --37.0000;-64.0000 --37.0000;-63.5000 --37.0000;-63.0000 --37.0000;-62.5000 --37.0000;-62.0000 --37.0000;-61.5000 --37.0000;-61.0000 --37.0000;-60.5000 --37.0000;-60.0000 --37.0000;-59.5000 --37.0000;-59.0000 --37.0000;-58.5000 --37.0000;-58.0000 --37.0000;-57.5000 --37.0000;-57.0000 --37.0000;-56.5000 --37.0000;-56.0000 --37.0000;-55.5000 --37.0000;-55.0000 --37.0000;-54.5000 --37.0000;-54.0000 --37.0000;-53.5000 --37.0000;-53.0000 --37.0000;-52.5000 --37.0000;-52.0000 --37.0000;-51.5000 --37.0000;-51.0000 --37.0000;-20.5000 --37.0000;-20.0000 --37.0000;-19.5000 --37.0000;-19.0000 --37.0000;-18.5000 --37.0000;-18.0000 --37.0000;-17.5000 --37.0000;-17.0000 --37.0000;-16.5000 --37.0000;-16.0000 --37.0000;-15.5000 --37.0000;-15.0000 --37.0000;-14.5000 --37.0000;-14.0000 --37.0000;-13.5000 --37.0000;-13.0000 --37.0000;-12.5000 --37.0000;-12.0000 --37.0000;-11.5000 --37.0000;-11.0000 --37.0000;-10.5000 --37.0000;-10.0000 --37.0000;-9.5000 --37.0000;-9.0000 --37.0000;-8.5000 --37.0000;-8.0000 --37.0000;-7.5000 --37.0000;-7.0000 --37.0000;-6.5000 --37.0000;-6.0000 --37.0000;-5.5000 --37.0000;-5.0000 --37.0000;-4.5000 --37.0000;-4.0000 --37.0000;-3.5000 --37.0000;-3.0000 --37.0000;-2.5000 --37.0000;-2.0000 --37.0000;-1.5000 --37.0000;-1.0000 --37.0000;-0.5000 --37.0000;0.0000 --37.0000;0.5000 --37.0000;1.0000 --37.0000;1.5000 --37.0000;2.0000 --37.0000;2.5000 --37.0000;3.0000 --37.0000;3.5000 --37.0000;4.0000 --37.0000;4.5000 --37.0000;5.0000 --37.0000;5.5000 --37.0000;6.0000 --37.0000;6.5000 --37.0000;7.0000 --37.0000;7.5000 --37.0000;8.0000 --37.0000;8.5000 --37.0000;9.0000 --37.0000;9.5000 --37.0000;10.0000 --37.0000;10.5000 --37.0000;11.0000 --37.0000;11.5000 --37.0000;12.0000 --37.0000;12.5000 --37.0000;13.0000 --37.0000;13.5000 --37.0000;14.0000 --37.0000;14.5000 --37.0000;15.0000 --37.0000;15.5000 --37.0000;16.0000 --37.0000;16.5000 --37.0000;17.0000 --37.0000;17.5000 --37.0000;18.0000 --37.0000;18.5000 --37.0000;19.0000 --37.0000;19.5000 --37.0000;20.0000 --37.0000;20.5000 --37.0000;21.0000 --37.0000;21.5000 --37.0000;22.0000 --37.0000;22.5000 --37.0000;23.0000 --37.0000;23.5000 --37.0000;24.0000 --37.0000;24.5000 --37.0000;25.0000 --37.0000;25.5000 --37.0000;26.0000 --37.0000;26.5000 --37.0000;27.0000 --37.0000;27.5000 --37.0000;28.0000 --37.0000;28.5000 --37.0000;29.0000 --37.0000;29.5000 --37.0000;30.0000 --37.0000;30.5000 --37.0000;31.0000 --37.0000;31.5000 --37.0000;32.0000 --37.0000;32.5000 --37.0000;33.0000 --37.0000;33.5000 --37.0000;76.5000 --37.0000;77.0000 --37.0000;77.5000 --37.0000;78.0000 --37.0000;78.5000 --37.0000;79.0000 --37.0000;79.5000 --37.0000;80.0000 --37.0000;80.5000 --37.0000;81.0000 --37.0000;81.5000 --37.0000;82.0000 --37.0000;82.5000 --37.0000;83.0000 --37.0000;83.5000 --37.0000;84.0000 --37.0000;84.5000 --37.0000;85.0000 --37.0000;85.5000 --37.0000;86.0000 --37.0000;86.5000 --37.0000;87.0000 --37.0000;87.5000 --37.0000;88.0000 --37.0000;88.5000 --37.0000;89.0000 --37.0000;89.5000 --37.0000;90.0000 --37.0000;90.5000 --36.5000;-67.5000 --36.5000;-67.0000 --36.5000;-66.5000 --36.5000;-66.0000 --36.5000;-65.5000 --36.5000;-65.0000 --36.5000;-64.5000 --36.5000;-64.0000 --36.5000;-63.5000 --36.5000;-63.0000 --36.5000;-62.5000 --36.5000;-62.0000 --36.5000;-61.5000 --36.5000;-61.0000 --36.5000;-60.5000 --36.5000;-60.0000 --36.5000;-59.5000 --36.5000;-59.0000 --36.5000;-58.5000 --36.5000;-58.0000 --36.5000;-57.5000 --36.5000;-57.0000 --36.5000;-56.5000 --36.5000;-56.0000 --36.5000;-55.5000 --36.5000;-55.0000 --36.5000;-54.5000 --36.5000;-54.0000 --36.5000;-53.5000 --36.5000;-53.0000 --36.5000;-52.5000 --36.5000;-52.0000 --36.5000;-51.5000 --36.5000;-51.0000 --36.5000;-50.5000 --36.5000;-19.5000 --36.5000;-19.0000 --36.5000;-18.5000 --36.5000;-18.0000 --36.5000;-17.5000 --36.5000;-17.0000 --36.5000;-16.5000 --36.5000;-16.0000 --36.5000;-15.5000 --36.5000;-15.0000 --36.5000;-14.5000 --36.5000;-14.0000 --36.5000;-13.5000 --36.5000;-13.0000 --36.5000;-12.5000 --36.5000;-12.0000 --36.5000;-11.5000 --36.5000;-11.0000 --36.5000;-10.5000 --36.5000;-10.0000 --36.5000;-9.5000 --36.5000;-9.0000 --36.5000;-8.5000 --36.5000;-8.0000 --36.5000;-7.5000 --36.5000;-7.0000 --36.5000;-6.5000 --36.5000;-6.0000 --36.5000;-5.5000 --36.5000;-5.0000 --36.5000;-4.5000 --36.5000;-4.0000 --36.5000;-3.5000 --36.5000;-3.0000 --36.5000;-2.5000 --36.5000;-2.0000 --36.5000;-1.5000 --36.5000;-1.0000 --36.5000;-0.5000 --36.5000;0.0000 --36.5000;0.5000 --36.5000;1.0000 --36.5000;1.5000 --36.5000;2.0000 --36.5000;2.5000 --36.5000;3.0000 --36.5000;3.5000 --36.5000;4.0000 --36.5000;4.5000 --36.5000;5.0000 --36.5000;5.5000 --36.5000;6.0000 --36.5000;6.5000 --36.5000;7.0000 --36.5000;7.5000 --36.5000;8.0000 --36.5000;8.5000 --36.5000;9.0000 --36.5000;9.5000 --36.5000;10.0000 --36.5000;10.5000 --36.5000;11.0000 --36.5000;11.5000 --36.5000;12.0000 --36.5000;12.5000 --36.5000;13.0000 --36.5000;13.5000 --36.5000;14.0000 --36.5000;14.5000 --36.5000;15.0000 --36.5000;15.5000 --36.5000;16.0000 --36.5000;16.5000 --36.5000;17.0000 --36.5000;17.5000 --36.5000;18.0000 --36.5000;18.5000 --36.5000;19.0000 --36.5000;19.5000 --36.5000;20.0000 --36.5000;20.5000 --36.5000;21.0000 --36.5000;21.5000 --36.5000;22.0000 --36.5000;22.5000 --36.5000;23.0000 --36.5000;23.5000 --36.5000;24.0000 --36.5000;24.5000 --36.5000;25.0000 --36.5000;25.5000 --36.5000;26.0000 --36.5000;26.5000 --36.5000;27.0000 --36.5000;27.5000 --36.5000;28.0000 --36.5000;28.5000 --36.5000;29.0000 --36.5000;29.5000 --36.5000;30.0000 --36.5000;30.5000 --36.5000;31.0000 --36.5000;31.5000 --36.5000;32.0000 --36.5000;32.5000 --36.5000;33.0000 --36.5000;77.0000 --36.5000;77.5000 --36.5000;78.0000 --36.5000;78.5000 --36.5000;79.0000 --36.5000;79.5000 --36.5000;80.0000 --36.5000;80.5000 --36.5000;81.0000 --36.5000;81.5000 --36.5000;82.0000 --36.5000;82.5000 --36.5000;83.0000 --36.5000;83.5000 --36.5000;84.0000 --36.5000;84.5000 --36.5000;85.0000 --36.5000;85.5000 --36.5000;86.0000 --36.5000;86.5000 --36.5000;87.0000 --36.5000;87.5000 --36.5000;88.0000 --36.5000;88.5000 --36.5000;89.0000 --36.5000;89.5000 --36.5000;90.0000 --36.5000;90.5000 --36.5000;91.0000 --36.0000;-67.0000 --36.0000;-66.5000 --36.0000;-66.0000 --36.0000;-65.5000 --36.0000;-65.0000 --36.0000;-64.5000 --36.0000;-64.0000 --36.0000;-63.5000 --36.0000;-63.0000 --36.0000;-62.5000 --36.0000;-62.0000 --36.0000;-61.5000 --36.0000;-61.0000 --36.0000;-60.5000 --36.0000;-60.0000 --36.0000;-59.5000 --36.0000;-59.0000 --36.0000;-58.5000 --36.0000;-58.0000 --36.0000;-57.5000 --36.0000;-57.0000 --36.0000;-56.5000 --36.0000;-56.0000 --36.0000;-55.5000 --36.0000;-55.0000 --36.0000;-54.5000 --36.0000;-54.0000 --36.0000;-53.5000 --36.0000;-53.0000 --36.0000;-52.5000 --36.0000;-52.0000 --36.0000;-51.5000 --36.0000;-51.0000 --36.0000;-50.5000 --36.0000;-50.0000 --36.0000;-49.5000 --36.0000;-19.0000 --36.0000;-18.5000 --36.0000;-18.0000 --36.0000;-17.5000 --36.0000;-17.0000 --36.0000;-16.5000 --36.0000;-16.0000 --36.0000;-15.5000 --36.0000;-15.0000 --36.0000;-14.5000 --36.0000;-14.0000 --36.0000;-13.5000 --36.0000;-13.0000 --36.0000;-12.5000 --36.0000;-12.0000 --36.0000;-11.5000 --36.0000;-11.0000 --36.0000;-10.5000 --36.0000;-10.0000 --36.0000;-9.5000 --36.0000;-9.0000 --36.0000;-8.5000 --36.0000;-8.0000 --36.0000;-7.5000 --36.0000;-7.0000 --36.0000;-6.5000 --36.0000;-6.0000 --36.0000;-5.5000 --36.0000;-5.0000 --36.0000;-4.5000 --36.0000;-4.0000 --36.0000;-3.5000 --36.0000;-3.0000 --36.0000;-2.5000 --36.0000;-2.0000 --36.0000;-1.5000 --36.0000;-1.0000 --36.0000;-0.5000 --36.0000;0.0000 --36.0000;0.5000 --36.0000;1.0000 --36.0000;1.5000 --36.0000;2.0000 --36.0000;2.5000 --36.0000;3.0000 --36.0000;3.5000 --36.0000;4.0000 --36.0000;4.5000 --36.0000;5.0000 --36.0000;5.5000 --36.0000;6.0000 --36.0000;6.5000 --36.0000;7.0000 --36.0000;7.5000 --36.0000;8.0000 --36.0000;8.5000 --36.0000;9.0000 --36.0000;9.5000 --36.0000;10.0000 --36.0000;10.5000 --36.0000;11.0000 --36.0000;11.5000 --36.0000;12.0000 --36.0000;12.5000 --36.0000;13.0000 --36.0000;13.5000 --36.0000;14.0000 --36.0000;14.5000 --36.0000;15.0000 --36.0000;15.5000 --36.0000;16.0000 --36.0000;16.5000 --36.0000;17.0000 --36.0000;17.5000 --36.0000;18.0000 --36.0000;18.5000 --36.0000;19.0000 --36.0000;19.5000 --36.0000;20.0000 --36.0000;20.5000 --36.0000;21.0000 --36.0000;21.5000 --36.0000;22.0000 --36.0000;22.5000 --36.0000;23.0000 --36.0000;23.5000 --36.0000;24.0000 --36.0000;24.5000 --36.0000;25.0000 --36.0000;25.5000 --36.0000;26.0000 --36.0000;26.5000 --36.0000;27.0000 --36.0000;27.5000 --36.0000;28.0000 --36.0000;28.5000 --36.0000;29.0000 --36.0000;29.5000 --36.0000;30.0000 --36.0000;30.5000 --36.0000;31.0000 --36.0000;31.5000 --36.0000;32.0000 --36.0000;77.0000 --36.0000;77.5000 --36.0000;78.0000 --36.0000;78.5000 --36.0000;79.0000 --36.0000;79.5000 --36.0000;80.0000 --36.0000;80.5000 --36.0000;81.0000 --36.0000;81.5000 --36.0000;82.0000 --36.0000;82.5000 --36.0000;83.0000 --36.0000;83.5000 --36.0000;84.0000 --36.0000;84.5000 --36.0000;85.0000 --36.0000;85.5000 --36.0000;86.0000 --36.0000;86.5000 --36.0000;87.0000 --36.0000;87.5000 --36.0000;88.0000 --36.0000;88.5000 --36.0000;89.0000 --36.0000;89.5000 --36.0000;90.0000 --36.0000;90.5000 --36.0000;91.0000 --36.0000;91.5000 --36.0000;92.0000 --35.5000;-66.0000 --35.5000;-65.5000 --35.5000;-65.0000 --35.5000;-64.5000 --35.5000;-64.0000 --35.5000;-63.5000 --35.5000;-63.0000 --35.5000;-62.5000 --35.5000;-62.0000 --35.5000;-61.5000 --35.5000;-61.0000 --35.5000;-60.5000 --35.5000;-60.0000 --35.5000;-59.5000 --35.5000;-59.0000 --35.5000;-58.5000 --35.5000;-58.0000 --35.5000;-57.5000 --35.5000;-57.0000 --35.5000;-56.5000 --35.5000;-56.0000 --35.5000;-55.5000 --35.5000;-55.0000 --35.5000;-54.5000 --35.5000;-54.0000 --35.5000;-53.5000 --35.5000;-53.0000 --35.5000;-52.5000 --35.5000;-52.0000 --35.5000;-51.5000 --35.5000;-51.0000 --35.5000;-50.5000 --35.5000;-50.0000 --35.5000;-49.5000 --35.5000;-49.0000 --35.5000;-18.0000 --35.5000;-17.5000 --35.5000;-17.0000 --35.5000;-16.5000 --35.5000;-16.0000 --35.5000;-15.5000 --35.5000;-15.0000 --35.5000;-14.5000 --35.5000;-14.0000 --35.5000;-13.5000 --35.5000;-13.0000 --35.5000;-12.5000 --35.5000;-12.0000 --35.5000;-11.5000 --35.5000;-11.0000 --35.5000;-10.5000 --35.5000;-10.0000 --35.5000;-9.5000 --35.5000;-9.0000 --35.5000;-8.5000 --35.5000;-8.0000 --35.5000;-7.5000 --35.5000;-7.0000 --35.5000;-6.5000 --35.5000;-6.0000 --35.5000;-5.5000 --35.5000;-5.0000 --35.5000;-4.5000 --35.5000;-4.0000 --35.5000;-3.5000 --35.5000;-3.0000 --35.5000;-2.5000 --35.5000;-2.0000 --35.5000;-1.5000 --35.5000;-1.0000 --35.5000;-0.5000 --35.5000;0.0000 --35.5000;0.5000 --35.5000;1.0000 --35.5000;1.5000 --35.5000;2.0000 --35.5000;2.5000 --35.5000;3.0000 --35.5000;3.5000 --35.5000;4.0000 --35.5000;4.5000 --35.5000;5.0000 --35.5000;5.5000 --35.5000;6.0000 --35.5000;6.5000 --35.5000;7.0000 --35.5000;7.5000 --35.5000;8.0000 --35.5000;8.5000 --35.5000;9.0000 --35.5000;9.5000 --35.5000;10.0000 --35.5000;10.5000 --35.5000;11.0000 --35.5000;11.5000 --35.5000;12.0000 --35.5000;12.5000 --35.5000;13.0000 --35.5000;13.5000 --35.5000;14.0000 --35.5000;14.5000 --35.5000;15.0000 --35.5000;15.5000 --35.5000;16.0000 --35.5000;16.5000 --35.5000;17.0000 --35.5000;17.5000 --35.5000;18.0000 --35.5000;18.5000 --35.5000;19.0000 --35.5000;19.5000 --35.5000;20.0000 --35.5000;20.5000 --35.5000;21.0000 --35.5000;21.5000 --35.5000;22.0000 --35.5000;22.5000 --35.5000;23.0000 --35.5000;23.5000 --35.5000;24.0000 --35.5000;24.5000 --35.5000;25.0000 --35.5000;25.5000 --35.5000;26.0000 --35.5000;26.5000 --35.5000;27.0000 --35.5000;27.5000 --35.5000;28.0000 --35.5000;28.5000 --35.5000;29.0000 --35.5000;29.5000 --35.5000;30.0000 --35.5000;30.5000 --35.5000;31.0000 --35.5000;77.5000 --35.5000;78.0000 --35.5000;78.5000 --35.5000;79.0000 --35.5000;79.5000 --35.5000;80.0000 --35.5000;80.5000 --35.5000;81.0000 --35.5000;81.5000 --35.5000;82.0000 --35.5000;82.5000 --35.5000;83.0000 --35.5000;83.5000 --35.5000;84.0000 --35.5000;84.5000 --35.5000;85.0000 --35.5000;85.5000 --35.5000;86.0000 --35.5000;86.5000 --35.5000;87.0000 --35.5000;87.5000 --35.5000;88.0000 --35.5000;88.5000 --35.5000;89.0000 --35.5000;89.5000 --35.5000;90.0000 --35.5000;90.5000 --35.5000;91.0000 --35.5000;91.5000 --35.5000;92.0000 --35.5000;92.5000 --35.0000;-65.5000 --35.0000;-65.0000 --35.0000;-64.5000 --35.0000;-64.0000 --35.0000;-63.5000 --35.0000;-63.0000 --35.0000;-62.5000 --35.0000;-62.0000 --35.0000;-61.5000 --35.0000;-61.0000 --35.0000;-60.5000 --35.0000;-60.0000 --35.0000;-59.5000 --35.0000;-59.0000 --35.0000;-58.5000 --35.0000;-58.0000 --35.0000;-57.5000 --35.0000;-57.0000 --35.0000;-56.5000 --35.0000;-56.0000 --35.0000;-55.5000 --35.0000;-55.0000 --35.0000;-54.5000 --35.0000;-54.0000 --35.0000;-53.5000 --35.0000;-53.0000 --35.0000;-52.5000 --35.0000;-52.0000 --35.0000;-51.5000 --35.0000;-51.0000 --35.0000;-50.5000 --35.0000;-50.0000 --35.0000;-49.5000 --35.0000;-49.0000 --35.0000;-48.5000 --35.0000;-17.5000 --35.0000;-17.0000 --35.0000;-16.5000 --35.0000;-16.0000 --35.0000;-15.5000 --35.0000;-15.0000 --35.0000;-14.5000 --35.0000;-14.0000 --35.0000;-13.5000 --35.0000;-13.0000 --35.0000;-12.5000 --35.0000;-12.0000 --35.0000;-11.5000 --35.0000;-11.0000 --35.0000;-10.5000 --35.0000;-10.0000 --35.0000;-9.5000 --35.0000;-9.0000 --35.0000;-8.5000 --35.0000;-8.0000 --35.0000;-7.5000 --35.0000;-7.0000 --35.0000;-6.5000 --35.0000;-6.0000 --35.0000;-5.5000 --35.0000;-5.0000 --35.0000;-4.5000 --35.0000;-4.0000 --35.0000;-3.5000 --35.0000;-3.0000 --35.0000;-2.5000 --35.0000;-2.0000 --35.0000;-1.5000 --35.0000;-1.0000 --35.0000;-0.5000 --35.0000;0.0000 --35.0000;0.5000 --35.0000;1.0000 --35.0000;1.5000 --35.0000;2.0000 --35.0000;2.5000 --35.0000;3.0000 --35.0000;3.5000 --35.0000;4.0000 --35.0000;4.5000 --35.0000;5.0000 --35.0000;5.5000 --35.0000;6.0000 --35.0000;6.5000 --35.0000;7.0000 --35.0000;7.5000 --35.0000;8.0000 --35.0000;8.5000 --35.0000;9.0000 --35.0000;9.5000 --35.0000;10.0000 --35.0000;10.5000 --35.0000;11.0000 --35.0000;11.5000 --35.0000;12.0000 --35.0000;12.5000 --35.0000;13.0000 --35.0000;13.5000 --35.0000;14.0000 --35.0000;14.5000 --35.0000;15.0000 --35.0000;15.5000 --35.0000;16.0000 --35.0000;16.5000 --35.0000;17.0000 --35.0000;17.5000 --35.0000;18.0000 --35.0000;18.5000 --35.0000;19.0000 --35.0000;19.5000 --35.0000;20.0000 --35.0000;20.5000 --35.0000;21.0000 --35.0000;21.5000 --35.0000;22.0000 --35.0000;22.5000 --35.0000;23.0000 --35.0000;23.5000 --35.0000;24.0000 --35.0000;24.5000 --35.0000;25.0000 --35.0000;25.5000 --35.0000;26.0000 --35.0000;26.5000 --35.0000;27.0000 --35.0000;27.5000 --35.0000;28.0000 --35.0000;28.5000 --35.0000;29.0000 --35.0000;29.5000 --35.0000;30.0000 --35.0000;30.5000 --35.0000;78.0000 --35.0000;78.5000 --35.0000;79.0000 --35.0000;79.5000 --35.0000;80.0000 --35.0000;80.5000 --35.0000;81.0000 --35.0000;81.5000 --35.0000;82.0000 --35.0000;82.5000 --35.0000;83.0000 --35.0000;83.5000 --35.0000;84.0000 --35.0000;84.5000 --35.0000;85.0000 --35.0000;85.5000 --35.0000;86.0000 --35.0000;86.5000 --35.0000;87.0000 --35.0000;87.5000 --35.0000;88.0000 --35.0000;88.5000 --35.0000;89.0000 --35.0000;89.5000 --35.0000;90.0000 --35.0000;90.5000 --35.0000;91.0000 --35.0000;91.5000 --35.0000;92.0000 --35.0000;92.5000 --35.0000;93.0000 --34.5000;-65.0000 --34.5000;-64.5000 --34.5000;-64.0000 --34.5000;-63.5000 --34.5000;-63.0000 --34.5000;-62.5000 --34.5000;-62.0000 --34.5000;-61.5000 --34.5000;-61.0000 --34.5000;-60.5000 --34.5000;-60.0000 --34.5000;-59.5000 --34.5000;-59.0000 --34.5000;-58.5000 --34.5000;-58.0000 --34.5000;-57.5000 --34.5000;-57.0000 --34.5000;-56.5000 --34.5000;-56.0000 --34.5000;-55.5000 --34.5000;-55.0000 --34.5000;-54.5000 --34.5000;-54.0000 --34.5000;-53.5000 --34.5000;-53.0000 --34.5000;-52.5000 --34.5000;-52.0000 --34.5000;-51.5000 --34.5000;-51.0000 --34.5000;-50.5000 --34.5000;-50.0000 --34.5000;-49.5000 --34.5000;-49.0000 --34.5000;-48.5000 --34.5000;-48.0000 --34.5000;-47.5000 --34.5000;-16.5000 --34.5000;-16.0000 --34.5000;-15.5000 --34.5000;-15.0000 --34.5000;-14.5000 --34.5000;-14.0000 --34.5000;-13.5000 --34.5000;-13.0000 --34.5000;-12.5000 --34.5000;-12.0000 --34.5000;-11.5000 --34.5000;-11.0000 --34.5000;-10.5000 --34.5000;-10.0000 --34.5000;-9.5000 --34.5000;-9.0000 --34.5000;-8.5000 --34.5000;-8.0000 --34.5000;-7.5000 --34.5000;-7.0000 --34.5000;-6.5000 --34.5000;-6.0000 --34.5000;-5.5000 --34.5000;-5.0000 --34.5000;-4.5000 --34.5000;-4.0000 --34.5000;-3.5000 --34.5000;-3.0000 --34.5000;-2.5000 --34.5000;-2.0000 --34.5000;-1.5000 --34.5000;-1.0000 --34.5000;-0.5000 --34.5000;0.0000 --34.5000;0.5000 --34.5000;1.0000 --34.5000;1.5000 --34.5000;2.0000 --34.5000;2.5000 --34.5000;3.0000 --34.5000;3.5000 --34.5000;4.0000 --34.5000;4.5000 --34.5000;5.0000 --34.5000;5.5000 --34.5000;6.0000 --34.5000;6.5000 --34.5000;7.0000 --34.5000;7.5000 --34.5000;8.0000 --34.5000;8.5000 --34.5000;9.0000 --34.5000;9.5000 --34.5000;10.0000 --34.5000;10.5000 --34.5000;11.0000 --34.5000;11.5000 --34.5000;12.0000 --34.5000;12.5000 --34.5000;13.0000 --34.5000;13.5000 --34.5000;14.0000 --34.5000;14.5000 --34.5000;15.0000 --34.5000;15.5000 --34.5000;16.0000 --34.5000;16.5000 --34.5000;17.0000 --34.5000;17.5000 --34.5000;18.0000 --34.5000;18.5000 --34.5000;19.0000 --34.5000;19.5000 --34.5000;20.0000 --34.5000;20.5000 --34.5000;21.0000 --34.5000;21.5000 --34.5000;22.0000 --34.5000;22.5000 --34.5000;23.0000 --34.5000;23.5000 --34.5000;24.0000 --34.5000;24.5000 --34.5000;25.0000 --34.5000;25.5000 --34.5000;26.0000 --34.5000;26.5000 --34.5000;27.0000 --34.5000;27.5000 --34.5000;28.0000 --34.5000;28.5000 --34.5000;29.0000 --34.5000;29.5000 --34.5000;78.5000 --34.5000;79.0000 --34.5000;79.5000 --34.5000;80.0000 --34.5000;80.5000 --34.5000;81.0000 --34.5000;81.5000 --34.5000;82.0000 --34.5000;82.5000 --34.5000;83.0000 --34.5000;83.5000 --34.5000;84.0000 --34.5000;84.5000 --34.5000;85.0000 --34.5000;85.5000 --34.5000;86.0000 --34.5000;86.5000 --34.5000;87.0000 --34.5000;87.5000 --34.5000;88.0000 --34.5000;88.5000 --34.5000;89.0000 --34.5000;89.5000 --34.5000;90.0000 --34.5000;90.5000 --34.5000;91.0000 --34.5000;91.5000 --34.5000;92.0000 --34.5000;92.5000 --34.5000;93.0000 --34.5000;93.5000 --34.5000;94.0000 --34.0000;-64.5000 --34.0000;-64.0000 --34.0000;-63.5000 --34.0000;-63.0000 --34.0000;-62.5000 --34.0000;-62.0000 --34.0000;-61.5000 --34.0000;-61.0000 --34.0000;-60.5000 --34.0000;-60.0000 --34.0000;-59.5000 --34.0000;-59.0000 --34.0000;-58.5000 --34.0000;-58.0000 --34.0000;-57.5000 --34.0000;-57.0000 --34.0000;-56.5000 --34.0000;-56.0000 --34.0000;-55.5000 --34.0000;-55.0000 --34.0000;-54.5000 --34.0000;-54.0000 --34.0000;-53.5000 --34.0000;-53.0000 --34.0000;-52.5000 --34.0000;-52.0000 --34.0000;-51.5000 --34.0000;-51.0000 --34.0000;-50.5000 --34.0000;-50.0000 --34.0000;-49.5000 --34.0000;-49.0000 --34.0000;-48.5000 --34.0000;-48.0000 --34.0000;-47.5000 --34.0000;-47.0000 --34.0000;-16.0000 --34.0000;-15.5000 --34.0000;-15.0000 --34.0000;-14.5000 --34.0000;-14.0000 --34.0000;-13.5000 --34.0000;-13.0000 --34.0000;-12.5000 --34.0000;-12.0000 --34.0000;-11.5000 --34.0000;-11.0000 --34.0000;-10.5000 --34.0000;-10.0000 --34.0000;-9.5000 --34.0000;-9.0000 --34.0000;-8.5000 --34.0000;-8.0000 --34.0000;-7.5000 --34.0000;-7.0000 --34.0000;-6.5000 --34.0000;-6.0000 --34.0000;-5.5000 --34.0000;-5.0000 --34.0000;-4.5000 --34.0000;-4.0000 --34.0000;-3.5000 --34.0000;-3.0000 --34.0000;-2.5000 --34.0000;-2.0000 --34.0000;-1.5000 --34.0000;-1.0000 --34.0000;-0.5000 --34.0000;0.0000 --34.0000;0.5000 --34.0000;1.0000 --34.0000;1.5000 --34.0000;2.0000 --34.0000;2.5000 --34.0000;3.0000 --34.0000;3.5000 --34.0000;4.0000 --34.0000;4.5000 --34.0000;5.0000 --34.0000;5.5000 --34.0000;6.0000 --34.0000;6.5000 --34.0000;7.0000 --34.0000;7.5000 --34.0000;8.0000 --34.0000;8.5000 --34.0000;9.0000 --34.0000;9.5000 --34.0000;10.0000 --34.0000;10.5000 --34.0000;11.0000 --34.0000;11.5000 --34.0000;12.0000 --34.0000;12.5000 --34.0000;13.0000 --34.0000;13.5000 --34.0000;14.0000 --34.0000;14.5000 --34.0000;15.0000 --34.0000;15.5000 --34.0000;16.0000 --34.0000;16.5000 --34.0000;17.0000 --34.0000;17.5000 --34.0000;18.0000 --34.0000;18.5000 --34.0000;19.0000 --34.0000;19.5000 --34.0000;20.0000 --34.0000;20.5000 --34.0000;21.0000 --34.0000;21.5000 --34.0000;22.0000 --34.0000;22.5000 --34.0000;23.0000 --34.0000;23.5000 --34.0000;24.0000 --34.0000;24.5000 --34.0000;25.0000 --34.0000;25.5000 --34.0000;26.0000 --34.0000;26.5000 --34.0000;27.0000 --34.0000;27.5000 --34.0000;28.0000 --34.0000;28.5000 --34.0000;78.5000 --34.0000;79.0000 --34.0000;79.5000 --34.0000;80.0000 --34.0000;80.5000 --34.0000;81.0000 --34.0000;81.5000 --34.0000;82.0000 --34.0000;82.5000 --34.0000;83.0000 --34.0000;83.5000 --34.0000;84.0000 --34.0000;84.5000 --34.0000;85.0000 --34.0000;85.5000 --34.0000;86.0000 --34.0000;86.5000 --34.0000;87.0000 --34.0000;87.5000 --34.0000;88.0000 --34.0000;88.5000 --34.0000;89.0000 --34.0000;89.5000 --34.0000;90.0000 --34.0000;90.5000 --34.0000;91.0000 --34.0000;91.5000 --34.0000;92.0000 --34.0000;92.5000 --34.0000;93.0000 --34.0000;93.5000 --34.0000;94.0000 --34.0000;94.5000 --33.5000;-63.5000 --33.5000;-63.0000 --33.5000;-62.5000 --33.5000;-62.0000 --33.5000;-61.5000 --33.5000;-61.0000 --33.5000;-60.5000 --33.5000;-60.0000 --33.5000;-59.5000 --33.5000;-59.0000 --33.5000;-58.5000 --33.5000;-58.0000 --33.5000;-57.5000 --33.5000;-57.0000 --33.5000;-56.5000 --33.5000;-56.0000 --33.5000;-55.5000 --33.5000;-55.0000 --33.5000;-54.5000 --33.5000;-54.0000 --33.5000;-53.5000 --33.5000;-53.0000 --33.5000;-52.5000 --33.5000;-52.0000 --33.5000;-51.5000 --33.5000;-51.0000 --33.5000;-50.5000 --33.5000;-50.0000 --33.5000;-49.5000 --33.5000;-49.0000 --33.5000;-48.5000 --33.5000;-48.0000 --33.5000;-47.5000 --33.5000;-47.0000 --33.5000;-46.5000 --33.5000;-15.0000 --33.5000;-14.5000 --33.5000;-14.0000 --33.5000;-13.5000 --33.5000;-13.0000 --33.5000;-12.5000 --33.5000;-12.0000 --33.5000;-11.5000 --33.5000;-11.0000 --33.5000;-10.5000 --33.5000;-10.0000 --33.5000;-9.5000 --33.5000;-9.0000 --33.5000;-8.5000 --33.5000;-8.0000 --33.5000;-7.5000 --33.5000;-7.0000 --33.5000;-6.5000 --33.5000;-6.0000 --33.5000;-5.5000 --33.5000;-5.0000 --33.5000;-4.5000 --33.5000;-4.0000 --33.5000;-3.5000 --33.5000;-3.0000 --33.5000;-2.5000 --33.5000;-2.0000 --33.5000;-1.5000 --33.5000;-1.0000 --33.5000;-0.5000 --33.5000;0.0000 --33.5000;0.5000 --33.5000;1.0000 --33.5000;1.5000 --33.5000;2.0000 --33.5000;2.5000 --33.5000;3.0000 --33.5000;3.5000 --33.5000;4.0000 --33.5000;4.5000 --33.5000;5.0000 --33.5000;5.5000 --33.5000;6.0000 --33.5000;6.5000 --33.5000;7.0000 --33.5000;7.5000 --33.5000;8.0000 --33.5000;8.5000 --33.5000;9.0000 --33.5000;9.5000 --33.5000;10.0000 --33.5000;10.5000 --33.5000;11.0000 --33.5000;11.5000 --33.5000;12.0000 --33.5000;12.5000 --33.5000;13.0000 --33.5000;13.5000 --33.5000;14.0000 --33.5000;14.5000 --33.5000;15.0000 --33.5000;15.5000 --33.5000;16.0000 --33.5000;16.5000 --33.5000;17.0000 --33.5000;17.5000 --33.5000;18.0000 --33.5000;18.5000 --33.5000;19.0000 --33.5000;19.5000 --33.5000;20.0000 --33.5000;20.5000 --33.5000;21.0000 --33.5000;21.5000 --33.5000;22.0000 --33.5000;22.5000 --33.5000;23.0000 --33.5000;23.5000 --33.5000;24.0000 --33.5000;24.5000 --33.5000;25.0000 --33.5000;25.5000 --33.5000;26.0000 --33.5000;26.5000 --33.5000;27.0000 --33.5000;27.5000 --33.5000;79.0000 --33.5000;79.5000 --33.5000;80.0000 --33.5000;80.5000 --33.5000;81.0000 --33.5000;81.5000 --33.5000;82.0000 --33.5000;82.5000 --33.5000;83.0000 --33.5000;83.5000 --33.5000;84.0000 --33.5000;84.5000 --33.5000;85.0000 --33.5000;85.5000 --33.5000;86.0000 --33.5000;86.5000 --33.5000;87.0000 --33.5000;87.5000 --33.5000;88.0000 --33.5000;88.5000 --33.5000;89.0000 --33.5000;89.5000 --33.5000;90.0000 --33.5000;90.5000 --33.5000;91.0000 --33.5000;91.5000 --33.5000;92.0000 --33.5000;92.5000 --33.5000;93.0000 --33.5000;93.5000 --33.5000;94.0000 --33.5000;94.5000 --33.5000;95.0000 --33.0000;-63.0000 --33.0000;-62.5000 --33.0000;-62.0000 --33.0000;-61.5000 --33.0000;-61.0000 --33.0000;-60.5000 --33.0000;-60.0000 --33.0000;-59.5000 --33.0000;-59.0000 --33.0000;-58.5000 --33.0000;-58.0000 --33.0000;-57.5000 --33.0000;-57.0000 --33.0000;-56.5000 --33.0000;-56.0000 --33.0000;-55.5000 --33.0000;-55.0000 --33.0000;-54.5000 --33.0000;-54.0000 --33.0000;-53.5000 --33.0000;-53.0000 --33.0000;-52.5000 --33.0000;-52.0000 --33.0000;-51.5000 --33.0000;-51.0000 --33.0000;-50.5000 --33.0000;-50.0000 --33.0000;-49.5000 --33.0000;-49.0000 --33.0000;-48.5000 --33.0000;-48.0000 --33.0000;-47.5000 --33.0000;-47.0000 --33.0000;-46.5000 --33.0000;-46.0000 --33.0000;-45.5000 --33.0000;-14.0000 --33.0000;-13.5000 --33.0000;-13.0000 --33.0000;-12.5000 --33.0000;-12.0000 --33.0000;-11.5000 --33.0000;-11.0000 --33.0000;-10.5000 --33.0000;-10.0000 --33.0000;-9.5000 --33.0000;-9.0000 --33.0000;-8.5000 --33.0000;-8.0000 --33.0000;-7.5000 --33.0000;-7.0000 --33.0000;-6.5000 --33.0000;-6.0000 --33.0000;-5.5000 --33.0000;-5.0000 --33.0000;-4.5000 --33.0000;-4.0000 --33.0000;-3.5000 --33.0000;-3.0000 --33.0000;-2.5000 --33.0000;-2.0000 --33.0000;-1.5000 --33.0000;-1.0000 --33.0000;-0.5000 --33.0000;0.0000 --33.0000;0.5000 --33.0000;1.0000 --33.0000;1.5000 --33.0000;2.0000 --33.0000;2.5000 --33.0000;3.0000 --33.0000;3.5000 --33.0000;4.0000 --33.0000;4.5000 --33.0000;5.0000 --33.0000;5.5000 --33.0000;6.0000 --33.0000;6.5000 --33.0000;7.0000 --33.0000;7.5000 --33.0000;8.0000 --33.0000;8.5000 --33.0000;9.0000 --33.0000;9.5000 --33.0000;10.0000 --33.0000;10.5000 --33.0000;11.0000 --33.0000;11.5000 --33.0000;12.0000 --33.0000;12.5000 --33.0000;13.0000 --33.0000;13.5000 --33.0000;14.0000 --33.0000;14.5000 --33.0000;15.0000 --33.0000;15.5000 --33.0000;16.0000 --33.0000;16.5000 --33.0000;17.0000 --33.0000;17.5000 --33.0000;18.0000 --33.0000;18.5000 --33.0000;19.0000 --33.0000;19.5000 --33.0000;20.0000 --33.0000;20.5000 --33.0000;21.0000 --33.0000;21.5000 --33.0000;22.0000 --33.0000;22.5000 --33.0000;23.0000 --33.0000;23.5000 --33.0000;24.0000 --33.0000;24.5000 --33.0000;25.0000 --33.0000;25.5000 --33.0000;26.0000 --33.0000;26.5000 --33.0000;79.5000 --33.0000;80.0000 --33.0000;80.5000 --33.0000;81.0000 --33.0000;81.5000 --33.0000;82.0000 --33.0000;82.5000 --33.0000;83.0000 --33.0000;83.5000 --33.0000;84.0000 --33.0000;84.5000 --33.0000;85.0000 --33.0000;85.5000 --33.0000;86.0000 --33.0000;86.5000 --33.0000;87.0000 --33.0000;87.5000 --33.0000;88.0000 --33.0000;88.5000 --33.0000;89.0000 --33.0000;89.5000 --33.0000;90.0000 --33.0000;90.5000 --33.0000;91.0000 --33.0000;91.5000 --33.0000;92.0000 --33.0000;92.5000 --33.0000;93.0000 --33.0000;93.5000 --33.0000;94.0000 --33.0000;94.5000 --33.0000;95.0000 --33.0000;95.5000 --33.0000;96.0000 --32.5000;-62.5000 --32.5000;-62.0000 --32.5000;-61.5000 --32.5000;-61.0000 --32.5000;-60.5000 --32.5000;-60.0000 --32.5000;-59.5000 --32.5000;-59.0000 --32.5000;-58.5000 --32.5000;-58.0000 --32.5000;-57.5000 --32.5000;-57.0000 --32.5000;-56.5000 --32.5000;-56.0000 --32.5000;-55.5000 --32.5000;-55.0000 --32.5000;-54.5000 --32.5000;-54.0000 --32.5000;-53.5000 --32.5000;-53.0000 --32.5000;-52.5000 --32.5000;-52.0000 --32.5000;-51.5000 --32.5000;-51.0000 --32.5000;-50.5000 --32.5000;-50.0000 --32.5000;-49.5000 --32.5000;-49.0000 --32.5000;-48.5000 --32.5000;-48.0000 --32.5000;-47.5000 --32.5000;-47.0000 --32.5000;-46.5000 --32.5000;-46.0000 --32.5000;-45.5000 --32.5000;-45.0000 --32.5000;-13.0000 --32.5000;-12.5000 --32.5000;-12.0000 --32.5000;-11.5000 --32.5000;-11.0000 --32.5000;-10.5000 --32.5000;-10.0000 --32.5000;-9.5000 --32.5000;-9.0000 --32.5000;-8.5000 --32.5000;-8.0000 --32.5000;-7.5000 --32.5000;-7.0000 --32.5000;-6.5000 --32.5000;-6.0000 --32.5000;-5.5000 --32.5000;-5.0000 --32.5000;-4.5000 --32.5000;-4.0000 --32.5000;-3.5000 --32.5000;-3.0000 --32.5000;-2.5000 --32.5000;-2.0000 --32.5000;-1.5000 --32.5000;-1.0000 --32.5000;-0.5000 --32.5000;0.0000 --32.5000;0.5000 --32.5000;1.0000 --32.5000;1.5000 --32.5000;2.0000 --32.5000;2.5000 --32.5000;3.0000 --32.5000;3.5000 --32.5000;4.0000 --32.5000;4.5000 --32.5000;5.0000 --32.5000;5.5000 --32.5000;6.0000 --32.5000;6.5000 --32.5000;7.0000 --32.5000;7.5000 --32.5000;8.0000 --32.5000;8.5000 --32.5000;9.0000 --32.5000;9.5000 --32.5000;10.0000 --32.5000;10.5000 --32.5000;11.0000 --32.5000;11.5000 --32.5000;12.0000 --32.5000;12.5000 --32.5000;13.0000 --32.5000;13.5000 --32.5000;14.0000 --32.5000;14.5000 --32.5000;15.0000 --32.5000;15.5000 --32.5000;16.0000 --32.5000;16.5000 --32.5000;17.0000 --32.5000;17.5000 --32.5000;18.0000 --32.5000;18.5000 --32.5000;19.0000 --32.5000;19.5000 --32.5000;20.0000 --32.5000;20.5000 --32.5000;21.0000 --32.5000;21.5000 --32.5000;22.0000 --32.5000;22.5000 --32.5000;23.0000 --32.5000;23.5000 --32.5000;24.0000 --32.5000;24.5000 --32.5000;25.0000 --32.5000;25.5000 --32.5000;80.0000 --32.5000;80.5000 --32.5000;81.0000 --32.5000;81.5000 --32.5000;82.0000 --32.5000;82.5000 --32.5000;83.0000 --32.5000;83.5000 --32.5000;84.0000 --32.5000;84.5000 --32.5000;85.0000 --32.5000;85.5000 --32.5000;86.0000 --32.5000;86.5000 --32.5000;87.0000 --32.5000;87.5000 --32.5000;88.0000 --32.5000;88.5000 --32.5000;89.0000 --32.5000;89.5000 --32.5000;90.0000 --32.5000;90.5000 --32.5000;91.0000 --32.5000;91.5000 --32.5000;92.0000 --32.5000;92.5000 --32.5000;93.0000 --32.5000;93.5000 --32.5000;94.0000 --32.5000;94.5000 --32.5000;95.0000 --32.5000;95.5000 --32.5000;96.0000 --32.5000;96.5000 --32.0000;-61.5000 --32.0000;-61.0000 --32.0000;-60.5000 --32.0000;-60.0000 --32.0000;-59.5000 --32.0000;-59.0000 --32.0000;-58.5000 --32.0000;-58.0000 --32.0000;-57.5000 --32.0000;-57.0000 --32.0000;-56.5000 --32.0000;-56.0000 --32.0000;-55.5000 --32.0000;-55.0000 --32.0000;-54.5000 --32.0000;-54.0000 --32.0000;-53.5000 --32.0000;-53.0000 --32.0000;-52.5000 --32.0000;-52.0000 --32.0000;-51.5000 --32.0000;-51.0000 --32.0000;-50.5000 --32.0000;-50.0000 --32.0000;-49.5000 --32.0000;-49.0000 --32.0000;-48.5000 --32.0000;-48.0000 --32.0000;-47.5000 --32.0000;-47.0000 --32.0000;-46.5000 --32.0000;-46.0000 --32.0000;-45.5000 --32.0000;-45.0000 --32.0000;-44.5000 --32.0000;-44.0000 --32.0000;-12.0000 --32.0000;-11.5000 --32.0000;-11.0000 --32.0000;-10.5000 --32.0000;-10.0000 --32.0000;-9.5000 --32.0000;-9.0000 --32.0000;-8.5000 --32.0000;-8.0000 --32.0000;-7.5000 --32.0000;-7.0000 --32.0000;-6.5000 --32.0000;-6.0000 --32.0000;-5.5000 --32.0000;-5.0000 --32.0000;-4.5000 --32.0000;-4.0000 --32.0000;-3.5000 --32.0000;-3.0000 --32.0000;-2.5000 --32.0000;-2.0000 --32.0000;-1.5000 --32.0000;-1.0000 --32.0000;-0.5000 --32.0000;0.0000 --32.0000;0.5000 --32.0000;1.0000 --32.0000;1.5000 --32.0000;2.0000 --32.0000;2.5000 --32.0000;3.0000 --32.0000;3.5000 --32.0000;4.0000 --32.0000;4.5000 --32.0000;5.0000 --32.0000;5.5000 --32.0000;6.0000 --32.0000;6.5000 --32.0000;7.0000 --32.0000;7.5000 --32.0000;8.0000 --32.0000;8.5000 --32.0000;9.0000 --32.0000;9.5000 --32.0000;10.0000 --32.0000;10.5000 --32.0000;11.0000 --32.0000;11.5000 --32.0000;12.0000 --32.0000;12.5000 --32.0000;13.0000 --32.0000;13.5000 --32.0000;14.0000 --32.0000;14.5000 --32.0000;15.0000 --32.0000;15.5000 --32.0000;16.0000 --32.0000;16.5000 --32.0000;17.0000 --32.0000;17.5000 --32.0000;18.0000 --32.0000;18.5000 --32.0000;19.0000 --32.0000;19.5000 --32.0000;20.0000 --32.0000;20.5000 --32.0000;21.0000 --32.0000;21.5000 --32.0000;22.0000 --32.0000;22.5000 --32.0000;23.0000 --32.0000;23.5000 --32.0000;24.0000 --32.0000;24.5000 --32.0000;80.5000 --32.0000;81.0000 --32.0000;81.5000 --32.0000;82.0000 --32.0000;82.5000 --32.0000;83.0000 --32.0000;83.5000 --32.0000;84.0000 --32.0000;84.5000 --32.0000;85.0000 --32.0000;85.5000 --32.0000;86.0000 --32.0000;86.5000 --32.0000;87.0000 --32.0000;87.5000 --32.0000;88.0000 --32.0000;88.5000 --32.0000;89.0000 --32.0000;89.5000 --32.0000;90.0000 --32.0000;90.5000 --32.0000;91.0000 --32.0000;91.5000 --32.0000;92.0000 --32.0000;92.5000 --32.0000;93.0000 --32.0000;93.5000 --32.0000;94.0000 --32.0000;94.5000 --32.0000;95.0000 --32.0000;95.5000 --32.0000;96.0000 --32.0000;96.5000 --32.0000;97.0000 --31.5000;-61.0000 --31.5000;-60.5000 --31.5000;-60.0000 --31.5000;-59.5000 --31.5000;-59.0000 --31.5000;-58.5000 --31.5000;-58.0000 --31.5000;-57.5000 --31.5000;-57.0000 --31.5000;-56.5000 --31.5000;-56.0000 --31.5000;-55.5000 --31.5000;-55.0000 --31.5000;-54.5000 --31.5000;-54.0000 --31.5000;-53.5000 --31.5000;-53.0000 --31.5000;-52.5000 --31.5000;-52.0000 --31.5000;-51.5000 --31.5000;-51.0000 --31.5000;-50.5000 --31.5000;-50.0000 --31.5000;-49.5000 --31.5000;-49.0000 --31.5000;-48.5000 --31.5000;-48.0000 --31.5000;-47.5000 --31.5000;-47.0000 --31.5000;-46.5000 --31.5000;-46.0000 --31.5000;-45.5000 --31.5000;-45.0000 --31.5000;-44.5000 --31.5000;-44.0000 --31.5000;-43.5000 --31.5000;-10.5000 --31.5000;-10.0000 --31.5000;-9.5000 --31.5000;-9.0000 --31.5000;-8.5000 --31.5000;-8.0000 --31.5000;-7.5000 --31.5000;-7.0000 --31.5000;-6.5000 --31.5000;-6.0000 --31.5000;-5.5000 --31.5000;-5.0000 --31.5000;-4.5000 --31.5000;-4.0000 --31.5000;-3.5000 --31.5000;-3.0000 --31.5000;-2.5000 --31.5000;-2.0000 --31.5000;-1.5000 --31.5000;-1.0000 --31.5000;-0.5000 --31.5000;0.0000 --31.5000;0.5000 --31.5000;1.0000 --31.5000;1.5000 --31.5000;2.0000 --31.5000;2.5000 --31.5000;3.0000 --31.5000;3.5000 --31.5000;4.0000 --31.5000;4.5000 --31.5000;5.0000 --31.5000;5.5000 --31.5000;6.0000 --31.5000;6.5000 --31.5000;7.0000 --31.5000;7.5000 --31.5000;8.0000 --31.5000;8.5000 --31.5000;9.0000 --31.5000;9.5000 --31.5000;10.0000 --31.5000;10.5000 --31.5000;11.0000 --31.5000;11.5000 --31.5000;12.0000 --31.5000;12.5000 --31.5000;13.0000 --31.5000;13.5000 --31.5000;14.0000 --31.5000;14.5000 --31.5000;15.0000 --31.5000;15.5000 --31.5000;16.0000 --31.5000;16.5000 --31.5000;17.0000 --31.5000;17.5000 --31.5000;18.0000 --31.5000;18.5000 --31.5000;19.0000 --31.5000;19.5000 --31.5000;20.0000 --31.5000;20.5000 --31.5000;21.0000 --31.5000;21.5000 --31.5000;22.0000 --31.5000;22.5000 --31.5000;23.0000 --31.5000;81.0000 --31.5000;81.5000 --31.5000;82.0000 --31.5000;82.5000 --31.5000;83.0000 --31.5000;83.5000 --31.5000;84.0000 --31.5000;84.5000 --31.5000;85.0000 --31.5000;85.5000 --31.5000;86.0000 --31.5000;86.5000 --31.5000;87.0000 --31.5000;87.5000 --31.5000;88.0000 --31.5000;88.5000 --31.5000;89.0000 --31.5000;89.5000 --31.5000;90.0000 --31.5000;90.5000 --31.5000;91.0000 --31.5000;91.5000 --31.5000;92.0000 --31.5000;92.5000 --31.5000;93.0000 --31.5000;93.5000 --31.5000;94.0000 --31.5000;94.5000 --31.5000;95.0000 --31.5000;95.5000 --31.5000;96.0000 --31.5000;96.5000 --31.5000;97.0000 --31.5000;97.5000 --31.5000;98.0000 --31.0000;-60.5000 --31.0000;-60.0000 --31.0000;-59.5000 --31.0000;-59.0000 --31.0000;-58.5000 --31.0000;-58.0000 --31.0000;-57.5000 --31.0000;-57.0000 --31.0000;-56.5000 --31.0000;-56.0000 --31.0000;-55.5000 --31.0000;-55.0000 --31.0000;-54.5000 --31.0000;-54.0000 --31.0000;-53.5000 --31.0000;-53.0000 --31.0000;-52.5000 --31.0000;-52.0000 --31.0000;-51.5000 --31.0000;-51.0000 --31.0000;-50.5000 --31.0000;-50.0000 --31.0000;-49.5000 --31.0000;-49.0000 --31.0000;-48.5000 --31.0000;-48.0000 --31.0000;-47.5000 --31.0000;-47.0000 --31.0000;-46.5000 --31.0000;-46.0000 --31.0000;-45.5000 --31.0000;-45.0000 --31.0000;-44.5000 --31.0000;-44.0000 --31.0000;-43.5000 --31.0000;-43.0000 --31.0000;-9.5000 --31.0000;-9.0000 --31.0000;-8.5000 --31.0000;-8.0000 --31.0000;-7.5000 --31.0000;-7.0000 --31.0000;-6.5000 --31.0000;-6.0000 --31.0000;-5.5000 --31.0000;-5.0000 --31.0000;-4.5000 --31.0000;-4.0000 --31.0000;-3.5000 --31.0000;-3.0000 --31.0000;-2.5000 --31.0000;-2.0000 --31.0000;-1.5000 --31.0000;-1.0000 --31.0000;-0.5000 --31.0000;0.0000 --31.0000;0.5000 --31.0000;1.0000 --31.0000;1.5000 --31.0000;2.0000 --31.0000;2.5000 --31.0000;3.0000 --31.0000;3.5000 --31.0000;4.0000 --31.0000;4.5000 --31.0000;5.0000 --31.0000;5.5000 --31.0000;6.0000 --31.0000;6.5000 --31.0000;7.0000 --31.0000;7.5000 --31.0000;8.0000 --31.0000;8.5000 --31.0000;9.0000 --31.0000;9.5000 --31.0000;10.0000 --31.0000;10.5000 --31.0000;11.0000 --31.0000;11.5000 --31.0000;12.0000 --31.0000;12.5000 --31.0000;13.0000 --31.0000;13.5000 --31.0000;14.0000 --31.0000;14.5000 --31.0000;15.0000 --31.0000;15.5000 --31.0000;16.0000 --31.0000;16.5000 --31.0000;17.0000 --31.0000;17.5000 --31.0000;18.0000 --31.0000;18.5000 --31.0000;19.0000 --31.0000;19.5000 --31.0000;20.0000 --31.0000;20.5000 --31.0000;21.0000 --31.0000;21.5000 --31.0000;22.0000 --31.0000;81.5000 --31.0000;82.0000 --31.0000;82.5000 --31.0000;83.0000 --31.0000;83.5000 --31.0000;84.0000 --31.0000;84.5000 --31.0000;85.0000 --31.0000;85.5000 --31.0000;86.0000 --31.0000;86.5000 --31.0000;87.0000 --31.0000;87.5000 --31.0000;88.0000 --31.0000;88.5000 --31.0000;89.0000 --31.0000;89.5000 --31.0000;90.0000 --31.0000;90.5000 --31.0000;91.0000 --31.0000;91.5000 --31.0000;92.0000 --31.0000;92.5000 --31.0000;93.0000 --31.0000;93.5000 --31.0000;94.0000 --31.0000;94.5000 --31.0000;95.0000 --31.0000;95.5000 --31.0000;96.0000 --31.0000;96.5000 --31.0000;97.0000 --31.0000;97.5000 --31.0000;98.0000 --31.0000;98.5000 --30.5000;-59.5000 --30.5000;-59.0000 --30.5000;-58.5000 --30.5000;-58.0000 --30.5000;-57.5000 --30.5000;-57.0000 --30.5000;-56.5000 --30.5000;-56.0000 --30.5000;-55.5000 --30.5000;-55.0000 --30.5000;-54.5000 --30.5000;-54.0000 --30.5000;-53.5000 --30.5000;-53.0000 --30.5000;-52.5000 --30.5000;-52.0000 --30.5000;-51.5000 --30.5000;-51.0000 --30.5000;-50.5000 --30.5000;-50.0000 --30.5000;-49.5000 --30.5000;-49.0000 --30.5000;-48.5000 --30.5000;-48.0000 --30.5000;-47.5000 --30.5000;-47.0000 --30.5000;-46.5000 --30.5000;-46.0000 --30.5000;-45.5000 --30.5000;-45.0000 --30.5000;-44.5000 --30.5000;-44.0000 --30.5000;-43.5000 --30.5000;-43.0000 --30.5000;-42.5000 --30.5000;-42.0000 --30.5000;-8.0000 --30.5000;-7.5000 --30.5000;-7.0000 --30.5000;-6.5000 --30.5000;-6.0000 --30.5000;-5.5000 --30.5000;-5.0000 --30.5000;-4.5000 --30.5000;-4.0000 --30.5000;-3.5000 --30.5000;-3.0000 --30.5000;-2.5000 --30.5000;-2.0000 --30.5000;-1.5000 --30.5000;-1.0000 --30.5000;-0.5000 --30.5000;0.0000 --30.5000;0.5000 --30.5000;1.0000 --30.5000;1.5000 --30.5000;2.0000 --30.5000;2.5000 --30.5000;3.0000 --30.5000;3.5000 --30.5000;4.0000 --30.5000;4.5000 --30.5000;5.0000 --30.5000;5.5000 --30.5000;6.0000 --30.5000;6.5000 --30.5000;7.0000 --30.5000;7.5000 --30.5000;8.0000 --30.5000;8.5000 --30.5000;9.0000 --30.5000;9.5000 --30.5000;10.0000 --30.5000;10.5000 --30.5000;11.0000 --30.5000;11.5000 --30.5000;12.0000 --30.5000;12.5000 --30.5000;13.0000 --30.5000;13.5000 --30.5000;14.0000 --30.5000;14.5000 --30.5000;15.0000 --30.5000;15.5000 --30.5000;16.0000 --30.5000;16.5000 --30.5000;17.0000 --30.5000;17.5000 --30.5000;18.0000 --30.5000;18.5000 --30.5000;19.0000 --30.5000;19.5000 --30.5000;20.0000 --30.5000;20.5000 --30.5000;82.0000 --30.5000;82.5000 --30.5000;83.0000 --30.5000;83.5000 --30.5000;84.0000 --30.5000;84.5000 --30.5000;85.0000 --30.5000;85.5000 --30.5000;86.0000 --30.5000;86.5000 --30.5000;87.0000 --30.5000;87.5000 --30.5000;88.0000 --30.5000;88.5000 --30.5000;89.0000 --30.5000;89.5000 --30.5000;90.0000 --30.5000;90.5000 --30.5000;91.0000 --30.5000;91.5000 --30.5000;92.0000 --30.5000;92.5000 --30.5000;93.0000 --30.5000;93.5000 --30.5000;94.0000 --30.5000;94.5000 --30.5000;95.0000 --30.5000;95.5000 --30.5000;96.0000 --30.5000;96.5000 --30.5000;97.0000 --30.5000;97.5000 --30.5000;98.0000 --30.5000;98.5000 --30.5000;99.0000 --30.0000;-59.0000 --30.0000;-58.5000 --30.0000;-58.0000 --30.0000;-57.5000 --30.0000;-57.0000 --30.0000;-56.5000 --30.0000;-56.0000 --30.0000;-55.5000 --30.0000;-55.0000 --30.0000;-54.5000 --30.0000;-54.0000 --30.0000;-53.5000 --30.0000;-53.0000 --30.0000;-52.5000 --30.0000;-52.0000 --30.0000;-51.5000 --30.0000;-51.0000 --30.0000;-50.5000 --30.0000;-50.0000 --30.0000;-49.5000 --30.0000;-49.0000 --30.0000;-48.5000 --30.0000;-48.0000 --30.0000;-47.5000 --30.0000;-47.0000 --30.0000;-46.5000 --30.0000;-46.0000 --30.0000;-45.5000 --30.0000;-45.0000 --30.0000;-44.5000 --30.0000;-44.0000 --30.0000;-43.5000 --30.0000;-43.0000 --30.0000;-42.5000 --30.0000;-42.0000 --30.0000;-41.5000 --30.0000;-6.5000 --30.0000;-6.0000 --30.0000;-5.5000 --30.0000;-5.0000 --30.0000;-4.5000 --30.0000;-4.0000 --30.0000;-3.5000 --30.0000;-3.0000 --30.0000;-2.5000 --30.0000;-2.0000 --30.0000;-1.5000 --30.0000;-1.0000 --30.0000;-0.5000 --30.0000;0.0000 --30.0000;0.5000 --30.0000;1.0000 --30.0000;1.5000 --30.0000;2.0000 --30.0000;2.5000 --30.0000;3.0000 --30.0000;3.5000 --30.0000;4.0000 --30.0000;4.5000 --30.0000;5.0000 --30.0000;5.5000 --30.0000;6.0000 --30.0000;6.5000 --30.0000;7.0000 --30.0000;7.5000 --30.0000;8.0000 --30.0000;8.5000 --30.0000;9.0000 --30.0000;9.5000 --30.0000;10.0000 --30.0000;10.5000 --30.0000;11.0000 --30.0000;11.5000 --30.0000;12.0000 --30.0000;12.5000 --30.0000;13.0000 --30.0000;13.5000 --30.0000;14.0000 --30.0000;14.5000 --30.0000;15.0000 --30.0000;15.5000 --30.0000;16.0000 --30.0000;16.5000 --30.0000;17.0000 --30.0000;17.5000 --30.0000;18.0000 --30.0000;18.5000 --30.0000;19.0000 --30.0000;82.5000 --30.0000;83.0000 --30.0000;83.5000 --30.0000;84.0000 --30.0000;84.5000 --30.0000;85.0000 --30.0000;85.5000 --30.0000;86.0000 --30.0000;86.5000 --30.0000;87.0000 --30.0000;87.5000 --30.0000;88.0000 --30.0000;88.5000 --30.0000;89.0000 --30.0000;89.5000 --30.0000;90.0000 --30.0000;90.5000 --30.0000;91.0000 --30.0000;91.5000 --30.0000;92.0000 --30.0000;92.5000 --30.0000;93.0000 --30.0000;93.5000 --30.0000;94.0000 --30.0000;94.5000 --30.0000;95.0000 --30.0000;95.5000 --30.0000;96.0000 --30.0000;96.5000 --30.0000;97.0000 --30.0000;97.5000 --30.0000;98.0000 --30.0000;98.5000 --30.0000;99.0000 --30.0000;99.5000 --29.5000;-58.0000 --29.5000;-57.5000 --29.5000;-57.0000 --29.5000;-56.5000 --29.5000;-56.0000 --29.5000;-55.5000 --29.5000;-55.0000 --29.5000;-54.5000 --29.5000;-54.0000 --29.5000;-53.5000 --29.5000;-53.0000 --29.5000;-52.5000 --29.5000;-52.0000 --29.5000;-51.5000 --29.5000;-51.0000 --29.5000;-50.5000 --29.5000;-50.0000 --29.5000;-49.5000 --29.5000;-49.0000 --29.5000;-48.5000 --29.5000;-48.0000 --29.5000;-47.5000 --29.5000;-47.0000 --29.5000;-46.5000 --29.5000;-46.0000 --29.5000;-45.5000 --29.5000;-45.0000 --29.5000;-44.5000 --29.5000;-44.0000 --29.5000;-43.5000 --29.5000;-43.0000 --29.5000;-42.5000 --29.5000;-42.0000 --29.5000;-41.5000 --29.5000;-41.0000 --29.5000;-4.5000 --29.5000;-4.0000 --29.5000;-3.5000 --29.5000;-3.0000 --29.5000;-2.5000 --29.5000;-2.0000 --29.5000;-1.5000 --29.5000;-1.0000 --29.5000;-0.5000 --29.5000;0.0000 --29.5000;0.5000 --29.5000;1.0000 --29.5000;1.5000 --29.5000;2.0000 --29.5000;2.5000 --29.5000;3.0000 --29.5000;3.5000 --29.5000;4.0000 --29.5000;4.5000 --29.5000;5.0000 --29.5000;5.5000 --29.5000;6.0000 --29.5000;6.5000 --29.5000;7.0000 --29.5000;7.5000 --29.5000;8.0000 --29.5000;8.5000 --29.5000;9.0000 --29.5000;9.5000 --29.5000;10.0000 --29.5000;10.5000 --29.5000;11.0000 --29.5000;11.5000 --29.5000;12.0000 --29.5000;12.5000 --29.5000;13.0000 --29.5000;13.5000 --29.5000;14.0000 --29.5000;14.5000 --29.5000;15.0000 --29.5000;15.5000 --29.5000;16.0000 --29.5000;16.5000 --29.5000;17.0000 --29.5000;83.5000 --29.5000;84.0000 --29.5000;84.5000 --29.5000;85.0000 --29.5000;85.5000 --29.5000;86.0000 --29.5000;86.5000 --29.5000;87.0000 --29.5000;87.5000 --29.5000;88.0000 --29.5000;88.5000 --29.5000;89.0000 --29.5000;89.5000 --29.5000;90.0000 --29.5000;90.5000 --29.5000;91.0000 --29.5000;91.5000 --29.5000;92.0000 --29.5000;92.5000 --29.5000;93.0000 --29.5000;93.5000 --29.5000;94.0000 --29.5000;94.5000 --29.5000;95.0000 --29.5000;95.5000 --29.5000;96.0000 --29.5000;96.5000 --29.5000;97.0000 --29.5000;97.5000 --29.5000;98.0000 --29.5000;98.5000 --29.5000;99.0000 --29.5000;99.5000 --29.5000;100.0000 --29.5000;100.5000 --29.0000;-57.5000 --29.0000;-57.0000 --29.0000;-56.5000 --29.0000;-56.0000 --29.0000;-55.5000 --29.0000;-55.0000 --29.0000;-54.5000 --29.0000;-54.0000 --29.0000;-53.5000 --29.0000;-53.0000 --29.0000;-52.5000 --29.0000;-52.0000 --29.0000;-51.5000 --29.0000;-51.0000 --29.0000;-50.5000 --29.0000;-50.0000 --29.0000;-49.5000 --29.0000;-49.0000 --29.0000;-48.5000 --29.0000;-48.0000 --29.0000;-47.5000 --29.0000;-47.0000 --29.0000;-46.5000 --29.0000;-46.0000 --29.0000;-45.5000 --29.0000;-45.0000 --29.0000;-44.5000 --29.0000;-44.0000 --29.0000;-43.5000 --29.0000;-43.0000 --29.0000;-42.5000 --29.0000;-42.0000 --29.0000;-41.5000 --29.0000;-41.0000 --29.0000;-40.5000 --29.0000;-40.0000 --29.0000;-2.5000 --29.0000;-2.0000 --29.0000;-1.5000 --29.0000;-1.0000 --29.0000;-0.5000 --29.0000;0.0000 --29.0000;0.5000 --29.0000;1.0000 --29.0000;1.5000 --29.0000;2.0000 --29.0000;2.5000 --29.0000;3.0000 --29.0000;3.5000 --29.0000;4.0000 --29.0000;4.5000 --29.0000;5.0000 --29.0000;5.5000 --29.0000;6.0000 --29.0000;6.5000 --29.0000;7.0000 --29.0000;7.5000 --29.0000;8.0000 --29.0000;8.5000 --29.0000;9.0000 --29.0000;9.5000 --29.0000;10.0000 --29.0000;10.5000 --29.0000;11.0000 --29.0000;11.5000 --29.0000;12.0000 --29.0000;12.5000 --29.0000;13.0000 --29.0000;13.5000 --29.0000;14.0000 --29.0000;14.5000 --29.0000;15.0000 --29.0000;84.0000 --29.0000;84.5000 --29.0000;85.0000 --29.0000;85.5000 --29.0000;86.0000 --29.0000;86.5000 --29.0000;87.0000 --29.0000;87.5000 --29.0000;88.0000 --29.0000;88.5000 --29.0000;89.0000 --29.0000;89.5000 --29.0000;90.0000 --29.0000;90.5000 --29.0000;91.0000 --29.0000;91.5000 --29.0000;92.0000 --29.0000;92.5000 --29.0000;93.0000 --29.0000;93.5000 --29.0000;94.0000 --29.0000;94.5000 --29.0000;95.0000 --29.0000;95.5000 --29.0000;96.0000 --29.0000;96.5000 --29.0000;97.0000 --29.0000;97.5000 --29.0000;98.0000 --29.0000;98.5000 --29.0000;99.0000 --29.0000;99.5000 --29.0000;100.0000 --29.0000;100.5000 --29.0000;101.0000 --28.5000;-57.0000 --28.5000;-56.5000 --28.5000;-56.0000 --28.5000;-55.5000 --28.5000;-55.0000 --28.5000;-54.5000 --28.5000;-54.0000 --28.5000;-53.5000 --28.5000;-53.0000 --28.5000;-52.5000 --28.5000;-52.0000 --28.5000;-51.5000 --28.5000;-51.0000 --28.5000;-50.5000 --28.5000;-50.0000 --28.5000;-49.5000 --28.5000;-49.0000 --28.5000;-48.5000 --28.5000;-48.0000 --28.5000;-47.5000 --28.5000;-47.0000 --28.5000;-46.5000 --28.5000;-46.0000 --28.5000;-45.5000 --28.5000;-45.0000 --28.5000;-44.5000 --28.5000;-44.0000 --28.5000;-43.5000 --28.5000;-43.0000 --28.5000;-42.5000 --28.5000;-42.0000 --28.5000;-41.5000 --28.5000;-41.0000 --28.5000;-40.5000 --28.5000;-40.0000 --28.5000;-39.5000 --28.5000;0.5000 --28.5000;1.0000 --28.5000;1.5000 --28.5000;2.0000 --28.5000;2.5000 --28.5000;3.0000 --28.5000;3.5000 --28.5000;4.0000 --28.5000;4.5000 --28.5000;5.0000 --28.5000;5.5000 --28.5000;6.0000 --28.5000;6.5000 --28.5000;7.0000 --28.5000;7.5000 --28.5000;8.0000 --28.5000;8.5000 --28.5000;9.0000 --28.5000;9.5000 --28.5000;10.0000 --28.5000;10.5000 --28.5000;11.0000 --28.5000;11.5000 --28.5000;12.0000 --28.5000;84.5000 --28.5000;85.0000 --28.5000;85.5000 --28.5000;86.0000 --28.5000;86.5000 --28.5000;87.0000 --28.5000;87.5000 --28.5000;88.0000 --28.5000;88.5000 --28.5000;89.0000 --28.5000;89.5000 --28.5000;90.0000 --28.5000;90.5000 --28.5000;91.0000 --28.5000;91.5000 --28.5000;92.0000 --28.5000;92.5000 --28.5000;93.0000 --28.5000;93.5000 --28.5000;94.0000 --28.5000;94.5000 --28.5000;95.0000 --28.5000;95.5000 --28.5000;96.0000 --28.5000;96.5000 --28.5000;97.0000 --28.5000;97.5000 --28.5000;98.0000 --28.5000;98.5000 --28.5000;99.0000 --28.5000;99.5000 --28.5000;100.0000 --28.5000;100.5000 --28.5000;101.0000 --28.5000;101.5000 --28.0000;-56.0000 --28.0000;-55.5000 --28.0000;-55.0000 --28.0000;-54.5000 --28.0000;-54.0000 --28.0000;-53.5000 --28.0000;-53.0000 --28.0000;-52.5000 --28.0000;-52.0000 --28.0000;-51.5000 --28.0000;-51.0000 --28.0000;-50.5000 --28.0000;-50.0000 --28.0000;-49.5000 --28.0000;-49.0000 --28.0000;-48.5000 --28.0000;-48.0000 --28.0000;-47.5000 --28.0000;-47.0000 --28.0000;-46.5000 --28.0000;-46.0000 --28.0000;-45.5000 --28.0000;-45.0000 --28.0000;-44.5000 --28.0000;-44.0000 --28.0000;-43.5000 --28.0000;-43.0000 --28.0000;-42.5000 --28.0000;-42.0000 --28.0000;-41.5000 --28.0000;-41.0000 --28.0000;-40.5000 --28.0000;-40.0000 --28.0000;-39.5000 --28.0000;-39.0000 --28.0000;85.5000 --28.0000;86.0000 --28.0000;86.5000 --28.0000;87.0000 --28.0000;87.5000 --28.0000;88.0000 --28.0000;88.5000 --28.0000;89.0000 --28.0000;89.5000 --28.0000;90.0000 --28.0000;90.5000 --28.0000;91.0000 --28.0000;91.5000 --28.0000;92.0000 --28.0000;92.5000 --28.0000;93.0000 --28.0000;93.5000 --28.0000;94.0000 --28.0000;94.5000 --28.0000;95.0000 --28.0000;95.5000 --28.0000;96.0000 --28.0000;96.5000 --28.0000;97.0000 --28.0000;97.5000 --28.0000;98.0000 --28.0000;98.5000 --28.0000;99.0000 --28.0000;99.5000 --28.0000;100.0000 --28.0000;100.5000 --28.0000;101.0000 --28.0000;101.5000 --28.0000;102.0000 --27.5000;-55.5000 --27.5000;-55.0000 --27.5000;-54.5000 --27.5000;-54.0000 --27.5000;-53.5000 --27.5000;-53.0000 --27.5000;-52.5000 --27.5000;-52.0000 --27.5000;-51.5000 --27.5000;-51.0000 --27.5000;-50.5000 --27.5000;-50.0000 --27.5000;-49.5000 --27.5000;-49.0000 --27.5000;-48.5000 --27.5000;-48.0000 --27.5000;-47.5000 --27.5000;-47.0000 --27.5000;-46.5000 --27.5000;-46.0000 --27.5000;-45.5000 --27.5000;-45.0000 --27.5000;-44.5000 --27.5000;-44.0000 --27.5000;-43.5000 --27.5000;-43.0000 --27.5000;-42.5000 --27.5000;-42.0000 --27.5000;-41.5000 --27.5000;-41.0000 --27.5000;-40.5000 --27.5000;-40.0000 --27.5000;-39.5000 --27.5000;-39.0000 --27.5000;-38.5000 --27.5000;-38.0000 --27.5000;86.0000 --27.5000;86.5000 --27.5000;87.0000 --27.5000;87.5000 --27.5000;88.0000 --27.5000;88.5000 --27.5000;89.0000 --27.5000;89.5000 --27.5000;90.0000 --27.5000;90.5000 --27.5000;91.0000 --27.5000;91.5000 --27.5000;92.0000 --27.5000;92.5000 --27.5000;93.0000 --27.5000;93.5000 --27.5000;94.0000 --27.5000;94.5000 --27.5000;95.0000 --27.5000;95.5000 --27.5000;96.0000 --27.5000;96.5000 --27.5000;97.0000 --27.5000;97.5000 --27.5000;98.0000 --27.5000;98.5000 --27.5000;99.0000 --27.5000;99.5000 --27.5000;100.0000 --27.5000;100.5000 --27.5000;101.0000 --27.5000;101.5000 --27.5000;102.0000 --27.5000;102.5000 --27.0000;-55.0000 --27.0000;-54.5000 --27.0000;-54.0000 --27.0000;-53.5000 --27.0000;-53.0000 --27.0000;-52.5000 --27.0000;-52.0000 --27.0000;-51.5000 --27.0000;-51.0000 --27.0000;-50.5000 --27.0000;-50.0000 --27.0000;-49.5000 --27.0000;-49.0000 --27.0000;-48.5000 --27.0000;-48.0000 --27.0000;-47.5000 --27.0000;-47.0000 --27.0000;-46.5000 --27.0000;-46.0000 --27.0000;-45.5000 --27.0000;-45.0000 --27.0000;-44.5000 --27.0000;-44.0000 --27.0000;-43.5000 --27.0000;-43.0000 --27.0000;-42.5000 --27.0000;-42.0000 --27.0000;-41.5000 --27.0000;-41.0000 --27.0000;-40.5000 --27.0000;-40.0000 --27.0000;-39.5000 --27.0000;-39.0000 --27.0000;-38.5000 --27.0000;-38.0000 --27.0000;-37.5000 --27.0000;86.5000 --27.0000;87.0000 --27.0000;87.5000 --27.0000;88.0000 --27.0000;88.5000 --27.0000;89.0000 --27.0000;89.5000 --27.0000;90.0000 --27.0000;90.5000 --27.0000;91.0000 --27.0000;91.5000 --27.0000;92.0000 --27.0000;92.5000 --27.0000;93.0000 --27.0000;93.5000 --27.0000;94.0000 --27.0000;94.5000 --27.0000;95.0000 --27.0000;95.5000 --27.0000;96.0000 --27.0000;96.5000 --27.0000;97.0000 --27.0000;97.5000 --27.0000;98.0000 --27.0000;98.5000 --27.0000;99.0000 --27.0000;99.5000 --27.0000;100.0000 --27.0000;100.5000 --27.0000;101.0000 --27.0000;101.5000 --27.0000;102.0000 --27.0000;102.5000 --27.0000;103.0000 --26.5000;-54.0000 --26.5000;-53.5000 --26.5000;-53.0000 --26.5000;-52.5000 --26.5000;-52.0000 --26.5000;-51.5000 --26.5000;-51.0000 --26.5000;-50.5000 --26.5000;-50.0000 --26.5000;-49.5000 --26.5000;-49.0000 --26.5000;-48.5000 --26.5000;-48.0000 --26.5000;-47.5000 --26.5000;-47.0000 --26.5000;-46.5000 --26.5000;-46.0000 --26.5000;-45.5000 --26.5000;-45.0000 --26.5000;-44.5000 --26.5000;-44.0000 --26.5000;-43.5000 --26.5000;-43.0000 --26.5000;-42.5000 --26.5000;-42.0000 --26.5000;-41.5000 --26.5000;-41.0000 --26.5000;-40.5000 --26.5000;-40.0000 --26.5000;-39.5000 --26.5000;-39.0000 --26.5000;-38.5000 --26.5000;-38.0000 --26.5000;-37.5000 --26.5000;-37.0000 --26.5000;-36.5000 --26.5000;87.5000 --26.5000;88.0000 --26.5000;88.5000 --26.5000;89.0000 --26.5000;89.5000 --26.5000;90.0000 --26.5000;90.5000 --26.5000;91.0000 --26.5000;91.5000 --26.5000;92.0000 --26.5000;92.5000 --26.5000;93.0000 --26.5000;93.5000 --26.5000;94.0000 --26.5000;94.5000 --26.5000;95.0000 --26.5000;95.5000 --26.5000;96.0000 --26.5000;96.5000 --26.5000;97.0000 --26.5000;97.5000 --26.5000;98.0000 --26.5000;98.5000 --26.5000;99.0000 --26.5000;99.5000 --26.5000;100.0000 --26.5000;100.5000 --26.5000;101.0000 --26.5000;101.5000 --26.5000;102.0000 --26.5000;102.5000 --26.5000;103.0000 --26.5000;103.5000 --26.0000;-53.5000 --26.0000;-53.0000 --26.0000;-52.5000 --26.0000;-52.0000 --26.0000;-51.5000 --26.0000;-51.0000 --26.0000;-50.5000 --26.0000;-50.0000 --26.0000;-49.5000 --26.0000;-49.0000 --26.0000;-48.5000 --26.0000;-48.0000 --26.0000;-47.5000 --26.0000;-47.0000 --26.0000;-46.5000 --26.0000;-46.0000 --26.0000;-45.5000 --26.0000;-45.0000 --26.0000;-44.5000 --26.0000;-44.0000 --26.0000;-43.5000 --26.0000;-43.0000 --26.0000;-42.5000 --26.0000;-42.0000 --26.0000;-41.5000 --26.0000;-41.0000 --26.0000;-40.5000 --26.0000;-40.0000 --26.0000;-39.5000 --26.0000;-39.0000 --26.0000;-38.5000 --26.0000;-38.0000 --26.0000;-37.5000 --26.0000;-37.0000 --26.0000;-36.5000 --26.0000;-36.0000 --26.0000;88.0000 --26.0000;88.5000 --26.0000;89.0000 --26.0000;89.5000 --26.0000;90.0000 --26.0000;90.5000 --26.0000;91.0000 --26.0000;91.5000 --26.0000;92.0000 --26.0000;92.5000 --26.0000;93.0000 --26.0000;93.5000 --26.0000;94.0000 --26.0000;94.5000 --26.0000;95.0000 --26.0000;95.5000 --26.0000;96.0000 --26.0000;96.5000 --26.0000;97.0000 --26.0000;97.5000 --26.0000;98.0000 --26.0000;98.5000 --26.0000;99.0000 --26.0000;99.5000 --26.0000;100.0000 --26.0000;100.5000 --26.0000;101.0000 --26.0000;101.5000 --26.0000;102.0000 --26.0000;102.5000 --26.0000;103.0000 --26.0000;103.5000 --26.0000;104.0000 --25.5000;-53.0000 --25.5000;-52.5000 --25.5000;-52.0000 --25.5000;-51.5000 --25.5000;-51.0000 --25.5000;-50.5000 --25.5000;-50.0000 --25.5000;-49.5000 --25.5000;-49.0000 --25.5000;-48.5000 --25.5000;-48.0000 --25.5000;-47.5000 --25.5000;-47.0000 --25.5000;-46.5000 --25.5000;-46.0000 --25.5000;-45.5000 --25.5000;-45.0000 --25.5000;-44.5000 --25.5000;-44.0000 --25.5000;-43.5000 --25.5000;-43.0000 --25.5000;-42.5000 --25.5000;-42.0000 --25.5000;-41.5000 --25.5000;-41.0000 --25.5000;-40.5000 --25.5000;-40.0000 --25.5000;-39.5000 --25.5000;-39.0000 --25.5000;-38.5000 --25.5000;-38.0000 --25.5000;-37.5000 --25.5000;-37.0000 --25.5000;-36.5000 --25.5000;-36.0000 --25.5000;-35.5000 --25.5000;88.5000 --25.5000;89.0000 --25.5000;89.5000 --25.5000;90.0000 --25.5000;90.5000 --25.5000;91.0000 --25.5000;91.5000 --25.5000;92.0000 --25.5000;92.5000 --25.5000;93.0000 --25.5000;93.5000 --25.5000;94.0000 --25.5000;94.5000 --25.5000;95.0000 --25.5000;95.5000 --25.5000;96.0000 --25.5000;96.5000 --25.5000;97.0000 --25.5000;97.5000 --25.5000;98.0000 --25.5000;98.5000 --25.5000;99.0000 --25.5000;99.5000 --25.5000;100.0000 --25.5000;100.5000 --25.5000;101.0000 --25.5000;101.5000 --25.5000;102.0000 --25.5000;102.5000 --25.5000;103.0000 --25.5000;103.5000 --25.5000;104.0000 --25.5000;104.5000 --25.0000;-52.0000 --25.0000;-51.5000 --25.0000;-51.0000 --25.0000;-50.5000 --25.0000;-50.0000 --25.0000;-49.5000 --25.0000;-49.0000 --25.0000;-48.5000 --25.0000;-48.0000 --25.0000;-47.5000 --25.0000;-47.0000 --25.0000;-46.5000 --25.0000;-46.0000 --25.0000;-45.5000 --25.0000;-45.0000 --25.0000;-44.5000 --25.0000;-44.0000 --25.0000;-43.5000 --25.0000;-43.0000 --25.0000;-42.5000 --25.0000;-42.0000 --25.0000;-41.5000 --25.0000;-41.0000 --25.0000;-40.5000 --25.0000;-40.0000 --25.0000;-39.5000 --25.0000;-39.0000 --25.0000;-38.5000 --25.0000;-38.0000 --25.0000;-37.5000 --25.0000;-37.0000 --25.0000;-36.5000 --25.0000;-36.0000 --25.0000;-35.5000 --25.0000;-35.0000 --25.0000;-34.5000 --25.0000;89.5000 --25.0000;90.0000 --25.0000;90.5000 --25.0000;91.0000 --25.0000;91.5000 --25.0000;92.0000 --25.0000;92.5000 --25.0000;93.0000 --25.0000;93.5000 --25.0000;94.0000 --25.0000;94.5000 --25.0000;95.0000 --25.0000;95.5000 --25.0000;96.0000 --25.0000;96.5000 --25.0000;97.0000 --25.0000;97.5000 --25.0000;98.0000 --25.0000;98.5000 --25.0000;99.0000 --25.0000;99.5000 --25.0000;100.0000 --25.0000;100.5000 --25.0000;101.0000 --25.0000;101.5000 --25.0000;102.0000 --25.0000;102.5000 --25.0000;103.0000 --25.0000;103.5000 --25.0000;104.0000 --25.0000;104.5000 --24.5000;-51.5000 --24.5000;-51.0000 --24.5000;-50.5000 --24.5000;-50.0000 --24.5000;-49.5000 --24.5000;-49.0000 --24.5000;-48.5000 --24.5000;-48.0000 --24.5000;-47.5000 --24.5000;-47.0000 --24.5000;-46.5000 --24.5000;-46.0000 --24.5000;-45.5000 --24.5000;-45.0000 --24.5000;-44.5000 --24.5000;-44.0000 --24.5000;-43.5000 --24.5000;-43.0000 --24.5000;-42.5000 --24.5000;-42.0000 --24.5000;-41.5000 --24.5000;-41.0000 --24.5000;-40.5000 --24.5000;-40.0000 --24.5000;-39.5000 --24.5000;-39.0000 --24.5000;-38.5000 --24.5000;-38.0000 --24.5000;-37.5000 --24.5000;-37.0000 --24.5000;-36.5000 --24.5000;-36.0000 --24.5000;-35.5000 --24.5000;-35.0000 --24.5000;-34.5000 --24.5000;-34.0000 --24.5000;90.0000 --24.5000;90.5000 --24.5000;91.0000 --24.5000;91.5000 --24.5000;92.0000 --24.5000;92.5000 --24.5000;93.0000 --24.5000;93.5000 --24.5000;94.0000 --24.5000;94.5000 --24.5000;95.0000 --24.5000;95.5000 --24.5000;96.0000 --24.5000;96.5000 --24.5000;97.0000 --24.5000;97.5000 --24.5000;98.0000 --24.5000;98.5000 --24.5000;99.0000 --24.5000;99.5000 --24.5000;100.0000 --24.5000;100.5000 --24.5000;101.0000 --24.5000;101.5000 --24.5000;102.0000 --24.5000;102.5000 --24.5000;103.0000 --24.5000;103.5000 --24.5000;104.0000 --24.5000;104.5000 --24.5000;105.0000 --24.0000;-50.5000 --24.0000;-50.0000 --24.0000;-49.5000 --24.0000;-49.0000 --24.0000;-48.5000 --24.0000;-48.0000 --24.0000;-47.5000 --24.0000;-47.0000 --24.0000;-46.5000 --24.0000;-46.0000 --24.0000;-45.5000 --24.0000;-45.0000 --24.0000;-44.5000 --24.0000;-44.0000 --24.0000;-43.5000 --24.0000;-43.0000 --24.0000;-42.5000 --24.0000;-42.0000 --24.0000;-41.5000 --24.0000;-41.0000 --24.0000;-40.5000 --24.0000;-40.0000 --24.0000;-39.5000 --24.0000;-39.0000 --24.0000;-38.5000 --24.0000;-38.0000 --24.0000;-37.5000 --24.0000;-37.0000 --24.0000;-36.5000 --24.0000;-36.0000 --24.0000;-35.5000 --24.0000;-35.0000 --24.0000;-34.5000 --24.0000;-34.0000 --24.0000;-33.5000 --24.0000;90.5000 --24.0000;91.0000 --24.0000;91.5000 --24.0000;92.0000 --24.0000;92.5000 --24.0000;93.0000 --24.0000;93.5000 --24.0000;94.0000 --24.0000;94.5000 --24.0000;95.0000 --24.0000;95.5000 --24.0000;96.0000 --24.0000;96.5000 --24.0000;97.0000 --24.0000;97.5000 --24.0000;98.0000 --24.0000;98.5000 --24.0000;99.0000 --24.0000;99.5000 --24.0000;100.0000 --24.0000;100.5000 --24.0000;101.0000 --24.0000;101.5000 --24.0000;102.0000 --24.0000;102.5000 --24.0000;103.0000 --24.0000;103.5000 --24.0000;104.0000 --24.0000;104.5000 --24.0000;105.0000 --24.0000;105.5000 --23.5000;-50.0000 --23.5000;-49.5000 --23.5000;-49.0000 --23.5000;-48.5000 --23.5000;-48.0000 --23.5000;-47.5000 --23.5000;-47.0000 --23.5000;-46.5000 --23.5000;-46.0000 --23.5000;-45.5000 --23.5000;-45.0000 --23.5000;-44.5000 --23.5000;-44.0000 --23.5000;-43.5000 --23.5000;-43.0000 --23.5000;-42.5000 --23.5000;-42.0000 --23.5000;-41.5000 --23.5000;-41.0000 --23.5000;-40.5000 --23.5000;-40.0000 --23.5000;-39.5000 --23.5000;-39.0000 --23.5000;-38.5000 --23.5000;-38.0000 --23.5000;-37.5000 --23.5000;-37.0000 --23.5000;-36.5000 --23.5000;-36.0000 --23.5000;-35.5000 --23.5000;-35.0000 --23.5000;-34.5000 --23.5000;-34.0000 --23.5000;-33.5000 --23.5000;-33.0000 --23.5000;-32.5000 --23.5000;91.5000 --23.5000;92.0000 --23.5000;92.5000 --23.5000;93.0000 --23.5000;93.5000 --23.5000;94.0000 --23.5000;94.5000 --23.5000;95.0000 --23.5000;95.5000 --23.5000;96.0000 --23.5000;96.5000 --23.5000;97.0000 --23.5000;97.5000 --23.5000;98.0000 --23.5000;98.5000 --23.5000;99.0000 --23.5000;99.5000 --23.5000;100.0000 --23.5000;100.5000 --23.5000;101.0000 --23.5000;101.5000 --23.5000;102.0000 --23.5000;102.5000 --23.5000;103.0000 --23.5000;103.5000 --23.5000;104.0000 --23.5000;104.5000 --23.5000;105.0000 --23.5000;105.5000 --23.5000;106.0000 --23.0000;-49.5000 --23.0000;-49.0000 --23.0000;-48.5000 --23.0000;-48.0000 --23.0000;-47.5000 --23.0000;-47.0000 --23.0000;-46.5000 --23.0000;-46.0000 --23.0000;-45.5000 --23.0000;-45.0000 --23.0000;-44.5000 --23.0000;-44.0000 --23.0000;-43.5000 --23.0000;-43.0000 --23.0000;-42.5000 --23.0000;-42.0000 --23.0000;-41.5000 --23.0000;-41.0000 --23.0000;-40.5000 --23.0000;-40.0000 --23.0000;-39.5000 --23.0000;-39.0000 --23.0000;-38.5000 --23.0000;-38.0000 --23.0000;-37.5000 --23.0000;-37.0000 --23.0000;-36.5000 --23.0000;-36.0000 --23.0000;-35.5000 --23.0000;-35.0000 --23.0000;-34.5000 --23.0000;-34.0000 --23.0000;-33.5000 --23.0000;-33.0000 --23.0000;-32.5000 --23.0000;-32.0000 --23.0000;92.0000 --23.0000;92.5000 --23.0000;93.0000 --23.0000;93.5000 --23.0000;94.0000 --23.0000;94.5000 --23.0000;95.0000 --23.0000;95.5000 --23.0000;96.0000 --23.0000;96.5000 --23.0000;97.0000 --23.0000;97.5000 --23.0000;98.0000 --23.0000;98.5000 --23.0000;99.0000 --23.0000;99.5000 --23.0000;100.0000 --23.0000;100.5000 --23.0000;101.0000 --23.0000;101.5000 --23.0000;102.0000 --23.0000;102.5000 --23.0000;103.0000 --23.0000;103.5000 --23.0000;104.0000 --23.0000;104.5000 --23.0000;105.0000 --23.0000;105.5000 --23.0000;106.0000 --22.5000;-48.5000 --22.5000;-48.0000 --22.5000;-47.5000 --22.5000;-47.0000 --22.5000;-46.5000 --22.5000;-46.0000 --22.5000;-45.5000 --22.5000;-45.0000 --22.5000;-44.5000 --22.5000;-44.0000 --22.5000;-43.5000 --22.5000;-43.0000 --22.5000;-42.5000 --22.5000;-42.0000 --22.5000;-41.5000 --22.5000;-41.0000 --22.5000;-40.5000 --22.5000;-40.0000 --22.5000;-39.5000 --22.5000;-39.0000 --22.5000;-38.5000 --22.5000;-38.0000 --22.5000;-37.5000 --22.5000;-37.0000 --22.5000;-36.5000 --22.5000;-36.0000 --22.5000;-35.5000 --22.5000;-35.0000 --22.5000;-34.5000 --22.5000;-34.0000 --22.5000;-33.5000 --22.5000;-33.0000 --22.5000;-32.5000 --22.5000;-32.0000 --22.5000;-31.5000 --22.5000;92.5000 --22.5000;93.0000 --22.5000;93.5000 --22.5000;94.0000 --22.5000;94.5000 --22.5000;95.0000 --22.5000;95.5000 --22.5000;96.0000 --22.5000;96.5000 --22.5000;97.0000 --22.5000;97.5000 --22.5000;98.0000 --22.5000;98.5000 --22.5000;99.0000 --22.5000;99.5000 --22.5000;100.0000 --22.5000;100.5000 --22.5000;101.0000 --22.5000;101.5000 --22.5000;102.0000 --22.5000;102.5000 --22.5000;103.0000 --22.5000;103.5000 --22.5000;104.0000 --22.5000;104.5000 --22.5000;105.0000 --22.5000;105.5000 --22.5000;106.0000 --22.5000;106.5000 --22.0000;-48.0000 --22.0000;-47.5000 --22.0000;-47.0000 --22.0000;-46.5000 --22.0000;-46.0000 --22.0000;-45.5000 --22.0000;-45.0000 --22.0000;-44.5000 --22.0000;-44.0000 --22.0000;-43.5000 --22.0000;-43.0000 --22.0000;-42.5000 --22.0000;-42.0000 --22.0000;-41.5000 --22.0000;-41.0000 --22.0000;-40.5000 --22.0000;-40.0000 --22.0000;-39.5000 --22.0000;-39.0000 --22.0000;-38.5000 --22.0000;-38.0000 --22.0000;-37.5000 --22.0000;-37.0000 --22.0000;-36.5000 --22.0000;-36.0000 --22.0000;-35.5000 --22.0000;-35.0000 --22.0000;-34.5000 --22.0000;-34.0000 --22.0000;-33.5000 --22.0000;-33.0000 --22.0000;-32.5000 --22.0000;-32.0000 --22.0000;-31.5000 --22.0000;-31.0000 --22.0000;-30.5000 --22.0000;93.0000 --22.0000;93.5000 --22.0000;94.0000 --22.0000;94.5000 --22.0000;95.0000 --22.0000;95.5000 --22.0000;96.0000 --22.0000;96.5000 --22.0000;97.0000 --22.0000;97.5000 --22.0000;98.0000 --22.0000;98.5000 --22.0000;99.0000 --22.0000;99.5000 --22.0000;100.0000 --22.0000;100.5000 --22.0000;101.0000 --22.0000;101.5000 --22.0000;102.0000 --22.0000;102.5000 --22.0000;103.0000 --22.0000;103.5000 --22.0000;104.0000 --22.0000;104.5000 --22.0000;105.0000 --22.0000;105.5000 --22.0000;106.0000 --22.0000;106.5000 --21.5000;-47.5000 --21.5000;-47.0000 --21.5000;-46.5000 --21.5000;-46.0000 --21.5000;-45.5000 --21.5000;-45.0000 --21.5000;-44.5000 --21.5000;-44.0000 --21.5000;-43.5000 --21.5000;-43.0000 --21.5000;-42.5000 --21.5000;-42.0000 --21.5000;-41.5000 --21.5000;-41.0000 --21.5000;-40.5000 --21.5000;-40.0000 --21.5000;-39.5000 --21.5000;-39.0000 --21.5000;-38.5000 --21.5000;-38.0000 --21.5000;-37.5000 --21.5000;-37.0000 --21.5000;-36.5000 --21.5000;-36.0000 --21.5000;-35.5000 --21.5000;-35.0000 --21.5000;-34.5000 --21.5000;-34.0000 --21.5000;-33.5000 --21.5000;-33.0000 --21.5000;-32.5000 --21.5000;-32.0000 --21.5000;-31.5000 --21.5000;-31.0000 --21.5000;-30.5000 --21.5000;-30.0000 --21.5000;94.0000 --21.5000;94.5000 --21.5000;95.0000 --21.5000;95.5000 --21.5000;96.0000 --21.5000;96.5000 --21.5000;97.0000 --21.5000;97.5000 --21.5000;98.0000 --21.5000;98.5000 --21.5000;99.0000 --21.5000;99.5000 --21.5000;100.0000 --21.5000;100.5000 --21.5000;101.0000 --21.5000;101.5000 --21.5000;102.0000 --21.5000;102.5000 --21.5000;103.0000 --21.5000;103.5000 --21.5000;104.0000 --21.5000;104.5000 --21.5000;105.0000 --21.5000;105.5000 --21.5000;106.0000 --21.5000;106.5000 --21.5000;107.0000 --21.0000;-46.5000 --21.0000;-46.0000 --21.0000;-45.5000 --21.0000;-45.0000 --21.0000;-44.5000 --21.0000;-44.0000 --21.0000;-43.5000 --21.0000;-43.0000 --21.0000;-42.5000 --21.0000;-42.0000 --21.0000;-41.5000 --21.0000;-41.0000 --21.0000;-40.5000 --21.0000;-40.0000 --21.0000;-39.5000 --21.0000;-39.0000 --21.0000;-38.5000 --21.0000;-38.0000 --21.0000;-37.5000 --21.0000;-37.0000 --21.0000;-36.5000 --21.0000;-36.0000 --21.0000;-35.5000 --21.0000;-35.0000 --21.0000;-34.5000 --21.0000;-34.0000 --21.0000;-33.5000 --21.0000;-33.0000 --21.0000;-32.5000 --21.0000;-32.0000 --21.0000;-31.5000 --21.0000;-31.0000 --21.0000;-30.5000 --21.0000;-30.0000 --21.0000;-29.5000 --21.0000;-29.0000 --21.0000;94.5000 --21.0000;95.0000 --21.0000;95.5000 --21.0000;96.0000 --21.0000;96.5000 --21.0000;97.0000 --21.0000;97.5000 --21.0000;98.0000 --21.0000;98.5000 --21.0000;99.0000 --21.0000;99.5000 --21.0000;100.0000 --21.0000;100.5000 --21.0000;101.0000 --21.0000;101.5000 --21.0000;102.0000 --21.0000;102.5000 --21.0000;103.0000 --21.0000;103.5000 --21.0000;104.0000 --21.0000;104.5000 --21.0000;105.0000 --21.0000;105.5000 --21.0000;106.0000 --21.0000;106.5000 --21.0000;107.0000 --20.5000;-46.0000 --20.5000;-45.5000 --20.5000;-45.0000 --20.5000;-44.5000 --20.5000;-44.0000 --20.5000;-43.5000 --20.5000;-43.0000 --20.5000;-42.5000 --20.5000;-42.0000 --20.5000;-41.5000 --20.5000;-41.0000 --20.5000;-40.5000 --20.5000;-40.0000 --20.5000;-39.5000 --20.5000;-39.0000 --20.5000;-38.5000 --20.5000;-38.0000 --20.5000;-37.5000 --20.5000;-37.0000 --20.5000;-36.5000 --20.5000;-36.0000 --20.5000;-35.5000 --20.5000;-35.0000 --20.5000;-34.5000 --20.5000;-34.0000 --20.5000;-33.5000 --20.5000;-33.0000 --20.5000;-32.5000 --20.5000;-32.0000 --20.5000;-31.5000 --20.5000;-31.0000 --20.5000;-30.5000 --20.5000;-30.0000 --20.5000;-29.5000 --20.5000;-29.0000 --20.5000;-28.5000 --20.5000;95.0000 --20.5000;95.5000 --20.5000;96.0000 --20.5000;96.5000 --20.5000;97.0000 --20.5000;97.5000 --20.5000;98.0000 --20.5000;98.5000 --20.5000;99.0000 --20.5000;99.5000 --20.5000;100.0000 --20.5000;100.5000 --20.5000;101.0000 --20.5000;101.5000 --20.5000;102.0000 --20.5000;102.5000 --20.5000;103.0000 --20.5000;103.5000 --20.5000;104.0000 --20.5000;104.5000 --20.5000;105.0000 --20.5000;105.5000 --20.5000;106.0000 --20.5000;106.5000 --20.5000;107.0000 --20.5000;107.5000 --20.0000;-45.5000 --20.0000;-45.0000 --20.0000;-44.5000 --20.0000;-44.0000 --20.0000;-43.5000 --20.0000;-43.0000 --20.0000;-42.5000 --20.0000;-42.0000 --20.0000;-41.5000 --20.0000;-41.0000 --20.0000;-40.5000 --20.0000;-40.0000 --20.0000;-39.5000 --20.0000;-39.0000 --20.0000;-38.5000 --20.0000;-38.0000 --20.0000;-37.5000 --20.0000;-37.0000 --20.0000;-36.5000 --20.0000;-36.0000 --20.0000;-35.5000 --20.0000;-35.0000 --20.0000;-34.5000 --20.0000;-34.0000 --20.0000;-33.5000 --20.0000;-33.0000 --20.0000;-32.5000 --20.0000;-32.0000 --20.0000;-31.5000 --20.0000;-31.0000 --20.0000;-30.5000 --20.0000;-30.0000 --20.0000;-29.5000 --20.0000;-29.0000 --20.0000;-28.5000 --20.0000;-28.0000 --20.0000;95.5000 --20.0000;96.0000 --20.0000;96.5000 --20.0000;97.0000 --20.0000;97.5000 --20.0000;98.0000 --20.0000;98.5000 --20.0000;99.0000 --20.0000;99.5000 --20.0000;100.0000 --20.0000;100.5000 --20.0000;101.0000 --20.0000;101.5000 --20.0000;102.0000 --20.0000;102.5000 --20.0000;103.0000 --20.0000;103.5000 --20.0000;104.0000 --20.0000;104.5000 --20.0000;105.0000 --20.0000;105.5000 --20.0000;106.0000 --20.0000;106.5000 --20.0000;107.0000 --20.0000;107.5000 --19.5000;-44.5000 --19.5000;-44.0000 --19.5000;-43.5000 --19.5000;-43.0000 --19.5000;-42.5000 --19.5000;-42.0000 --19.5000;-41.5000 --19.5000;-41.0000 --19.5000;-40.5000 --19.5000;-40.0000 --19.5000;-39.5000 --19.5000;-39.0000 --19.5000;-38.5000 --19.5000;-38.0000 --19.5000;-37.5000 --19.5000;-37.0000 --19.5000;-36.5000 --19.5000;-36.0000 --19.5000;-35.5000 --19.5000;-35.0000 --19.5000;-34.5000 --19.5000;-34.0000 --19.5000;-33.5000 --19.5000;-33.0000 --19.5000;-32.5000 --19.5000;-32.0000 --19.5000;-31.5000 --19.5000;-31.0000 --19.5000;-30.5000 --19.5000;-30.0000 --19.5000;-29.5000 --19.5000;-29.0000 --19.5000;-28.5000 --19.5000;-28.0000 --19.5000;-27.5000 --19.5000;-27.0000 --19.5000;96.0000 --19.5000;96.5000 --19.5000;97.0000 --19.5000;97.5000 --19.5000;98.0000 --19.5000;98.5000 --19.5000;99.0000 --19.5000;99.5000 --19.5000;100.0000 --19.5000;100.5000 --19.5000;101.0000 --19.5000;101.5000 --19.5000;102.0000 --19.5000;102.5000 --19.5000;103.0000 --19.5000;103.5000 --19.5000;104.0000 --19.5000;104.5000 --19.5000;105.0000 --19.5000;105.5000 --19.5000;106.0000 --19.5000;106.5000 --19.5000;107.0000 --19.5000;107.5000 --19.5000;108.0000 --19.0000;-44.0000 --19.0000;-43.5000 --19.0000;-43.0000 --19.0000;-42.5000 --19.0000;-42.0000 --19.0000;-41.5000 --19.0000;-41.0000 --19.0000;-40.5000 --19.0000;-40.0000 --19.0000;-39.5000 --19.0000;-39.0000 --19.0000;-38.5000 --19.0000;-38.0000 --19.0000;-37.5000 --19.0000;-37.0000 --19.0000;-36.5000 --19.0000;-36.0000 --19.0000;-35.5000 --19.0000;-35.0000 --19.0000;-34.5000 --19.0000;-34.0000 --19.0000;-33.5000 --19.0000;-33.0000 --19.0000;-32.5000 --19.0000;-32.0000 --19.0000;-31.5000 --19.0000;-31.0000 --19.0000;-30.5000 --19.0000;-30.0000 --19.0000;-29.5000 --19.0000;-29.0000 --19.0000;-28.5000 --19.0000;-28.0000 --19.0000;-27.5000 --19.0000;-27.0000 --19.0000;-26.5000 --19.0000;96.5000 --19.0000;97.0000 --19.0000;97.5000 --19.0000;98.0000 --19.0000;98.5000 --19.0000;99.0000 --19.0000;99.5000 --19.0000;100.0000 --19.0000;100.5000 --19.0000;101.0000 --19.0000;101.5000 --19.0000;102.0000 --19.0000;102.5000 --19.0000;103.0000 --19.0000;103.5000 --19.0000;104.0000 --19.0000;104.5000 --19.0000;105.0000 --19.0000;105.5000 --19.0000;106.0000 --19.0000;106.5000 --19.0000;107.0000 --19.0000;107.5000 --19.0000;108.0000 --18.5000;-43.0000 --18.5000;-42.5000 --18.5000;-42.0000 --18.5000;-41.5000 --18.5000;-41.0000 --18.5000;-40.5000 --18.5000;-40.0000 --18.5000;-39.5000 --18.5000;-39.0000 --18.5000;-38.5000 --18.5000;-38.0000 --18.5000;-37.5000 --18.5000;-37.0000 --18.5000;-36.5000 --18.5000;-36.0000 --18.5000;-35.5000 --18.5000;-35.0000 --18.5000;-34.5000 --18.5000;-34.0000 --18.5000;-33.5000 --18.5000;-33.0000 --18.5000;-32.5000 --18.5000;-32.0000 --18.5000;-31.5000 --18.5000;-31.0000 --18.5000;-30.5000 --18.5000;-30.0000 --18.5000;-29.5000 --18.5000;-29.0000 --18.5000;-28.5000 --18.5000;-28.0000 --18.5000;-27.5000 --18.5000;-27.0000 --18.5000;-26.5000 --18.5000;-26.0000 --18.5000;97.0000 --18.5000;97.5000 --18.5000;98.0000 --18.5000;98.5000 --18.5000;99.0000 --18.5000;99.5000 --18.5000;100.0000 --18.5000;100.5000 --18.5000;101.0000 --18.5000;101.5000 --18.5000;102.0000 --18.5000;102.5000 --18.5000;103.0000 --18.5000;103.5000 --18.5000;104.0000 --18.5000;104.5000 --18.5000;105.0000 --18.5000;105.5000 --18.5000;106.0000 --18.5000;106.5000 --18.5000;107.0000 --18.5000;107.5000 --18.5000;108.0000 --18.0000;-42.5000 --18.0000;-42.0000 --18.0000;-41.5000 --18.0000;-41.0000 --18.0000;-40.5000 --18.0000;-40.0000 --18.0000;-39.5000 --18.0000;-39.0000 --18.0000;-38.5000 --18.0000;-38.0000 --18.0000;-37.5000 --18.0000;-37.0000 --18.0000;-36.5000 --18.0000;-36.0000 --18.0000;-35.5000 --18.0000;-35.0000 --18.0000;-34.5000 --18.0000;-34.0000 --18.0000;-33.5000 --18.0000;-33.0000 --18.0000;-32.5000 --18.0000;-32.0000 --18.0000;-31.5000 --18.0000;-31.0000 --18.0000;-30.5000 --18.0000;-30.0000 --18.0000;-29.5000 --18.0000;-29.0000 --18.0000;-28.5000 --18.0000;-28.0000 --18.0000;-27.5000 --18.0000;-27.0000 --18.0000;-26.5000 --18.0000;-26.0000 --18.0000;-25.5000 --18.0000;-25.0000 --18.0000;97.0000 --18.0000;97.5000 --18.0000;98.0000 --18.0000;98.5000 --18.0000;99.0000 --18.0000;99.5000 --18.0000;100.0000 --18.0000;100.5000 --18.0000;101.0000 --18.0000;101.5000 --18.0000;102.0000 --18.0000;102.5000 --18.0000;103.0000 --18.0000;103.5000 --18.0000;104.0000 --18.0000;104.5000 --18.0000;105.0000 --18.0000;105.5000 --18.0000;106.0000 --18.0000;106.5000 --18.0000;107.0000 --18.0000;107.5000 --18.0000;108.0000 --18.0000;108.5000 --17.5000;-42.0000 --17.5000;-41.5000 --17.5000;-41.0000 --17.5000;-40.5000 --17.5000;-40.0000 --17.5000;-39.5000 --17.5000;-39.0000 --17.5000;-38.5000 --17.5000;-38.0000 --17.5000;-37.5000 --17.5000;-37.0000 --17.5000;-36.5000 --17.5000;-36.0000 --17.5000;-35.5000 --17.5000;-35.0000 --17.5000;-34.5000 --17.5000;-34.0000 --17.5000;-33.5000 --17.5000;-33.0000 --17.5000;-32.5000 --17.5000;-32.0000 --17.5000;-31.5000 --17.5000;-31.0000 --17.5000;-30.5000 --17.5000;-30.0000 --17.5000;-29.5000 --17.5000;-29.0000 --17.5000;-28.5000 --17.5000;-28.0000 --17.5000;-27.5000 --17.5000;-27.0000 --17.5000;-26.5000 --17.5000;-26.0000 --17.5000;-25.5000 --17.5000;-25.0000 --17.5000;-24.5000 --17.5000;97.5000 --17.5000;98.0000 --17.5000;98.5000 --17.5000;99.0000 --17.5000;99.5000 --17.5000;100.0000 --17.5000;100.5000 --17.5000;101.0000 --17.5000;101.5000 --17.5000;102.0000 --17.5000;102.5000 --17.5000;103.0000 --17.5000;103.5000 --17.5000;104.0000 --17.5000;104.5000 --17.5000;105.0000 --17.5000;105.5000 --17.5000;106.0000 --17.5000;106.5000 --17.5000;107.0000 --17.5000;107.5000 --17.5000;108.0000 --17.5000;108.5000 --17.0000;-41.0000 --17.0000;-40.5000 --17.0000;-40.0000 --17.0000;-39.5000 --17.0000;-39.0000 --17.0000;-38.5000 --17.0000;-38.0000 --17.0000;-37.5000 --17.0000;-37.0000 --17.0000;-36.5000 --17.0000;-36.0000 --17.0000;-35.5000 --17.0000;-35.0000 --17.0000;-34.5000 --17.0000;-34.0000 --17.0000;-33.5000 --17.0000;-33.0000 --17.0000;-32.5000 --17.0000;-32.0000 --17.0000;-31.5000 --17.0000;-31.0000 --17.0000;-30.5000 --17.0000;-30.0000 --17.0000;-29.5000 --17.0000;-29.0000 --17.0000;-28.5000 --17.0000;-28.0000 --17.0000;-27.5000 --17.0000;-27.0000 --17.0000;-26.5000 --17.0000;-26.0000 --17.0000;-25.5000 --17.0000;-25.0000 --17.0000;-24.5000 --17.0000;-24.0000 --17.0000;98.0000 --17.0000;98.5000 --17.0000;99.0000 --17.0000;99.5000 --17.0000;100.0000 --17.0000;100.5000 --17.0000;101.0000 --17.0000;101.5000 --17.0000;102.0000 --17.0000;102.5000 --17.0000;103.0000 --17.0000;103.5000 --17.0000;104.0000 --17.0000;104.5000 --17.0000;105.0000 --17.0000;105.5000 --17.0000;106.0000 --17.0000;106.5000 --17.0000;107.0000 --17.0000;107.5000 --17.0000;108.0000 --17.0000;108.5000 --16.5000;-40.5000 --16.5000;-40.0000 --16.5000;-39.5000 --16.5000;-39.0000 --16.5000;-38.5000 --16.5000;-38.0000 --16.5000;-37.5000 --16.5000;-37.0000 --16.5000;-36.5000 --16.5000;-36.0000 --16.5000;-35.5000 --16.5000;-35.0000 --16.5000;-34.5000 --16.5000;-34.0000 --16.5000;-33.5000 --16.5000;-33.0000 --16.5000;-32.5000 --16.5000;-32.0000 --16.5000;-31.5000 --16.5000;-31.0000 --16.5000;-30.5000 --16.5000;-30.0000 --16.5000;-29.5000 --16.5000;-29.0000 --16.5000;-28.5000 --16.5000;-28.0000 --16.5000;-27.5000 --16.5000;-27.0000 --16.5000;-26.5000 --16.5000;-26.0000 --16.5000;-25.5000 --16.5000;-25.0000 --16.5000;-24.5000 --16.5000;-24.0000 --16.5000;-23.5000 --16.5000;-23.0000 --16.5000;98.0000 --16.5000;98.5000 --16.5000;99.0000 --16.5000;99.5000 --16.5000;100.0000 --16.5000;100.5000 --16.5000;101.0000 --16.5000;101.5000 --16.5000;102.0000 --16.5000;102.5000 --16.5000;103.0000 --16.5000;103.5000 --16.5000;104.0000 --16.5000;104.5000 --16.5000;105.0000 --16.5000;105.5000 --16.5000;106.0000 --16.5000;106.5000 --16.5000;107.0000 --16.5000;107.5000 --16.5000;108.0000 --16.5000;108.5000 --16.0000;-40.0000 --16.0000;-39.5000 --16.0000;-39.0000 --16.0000;-38.5000 --16.0000;-38.0000 --16.0000;-37.5000 --16.0000;-37.0000 --16.0000;-36.5000 --16.0000;-36.0000 --16.0000;-35.5000 --16.0000;-35.0000 --16.0000;-34.5000 --16.0000;-34.0000 --16.0000;-33.5000 --16.0000;-33.0000 --16.0000;-32.5000 --16.0000;-32.0000 --16.0000;-31.5000 --16.0000;-31.0000 --16.0000;-30.5000 --16.0000;-30.0000 --16.0000;-29.5000 --16.0000;-29.0000 --16.0000;-28.5000 --16.0000;-28.0000 --16.0000;-27.5000 --16.0000;-27.0000 --16.0000;-26.5000 --16.0000;-26.0000 --16.0000;-25.5000 --16.0000;-25.0000 --16.0000;-24.5000 --16.0000;-24.0000 --16.0000;-23.5000 --16.0000;-23.0000 --16.0000;-22.5000 --16.0000;98.5000 --16.0000;99.0000 --16.0000;99.5000 --16.0000;100.0000 --16.0000;100.5000 --16.0000;101.0000 --16.0000;101.5000 --16.0000;102.0000 --16.0000;102.5000 --16.0000;103.0000 --16.0000;103.5000 --16.0000;104.0000 --16.0000;104.5000 --16.0000;105.0000 --16.0000;105.5000 --16.0000;106.0000 --16.0000;106.5000 --16.0000;107.0000 --16.0000;107.5000 --16.0000;108.0000 --16.0000;108.5000 --16.0000;109.0000 --15.5000;-39.0000 --15.5000;-38.5000 --15.5000;-38.0000 --15.5000;-37.5000 --15.5000;-37.0000 --15.5000;-36.5000 --15.5000;-36.0000 --15.5000;-35.5000 --15.5000;-35.0000 --15.5000;-34.5000 --15.5000;-34.0000 --15.5000;-33.5000 --15.5000;-33.0000 --15.5000;-32.5000 --15.5000;-32.0000 --15.5000;-31.5000 --15.5000;-31.0000 --15.5000;-30.5000 --15.5000;-30.0000 --15.5000;-29.5000 --15.5000;-29.0000 --15.5000;-28.5000 --15.5000;-28.0000 --15.5000;-27.5000 --15.5000;-27.0000 --15.5000;-26.5000 --15.5000;-26.0000 --15.5000;-25.5000 --15.5000;-25.0000 --15.5000;-24.5000 --15.5000;-24.0000 --15.5000;-23.5000 --15.5000;-23.0000 --15.5000;-22.5000 --15.5000;-22.0000 --15.5000;-21.5000 --15.5000;98.5000 --15.5000;99.0000 --15.5000;99.5000 --15.5000;100.0000 --15.5000;100.5000 --15.5000;101.0000 --15.5000;101.5000 --15.5000;102.0000 --15.5000;102.5000 --15.5000;103.0000 --15.5000;103.5000 --15.5000;104.0000 --15.5000;104.5000 --15.5000;105.0000 --15.5000;105.5000 --15.5000;106.0000 --15.5000;106.5000 --15.5000;107.0000 --15.5000;107.5000 --15.5000;108.0000 --15.5000;108.5000 --15.5000;109.0000 --15.0000;-38.5000 --15.0000;-38.0000 --15.0000;-37.5000 --15.0000;-37.0000 --15.0000;-36.5000 --15.0000;-36.0000 --15.0000;-35.5000 --15.0000;-35.0000 --15.0000;-34.5000 --15.0000;-34.0000 --15.0000;-33.5000 --15.0000;-33.0000 --15.0000;-32.5000 --15.0000;-32.0000 --15.0000;-31.5000 --15.0000;-31.0000 --15.0000;-30.5000 --15.0000;-30.0000 --15.0000;-29.5000 --15.0000;-29.0000 --15.0000;-28.5000 --15.0000;-28.0000 --15.0000;-27.5000 --15.0000;-27.0000 --15.0000;-26.5000 --15.0000;-26.0000 --15.0000;-25.5000 --15.0000;-25.0000 --15.0000;-24.5000 --15.0000;-24.0000 --15.0000;-23.5000 --15.0000;-23.0000 --15.0000;-22.5000 --15.0000;-22.0000 --15.0000;-21.5000 --15.0000;-21.0000 --15.0000;98.5000 --15.0000;99.0000 --15.0000;99.5000 --15.0000;100.0000 --15.0000;100.5000 --15.0000;101.0000 --15.0000;101.5000 --15.0000;102.0000 --15.0000;102.5000 --15.0000;103.0000 --15.0000;103.5000 --15.0000;104.0000 --15.0000;104.5000 --15.0000;105.0000 --15.0000;105.5000 --15.0000;106.0000 --15.0000;106.5000 --15.0000;107.0000 --15.0000;107.5000 --15.0000;108.0000 --15.0000;108.5000 --15.0000;109.0000 --14.5000;-38.0000 --14.5000;-37.5000 --14.5000;-37.0000 --14.5000;-36.5000 --14.5000;-36.0000 --14.5000;-35.5000 --14.5000;-35.0000 --14.5000;-34.5000 --14.5000;-34.0000 --14.5000;-33.5000 --14.5000;-33.0000 --14.5000;-32.5000 --14.5000;-32.0000 --14.5000;-31.5000 --14.5000;-31.0000 --14.5000;-30.5000 --14.5000;-30.0000 --14.5000;-29.5000 --14.5000;-29.0000 --14.5000;-28.5000 --14.5000;-28.0000 --14.5000;-27.5000 --14.5000;-27.0000 --14.5000;-26.5000 --14.5000;-26.0000 --14.5000;-25.5000 --14.5000;-25.0000 --14.5000;-24.5000 --14.5000;-24.0000 --14.5000;-23.5000 --14.5000;-23.0000 --14.5000;-22.5000 --14.5000;-22.0000 --14.5000;-21.5000 --14.5000;-21.0000 --14.5000;-20.5000 --14.5000;99.0000 --14.5000;99.5000 --14.5000;100.0000 --14.5000;100.5000 --14.5000;101.0000 --14.5000;101.5000 --14.5000;102.0000 --14.5000;102.5000 --14.5000;103.0000 --14.5000;103.5000 --14.5000;104.0000 --14.5000;104.5000 --14.5000;105.0000 --14.5000;105.5000 --14.5000;106.0000 --14.5000;106.5000 --14.5000;107.0000 --14.5000;107.5000 --14.5000;108.0000 --14.5000;108.5000 --14.5000;109.0000 --14.0000;-37.0000 --14.0000;-36.5000 --14.0000;-36.0000 --14.0000;-35.5000 --14.0000;-35.0000 --14.0000;-34.5000 --14.0000;-34.0000 --14.0000;-33.5000 --14.0000;-33.0000 --14.0000;-32.5000 --14.0000;-32.0000 --14.0000;-31.5000 --14.0000;-31.0000 --14.0000;-30.5000 --14.0000;-30.0000 --14.0000;-29.5000 --14.0000;-29.0000 --14.0000;-28.5000 --14.0000;-28.0000 --14.0000;-27.5000 --14.0000;-27.0000 --14.0000;-26.5000 --14.0000;-26.0000 --14.0000;-25.5000 --14.0000;-25.0000 --14.0000;-24.5000 --14.0000;-24.0000 --14.0000;-23.5000 --14.0000;-23.0000 --14.0000;-22.5000 --14.0000;-22.0000 --14.0000;-21.5000 --14.0000;-21.0000 --14.0000;-20.5000 --14.0000;-20.0000 --14.0000;-19.5000 --14.0000;99.0000 --14.0000;99.5000 --14.0000;100.0000 --14.0000;100.5000 --14.0000;101.0000 --14.0000;101.5000 --14.0000;102.0000 --14.0000;102.5000 --14.0000;103.0000 --14.0000;103.5000 --14.0000;104.0000 --14.0000;104.5000 --14.0000;105.0000 --14.0000;105.5000 --14.0000;106.0000 --14.0000;106.5000 --14.0000;107.0000 --14.0000;107.5000 --14.0000;108.0000 --14.0000;108.5000 --14.0000;109.0000 --13.5000;-36.5000 --13.5000;-36.0000 --13.5000;-35.5000 --13.5000;-35.0000 --13.5000;-34.5000 --13.5000;-34.0000 --13.5000;-33.5000 --13.5000;-33.0000 --13.5000;-32.5000 --13.5000;-32.0000 --13.5000;-31.5000 --13.5000;-31.0000 --13.5000;-30.5000 --13.5000;-30.0000 --13.5000;-29.5000 --13.5000;-29.0000 --13.5000;-28.5000 --13.5000;-28.0000 --13.5000;-27.5000 --13.5000;-27.0000 --13.5000;-26.5000 --13.5000;-26.0000 --13.5000;-25.5000 --13.5000;-25.0000 --13.5000;-24.5000 --13.5000;-24.0000 --13.5000;-23.5000 --13.5000;-23.0000 --13.5000;-22.5000 --13.5000;-22.0000 --13.5000;-21.5000 --13.5000;-21.0000 --13.5000;-20.5000 --13.5000;-20.0000 --13.5000;-19.5000 --13.5000;-19.0000 --13.5000;99.0000 --13.5000;99.5000 --13.5000;100.0000 --13.5000;100.5000 --13.5000;101.0000 --13.5000;101.5000 --13.5000;102.0000 --13.5000;102.5000 --13.5000;103.0000 --13.5000;103.5000 --13.5000;104.0000 --13.5000;104.5000 --13.5000;105.0000 --13.5000;105.5000 --13.5000;106.0000 --13.5000;106.5000 --13.5000;107.0000 --13.5000;107.5000 --13.5000;108.0000 --13.5000;108.5000 --13.5000;109.0000 --13.0000;-35.5000 --13.0000;-35.0000 --13.0000;-34.5000 --13.0000;-34.0000 --13.0000;-33.5000 --13.0000;-33.0000 --13.0000;-32.5000 --13.0000;-32.0000 --13.0000;-31.5000 --13.0000;-31.0000 --13.0000;-30.5000 --13.0000;-30.0000 --13.0000;-29.5000 --13.0000;-29.0000 --13.0000;-28.5000 --13.0000;-28.0000 --13.0000;-27.5000 --13.0000;-27.0000 --13.0000;-26.5000 --13.0000;-26.0000 --13.0000;-25.5000 --13.0000;-25.0000 --13.0000;-24.5000 --13.0000;-24.0000 --13.0000;-23.5000 --13.0000;-23.0000 --13.0000;-22.5000 --13.0000;-22.0000 --13.0000;-21.5000 --13.0000;-21.0000 --13.0000;-20.5000 --13.0000;-20.0000 --13.0000;-19.5000 --13.0000;-19.0000 --13.0000;-18.5000 --13.0000;99.0000 --13.0000;99.5000 --13.0000;100.0000 --13.0000;100.5000 --13.0000;101.0000 --13.0000;101.5000 --13.0000;102.0000 --13.0000;102.5000 --13.0000;103.0000 --13.0000;103.5000 --13.0000;104.0000 --13.0000;104.5000 --13.0000;105.0000 --13.0000;105.5000 --13.0000;106.0000 --13.0000;106.5000 --13.0000;107.0000 --13.0000;107.5000 --13.0000;108.0000 --13.0000;108.5000 --13.0000;109.0000 --12.5000;-35.0000 --12.5000;-34.5000 --12.5000;-34.0000 --12.5000;-33.5000 --12.5000;-33.0000 --12.5000;-32.5000 --12.5000;-32.0000 --12.5000;-31.5000 --12.5000;-31.0000 --12.5000;-30.5000 --12.5000;-30.0000 --12.5000;-29.5000 --12.5000;-29.0000 --12.5000;-28.5000 --12.5000;-28.0000 --12.5000;-27.5000 --12.5000;-27.0000 --12.5000;-26.5000 --12.5000;-26.0000 --12.5000;-25.5000 --12.5000;-25.0000 --12.5000;-24.5000 --12.5000;-24.0000 --12.5000;-23.5000 --12.5000;-23.0000 --12.5000;-22.5000 --12.5000;-22.0000 --12.5000;-21.5000 --12.5000;-21.0000 --12.5000;-20.5000 --12.5000;-20.0000 --12.5000;-19.5000 --12.5000;-19.0000 --12.5000;-18.5000 --12.5000;-18.0000 --12.5000;-17.5000 --12.5000;99.0000 --12.5000;99.5000 --12.5000;100.0000 --12.5000;100.5000 --12.5000;101.0000 --12.5000;101.5000 --12.5000;102.0000 --12.5000;102.5000 --12.5000;103.0000 --12.5000;103.5000 --12.5000;104.0000 --12.5000;104.5000 --12.5000;105.0000 --12.5000;105.5000 --12.5000;106.0000 --12.5000;106.5000 --12.5000;107.0000 --12.5000;107.5000 --12.5000;108.0000 --12.5000;108.5000 --12.5000;109.0000 --12.0000;-34.5000 --12.0000;-34.0000 --12.0000;-33.5000 --12.0000;-33.0000 --12.0000;-32.5000 --12.0000;-32.0000 --12.0000;-31.5000 --12.0000;-31.0000 --12.0000;-30.5000 --12.0000;-30.0000 --12.0000;-29.5000 --12.0000;-29.0000 --12.0000;-28.5000 --12.0000;-28.0000 --12.0000;-27.5000 --12.0000;-27.0000 --12.0000;-26.5000 --12.0000;-26.0000 --12.0000;-25.5000 --12.0000;-25.0000 --12.0000;-24.5000 --12.0000;-24.0000 --12.0000;-23.5000 --12.0000;-23.0000 --12.0000;-22.5000 --12.0000;-22.0000 --12.0000;-21.5000 --12.0000;-21.0000 --12.0000;-20.5000 --12.0000;-20.0000 --12.0000;-19.5000 --12.0000;-19.0000 --12.0000;-18.5000 --12.0000;-18.0000 --12.0000;-17.5000 --12.0000;-17.0000 --12.0000;98.5000 --12.0000;99.0000 --12.0000;99.5000 --12.0000;100.0000 --12.0000;100.5000 --12.0000;101.0000 --12.0000;101.5000 --12.0000;102.0000 --12.0000;102.5000 --12.0000;103.0000 --12.0000;103.5000 --12.0000;104.0000 --12.0000;104.5000 --12.0000;105.0000 --12.0000;105.5000 --12.0000;106.0000 --12.0000;106.5000 --12.0000;107.0000 --12.0000;107.5000 --12.0000;108.0000 --12.0000;108.5000 --12.0000;109.0000 --11.5000;-33.5000 --11.5000;-33.0000 --11.5000;-32.5000 --11.5000;-32.0000 --11.5000;-31.5000 --11.5000;-31.0000 --11.5000;-30.5000 --11.5000;-30.0000 --11.5000;-29.5000 --11.5000;-29.0000 --11.5000;-28.5000 --11.5000;-28.0000 --11.5000;-27.5000 --11.5000;-27.0000 --11.5000;-26.5000 --11.5000;-26.0000 --11.5000;-25.5000 --11.5000;-25.0000 --11.5000;-24.5000 --11.5000;-24.0000 --11.5000;-23.5000 --11.5000;-23.0000 --11.5000;-22.5000 --11.5000;-22.0000 --11.5000;-21.5000 --11.5000;-21.0000 --11.5000;-20.5000 --11.5000;-20.0000 --11.5000;-19.5000 --11.5000;-19.0000 --11.5000;-18.5000 --11.5000;-18.0000 --11.5000;-17.5000 --11.5000;-17.0000 --11.5000;-16.5000 --11.5000;98.5000 --11.5000;99.0000 --11.5000;99.5000 --11.5000;100.0000 --11.5000;100.5000 --11.5000;101.0000 --11.5000;101.5000 --11.5000;102.0000 --11.5000;102.5000 --11.5000;103.0000 --11.5000;103.5000 --11.5000;104.0000 --11.5000;104.5000 --11.5000;105.0000 --11.5000;105.5000 --11.5000;106.0000 --11.5000;106.5000 --11.5000;107.0000 --11.5000;107.5000 --11.5000;108.0000 --11.5000;108.5000 --11.5000;109.0000 --11.0000;-33.0000 --11.0000;-32.5000 --11.0000;-32.0000 --11.0000;-31.5000 --11.0000;-31.0000 --11.0000;-30.5000 --11.0000;-30.0000 --11.0000;-29.5000 --11.0000;-29.0000 --11.0000;-28.5000 --11.0000;-28.0000 --11.0000;-27.5000 --11.0000;-27.0000 --11.0000;-26.5000 --11.0000;-26.0000 --11.0000;-25.5000 --11.0000;-25.0000 --11.0000;-24.5000 --11.0000;-24.0000 --11.0000;-23.5000 --11.0000;-23.0000 --11.0000;-22.5000 --11.0000;-22.0000 --11.0000;-21.5000 --11.0000;-21.0000 --11.0000;-20.5000 --11.0000;-20.0000 --11.0000;-19.5000 --11.0000;-19.0000 --11.0000;-18.5000 --11.0000;-18.0000 --11.0000;-17.5000 --11.0000;-17.0000 --11.0000;-16.5000 --11.0000;-16.0000 --11.0000;-15.5000 --11.0000;98.0000 --11.0000;98.5000 --11.0000;99.0000 --11.0000;99.5000 --11.0000;100.0000 --11.0000;100.5000 --11.0000;101.0000 --11.0000;101.5000 --11.0000;102.0000 --11.0000;102.5000 --11.0000;103.0000 --11.0000;103.5000 --11.0000;104.0000 --11.0000;104.5000 --11.0000;105.0000 --11.0000;105.5000 --11.0000;106.0000 --11.0000;106.5000 --11.0000;107.0000 --11.0000;107.5000 --11.0000;108.0000 --11.0000;108.5000 --11.0000;109.0000 --10.5000;-32.5000 --10.5000;-32.0000 --10.5000;-31.5000 --10.5000;-31.0000 --10.5000;-30.5000 --10.5000;-30.0000 --10.5000;-29.5000 --10.5000;-29.0000 --10.5000;-28.5000 --10.5000;-28.0000 --10.5000;-27.5000 --10.5000;-27.0000 --10.5000;-26.5000 --10.5000;-26.0000 --10.5000;-25.5000 --10.5000;-25.0000 --10.5000;-24.5000 --10.5000;-24.0000 --10.5000;-23.5000 --10.5000;-23.0000 --10.5000;-22.5000 --10.5000;-22.0000 --10.5000;-21.5000 --10.5000;-21.0000 --10.5000;-20.5000 --10.5000;-20.0000 --10.5000;-19.5000 --10.5000;-19.0000 --10.5000;-18.5000 --10.5000;-18.0000 --10.5000;-17.5000 --10.5000;-17.0000 --10.5000;-16.5000 --10.5000;-16.0000 --10.5000;-15.5000 --10.5000;-15.0000 --10.5000;98.0000 --10.5000;98.5000 --10.5000;99.0000 --10.5000;99.5000 --10.5000;100.0000 --10.5000;100.5000 --10.5000;101.0000 --10.5000;101.5000 --10.5000;102.0000 --10.5000;102.5000 --10.5000;103.0000 --10.5000;103.5000 --10.5000;104.0000 --10.5000;104.5000 --10.5000;105.0000 --10.5000;105.5000 --10.5000;106.0000 --10.5000;106.5000 --10.5000;107.0000 --10.5000;107.5000 --10.5000;108.0000 --10.5000;108.5000 --10.0000;-31.5000 --10.0000;-31.0000 --10.0000;-30.5000 --10.0000;-30.0000 --10.0000;-29.5000 --10.0000;-29.0000 --10.0000;-28.5000 --10.0000;-28.0000 --10.0000;-27.5000 --10.0000;-27.0000 --10.0000;-26.5000 --10.0000;-26.0000 --10.0000;-25.5000 --10.0000;-25.0000 --10.0000;-24.5000 --10.0000;-24.0000 --10.0000;-23.5000 --10.0000;-23.0000 --10.0000;-22.5000 --10.0000;-22.0000 --10.0000;-21.5000 --10.0000;-21.0000 --10.0000;-20.5000 --10.0000;-20.0000 --10.0000;-19.5000 --10.0000;-19.0000 --10.0000;-18.5000 --10.0000;-18.0000 --10.0000;-17.5000 --10.0000;-17.0000 --10.0000;-16.5000 --10.0000;-16.0000 --10.0000;-15.5000 --10.0000;-15.0000 --10.0000;-14.5000 --10.0000;-14.0000 --10.0000;97.5000 --10.0000;98.0000 --10.0000;98.5000 --10.0000;99.0000 --10.0000;99.5000 --10.0000;100.0000 --10.0000;100.5000 --10.0000;101.0000 --10.0000;101.5000 --10.0000;102.0000 --10.0000;102.5000 --10.0000;103.0000 --10.0000;103.5000 --10.0000;104.0000 --10.0000;104.5000 --10.0000;105.0000 --10.0000;105.5000 --10.0000;106.0000 --10.0000;106.5000 --10.0000;107.0000 --10.0000;107.5000 --10.0000;108.0000 --10.0000;108.5000 --9.5000;-31.0000 --9.5000;-30.5000 --9.5000;-30.0000 --9.5000;-29.5000 --9.5000;-29.0000 --9.5000;-28.5000 --9.5000;-28.0000 --9.5000;-27.5000 --9.5000;-27.0000 --9.5000;-26.5000 --9.5000;-26.0000 --9.5000;-25.5000 --9.5000;-25.0000 --9.5000;-24.5000 --9.5000;-24.0000 --9.5000;-23.5000 --9.5000;-23.0000 --9.5000;-22.5000 --9.5000;-22.0000 --9.5000;-21.5000 --9.5000;-21.0000 --9.5000;-20.5000 --9.5000;-20.0000 --9.5000;-19.5000 --9.5000;-19.0000 --9.5000;-18.5000 --9.5000;-18.0000 --9.5000;-17.5000 --9.5000;-17.0000 --9.5000;-16.5000 --9.5000;-16.0000 --9.5000;-15.5000 --9.5000;-15.0000 --9.5000;-14.5000 --9.5000;-14.0000 --9.5000;-13.5000 --9.5000;97.0000 --9.5000;97.5000 --9.5000;98.0000 --9.5000;98.5000 --9.5000;99.0000 --9.5000;99.5000 --9.5000;100.0000 --9.5000;100.5000 --9.5000;101.0000 --9.5000;101.5000 --9.5000;102.0000 --9.5000;102.5000 --9.5000;103.0000 --9.5000;103.5000 --9.5000;104.0000 --9.5000;104.5000 --9.5000;105.0000 --9.5000;105.5000 --9.5000;106.0000 --9.5000;106.5000 --9.5000;107.0000 --9.5000;107.5000 --9.5000;108.0000 --9.5000;108.5000 --9.0000;-30.5000 --9.0000;-30.0000 --9.0000;-29.5000 --9.0000;-29.0000 --9.0000;-28.5000 --9.0000;-28.0000 --9.0000;-27.5000 --9.0000;-27.0000 --9.0000;-26.5000 --9.0000;-26.0000 --9.0000;-25.5000 --9.0000;-25.0000 --9.0000;-24.5000 --9.0000;-24.0000 --9.0000;-23.5000 --9.0000;-23.0000 --9.0000;-22.5000 --9.0000;-22.0000 --9.0000;-21.5000 --9.0000;-21.0000 --9.0000;-20.5000 --9.0000;-20.0000 --9.0000;-19.5000 --9.0000;-19.0000 --9.0000;-18.5000 --9.0000;-18.0000 --9.0000;-17.5000 --9.0000;-17.0000 --9.0000;-16.5000 --9.0000;-16.0000 --9.0000;-15.5000 --9.0000;-15.0000 --9.0000;-14.5000 --9.0000;-14.0000 --9.0000;-13.5000 --9.0000;-13.0000 --9.0000;96.5000 --9.0000;97.0000 --9.0000;97.5000 --9.0000;98.0000 --9.0000;98.5000 --9.0000;99.0000 --9.0000;99.5000 --9.0000;100.0000 --9.0000;100.5000 --9.0000;101.0000 --9.0000;101.5000 --9.0000;102.0000 --9.0000;102.5000 --9.0000;103.0000 --9.0000;103.5000 --9.0000;104.0000 --9.0000;104.5000 --9.0000;105.0000 --9.0000;105.5000 --9.0000;106.0000 --9.0000;106.5000 --9.0000;107.0000 --9.0000;107.5000 --9.0000;108.0000 --9.0000;108.5000 --8.5000;-29.5000 --8.5000;-29.0000 --8.5000;-28.5000 --8.5000;-28.0000 --8.5000;-27.5000 --8.5000;-27.0000 --8.5000;-26.5000 --8.5000;-26.0000 --8.5000;-25.5000 --8.5000;-25.0000 --8.5000;-24.5000 --8.5000;-24.0000 --8.5000;-23.5000 --8.5000;-23.0000 --8.5000;-22.5000 --8.5000;-22.0000 --8.5000;-21.5000 --8.5000;-21.0000 --8.5000;-20.5000 --8.5000;-20.0000 --8.5000;-19.5000 --8.5000;-19.0000 --8.5000;-18.5000 --8.5000;-18.0000 --8.5000;-17.5000 --8.5000;-17.0000 --8.5000;-16.5000 --8.5000;-16.0000 --8.5000;-15.5000 --8.5000;-15.0000 --8.5000;-14.5000 --8.5000;-14.0000 --8.5000;-13.5000 --8.5000;-13.0000 --8.5000;-12.5000 --8.5000;-12.0000 --8.5000;96.0000 --8.5000;96.5000 --8.5000;97.0000 --8.5000;97.5000 --8.5000;98.0000 --8.5000;98.5000 --8.5000;99.0000 --8.5000;99.5000 --8.5000;100.0000 --8.5000;100.5000 --8.5000;101.0000 --8.5000;101.5000 --8.5000;102.0000 --8.5000;102.5000 --8.5000;103.0000 --8.5000;103.5000 --8.5000;104.0000 --8.5000;104.5000 --8.5000;105.0000 --8.5000;105.5000 --8.5000;106.0000 --8.5000;106.5000 --8.5000;107.0000 --8.5000;107.5000 --8.5000;108.0000 --8.0000;-29.0000 --8.0000;-28.5000 --8.0000;-28.0000 --8.0000;-27.5000 --8.0000;-27.0000 --8.0000;-26.5000 --8.0000;-26.0000 --8.0000;-25.5000 --8.0000;-25.0000 --8.0000;-24.5000 --8.0000;-24.0000 --8.0000;-23.5000 --8.0000;-23.0000 --8.0000;-22.5000 --8.0000;-22.0000 --8.0000;-21.5000 --8.0000;-21.0000 --8.0000;-20.5000 --8.0000;-20.0000 --8.0000;-19.5000 --8.0000;-19.0000 --8.0000;-18.5000 --8.0000;-18.0000 --8.0000;-17.5000 --8.0000;-17.0000 --8.0000;-16.5000 --8.0000;-16.0000 --8.0000;-15.5000 --8.0000;-15.0000 --8.0000;-14.5000 --8.0000;-14.0000 --8.0000;-13.5000 --8.0000;-13.0000 --8.0000;-12.5000 --8.0000;-12.0000 --8.0000;-11.5000 --8.0000;95.5000 --8.0000;96.0000 --8.0000;96.5000 --8.0000;97.0000 --8.0000;97.5000 --8.0000;98.0000 --8.0000;98.5000 --8.0000;99.0000 --8.0000;99.5000 --8.0000;100.0000 --8.0000;100.5000 --8.0000;101.0000 --8.0000;101.5000 --8.0000;102.0000 --8.0000;102.5000 --8.0000;103.0000 --8.0000;103.5000 --8.0000;104.0000 --8.0000;104.5000 --8.0000;105.0000 --8.0000;105.5000 --8.0000;106.0000 --8.0000;106.5000 --8.0000;107.0000 --8.0000;107.5000 --8.0000;108.0000 --7.5000;-28.5000 --7.5000;-28.0000 --7.5000;-27.5000 --7.5000;-27.0000 --7.5000;-26.5000 --7.5000;-26.0000 --7.5000;-25.5000 --7.5000;-25.0000 --7.5000;-24.5000 --7.5000;-24.0000 --7.5000;-23.5000 --7.5000;-23.0000 --7.5000;-22.5000 --7.5000;-22.0000 --7.5000;-21.5000 --7.5000;-21.0000 --7.5000;-20.5000 --7.5000;-20.0000 --7.5000;-19.5000 --7.5000;-19.0000 --7.5000;-18.5000 --7.5000;-18.0000 --7.5000;-17.5000 --7.5000;-17.0000 --7.5000;-16.5000 --7.5000;-16.0000 --7.5000;-15.5000 --7.5000;-15.0000 --7.5000;-14.5000 --7.5000;-14.0000 --7.5000;-13.5000 --7.5000;-13.0000 --7.5000;-12.5000 --7.5000;-12.0000 --7.5000;-11.5000 --7.5000;-11.0000 --7.5000;-10.5000 --7.5000;94.5000 --7.5000;95.0000 --7.5000;95.5000 --7.5000;96.0000 --7.5000;96.5000 --7.5000;97.0000 --7.5000;97.5000 --7.5000;98.0000 --7.5000;98.5000 --7.5000;99.0000 --7.5000;99.5000 --7.5000;100.0000 --7.5000;100.5000 --7.5000;101.0000 --7.5000;101.5000 --7.5000;102.0000 --7.5000;102.5000 --7.5000;103.0000 --7.5000;103.5000 --7.5000;104.0000 --7.5000;104.5000 --7.5000;105.0000 --7.5000;105.5000 --7.5000;106.0000 --7.5000;106.5000 --7.5000;107.0000 --7.5000;107.5000 --7.5000;108.0000 --7.0000;-27.5000 --7.0000;-27.0000 --7.0000;-26.5000 --7.0000;-26.0000 --7.0000;-25.5000 --7.0000;-25.0000 --7.0000;-24.5000 --7.0000;-24.0000 --7.0000;-23.5000 --7.0000;-23.0000 --7.0000;-22.5000 --7.0000;-22.0000 --7.0000;-21.5000 --7.0000;-21.0000 --7.0000;-20.5000 --7.0000;-20.0000 --7.0000;-19.5000 --7.0000;-19.0000 --7.0000;-18.5000 --7.0000;-18.0000 --7.0000;-17.5000 --7.0000;-17.0000 --7.0000;-16.5000 --7.0000;-16.0000 --7.0000;-15.5000 --7.0000;-15.0000 --7.0000;-14.5000 --7.0000;-14.0000 --7.0000;-13.5000 --7.0000;-13.0000 --7.0000;-12.5000 --7.0000;-12.0000 --7.0000;-11.5000 --7.0000;-11.0000 --7.0000;-10.5000 --7.0000;-10.0000 --7.0000;93.5000 --7.0000;94.0000 --7.0000;94.5000 --7.0000;95.0000 --7.0000;95.5000 --7.0000;96.0000 --7.0000;96.5000 --7.0000;97.0000 --7.0000;97.5000 --7.0000;98.0000 --7.0000;98.5000 --7.0000;99.0000 --7.0000;99.5000 --7.0000;100.0000 --7.0000;100.5000 --7.0000;101.0000 --7.0000;101.5000 --7.0000;102.0000 --7.0000;102.5000 --7.0000;103.0000 --7.0000;103.5000 --7.0000;104.0000 --7.0000;104.5000 --7.0000;105.0000 --7.0000;105.5000 --7.0000;106.0000 --7.0000;106.5000 --7.0000;107.0000 --7.0000;107.5000 --6.5000;-27.0000 --6.5000;-26.5000 --6.5000;-26.0000 --6.5000;-25.5000 --6.5000;-25.0000 --6.5000;-24.5000 --6.5000;-24.0000 --6.5000;-23.5000 --6.5000;-23.0000 --6.5000;-22.5000 --6.5000;-22.0000 --6.5000;-21.5000 --6.5000;-21.0000 --6.5000;-20.5000 --6.5000;-20.0000 --6.5000;-19.5000 --6.5000;-19.0000 --6.5000;-18.5000 --6.5000;-18.0000 --6.5000;-17.5000 --6.5000;-17.0000 --6.5000;-16.5000 --6.5000;-16.0000 --6.5000;-15.5000 --6.5000;-15.0000 --6.5000;-14.5000 --6.5000;-14.0000 --6.5000;-13.5000 --6.5000;-13.0000 --6.5000;-12.5000 --6.5000;-12.0000 --6.5000;-11.5000 --6.5000;-11.0000 --6.5000;-10.5000 --6.5000;-10.0000 --6.5000;-9.5000 --6.5000;-9.0000 --6.5000;92.5000 --6.5000;93.0000 --6.5000;93.5000 --6.5000;94.0000 --6.5000;94.5000 --6.5000;95.0000 --6.5000;95.5000 --6.5000;96.0000 --6.5000;96.5000 --6.5000;97.0000 --6.5000;97.5000 --6.5000;98.0000 --6.5000;98.5000 --6.5000;99.0000 --6.5000;99.5000 --6.5000;100.0000 --6.5000;100.5000 --6.5000;101.0000 --6.5000;101.5000 --6.5000;102.0000 --6.5000;102.5000 --6.5000;103.0000 --6.5000;103.5000 --6.5000;104.0000 --6.5000;104.5000 --6.5000;105.0000 --6.5000;105.5000 --6.5000;106.0000 --6.5000;106.5000 --6.5000;107.0000 --6.5000;107.5000 --6.0000;-26.0000 --6.0000;-25.5000 --6.0000;-25.0000 --6.0000;-24.5000 --6.0000;-24.0000 --6.0000;-23.5000 --6.0000;-23.0000 --6.0000;-22.5000 --6.0000;-22.0000 --6.0000;-21.5000 --6.0000;-21.0000 --6.0000;-20.5000 --6.0000;-20.0000 --6.0000;-19.5000 --6.0000;-19.0000 --6.0000;-18.5000 --6.0000;-18.0000 --6.0000;-17.5000 --6.0000;-17.0000 --6.0000;-16.5000 --6.0000;-16.0000 --6.0000;-15.5000 --6.0000;-15.0000 --6.0000;-14.5000 --6.0000;-14.0000 --6.0000;-13.5000 --6.0000;-13.0000 --6.0000;-12.5000 --6.0000;-12.0000 --6.0000;-11.5000 --6.0000;-11.0000 --6.0000;-10.5000 --6.0000;-10.0000 --6.0000;-9.5000 --6.0000;-9.0000 --6.0000;-8.5000 --6.0000;-8.0000 --6.0000;-7.5000 --6.0000;90.5000 --6.0000;91.0000 --6.0000;91.5000 --6.0000;92.0000 --6.0000;92.5000 --6.0000;93.0000 --6.0000;93.5000 --6.0000;94.0000 --6.0000;94.5000 --6.0000;95.0000 --6.0000;95.5000 --6.0000;96.0000 --6.0000;96.5000 --6.0000;97.0000 --6.0000;97.5000 --6.0000;98.0000 --6.0000;98.5000 --6.0000;99.0000 --6.0000;99.5000 --6.0000;100.0000 --6.0000;100.5000 --6.0000;101.0000 --6.0000;101.5000 --6.0000;102.0000 --6.0000;102.5000 --6.0000;103.0000 --6.0000;103.5000 --6.0000;104.0000 --6.0000;104.5000 --6.0000;105.0000 --6.0000;105.5000 --6.0000;106.0000 --6.0000;106.5000 --6.0000;107.0000 --5.5000;-25.5000 --5.5000;-25.0000 --5.5000;-24.5000 --5.5000;-24.0000 --5.5000;-23.5000 --5.5000;-23.0000 --5.5000;-22.5000 --5.5000;-22.0000 --5.5000;-21.5000 --5.5000;-21.0000 --5.5000;-20.5000 --5.5000;-20.0000 --5.5000;-19.5000 --5.5000;-19.0000 --5.5000;-18.5000 --5.5000;-18.0000 --5.5000;-17.5000 --5.5000;-17.0000 --5.5000;-16.5000 --5.5000;-16.0000 --5.5000;-15.5000 --5.5000;-15.0000 --5.5000;-14.5000 --5.5000;-14.0000 --5.5000;-13.5000 --5.5000;-13.0000 --5.5000;-12.5000 --5.5000;-12.0000 --5.5000;-11.5000 --5.5000;-11.0000 --5.5000;-10.5000 --5.5000;-10.0000 --5.5000;-9.5000 --5.5000;-9.0000 --5.5000;-8.5000 --5.5000;-8.0000 --5.5000;-7.5000 --5.5000;-7.0000 --5.5000;-6.5000 --5.5000;-6.0000 --5.5000;-5.5000 --5.5000;-5.0000 --5.5000;87.0000 --5.5000;87.5000 --5.5000;88.0000 --5.5000;88.5000 --5.5000;89.0000 --5.5000;89.5000 --5.5000;90.0000 --5.5000;90.5000 --5.5000;91.0000 --5.5000;91.5000 --5.5000;92.0000 --5.5000;92.5000 --5.5000;93.0000 --5.5000;93.5000 --5.5000;94.0000 --5.5000;94.5000 --5.5000;95.0000 --5.5000;95.5000 --5.5000;96.0000 --5.5000;96.5000 --5.5000;97.0000 --5.5000;97.5000 --5.5000;98.0000 --5.5000;98.5000 --5.5000;99.0000 --5.5000;99.5000 --5.5000;100.0000 --5.5000;100.5000 --5.5000;101.0000 --5.5000;101.5000 --5.5000;102.0000 --5.5000;102.5000 --5.5000;103.0000 --5.5000;103.5000 --5.5000;104.0000 --5.5000;104.5000 --5.5000;105.0000 --5.5000;105.5000 --5.5000;106.0000 --5.5000;106.5000 --5.5000;107.0000 --5.0000;-25.0000 --5.0000;-24.5000 --5.0000;-24.0000 --5.0000;-23.5000 --5.0000;-23.0000 --5.0000;-22.5000 --5.0000;-22.0000 --5.0000;-21.5000 --5.0000;-21.0000 --5.0000;-20.5000 --5.0000;-20.0000 --5.0000;-19.5000 --5.0000;-19.0000 --5.0000;-18.5000 --5.0000;-18.0000 --5.0000;-17.5000 --5.0000;-17.0000 --5.0000;-16.5000 --5.0000;-16.0000 --5.0000;-15.5000 --5.0000;-15.0000 --5.0000;-14.5000 --5.0000;-14.0000 --5.0000;-13.5000 --5.0000;-13.0000 --5.0000;-12.5000 --5.0000;-12.0000 --5.0000;-11.5000 --5.0000;-11.0000 --5.0000;-10.5000 --5.0000;-10.0000 --5.0000;-9.5000 --5.0000;-9.0000 --5.0000;-8.5000 --5.0000;-8.0000 --5.0000;-7.5000 --5.0000;-7.0000 --5.0000;-6.5000 --5.0000;-6.0000 --5.0000;-5.5000 --5.0000;-5.0000 --5.0000;-4.5000 --5.0000;-4.0000 --5.0000;-3.5000 --5.0000;-3.0000 --5.0000;-2.5000 --5.0000;-2.0000 --5.0000;-1.5000 --5.0000;-1.0000 --5.0000;-0.5000 --5.0000;0.0000 --5.0000;0.5000 --5.0000;1.0000 --5.0000;1.5000 --5.0000;2.0000 --5.0000;2.5000 --5.0000;3.0000 --5.0000;3.5000 --5.0000;4.0000 --5.0000;4.5000 --5.0000;5.0000 --5.0000;5.5000 --5.0000;6.0000 --5.0000;6.5000 --5.0000;7.0000 --5.0000;7.5000 --5.0000;8.0000 --5.0000;8.5000 --5.0000;9.0000 --5.0000;9.5000 --5.0000;10.0000 --5.0000;10.5000 --5.0000;11.0000 --5.0000;11.5000 --5.0000;12.0000 --5.0000;12.5000 --5.0000;13.0000 --5.0000;13.5000 --5.0000;14.0000 --5.0000;14.5000 --5.0000;15.0000 --5.0000;15.5000 --5.0000;16.0000 --5.0000;16.5000 --5.0000;17.0000 --5.0000;17.5000 --5.0000;18.0000 --5.0000;18.5000 --5.0000;19.0000 --5.0000;19.5000 --5.0000;20.0000 --5.0000;20.5000 --5.0000;21.0000 --5.0000;21.5000 --5.0000;22.0000 --5.0000;22.5000 --5.0000;23.0000 --5.0000;23.5000 --5.0000;24.0000 --5.0000;24.5000 --5.0000;25.0000 --5.0000;25.5000 --5.0000;26.0000 --5.0000;26.5000 --5.0000;27.0000 --5.0000;27.5000 --5.0000;28.0000 --5.0000;28.5000 --5.0000;29.0000 --5.0000;29.5000 --5.0000;30.0000 --5.0000;30.5000 --5.0000;31.0000 --5.0000;31.5000 --5.0000;32.0000 --5.0000;32.5000 --5.0000;33.0000 --5.0000;33.5000 --5.0000;34.0000 --5.0000;34.5000 --5.0000;35.0000 --5.0000;35.5000 --5.0000;36.0000 --5.0000;36.5000 --5.0000;37.0000 --5.0000;37.5000 --5.0000;38.0000 --5.0000;38.5000 --5.0000;39.0000 --5.0000;39.5000 --5.0000;40.0000 --5.0000;40.5000 --5.0000;41.0000 --5.0000;41.5000 --5.0000;42.0000 --5.0000;42.5000 --5.0000;43.0000 --5.0000;43.5000 --5.0000;44.0000 --5.0000;44.5000 --5.0000;45.0000 --5.0000;45.5000 --5.0000;46.0000 --5.0000;46.5000 --5.0000;47.0000 --5.0000;47.5000 --5.0000;48.0000 --5.0000;48.5000 --5.0000;49.0000 --5.0000;49.5000 --5.0000;50.0000 --5.0000;50.5000 --5.0000;51.0000 --5.0000;51.5000 --5.0000;52.0000 --5.0000;52.5000 --5.0000;53.0000 --5.0000;53.5000 --5.0000;54.0000 --5.0000;54.5000 --5.0000;55.0000 --5.0000;55.5000 --5.0000;56.0000 --5.0000;56.5000 --5.0000;57.0000 --5.0000;57.5000 --5.0000;58.0000 --5.0000;58.5000 --5.0000;59.0000 --5.0000;59.5000 --5.0000;60.0000 --5.0000;60.5000 --5.0000;61.0000 --5.0000;61.5000 --5.0000;62.0000 --5.0000;62.5000 --5.0000;63.0000 --5.0000;63.5000 --5.0000;64.0000 --5.0000;64.5000 --5.0000;65.0000 --5.0000;65.5000 --5.0000;66.0000 --5.0000;66.5000 --5.0000;67.0000 --5.0000;67.5000 --5.0000;68.0000 --5.0000;68.5000 --5.0000;69.0000 --5.0000;69.5000 --5.0000;70.0000 --5.0000;70.5000 --5.0000;71.0000 --5.0000;71.5000 --5.0000;72.0000 --5.0000;72.5000 --5.0000;73.0000 --5.0000;73.5000 --5.0000;74.0000 --5.0000;74.5000 --5.0000;75.0000 --5.0000;75.5000 --5.0000;76.0000 --5.0000;76.5000 --5.0000;77.0000 --5.0000;77.5000 --5.0000;78.0000 --5.0000;78.5000 --5.0000;79.0000 --5.0000;79.5000 --5.0000;80.0000 --5.0000;80.5000 --5.0000;81.0000 --5.0000;81.5000 --5.0000;82.0000 --5.0000;82.5000 --5.0000;83.0000 --5.0000;83.5000 --5.0000;84.0000 --5.0000;84.5000 --5.0000;85.0000 --5.0000;85.5000 --5.0000;86.0000 --5.0000;86.5000 --5.0000;87.0000 --5.0000;87.5000 --5.0000;88.0000 --5.0000;88.5000 --5.0000;89.0000 --5.0000;89.5000 --5.0000;90.0000 --5.0000;90.5000 --5.0000;91.0000 --5.0000;91.5000 --5.0000;92.0000 --5.0000;92.5000 --5.0000;93.0000 --5.0000;93.5000 --5.0000;94.0000 --5.0000;94.5000 --5.0000;95.0000 --5.0000;95.5000 --5.0000;96.0000 --5.0000;96.5000 --5.0000;97.0000 --5.0000;97.5000 --5.0000;98.0000 --5.0000;98.5000 --5.0000;99.0000 --5.0000;99.5000 --5.0000;100.0000 --5.0000;100.5000 --5.0000;101.0000 --5.0000;101.5000 --5.0000;102.0000 --5.0000;102.5000 --5.0000;103.0000 --5.0000;103.5000 --5.0000;104.0000 --5.0000;104.5000 --5.0000;105.0000 --5.0000;105.5000 --5.0000;106.0000 --5.0000;106.5000 --4.5000;-24.0000 --4.5000;-23.5000 --4.5000;-23.0000 --4.5000;-22.5000 --4.5000;-22.0000 --4.5000;-21.5000 --4.5000;-21.0000 --4.5000;-20.5000 --4.5000;-20.0000 --4.5000;-19.5000 --4.5000;-19.0000 --4.5000;-18.5000 --4.5000;-18.0000 --4.5000;-17.5000 --4.5000;-17.0000 --4.5000;-16.5000 --4.5000;-16.0000 --4.5000;-15.5000 --4.5000;-15.0000 --4.5000;-14.5000 --4.5000;-14.0000 --4.5000;-13.5000 --4.5000;-13.0000 --4.5000;-12.5000 --4.5000;-12.0000 --4.5000;-11.5000 --4.5000;-11.0000 --4.5000;-10.5000 --4.5000;-10.0000 --4.5000;-9.5000 --4.5000;-9.0000 --4.5000;-8.5000 --4.5000;-8.0000 --4.5000;-7.5000 --4.5000;-7.0000 --4.5000;-6.5000 --4.5000;-6.0000 --4.5000;-5.5000 --4.5000;-5.0000 --4.5000;-4.5000 --4.5000;-4.0000 --4.5000;-3.5000 --4.5000;-3.0000 --4.5000;-2.5000 --4.5000;-2.0000 --4.5000;-1.5000 --4.5000;-1.0000 --4.5000;-0.5000 --4.5000;0.0000 --4.5000;0.5000 --4.5000;1.0000 --4.5000;1.5000 --4.5000;2.0000 --4.5000;2.5000 --4.5000;3.0000 --4.5000;3.5000 --4.5000;4.0000 --4.5000;4.5000 --4.5000;5.0000 --4.5000;5.5000 --4.5000;6.0000 --4.5000;6.5000 --4.5000;7.0000 --4.5000;7.5000 --4.5000;8.0000 --4.5000;8.5000 --4.5000;9.0000 --4.5000;9.5000 --4.5000;10.0000 --4.5000;10.5000 --4.5000;11.0000 --4.5000;11.5000 --4.5000;12.0000 --4.5000;12.5000 --4.5000;13.0000 --4.5000;13.5000 --4.5000;14.0000 --4.5000;14.5000 --4.5000;15.0000 --4.5000;15.5000 --4.5000;16.0000 --4.5000;16.5000 --4.5000;17.0000 --4.5000;17.5000 --4.5000;18.0000 --4.5000;18.5000 --4.5000;19.0000 --4.5000;19.5000 --4.5000;20.0000 --4.5000;20.5000 --4.5000;21.0000 --4.5000;21.5000 --4.5000;22.0000 --4.5000;22.5000 --4.5000;23.0000 --4.5000;23.5000 --4.5000;24.0000 --4.5000;24.5000 --4.5000;25.0000 --4.5000;25.5000 --4.5000;26.0000 --4.5000;26.5000 --4.5000;27.0000 --4.5000;27.5000 --4.5000;28.0000 --4.5000;28.5000 --4.5000;29.0000 --4.5000;29.5000 --4.5000;30.0000 --4.5000;30.5000 --4.5000;31.0000 --4.5000;31.5000 --4.5000;32.0000 --4.5000;32.5000 --4.5000;33.0000 --4.5000;33.5000 --4.5000;34.0000 --4.5000;34.5000 --4.5000;35.0000 --4.5000;35.5000 --4.5000;36.0000 --4.5000;36.5000 --4.5000;37.0000 --4.5000;37.5000 --4.5000;38.0000 --4.5000;38.5000 --4.5000;39.0000 --4.5000;39.5000 --4.5000;40.0000 --4.5000;40.5000 --4.5000;41.0000 --4.5000;41.5000 --4.5000;42.0000 --4.5000;42.5000 --4.5000;43.0000 --4.5000;43.5000 --4.5000;44.0000 --4.5000;44.5000 --4.5000;45.0000 --4.5000;45.5000 --4.5000;46.0000 --4.5000;46.5000 --4.5000;47.0000 --4.5000;47.5000 --4.5000;48.0000 --4.5000;48.5000 --4.5000;49.0000 --4.5000;49.5000 --4.5000;50.0000 --4.5000;50.5000 --4.5000;51.0000 --4.5000;51.5000 --4.5000;52.0000 --4.5000;52.5000 --4.5000;53.0000 --4.5000;53.5000 --4.5000;54.0000 --4.5000;54.5000 --4.5000;55.0000 --4.5000;55.5000 --4.5000;56.0000 --4.5000;56.5000 --4.5000;57.0000 --4.5000;57.5000 --4.5000;58.0000 --4.5000;58.5000 --4.5000;59.0000 --4.5000;59.5000 --4.5000;60.0000 --4.5000;60.5000 --4.5000;61.0000 --4.5000;61.5000 --4.5000;62.0000 --4.5000;62.5000 --4.5000;63.0000 --4.5000;63.5000 --4.5000;64.0000 --4.5000;64.5000 --4.5000;65.0000 --4.5000;65.5000 --4.5000;66.0000 --4.5000;66.5000 --4.5000;67.0000 --4.5000;67.5000 --4.5000;68.0000 --4.5000;68.5000 --4.5000;69.0000 --4.5000;69.5000 --4.5000;70.0000 --4.5000;70.5000 --4.5000;71.0000 --4.5000;71.5000 --4.5000;72.0000 --4.5000;72.5000 --4.5000;73.0000 --4.5000;73.5000 --4.5000;74.0000 --4.5000;74.5000 --4.5000;75.0000 --4.5000;75.5000 --4.5000;76.0000 --4.5000;76.5000 --4.5000;77.0000 --4.5000;77.5000 --4.5000;78.0000 --4.5000;78.5000 --4.5000;79.0000 --4.5000;79.5000 --4.5000;80.0000 --4.5000;80.5000 --4.5000;81.0000 --4.5000;81.5000 --4.5000;82.0000 --4.5000;82.5000 --4.5000;83.0000 --4.5000;83.5000 --4.5000;84.0000 --4.5000;84.5000 --4.5000;85.0000 --4.5000;85.5000 --4.5000;86.0000 --4.5000;86.5000 --4.5000;87.0000 --4.5000;87.5000 --4.5000;88.0000 --4.5000;88.5000 --4.5000;89.0000 --4.5000;89.5000 --4.5000;90.0000 --4.5000;90.5000 --4.5000;91.0000 --4.5000;91.5000 --4.5000;92.0000 --4.5000;92.5000 --4.5000;93.0000 --4.5000;93.5000 --4.5000;94.0000 --4.5000;94.5000 --4.5000;95.0000 --4.5000;95.5000 --4.5000;96.0000 --4.5000;96.5000 --4.5000;97.0000 --4.5000;97.5000 --4.5000;98.0000 --4.5000;98.5000 --4.5000;99.0000 --4.5000;99.5000 --4.5000;100.0000 --4.5000;100.5000 --4.5000;101.0000 --4.5000;101.5000 --4.5000;102.0000 --4.5000;102.5000 --4.5000;103.0000 --4.5000;103.5000 --4.5000;104.0000 --4.5000;104.5000 --4.5000;105.0000 --4.5000;105.5000 --4.5000;106.0000 --4.0000;-23.5000 --4.0000;-23.0000 --4.0000;-22.5000 --4.0000;-22.0000 --4.0000;-21.5000 --4.0000;-21.0000 --4.0000;-20.5000 --4.0000;-20.0000 --4.0000;-19.5000 --4.0000;-19.0000 --4.0000;-18.5000 --4.0000;-18.0000 --4.0000;-17.5000 --4.0000;-17.0000 --4.0000;-16.5000 --4.0000;-16.0000 --4.0000;-15.5000 --4.0000;-15.0000 --4.0000;-14.5000 --4.0000;-14.0000 --4.0000;-13.5000 --4.0000;-13.0000 --4.0000;-12.5000 --4.0000;-12.0000 --4.0000;-11.5000 --4.0000;-11.0000 --4.0000;-10.5000 --4.0000;-10.0000 --4.0000;-9.5000 --4.0000;-9.0000 --4.0000;-8.5000 --4.0000;-8.0000 --4.0000;-7.5000 --4.0000;-7.0000 --4.0000;-6.5000 --4.0000;-6.0000 --4.0000;-5.5000 --4.0000;-5.0000 --4.0000;-4.5000 --4.0000;-4.0000 --4.0000;-3.5000 --4.0000;-3.0000 --4.0000;-2.5000 --4.0000;-2.0000 --4.0000;-1.5000 --4.0000;-1.0000 --4.0000;-0.5000 --4.0000;0.0000 --4.0000;0.5000 --4.0000;1.0000 --4.0000;1.5000 --4.0000;2.0000 --4.0000;2.5000 --4.0000;3.0000 --4.0000;3.5000 --4.0000;4.0000 --4.0000;4.5000 --4.0000;5.0000 --4.0000;5.5000 --4.0000;6.0000 --4.0000;6.5000 --4.0000;7.0000 --4.0000;7.5000 --4.0000;8.0000 --4.0000;8.5000 --4.0000;9.0000 --4.0000;9.5000 --4.0000;10.0000 --4.0000;10.5000 --4.0000;11.0000 --4.0000;11.5000 --4.0000;12.0000 --4.0000;12.5000 --4.0000;13.0000 --4.0000;13.5000 --4.0000;14.0000 --4.0000;14.5000 --4.0000;15.0000 --4.0000;15.5000 --4.0000;16.0000 --4.0000;16.5000 --4.0000;17.0000 --4.0000;17.5000 --4.0000;18.0000 --4.0000;18.5000 --4.0000;19.0000 --4.0000;19.5000 --4.0000;20.0000 --4.0000;20.5000 --4.0000;21.0000 --4.0000;21.5000 --4.0000;22.0000 --4.0000;22.5000 --4.0000;23.0000 --4.0000;23.5000 --4.0000;24.0000 --4.0000;24.5000 --4.0000;25.0000 --4.0000;25.5000 --4.0000;26.0000 --4.0000;26.5000 --4.0000;27.0000 --4.0000;27.5000 --4.0000;28.0000 --4.0000;28.5000 --4.0000;29.0000 --4.0000;29.5000 --4.0000;30.0000 --4.0000;30.5000 --4.0000;31.0000 --4.0000;31.5000 --4.0000;32.0000 --4.0000;32.5000 --4.0000;33.0000 --4.0000;33.5000 --4.0000;34.0000 --4.0000;34.5000 --4.0000;35.0000 --4.0000;35.5000 --4.0000;36.0000 --4.0000;36.5000 --4.0000;37.0000 --4.0000;37.5000 --4.0000;38.0000 --4.0000;38.5000 --4.0000;39.0000 --4.0000;39.5000 --4.0000;40.0000 --4.0000;40.5000 --4.0000;41.0000 --4.0000;41.5000 --4.0000;42.0000 --4.0000;42.5000 --4.0000;43.0000 --4.0000;43.5000 --4.0000;44.0000 --4.0000;44.5000 --4.0000;45.0000 --4.0000;45.5000 --4.0000;46.0000 --4.0000;46.5000 --4.0000;47.0000 --4.0000;47.5000 --4.0000;48.0000 --4.0000;48.5000 --4.0000;49.0000 --4.0000;49.5000 --4.0000;50.0000 --4.0000;50.5000 --4.0000;51.0000 --4.0000;51.5000 --4.0000;52.0000 --4.0000;52.5000 --4.0000;53.0000 --4.0000;53.5000 --4.0000;54.0000 --4.0000;54.5000 --4.0000;55.0000 --4.0000;55.5000 --4.0000;56.0000 --4.0000;56.5000 --4.0000;57.0000 --4.0000;57.5000 --4.0000;58.0000 --4.0000;58.5000 --4.0000;59.0000 --4.0000;59.5000 --4.0000;60.0000 --4.0000;60.5000 --4.0000;61.0000 --4.0000;61.5000 --4.0000;62.0000 --4.0000;62.5000 --4.0000;63.0000 --4.0000;63.5000 --4.0000;64.0000 --4.0000;64.5000 --4.0000;65.0000 --4.0000;65.5000 --4.0000;66.0000 --4.0000;66.5000 --4.0000;67.0000 --4.0000;67.5000 --4.0000;68.0000 --4.0000;68.5000 --4.0000;69.0000 --4.0000;69.5000 --4.0000;70.0000 --4.0000;70.5000 --4.0000;71.0000 --4.0000;71.5000 --4.0000;72.0000 --4.0000;72.5000 --4.0000;73.0000 --4.0000;73.5000 --4.0000;74.0000 --4.0000;74.5000 --4.0000;75.0000 --4.0000;75.5000 --4.0000;76.0000 --4.0000;76.5000 --4.0000;77.0000 --4.0000;77.5000 --4.0000;78.0000 --4.0000;78.5000 --4.0000;79.0000 --4.0000;79.5000 --4.0000;80.0000 --4.0000;80.5000 --4.0000;81.0000 --4.0000;81.5000 --4.0000;82.0000 --4.0000;82.5000 --4.0000;83.0000 --4.0000;83.5000 --4.0000;84.0000 --4.0000;84.5000 --4.0000;85.0000 --4.0000;85.5000 --4.0000;86.0000 --4.0000;86.5000 --4.0000;87.0000 --4.0000;87.5000 --4.0000;88.0000 --4.0000;88.5000 --4.0000;89.0000 --4.0000;89.5000 --4.0000;90.0000 --4.0000;90.5000 --4.0000;91.0000 --4.0000;91.5000 --4.0000;92.0000 --4.0000;92.5000 --4.0000;93.0000 --4.0000;93.5000 --4.0000;94.0000 --4.0000;94.5000 --4.0000;95.0000 --4.0000;95.5000 --4.0000;96.0000 --4.0000;96.5000 --4.0000;97.0000 --4.0000;97.5000 --4.0000;98.0000 --4.0000;98.5000 --4.0000;99.0000 --4.0000;99.5000 --4.0000;100.0000 --4.0000;100.5000 --4.0000;101.0000 --4.0000;101.5000 --4.0000;102.0000 --4.0000;102.5000 --4.0000;103.0000 --4.0000;103.5000 --4.0000;104.0000 --4.0000;104.5000 --4.0000;105.0000 --4.0000;105.5000 --4.0000;106.0000 --3.5000;-23.0000 --3.5000;-22.5000 --3.5000;-22.0000 --3.5000;-21.5000 --3.5000;-21.0000 --3.5000;-20.5000 --3.5000;-20.0000 --3.5000;-19.5000 --3.5000;-19.0000 --3.5000;-18.5000 --3.5000;-18.0000 --3.5000;-17.5000 --3.5000;-17.0000 --3.5000;-16.5000 --3.5000;-16.0000 --3.5000;-15.5000 --3.5000;-15.0000 --3.5000;-14.5000 --3.5000;-14.0000 --3.5000;-13.5000 --3.5000;-13.0000 --3.5000;-12.5000 --3.5000;-12.0000 --3.5000;-11.5000 --3.5000;-11.0000 --3.5000;-10.5000 --3.5000;-10.0000 --3.5000;-9.5000 --3.5000;-9.0000 --3.5000;-8.5000 --3.5000;-8.0000 --3.5000;-7.5000 --3.5000;-7.0000 --3.5000;-6.5000 --3.5000;-6.0000 --3.5000;-5.5000 --3.5000;-5.0000 --3.5000;-4.5000 --3.5000;-4.0000 --3.5000;-3.5000 --3.5000;-3.0000 --3.5000;-2.5000 --3.5000;-2.0000 --3.5000;-1.5000 --3.5000;-1.0000 --3.5000;-0.5000 --3.5000;0.0000 --3.5000;0.5000 --3.5000;1.0000 --3.5000;1.5000 --3.5000;2.0000 --3.5000;2.5000 --3.5000;3.0000 --3.5000;3.5000 --3.5000;4.0000 --3.5000;4.5000 --3.5000;5.0000 --3.5000;5.5000 --3.5000;6.0000 --3.5000;6.5000 --3.5000;7.0000 --3.5000;7.5000 --3.5000;8.0000 --3.5000;8.5000 --3.5000;9.0000 --3.5000;9.5000 --3.5000;10.0000 --3.5000;10.5000 --3.5000;11.0000 --3.5000;11.5000 --3.5000;12.0000 --3.5000;12.5000 --3.5000;13.0000 --3.5000;13.5000 --3.5000;14.0000 --3.5000;14.5000 --3.5000;15.0000 --3.5000;15.5000 --3.5000;16.0000 --3.5000;16.5000 --3.5000;17.0000 --3.5000;17.5000 --3.5000;18.0000 --3.5000;18.5000 --3.5000;19.0000 --3.5000;19.5000 --3.5000;20.0000 --3.5000;20.5000 --3.5000;21.0000 --3.5000;21.5000 --3.5000;22.0000 --3.5000;22.5000 --3.5000;23.0000 --3.5000;23.5000 --3.5000;24.0000 --3.5000;24.5000 --3.5000;25.0000 --3.5000;25.5000 --3.5000;26.0000 --3.5000;26.5000 --3.5000;27.0000 --3.5000;27.5000 --3.5000;28.0000 --3.5000;28.5000 --3.5000;29.0000 --3.5000;29.5000 --3.5000;30.0000 --3.5000;30.5000 --3.5000;31.0000 --3.5000;31.5000 --3.5000;32.0000 --3.5000;32.5000 --3.5000;33.0000 --3.5000;33.5000 --3.5000;34.0000 --3.5000;34.5000 --3.5000;35.0000 --3.5000;35.5000 --3.5000;36.0000 --3.5000;36.5000 --3.5000;37.0000 --3.5000;37.5000 --3.5000;38.0000 --3.5000;38.5000 --3.5000;39.0000 --3.5000;39.5000 --3.5000;40.0000 --3.5000;40.5000 --3.5000;41.0000 --3.5000;41.5000 --3.5000;42.0000 --3.5000;42.5000 --3.5000;43.0000 --3.5000;43.5000 --3.5000;44.0000 --3.5000;44.5000 --3.5000;45.0000 --3.5000;45.5000 --3.5000;46.0000 --3.5000;46.5000 --3.5000;47.0000 --3.5000;47.5000 --3.5000;48.0000 --3.5000;48.5000 --3.5000;49.0000 --3.5000;49.5000 --3.5000;50.0000 --3.5000;50.5000 --3.5000;51.0000 --3.5000;51.5000 --3.5000;52.0000 --3.5000;52.5000 --3.5000;53.0000 --3.5000;53.5000 --3.5000;54.0000 --3.5000;54.5000 --3.5000;55.0000 --3.5000;55.5000 --3.5000;56.0000 --3.5000;56.5000 --3.5000;57.0000 --3.5000;57.5000 --3.5000;58.0000 --3.5000;58.5000 --3.5000;59.0000 --3.5000;59.5000 --3.5000;60.0000 --3.5000;60.5000 --3.5000;61.0000 --3.5000;61.5000 --3.5000;62.0000 --3.5000;62.5000 --3.5000;63.0000 --3.5000;63.5000 --3.5000;64.0000 --3.5000;64.5000 --3.5000;65.0000 --3.5000;65.5000 --3.5000;66.0000 --3.5000;66.5000 --3.5000;67.0000 --3.5000;67.5000 --3.5000;68.0000 --3.5000;68.5000 --3.5000;69.0000 --3.5000;69.5000 --3.5000;70.0000 --3.5000;70.5000 --3.5000;71.0000 --3.5000;71.5000 --3.5000;72.0000 --3.5000;72.5000 --3.5000;73.0000 --3.5000;73.5000 --3.5000;74.0000 --3.5000;74.5000 --3.5000;75.0000 --3.5000;75.5000 --3.5000;76.0000 --3.5000;76.5000 --3.5000;77.0000 --3.5000;77.5000 --3.5000;78.0000 --3.5000;78.5000 --3.5000;79.0000 --3.5000;79.5000 --3.5000;80.0000 --3.5000;80.5000 --3.5000;81.0000 --3.5000;81.5000 --3.5000;82.0000 --3.5000;82.5000 --3.5000;83.0000 --3.5000;83.5000 --3.5000;84.0000 --3.5000;84.5000 --3.5000;85.0000 --3.5000;85.5000 --3.5000;86.0000 --3.5000;86.5000 --3.5000;87.0000 --3.5000;87.5000 --3.5000;88.0000 --3.5000;88.5000 --3.5000;89.0000 --3.5000;89.5000 --3.5000;90.0000 --3.5000;90.5000 --3.5000;91.0000 --3.5000;91.5000 --3.5000;92.0000 --3.5000;92.5000 --3.5000;93.0000 --3.5000;93.5000 --3.5000;94.0000 --3.5000;94.5000 --3.5000;95.0000 --3.5000;95.5000 --3.5000;96.0000 --3.5000;96.5000 --3.5000;97.0000 --3.5000;97.5000 --3.5000;98.0000 --3.5000;98.5000 --3.5000;99.0000 --3.5000;99.5000 --3.5000;100.0000 --3.5000;100.5000 --3.5000;101.0000 --3.5000;101.5000 --3.5000;102.0000 --3.5000;102.5000 --3.5000;103.0000 --3.5000;103.5000 --3.5000;104.0000 --3.5000;104.5000 --3.5000;105.0000 --3.5000;105.5000 --3.0000;-22.0000 --3.0000;-21.5000 --3.0000;-21.0000 --3.0000;-20.5000 --3.0000;-20.0000 --3.0000;-19.5000 --3.0000;-19.0000 --3.0000;-18.5000 --3.0000;-18.0000 --3.0000;-17.5000 --3.0000;-17.0000 --3.0000;-16.5000 --3.0000;-16.0000 --3.0000;-15.5000 --3.0000;-15.0000 --3.0000;-14.5000 --3.0000;-14.0000 --3.0000;-13.5000 --3.0000;-13.0000 --3.0000;-12.5000 --3.0000;-12.0000 --3.0000;-11.5000 --3.0000;-11.0000 --3.0000;-10.5000 --3.0000;-10.0000 --3.0000;-9.5000 --3.0000;-9.0000 --3.0000;-8.5000 --3.0000;-8.0000 --3.0000;-7.5000 --3.0000;-7.0000 --3.0000;-6.5000 --3.0000;-6.0000 --3.0000;-5.5000 --3.0000;-5.0000 --3.0000;-4.5000 --3.0000;-4.0000 --3.0000;-3.5000 --3.0000;-3.0000 --3.0000;-2.5000 --3.0000;-2.0000 --3.0000;-1.5000 --3.0000;-1.0000 --3.0000;-0.5000 --3.0000;0.0000 --3.0000;0.5000 --3.0000;1.0000 --3.0000;1.5000 --3.0000;2.0000 --3.0000;2.5000 --3.0000;3.0000 --3.0000;3.5000 --3.0000;4.0000 --3.0000;4.5000 --3.0000;5.0000 --3.0000;5.5000 --3.0000;6.0000 --3.0000;6.5000 --3.0000;7.0000 --3.0000;7.5000 --3.0000;8.0000 --3.0000;8.5000 --3.0000;9.0000 --3.0000;9.5000 --3.0000;10.0000 --3.0000;10.5000 --3.0000;11.0000 --3.0000;11.5000 --3.0000;12.0000 --3.0000;12.5000 --3.0000;13.0000 --3.0000;13.5000 --3.0000;14.0000 --3.0000;14.5000 --3.0000;15.0000 --3.0000;15.5000 --3.0000;16.0000 --3.0000;16.5000 --3.0000;17.0000 --3.0000;17.5000 --3.0000;18.0000 --3.0000;18.5000 --3.0000;19.0000 --3.0000;19.5000 --3.0000;20.0000 --3.0000;20.5000 --3.0000;21.0000 --3.0000;21.5000 --3.0000;22.0000 --3.0000;22.5000 --3.0000;23.0000 --3.0000;23.5000 --3.0000;24.0000 --3.0000;24.5000 --3.0000;25.0000 --3.0000;25.5000 --3.0000;26.0000 --3.0000;26.5000 --3.0000;27.0000 --3.0000;27.5000 --3.0000;28.0000 --3.0000;28.5000 --3.0000;29.0000 --3.0000;29.5000 --3.0000;30.0000 --3.0000;30.5000 --3.0000;31.0000 --3.0000;31.5000 --3.0000;32.0000 --3.0000;32.5000 --3.0000;33.0000 --3.0000;33.5000 --3.0000;34.0000 --3.0000;34.5000 --3.0000;35.0000 --3.0000;35.5000 --3.0000;36.0000 --3.0000;36.5000 --3.0000;37.0000 --3.0000;37.5000 --3.0000;38.0000 --3.0000;38.5000 --3.0000;39.0000 --3.0000;39.5000 --3.0000;40.0000 --3.0000;40.5000 --3.0000;41.0000 --3.0000;41.5000 --3.0000;42.0000 --3.0000;42.5000 --3.0000;43.0000 --3.0000;43.5000 --3.0000;44.0000 --3.0000;44.5000 --3.0000;45.0000 --3.0000;45.5000 --3.0000;46.0000 --3.0000;46.5000 --3.0000;47.0000 --3.0000;47.5000 --3.0000;48.0000 --3.0000;48.5000 --3.0000;49.0000 --3.0000;49.5000 --3.0000;50.0000 --3.0000;50.5000 --3.0000;51.0000 --3.0000;51.5000 --3.0000;52.0000 --3.0000;52.5000 --3.0000;53.0000 --3.0000;53.5000 --3.0000;54.0000 --3.0000;54.5000 --3.0000;55.0000 --3.0000;55.5000 --3.0000;56.0000 --3.0000;56.5000 --3.0000;57.0000 --3.0000;57.5000 --3.0000;58.0000 --3.0000;58.5000 --3.0000;59.0000 --3.0000;59.5000 --3.0000;60.0000 --3.0000;60.5000 --3.0000;61.0000 --3.0000;61.5000 --3.0000;62.0000 --3.0000;62.5000 --3.0000;63.0000 --3.0000;63.5000 --3.0000;64.0000 --3.0000;64.5000 --3.0000;65.0000 --3.0000;65.5000 --3.0000;66.0000 --3.0000;66.5000 --3.0000;67.0000 --3.0000;67.5000 --3.0000;68.0000 --3.0000;68.5000 --3.0000;69.0000 --3.0000;69.5000 --3.0000;70.0000 --3.0000;70.5000 --3.0000;71.0000 --3.0000;71.5000 --3.0000;72.0000 --3.0000;72.5000 --3.0000;73.0000 --3.0000;73.5000 --3.0000;74.0000 --3.0000;74.5000 --3.0000;75.0000 --3.0000;75.5000 --3.0000;76.0000 --3.0000;76.5000 --3.0000;77.0000 --3.0000;77.5000 --3.0000;78.0000 --3.0000;78.5000 --3.0000;79.0000 --3.0000;79.5000 --3.0000;80.0000 --3.0000;80.5000 --3.0000;81.0000 --3.0000;81.5000 --3.0000;82.0000 --3.0000;82.5000 --3.0000;83.0000 --3.0000;83.5000 --3.0000;84.0000 --3.0000;84.5000 --3.0000;85.0000 --3.0000;85.5000 --3.0000;86.0000 --3.0000;86.5000 --3.0000;87.0000 --3.0000;87.5000 --3.0000;88.0000 --3.0000;88.5000 --3.0000;89.0000 --3.0000;89.5000 --3.0000;90.0000 --3.0000;90.5000 --3.0000;91.0000 --3.0000;91.5000 --3.0000;92.0000 --3.0000;92.5000 --3.0000;93.0000 --3.0000;93.5000 --3.0000;94.0000 --3.0000;94.5000 --3.0000;95.0000 --3.0000;95.5000 --3.0000;96.0000 --3.0000;96.5000 --3.0000;97.0000 --3.0000;97.5000 --3.0000;98.0000 --3.0000;98.5000 --3.0000;99.0000 --3.0000;99.5000 --3.0000;100.0000 --3.0000;100.5000 --3.0000;101.0000 --3.0000;101.5000 --3.0000;102.0000 --3.0000;102.5000 --3.0000;103.0000 --3.0000;103.5000 --3.0000;104.0000 --3.0000;104.5000 --3.0000;105.0000 --2.5000;-21.5000 --2.5000;-21.0000 --2.5000;-20.5000 --2.5000;-20.0000 --2.5000;-19.5000 --2.5000;-19.0000 --2.5000;-18.5000 --2.5000;-18.0000 --2.5000;-17.5000 --2.5000;-17.0000 --2.5000;-16.5000 --2.5000;-16.0000 --2.5000;-15.5000 --2.5000;-15.0000 --2.5000;-14.5000 --2.5000;-14.0000 --2.5000;-13.5000 --2.5000;-13.0000 --2.5000;-12.5000 --2.5000;-12.0000 --2.5000;-11.5000 --2.5000;-11.0000 --2.5000;-10.5000 --2.5000;-10.0000 --2.5000;-9.5000 --2.5000;-9.0000 --2.5000;-8.5000 --2.5000;-8.0000 --2.5000;-7.5000 --2.5000;-7.0000 --2.5000;-6.5000 --2.5000;-6.0000 --2.5000;-5.5000 --2.5000;-5.0000 --2.5000;-4.5000 --2.5000;-4.0000 --2.5000;-3.5000 --2.5000;-3.0000 --2.5000;-2.5000 --2.5000;-2.0000 --2.5000;-1.5000 --2.5000;-1.0000 --2.5000;-0.5000 --2.5000;0.0000 --2.5000;0.5000 --2.5000;1.0000 --2.5000;1.5000 --2.5000;2.0000 --2.5000;2.5000 --2.5000;3.0000 --2.5000;3.5000 --2.5000;4.0000 --2.5000;4.5000 --2.5000;5.0000 --2.5000;5.5000 --2.5000;6.0000 --2.5000;6.5000 --2.5000;7.0000 --2.5000;7.5000 --2.5000;8.0000 --2.5000;8.5000 --2.5000;9.0000 --2.5000;9.5000 --2.5000;10.0000 --2.5000;10.5000 --2.5000;11.0000 --2.5000;11.5000 --2.5000;12.0000 --2.5000;12.5000 --2.5000;13.0000 --2.5000;13.5000 --2.5000;14.0000 --2.5000;14.5000 --2.5000;15.0000 --2.5000;15.5000 --2.5000;16.0000 --2.5000;16.5000 --2.5000;17.0000 --2.5000;17.5000 --2.5000;18.0000 --2.5000;18.5000 --2.5000;19.0000 --2.5000;19.5000 --2.5000;20.0000 --2.5000;20.5000 --2.5000;21.0000 --2.5000;21.5000 --2.5000;22.0000 --2.5000;22.5000 --2.5000;23.0000 --2.5000;23.5000 --2.5000;24.0000 --2.5000;24.5000 --2.5000;25.0000 --2.5000;25.5000 --2.5000;26.0000 --2.5000;26.5000 --2.5000;27.0000 --2.5000;27.5000 --2.5000;28.0000 --2.5000;28.5000 --2.5000;29.0000 --2.5000;29.5000 --2.5000;30.0000 --2.5000;30.5000 --2.5000;31.0000 --2.5000;31.5000 --2.5000;32.0000 --2.5000;32.5000 --2.5000;33.0000 --2.5000;33.5000 --2.5000;34.0000 --2.5000;34.5000 --2.5000;35.0000 --2.5000;35.5000 --2.5000;36.0000 --2.5000;36.5000 --2.5000;37.0000 --2.5000;37.5000 --2.5000;38.0000 --2.5000;38.5000 --2.5000;39.0000 --2.5000;39.5000 --2.5000;40.0000 --2.5000;40.5000 --2.5000;41.0000 --2.5000;41.5000 --2.5000;42.0000 --2.5000;42.5000 --2.5000;43.0000 --2.5000;43.5000 --2.5000;44.0000 --2.5000;44.5000 --2.5000;45.0000 --2.5000;45.5000 --2.5000;46.0000 --2.5000;46.5000 --2.5000;47.0000 --2.5000;47.5000 --2.5000;48.0000 --2.5000;48.5000 --2.5000;49.0000 --2.5000;49.5000 --2.5000;50.0000 --2.5000;50.5000 --2.5000;51.0000 --2.5000;51.5000 --2.5000;52.0000 --2.5000;52.5000 --2.5000;53.0000 --2.5000;53.5000 --2.5000;54.0000 --2.5000;54.5000 --2.5000;55.0000 --2.5000;55.5000 --2.5000;56.0000 --2.5000;56.5000 --2.5000;57.0000 --2.5000;57.5000 --2.5000;58.0000 --2.5000;58.5000 --2.5000;59.0000 --2.5000;59.5000 --2.5000;60.0000 --2.5000;60.5000 --2.5000;61.0000 --2.5000;61.5000 --2.5000;62.0000 --2.5000;62.5000 --2.5000;63.0000 --2.5000;63.5000 --2.5000;64.0000 --2.5000;64.5000 --2.5000;65.0000 --2.5000;65.5000 --2.5000;66.0000 --2.5000;66.5000 --2.5000;67.0000 --2.5000;67.5000 --2.5000;68.0000 --2.5000;68.5000 --2.5000;69.0000 --2.5000;69.5000 --2.5000;70.0000 --2.5000;70.5000 --2.5000;71.0000 --2.5000;71.5000 --2.5000;72.0000 --2.5000;72.5000 --2.5000;73.0000 --2.5000;73.5000 --2.5000;74.0000 --2.5000;74.5000 --2.5000;75.0000 --2.5000;75.5000 --2.5000;76.0000 --2.5000;76.5000 --2.5000;77.0000 --2.5000;77.5000 --2.5000;78.0000 --2.5000;78.5000 --2.5000;79.0000 --2.5000;79.5000 --2.5000;80.0000 --2.5000;80.5000 --2.5000;81.0000 --2.5000;81.5000 --2.5000;82.0000 --2.5000;82.5000 --2.5000;83.0000 --2.5000;83.5000 --2.5000;84.0000 --2.5000;84.5000 --2.5000;85.0000 --2.5000;85.5000 --2.5000;86.0000 --2.5000;86.5000 --2.5000;87.0000 --2.5000;87.5000 --2.5000;88.0000 --2.5000;88.5000 --2.5000;89.0000 --2.5000;89.5000 --2.5000;90.0000 --2.5000;90.5000 --2.5000;91.0000 --2.5000;91.5000 --2.5000;92.0000 --2.5000;92.5000 --2.5000;93.0000 --2.5000;93.5000 --2.5000;94.0000 --2.5000;94.5000 --2.5000;95.0000 --2.5000;95.5000 --2.5000;96.0000 --2.5000;96.5000 --2.5000;97.0000 --2.5000;97.5000 --2.5000;98.0000 --2.5000;98.5000 --2.5000;99.0000 --2.5000;99.5000 --2.5000;100.0000 --2.5000;100.5000 --2.5000;101.0000 --2.5000;101.5000 --2.5000;102.0000 --2.5000;102.5000 --2.5000;103.0000 --2.5000;103.5000 --2.5000;104.0000 --2.5000;104.5000 --2.0000;-21.0000 --2.0000;-20.5000 --2.0000;-20.0000 --2.0000;-19.5000 --2.0000;-19.0000 --2.0000;-18.5000 --2.0000;-18.0000 --2.0000;-17.5000 --2.0000;-17.0000 --2.0000;-16.5000 --2.0000;-16.0000 --2.0000;-15.5000 --2.0000;-15.0000 --2.0000;-14.5000 --2.0000;-14.0000 --2.0000;-13.5000 --2.0000;-13.0000 --2.0000;-12.5000 --2.0000;-12.0000 --2.0000;-11.5000 --2.0000;-11.0000 --2.0000;-10.5000 --2.0000;-10.0000 --2.0000;-9.5000 --2.0000;-9.0000 --2.0000;-8.5000 --2.0000;-8.0000 --2.0000;-7.5000 --2.0000;-7.0000 --2.0000;-6.5000 --2.0000;-6.0000 --2.0000;-5.5000 --2.0000;-5.0000 --2.0000;-4.5000 --2.0000;-4.0000 --2.0000;-3.5000 --2.0000;-3.0000 --2.0000;-2.5000 --2.0000;-2.0000 --2.0000;-1.5000 --2.0000;-1.0000 --2.0000;-0.5000 --2.0000;0.0000 --2.0000;0.5000 --2.0000;1.0000 --2.0000;1.5000 --2.0000;2.0000 --2.0000;2.5000 --2.0000;3.0000 --2.0000;3.5000 --2.0000;4.0000 --2.0000;4.5000 --2.0000;5.0000 --2.0000;5.5000 --2.0000;6.0000 --2.0000;6.5000 --2.0000;7.0000 --2.0000;7.5000 --2.0000;8.0000 --2.0000;8.5000 --2.0000;9.0000 --2.0000;9.5000 --2.0000;10.0000 --2.0000;10.5000 --2.0000;11.0000 --2.0000;11.5000 --2.0000;12.0000 --2.0000;12.5000 --2.0000;13.0000 --2.0000;13.5000 --2.0000;14.0000 --2.0000;14.5000 --2.0000;15.0000 --2.0000;15.5000 --2.0000;16.0000 --2.0000;16.5000 --2.0000;17.0000 --2.0000;17.5000 --2.0000;18.0000 --2.0000;18.5000 --2.0000;19.0000 --2.0000;19.5000 --2.0000;20.0000 --2.0000;20.5000 --2.0000;21.0000 --2.0000;21.5000 --2.0000;22.0000 --2.0000;22.5000 --2.0000;23.0000 --2.0000;23.5000 --2.0000;24.0000 --2.0000;24.5000 --2.0000;25.0000 --2.0000;25.5000 --2.0000;26.0000 --2.0000;26.5000 --2.0000;27.0000 --2.0000;27.5000 --2.0000;28.0000 --2.0000;28.5000 --2.0000;29.0000 --2.0000;29.5000 --2.0000;30.0000 --2.0000;30.5000 --2.0000;31.0000 --2.0000;31.5000 --2.0000;32.0000 --2.0000;32.5000 --2.0000;33.0000 --2.0000;33.5000 --2.0000;34.0000 --2.0000;34.5000 --2.0000;35.0000 --2.0000;35.5000 --2.0000;36.0000 --2.0000;36.5000 --2.0000;37.0000 --2.0000;37.5000 --2.0000;38.0000 --2.0000;38.5000 --2.0000;39.0000 --2.0000;39.5000 --2.0000;40.0000 --2.0000;40.5000 --2.0000;41.0000 --2.0000;41.5000 --2.0000;42.0000 --2.0000;42.5000 --2.0000;43.0000 --2.0000;43.5000 --2.0000;44.0000 --2.0000;44.5000 --2.0000;45.0000 --2.0000;45.5000 --2.0000;46.0000 --2.0000;46.5000 --2.0000;47.0000 --2.0000;47.5000 --2.0000;48.0000 --2.0000;48.5000 --2.0000;49.0000 --2.0000;49.5000 --2.0000;50.0000 --2.0000;50.5000 --2.0000;51.0000 --2.0000;51.5000 --2.0000;52.0000 --2.0000;52.5000 --2.0000;53.0000 --2.0000;53.5000 --2.0000;54.0000 --2.0000;54.5000 --2.0000;55.0000 --2.0000;55.5000 --2.0000;56.0000 --2.0000;56.5000 --2.0000;57.0000 --2.0000;57.5000 --2.0000;58.0000 --2.0000;58.5000 --2.0000;59.0000 --2.0000;59.5000 --2.0000;60.0000 --2.0000;60.5000 --2.0000;61.0000 --2.0000;61.5000 --2.0000;62.0000 --2.0000;62.5000 --2.0000;63.0000 --2.0000;63.5000 --2.0000;64.0000 --2.0000;64.5000 --2.0000;65.0000 --2.0000;65.5000 --2.0000;66.0000 --2.0000;66.5000 --2.0000;67.0000 --2.0000;67.5000 --2.0000;68.0000 --2.0000;68.5000 --2.0000;69.0000 --2.0000;69.5000 --2.0000;70.0000 --2.0000;70.5000 --2.0000;71.0000 --2.0000;71.5000 --2.0000;72.0000 --2.0000;72.5000 --2.0000;73.0000 --2.0000;73.5000 --2.0000;74.0000 --2.0000;74.5000 --2.0000;75.0000 --2.0000;75.5000 --2.0000;76.0000 --2.0000;76.5000 --2.0000;77.0000 --2.0000;77.5000 --2.0000;78.0000 --2.0000;78.5000 --2.0000;79.0000 --2.0000;79.5000 --2.0000;80.0000 --2.0000;80.5000 --2.0000;81.0000 --2.0000;81.5000 --2.0000;82.0000 --2.0000;82.5000 --2.0000;83.0000 --2.0000;83.5000 --2.0000;84.0000 --2.0000;84.5000 --2.0000;85.0000 --2.0000;85.5000 --2.0000;86.0000 --2.0000;86.5000 --2.0000;87.0000 --2.0000;87.5000 --2.0000;88.0000 --2.0000;88.5000 --2.0000;89.0000 --2.0000;89.5000 --2.0000;90.0000 --2.0000;90.5000 --2.0000;91.0000 --2.0000;91.5000 --2.0000;92.0000 --2.0000;92.5000 --2.0000;93.0000 --2.0000;93.5000 --2.0000;94.0000 --2.0000;94.5000 --2.0000;95.0000 --2.0000;95.5000 --2.0000;96.0000 --2.0000;96.5000 --2.0000;97.0000 --2.0000;97.5000 --2.0000;98.0000 --2.0000;98.5000 --2.0000;99.0000 --2.0000;99.5000 --2.0000;100.0000 --2.0000;100.5000 --2.0000;101.0000 --2.0000;101.5000 --2.0000;102.0000 --2.0000;102.5000 --2.0000;103.0000 --2.0000;103.5000 --2.0000;104.0000 --1.5000;-20.0000 --1.5000;-19.5000 --1.5000;-19.0000 --1.5000;-18.5000 --1.5000;-18.0000 --1.5000;-17.5000 --1.5000;-17.0000 --1.5000;-16.5000 --1.5000;-16.0000 --1.5000;-15.5000 --1.5000;-15.0000 --1.5000;-14.5000 --1.5000;-14.0000 --1.5000;-13.5000 --1.5000;-13.0000 --1.5000;-12.5000 --1.5000;-12.0000 --1.5000;-11.5000 --1.5000;-11.0000 --1.5000;-10.5000 --1.5000;-10.0000 --1.5000;-9.5000 --1.5000;-9.0000 --1.5000;-8.5000 --1.5000;-8.0000 --1.5000;-7.5000 --1.5000;-7.0000 --1.5000;-6.5000 --1.5000;-6.0000 --1.5000;-5.5000 --1.5000;-5.0000 --1.5000;-4.5000 --1.5000;-4.0000 --1.5000;-3.5000 --1.5000;-3.0000 --1.5000;-2.5000 --1.5000;-2.0000 --1.5000;-1.5000 --1.5000;-1.0000 --1.5000;-0.5000 --1.5000;0.0000 --1.5000;0.5000 --1.5000;1.0000 --1.5000;1.5000 --1.5000;2.0000 --1.5000;2.5000 --1.5000;3.0000 --1.5000;3.5000 --1.5000;4.0000 --1.5000;4.5000 --1.5000;5.0000 --1.5000;5.5000 --1.5000;6.0000 --1.5000;6.5000 --1.5000;7.0000 --1.5000;7.5000 --1.5000;8.0000 --1.5000;8.5000 --1.5000;9.0000 --1.5000;9.5000 --1.5000;10.0000 --1.5000;10.5000 --1.5000;11.0000 --1.5000;11.5000 --1.5000;12.0000 --1.5000;12.5000 --1.5000;13.0000 --1.5000;13.5000 --1.5000;14.0000 --1.5000;14.5000 --1.5000;15.0000 --1.5000;15.5000 --1.5000;16.0000 --1.5000;16.5000 --1.5000;17.0000 --1.5000;17.5000 --1.5000;18.0000 --1.5000;18.5000 --1.5000;19.0000 --1.5000;19.5000 --1.5000;20.0000 --1.5000;20.5000 --1.5000;21.0000 --1.5000;21.5000 --1.5000;22.0000 --1.5000;22.5000 --1.5000;23.0000 --1.5000;23.5000 --1.5000;24.0000 --1.5000;24.5000 --1.5000;25.0000 --1.5000;25.5000 --1.5000;26.0000 --1.5000;26.5000 --1.5000;27.0000 --1.5000;27.5000 --1.5000;28.0000 --1.5000;28.5000 --1.5000;29.0000 --1.5000;29.5000 --1.5000;30.0000 --1.5000;30.5000 --1.5000;31.0000 --1.5000;31.5000 --1.5000;32.0000 --1.5000;32.5000 --1.5000;33.0000 --1.5000;33.5000 --1.5000;34.0000 --1.5000;34.5000 --1.5000;35.0000 --1.5000;35.5000 --1.5000;36.0000 --1.5000;36.5000 --1.5000;37.0000 --1.5000;37.5000 --1.5000;38.0000 --1.5000;38.5000 --1.5000;39.0000 --1.5000;39.5000 --1.5000;40.0000 --1.5000;40.5000 --1.5000;41.0000 --1.5000;41.5000 --1.5000;42.0000 --1.5000;42.5000 --1.5000;43.0000 --1.5000;43.5000 --1.5000;44.0000 --1.5000;44.5000 --1.5000;45.0000 --1.5000;45.5000 --1.5000;46.0000 --1.5000;46.5000 --1.5000;47.0000 --1.5000;47.5000 --1.5000;48.0000 --1.5000;48.5000 --1.5000;49.0000 --1.5000;49.5000 --1.5000;50.0000 --1.5000;50.5000 --1.5000;51.0000 --1.5000;51.5000 --1.5000;52.0000 --1.5000;52.5000 --1.5000;53.0000 --1.5000;53.5000 --1.5000;54.0000 --1.5000;54.5000 --1.5000;55.0000 --1.5000;55.5000 --1.5000;56.0000 --1.5000;56.5000 --1.5000;57.0000 --1.5000;57.5000 --1.5000;58.0000 --1.5000;58.5000 --1.5000;59.0000 --1.5000;59.5000 --1.5000;60.0000 --1.5000;60.5000 --1.5000;61.0000 --1.5000;61.5000 --1.5000;62.0000 --1.5000;62.5000 --1.5000;63.0000 --1.5000;63.5000 --1.5000;64.0000 --1.5000;64.5000 --1.5000;65.0000 --1.5000;65.5000 --1.5000;66.0000 --1.5000;66.5000 --1.5000;67.0000 --1.5000;67.5000 --1.5000;68.0000 --1.5000;68.5000 --1.5000;69.0000 --1.5000;69.5000 --1.5000;70.0000 --1.5000;70.5000 --1.5000;71.0000 --1.5000;71.5000 --1.5000;72.0000 --1.5000;72.5000 --1.5000;73.0000 --1.5000;73.5000 --1.5000;74.0000 --1.5000;74.5000 --1.5000;75.0000 --1.5000;75.5000 --1.5000;76.0000 --1.5000;76.5000 --1.5000;77.0000 --1.5000;77.5000 --1.5000;78.0000 --1.5000;78.5000 --1.5000;79.0000 --1.5000;79.5000 --1.5000;80.0000 --1.5000;80.5000 --1.5000;81.0000 --1.5000;81.5000 --1.5000;82.0000 --1.5000;82.5000 --1.5000;83.0000 --1.5000;83.5000 --1.5000;84.0000 --1.5000;84.5000 --1.5000;85.0000 --1.5000;85.5000 --1.5000;86.0000 --1.5000;86.5000 --1.5000;87.0000 --1.5000;87.5000 --1.5000;88.0000 --1.5000;88.5000 --1.5000;89.0000 --1.5000;89.5000 --1.5000;90.0000 --1.5000;90.5000 --1.5000;91.0000 --1.5000;91.5000 --1.5000;92.0000 --1.5000;92.5000 --1.5000;93.0000 --1.5000;93.5000 --1.5000;94.0000 --1.5000;94.5000 --1.5000;95.0000 --1.5000;95.5000 --1.5000;96.0000 --1.5000;96.5000 --1.5000;97.0000 --1.5000;97.5000 --1.5000;98.0000 --1.5000;98.5000 --1.5000;99.0000 --1.5000;99.5000 --1.5000;100.0000 --1.5000;100.5000 --1.5000;101.0000 --1.5000;101.5000 --1.5000;102.0000 --1.5000;102.5000 --1.5000;103.0000 --1.5000;103.5000 --1.0000;-19.5000 --1.0000;-19.0000 --1.0000;-18.5000 --1.0000;-18.0000 --1.0000;-17.5000 --1.0000;-17.0000 --1.0000;-16.5000 --1.0000;-16.0000 --1.0000;-15.5000 --1.0000;-15.0000 --1.0000;-14.5000 --1.0000;-14.0000 --1.0000;-13.5000 --1.0000;-13.0000 --1.0000;-12.5000 --1.0000;-12.0000 --1.0000;-11.5000 --1.0000;-11.0000 --1.0000;-10.5000 --1.0000;-10.0000 --1.0000;-9.5000 --1.0000;-9.0000 --1.0000;-8.5000 --1.0000;-8.0000 --1.0000;-7.5000 --1.0000;-7.0000 --1.0000;-6.5000 --1.0000;-6.0000 --1.0000;-5.5000 --1.0000;-5.0000 --1.0000;-4.5000 --1.0000;-4.0000 --1.0000;-3.5000 --1.0000;-3.0000 --1.0000;-2.5000 --1.0000;-2.0000 --1.0000;-1.5000 --1.0000;-1.0000 --1.0000;-0.5000 --1.0000;0.0000 --1.0000;0.5000 --1.0000;1.0000 --1.0000;1.5000 --1.0000;2.0000 --1.0000;2.5000 --1.0000;3.0000 --1.0000;3.5000 --1.0000;4.0000 --1.0000;4.5000 --1.0000;5.0000 --1.0000;5.5000 --1.0000;6.0000 --1.0000;6.5000 --1.0000;7.0000 --1.0000;7.5000 --1.0000;8.0000 --1.0000;8.5000 --1.0000;9.0000 --1.0000;9.5000 --1.0000;10.0000 --1.0000;10.5000 --1.0000;11.0000 --1.0000;11.5000 --1.0000;12.0000 --1.0000;12.5000 --1.0000;13.0000 --1.0000;13.5000 --1.0000;14.0000 --1.0000;14.5000 --1.0000;15.0000 --1.0000;15.5000 --1.0000;16.0000 --1.0000;16.5000 --1.0000;17.0000 --1.0000;17.5000 --1.0000;18.0000 --1.0000;18.5000 --1.0000;19.0000 --1.0000;19.5000 --1.0000;20.0000 --1.0000;20.5000 --1.0000;21.0000 --1.0000;21.5000 --1.0000;22.0000 --1.0000;22.5000 --1.0000;23.0000 --1.0000;23.5000 --1.0000;24.0000 --1.0000;24.5000 --1.0000;25.0000 --1.0000;25.5000 --1.0000;26.0000 --1.0000;26.5000 --1.0000;27.0000 --1.0000;27.5000 --1.0000;28.0000 --1.0000;28.5000 --1.0000;29.0000 --1.0000;29.5000 --1.0000;30.0000 --1.0000;30.5000 --1.0000;31.0000 --1.0000;31.5000 --1.0000;32.0000 --1.0000;32.5000 --1.0000;33.0000 --1.0000;33.5000 --1.0000;34.0000 --1.0000;34.5000 --1.0000;35.0000 --1.0000;35.5000 --1.0000;36.0000 --1.0000;36.5000 --1.0000;37.0000 --1.0000;37.5000 --1.0000;38.0000 --1.0000;38.5000 --1.0000;39.0000 --1.0000;39.5000 --1.0000;40.0000 --1.0000;40.5000 --1.0000;41.0000 --1.0000;41.5000 --1.0000;42.0000 --1.0000;42.5000 --1.0000;43.0000 --1.0000;43.5000 --1.0000;44.0000 --1.0000;44.5000 --1.0000;45.0000 --1.0000;45.5000 --1.0000;46.0000 --1.0000;46.5000 --1.0000;47.0000 --1.0000;47.5000 --1.0000;48.0000 --1.0000;48.5000 --1.0000;49.0000 --1.0000;49.5000 --1.0000;50.0000 --1.0000;50.5000 --1.0000;51.0000 --1.0000;51.5000 --1.0000;52.0000 --1.0000;52.5000 --1.0000;53.0000 --1.0000;53.5000 --1.0000;54.0000 --1.0000;54.5000 --1.0000;55.0000 --1.0000;55.5000 --1.0000;56.0000 --1.0000;56.5000 --1.0000;57.0000 --1.0000;57.5000 --1.0000;58.0000 --1.0000;58.5000 --1.0000;59.0000 --1.0000;59.5000 --1.0000;60.0000 --1.0000;60.5000 --1.0000;61.0000 --1.0000;61.5000 --1.0000;62.0000 --1.0000;62.5000 --1.0000;63.0000 --1.0000;63.5000 --1.0000;64.0000 --1.0000;64.5000 --1.0000;65.0000 --1.0000;65.5000 --1.0000;66.0000 --1.0000;66.5000 --1.0000;67.0000 --1.0000;67.5000 --1.0000;68.0000 --1.0000;68.5000 --1.0000;69.0000 --1.0000;69.5000 --1.0000;70.0000 --1.0000;70.5000 --1.0000;71.0000 --1.0000;71.5000 --1.0000;72.0000 --1.0000;72.5000 --1.0000;73.0000 --1.0000;73.5000 --1.0000;74.0000 --1.0000;74.5000 --1.0000;75.0000 --1.0000;75.5000 --1.0000;76.0000 --1.0000;76.5000 --1.0000;77.0000 --1.0000;77.5000 --1.0000;78.0000 --1.0000;78.5000 --1.0000;79.0000 --1.0000;79.5000 --1.0000;80.0000 --1.0000;80.5000 --1.0000;81.0000 --1.0000;81.5000 --1.0000;82.0000 --1.0000;82.5000 --1.0000;83.0000 --1.0000;83.5000 --1.0000;84.0000 --1.0000;84.5000 --1.0000;85.0000 --1.0000;85.5000 --1.0000;86.0000 --1.0000;86.5000 --1.0000;87.0000 --1.0000;87.5000 --1.0000;88.0000 --1.0000;88.5000 --1.0000;89.0000 --1.0000;89.5000 --1.0000;90.0000 --1.0000;90.5000 --1.0000;91.0000 --1.0000;91.5000 --1.0000;92.0000 --1.0000;92.5000 --1.0000;93.0000 --1.0000;93.5000 --1.0000;94.0000 --1.0000;94.5000 --1.0000;95.0000 --1.0000;95.5000 --1.0000;96.0000 --1.0000;96.5000 --1.0000;97.0000 --1.0000;97.5000 --1.0000;98.0000 --1.0000;98.5000 --1.0000;99.0000 --1.0000;99.5000 --1.0000;100.0000 --1.0000;100.5000 --1.0000;101.0000 --1.0000;101.5000 --1.0000;102.0000 --1.0000;102.5000 --1.0000;103.0000 --0.5000;-18.5000 --0.5000;-18.0000 --0.5000;-17.5000 --0.5000;-17.0000 --0.5000;-16.5000 --0.5000;-16.0000 --0.5000;-15.5000 --0.5000;-15.0000 --0.5000;-14.5000 --0.5000;-14.0000 --0.5000;-13.5000 --0.5000;-13.0000 --0.5000;-12.5000 --0.5000;-12.0000 --0.5000;-11.5000 --0.5000;-11.0000 --0.5000;-10.5000 --0.5000;-10.0000 --0.5000;-9.5000 --0.5000;-9.0000 --0.5000;-8.5000 --0.5000;-8.0000 --0.5000;-7.5000 --0.5000;-7.0000 --0.5000;-6.5000 --0.5000;-6.0000 --0.5000;-5.5000 --0.5000;-5.0000 --0.5000;-4.5000 --0.5000;-4.0000 --0.5000;-3.5000 --0.5000;-3.0000 --0.5000;-2.5000 --0.5000;-2.0000 --0.5000;-1.5000 --0.5000;-1.0000 --0.5000;-0.5000 --0.5000;0.0000 --0.5000;0.5000 --0.5000;1.0000 --0.5000;1.5000 --0.5000;2.0000 --0.5000;2.5000 --0.5000;3.0000 --0.5000;3.5000 --0.5000;4.0000 --0.5000;4.5000 --0.5000;5.0000 --0.5000;5.5000 --0.5000;6.0000 --0.5000;6.5000 --0.5000;7.0000 --0.5000;7.5000 --0.5000;8.0000 --0.5000;8.5000 --0.5000;9.0000 --0.5000;9.5000 --0.5000;10.0000 --0.5000;10.5000 --0.5000;11.0000 --0.5000;11.5000 --0.5000;12.0000 --0.5000;12.5000 --0.5000;13.0000 --0.5000;13.5000 --0.5000;14.0000 --0.5000;14.5000 --0.5000;15.0000 --0.5000;15.5000 --0.5000;16.0000 --0.5000;16.5000 --0.5000;17.0000 --0.5000;17.5000 --0.5000;18.0000 --0.5000;18.5000 --0.5000;19.0000 --0.5000;19.5000 --0.5000;20.0000 --0.5000;20.5000 --0.5000;21.0000 --0.5000;21.5000 --0.5000;22.0000 --0.5000;22.5000 --0.5000;23.0000 --0.5000;23.5000 --0.5000;24.0000 --0.5000;24.5000 --0.5000;25.0000 --0.5000;25.5000 --0.5000;26.0000 --0.5000;26.5000 --0.5000;27.0000 --0.5000;27.5000 --0.5000;28.0000 --0.5000;28.5000 --0.5000;29.0000 --0.5000;29.5000 --0.5000;30.0000 --0.5000;30.5000 --0.5000;31.0000 --0.5000;31.5000 --0.5000;32.0000 --0.5000;32.5000 --0.5000;33.0000 --0.5000;33.5000 --0.5000;34.0000 --0.5000;34.5000 --0.5000;35.0000 --0.5000;35.5000 --0.5000;36.0000 --0.5000;36.5000 --0.5000;37.0000 --0.5000;37.5000 --0.5000;38.0000 --0.5000;38.5000 --0.5000;39.0000 --0.5000;39.5000 --0.5000;40.0000 --0.5000;40.5000 --0.5000;41.0000 --0.5000;41.5000 --0.5000;42.0000 --0.5000;42.5000 --0.5000;43.0000 --0.5000;43.5000 --0.5000;44.0000 --0.5000;44.5000 --0.5000;45.0000 --0.5000;45.5000 --0.5000;46.0000 --0.5000;46.5000 --0.5000;47.0000 --0.5000;47.5000 --0.5000;48.0000 --0.5000;48.5000 --0.5000;49.0000 --0.5000;49.5000 --0.5000;50.0000 --0.5000;50.5000 --0.5000;51.0000 --0.5000;51.5000 --0.5000;52.0000 --0.5000;52.5000 --0.5000;53.0000 --0.5000;53.5000 --0.5000;54.0000 --0.5000;54.5000 --0.5000;55.0000 --0.5000;55.5000 --0.5000;56.0000 --0.5000;56.5000 --0.5000;57.0000 --0.5000;57.5000 --0.5000;58.0000 --0.5000;58.5000 --0.5000;59.0000 --0.5000;59.5000 --0.5000;60.0000 --0.5000;60.5000 --0.5000;61.0000 --0.5000;61.5000 --0.5000;62.0000 --0.5000;62.5000 --0.5000;63.0000 --0.5000;63.5000 --0.5000;64.0000 --0.5000;64.5000 --0.5000;65.0000 --0.5000;65.5000 --0.5000;66.0000 --0.5000;66.5000 --0.5000;67.0000 --0.5000;67.5000 --0.5000;68.0000 --0.5000;68.5000 --0.5000;69.0000 --0.5000;69.5000 --0.5000;70.0000 --0.5000;70.5000 --0.5000;71.0000 --0.5000;71.5000 --0.5000;72.0000 --0.5000;72.5000 --0.5000;73.0000 --0.5000;73.5000 --0.5000;74.0000 --0.5000;74.5000 --0.5000;75.0000 --0.5000;75.5000 --0.5000;76.0000 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--310.0000;-182.0000 --310.0000;-181.5000 --310.0000;-181.0000 --310.0000;-180.5000 --310.0000;-180.0000 --310.0000;-179.5000 --310.0000;-179.0000 --310.0000;-178.5000 --310.0000;-178.0000 --310.0000;-177.5000 --310.0000;-177.0000 --310.0000;-176.5000 --310.0000;-176.0000 --310.0000;-175.5000 --310.0000;-175.0000 --310.0000;-174.5000 --310.0000;-174.0000 --310.0000;-173.5000 --310.0000;-173.0000 --310.0000;-172.5000 --309.5000;-195.5000 --309.5000;-195.0000 --309.5000;-194.5000 --309.5000;-194.0000 --309.5000;-193.5000 --309.5000;-193.0000 --309.5000;-192.5000 --309.5000;-192.0000 --309.5000;-191.5000 --309.5000;-191.0000 --309.5000;-190.5000 --309.5000;-190.0000 --309.5000;-189.5000 --309.5000;-189.0000 --309.5000;-188.5000 --309.5000;-188.0000 --309.5000;-187.5000 --309.5000;-187.0000 --309.5000;-186.5000 --309.5000;-186.0000 --309.5000;-185.5000 --309.5000;-185.0000 --309.5000;-184.5000 --309.5000;-184.0000 --309.5000;-183.5000 --309.5000;-183.0000 --309.5000;-182.5000 --309.5000;-182.0000 --309.5000;-181.5000 --309.5000;-181.0000 --309.5000;-180.5000 --309.5000;-180.0000 --309.5000;-179.5000 --309.5000;-179.0000 --309.5000;-178.5000 --309.5000;-178.0000 --309.5000;-177.5000 --309.5000;-177.0000 --309.5000;-176.5000 --309.5000;-176.0000 --309.5000;-175.5000 --309.5000;-175.0000 --309.5000;-174.5000 --309.5000;-174.0000 --309.5000;-173.5000 --309.5000;-173.0000 --309.5000;-172.5000 --309.5000;-172.0000 --309.5000;-171.5000 --309.5000;-171.0000 --309.0000;-196.5000 --309.0000;-196.0000 --309.0000;-195.5000 --309.0000;-195.0000 --309.0000;-194.5000 --309.0000;-194.0000 --309.0000;-193.5000 --309.0000;-193.0000 --309.0000;-192.5000 --309.0000;-192.0000 --309.0000;-191.5000 --309.0000;-191.0000 --309.0000;-190.5000 --309.0000;-190.0000 --309.0000;-189.5000 --309.0000;-189.0000 --309.0000;-188.5000 --309.0000;-188.0000 --309.0000;-187.5000 --309.0000;-187.0000 --309.0000;-186.5000 --309.0000;-186.0000 --309.0000;-185.5000 --309.0000;-185.0000 --309.0000;-184.5000 --309.0000;-184.0000 --309.0000;-183.5000 --309.0000;-183.0000 --309.0000;-182.5000 --309.0000;-182.0000 --309.0000;-181.5000 --309.0000;-181.0000 --309.0000;-180.5000 --309.0000;-180.0000 --309.0000;-179.5000 --309.0000;-179.0000 --309.0000;-178.5000 --309.0000;-178.0000 --309.0000;-177.5000 --309.0000;-177.0000 --309.0000;-176.5000 --309.0000;-176.0000 --309.0000;-175.5000 --309.0000;-175.0000 --309.0000;-174.5000 --309.0000;-174.0000 --309.0000;-173.5000 --309.0000;-173.0000 --309.0000;-172.5000 --309.0000;-172.0000 --309.0000;-171.5000 --309.0000;-171.0000 --309.0000;-170.5000 --309.0000;-170.0000 --308.5000;-198.0000 --308.5000;-197.5000 --308.5000;-197.0000 --308.5000;-196.5000 --308.5000;-196.0000 --308.5000;-195.5000 --308.5000;-195.0000 --308.5000;-194.5000 --308.5000;-194.0000 --308.5000;-193.5000 --308.5000;-193.0000 --308.5000;-192.5000 --308.5000;-192.0000 --308.5000;-191.5000 --308.5000;-191.0000 --308.5000;-190.5000 --308.5000;-190.0000 --308.5000;-189.5000 --308.5000;-189.0000 --308.5000;-188.5000 --308.5000;-188.0000 --308.5000;-187.5000 --308.5000;-187.0000 --308.5000;-186.5000 --308.5000;-186.0000 --308.5000;-185.5000 --308.5000;-185.0000 --308.5000;-184.5000 --308.5000;-184.0000 --308.5000;-183.5000 --308.5000;-183.0000 --308.5000;-182.5000 --308.5000;-182.0000 --308.5000;-181.5000 --308.5000;-181.0000 --308.5000;-180.5000 --308.5000;-180.0000 --308.5000;-179.5000 --308.5000;-179.0000 --308.5000;-178.5000 --308.5000;-178.0000 --308.5000;-177.5000 --308.5000;-177.0000 --308.5000;-176.5000 --308.5000;-176.0000 --308.5000;-175.5000 --308.5000;-175.0000 --308.5000;-174.5000 --308.5000;-174.0000 --308.5000;-173.5000 --308.5000;-173.0000 --308.5000;-172.5000 --308.5000;-172.0000 --308.5000;-171.5000 --308.5000;-171.0000 --308.5000;-170.5000 --308.5000;-170.0000 --308.5000;-169.5000 --308.5000;-169.0000 --308.5000;-168.5000 --308.0000;-199.0000 --308.0000;-198.5000 --308.0000;-198.0000 --308.0000;-197.5000 --308.0000;-197.0000 --308.0000;-196.5000 --308.0000;-196.0000 --308.0000;-195.5000 --308.0000;-195.0000 --308.0000;-194.5000 --308.0000;-194.0000 --308.0000;-193.5000 --308.0000;-193.0000 --308.0000;-192.5000 --308.0000;-192.0000 --308.0000;-191.5000 --308.0000;-191.0000 --308.0000;-190.5000 --308.0000;-190.0000 --308.0000;-189.5000 --308.0000;-189.0000 --308.0000;-188.5000 --308.0000;-188.0000 --308.0000;-187.5000 --308.0000;-187.0000 --308.0000;-186.5000 --308.0000;-186.0000 --308.0000;-185.5000 --308.0000;-185.0000 --308.0000;-184.5000 --308.0000;-184.0000 --308.0000;-183.5000 --308.0000;-183.0000 --308.0000;-182.5000 --308.0000;-182.0000 --308.0000;-181.5000 --308.0000;-181.0000 --308.0000;-180.5000 --308.0000;-180.0000 --308.0000;-179.5000 --308.0000;-179.0000 --308.0000;-178.5000 --308.0000;-178.0000 --308.0000;-177.5000 --308.0000;-177.0000 --308.0000;-176.5000 --308.0000;-176.0000 --308.0000;-175.5000 --308.0000;-175.0000 --308.0000;-174.5000 --308.0000;-174.0000 --308.0000;-173.5000 --308.0000;-173.0000 --308.0000;-172.5000 --308.0000;-172.0000 --308.0000;-171.5000 --308.0000;-171.0000 --308.0000;-170.5000 --308.0000;-170.0000 --308.0000;-169.5000 --308.0000;-169.0000 --308.0000;-168.5000 --308.0000;-168.0000 --308.0000;-167.5000 --307.5000;-199.5000 --307.5000;-199.0000 --307.5000;-198.5000 --307.5000;-198.0000 --307.5000;-197.5000 --307.5000;-197.0000 --307.5000;-196.5000 --307.5000;-196.0000 --307.5000;-195.5000 --307.5000;-195.0000 --307.5000;-194.5000 --307.5000;-194.0000 --307.5000;-193.5000 --307.5000;-193.0000 --307.5000;-192.5000 --307.5000;-192.0000 --307.5000;-191.5000 --307.5000;-191.0000 --307.5000;-190.5000 --307.5000;-190.0000 --307.5000;-189.5000 --307.5000;-189.0000 --307.5000;-188.5000 --307.5000;-188.0000 --307.5000;-187.5000 --307.5000;-187.0000 --307.5000;-186.5000 --307.5000;-186.0000 --307.5000;-185.5000 --307.5000;-185.0000 --307.5000;-184.5000 --307.5000;-184.0000 --307.5000;-183.5000 --307.5000;-183.0000 --307.5000;-182.5000 --307.5000;-182.0000 --307.5000;-181.5000 --307.5000;-181.0000 --307.5000;-180.5000 --307.5000;-180.0000 --307.5000;-179.5000 --307.5000;-179.0000 --307.5000;-178.5000 --307.5000;-178.0000 --307.5000;-177.5000 --307.5000;-177.0000 --307.5000;-176.5000 --307.5000;-176.0000 --307.5000;-175.5000 --307.5000;-175.0000 --307.5000;-174.5000 --307.5000;-174.0000 --307.5000;-173.5000 --307.5000;-173.0000 --307.5000;-172.5000 --307.5000;-172.0000 --307.5000;-171.5000 --307.5000;-171.0000 --307.5000;-170.5000 --307.5000;-170.0000 --307.5000;-169.5000 --307.5000;-169.0000 --307.5000;-168.5000 --307.5000;-168.0000 --307.5000;-167.5000 --307.5000;-167.0000 --307.0000;-200.5000 --307.0000;-200.0000 --307.0000;-199.5000 --307.0000;-199.0000 --307.0000;-198.5000 --307.0000;-198.0000 --307.0000;-197.5000 --307.0000;-197.0000 --307.0000;-196.5000 --307.0000;-196.0000 --307.0000;-195.5000 --307.0000;-195.0000 --307.0000;-194.5000 --307.0000;-194.0000 --307.0000;-193.5000 --307.0000;-193.0000 --307.0000;-192.5000 --307.0000;-192.0000 --307.0000;-191.5000 --307.0000;-191.0000 --307.0000;-190.5000 --307.0000;-190.0000 --307.0000;-189.5000 --307.0000;-189.0000 --307.0000;-188.5000 --307.0000;-188.0000 --307.0000;-187.5000 --307.0000;-187.0000 --307.0000;-186.5000 --307.0000;-186.0000 --307.0000;-185.5000 --307.0000;-185.0000 --307.0000;-184.5000 --307.0000;-184.0000 --307.0000;-183.5000 --307.0000;-183.0000 --307.0000;-182.5000 --307.0000;-182.0000 --307.0000;-181.5000 --307.0000;-181.0000 --307.0000;-180.5000 --307.0000;-180.0000 --307.0000;-179.5000 --307.0000;-179.0000 --307.0000;-178.5000 --307.0000;-178.0000 --307.0000;-177.5000 --307.0000;-177.0000 --307.0000;-176.5000 --307.0000;-176.0000 --307.0000;-175.5000 --307.0000;-175.0000 --307.0000;-174.5000 --307.0000;-174.0000 --307.0000;-173.5000 --307.0000;-173.0000 --307.0000;-172.5000 --307.0000;-172.0000 --307.0000;-171.5000 --307.0000;-171.0000 --307.0000;-170.5000 --307.0000;-170.0000 --307.0000;-169.5000 --307.0000;-169.0000 --307.0000;-168.5000 --307.0000;-168.0000 --307.0000;-167.5000 --307.0000;-167.0000 --307.0000;-166.5000 --307.0000;-166.0000 --306.5000;-201.5000 --306.5000;-201.0000 --306.5000;-200.5000 --306.5000;-200.0000 --306.5000;-199.5000 --306.5000;-199.0000 --306.5000;-198.5000 --306.5000;-198.0000 --306.5000;-197.5000 --306.5000;-197.0000 --306.5000;-196.5000 --306.5000;-196.0000 --306.5000;-195.5000 --306.5000;-195.0000 --306.5000;-194.5000 --306.5000;-194.0000 --306.5000;-193.5000 --306.5000;-193.0000 --306.5000;-192.5000 --306.5000;-192.0000 --306.5000;-191.5000 --306.5000;-191.0000 --306.5000;-190.5000 --306.5000;-190.0000 --306.5000;-189.5000 --306.5000;-189.0000 --306.5000;-188.5000 --306.5000;-188.0000 --306.5000;-187.5000 --306.5000;-187.0000 --306.5000;-186.5000 --306.5000;-186.0000 --306.5000;-185.5000 --306.5000;-185.0000 --306.5000;-184.5000 --306.5000;-184.0000 --306.5000;-183.5000 --306.5000;-183.0000 --306.5000;-182.5000 --306.5000;-182.0000 --306.5000;-181.5000 --306.5000;-181.0000 --306.5000;-180.5000 --306.5000;-180.0000 --306.5000;-179.5000 --306.5000;-179.0000 --306.5000;-178.5000 --306.5000;-178.0000 --306.5000;-177.5000 --306.5000;-177.0000 --306.5000;-176.5000 --306.5000;-176.0000 --306.5000;-175.5000 --306.5000;-175.0000 --306.5000;-174.5000 --306.5000;-174.0000 --306.5000;-173.5000 --306.5000;-173.0000 --306.5000;-172.5000 --306.5000;-172.0000 --306.5000;-171.5000 --306.5000;-171.0000 --306.5000;-170.5000 --306.5000;-170.0000 --306.5000;-169.5000 --306.5000;-169.0000 --306.5000;-168.5000 --306.5000;-168.0000 --306.5000;-167.5000 --306.5000;-167.0000 --306.5000;-166.5000 --306.5000;-166.0000 --306.5000;-165.5000 --306.5000;-165.0000 --306.0000;-202.0000 --306.0000;-201.5000 --306.0000;-201.0000 --306.0000;-200.5000 --306.0000;-200.0000 --306.0000;-199.5000 --306.0000;-199.0000 --306.0000;-198.5000 --306.0000;-198.0000 --306.0000;-197.5000 --306.0000;-197.0000 --306.0000;-196.5000 --306.0000;-196.0000 --306.0000;-195.5000 --306.0000;-195.0000 --306.0000;-194.5000 --306.0000;-194.0000 --306.0000;-193.5000 --306.0000;-193.0000 --306.0000;-192.5000 --306.0000;-192.0000 --306.0000;-191.5000 --306.0000;-191.0000 --306.0000;-190.5000 --306.0000;-190.0000 --306.0000;-189.5000 --306.0000;-189.0000 --306.0000;-188.5000 --306.0000;-188.0000 --306.0000;-187.5000 --306.0000;-187.0000 --306.0000;-186.5000 --306.0000;-186.0000 --306.0000;-185.5000 --306.0000;-185.0000 --306.0000;-184.5000 --306.0000;-184.0000 --306.0000;-183.5000 --306.0000;-183.0000 --306.0000;-182.5000 --306.0000;-182.0000 --306.0000;-181.5000 --306.0000;-181.0000 --306.0000;-180.5000 --306.0000;-180.0000 --306.0000;-179.5000 --306.0000;-179.0000 --306.0000;-178.5000 --306.0000;-178.0000 --306.0000;-177.5000 --306.0000;-177.0000 --306.0000;-176.5000 --306.0000;-176.0000 --306.0000;-175.5000 --306.0000;-175.0000 --306.0000;-174.5000 --306.0000;-174.0000 --306.0000;-173.5000 --306.0000;-173.0000 --306.0000;-172.5000 --306.0000;-172.0000 --306.0000;-171.5000 --306.0000;-171.0000 --306.0000;-170.5000 --306.0000;-170.0000 --306.0000;-169.5000 --306.0000;-169.0000 --306.0000;-168.5000 --306.0000;-168.0000 --306.0000;-167.5000 --306.0000;-167.0000 --306.0000;-166.5000 --306.0000;-166.0000 --306.0000;-165.5000 --306.0000;-165.0000 --306.0000;-164.5000 --305.5000;-202.5000 --305.5000;-202.0000 --305.5000;-201.5000 --305.5000;-201.0000 --305.5000;-200.5000 --305.5000;-200.0000 --305.5000;-199.5000 --305.5000;-199.0000 --305.5000;-198.5000 --305.5000;-198.0000 --305.5000;-197.5000 --305.5000;-197.0000 --305.5000;-196.5000 --305.5000;-196.0000 --305.5000;-195.5000 --305.5000;-195.0000 --305.5000;-194.5000 --305.5000;-194.0000 --305.5000;-193.5000 --305.5000;-193.0000 --305.5000;-192.5000 --305.5000;-192.0000 --305.5000;-191.5000 --305.5000;-191.0000 --305.5000;-190.5000 --305.5000;-190.0000 --305.5000;-189.5000 --305.5000;-189.0000 --305.5000;-188.5000 --305.5000;-188.0000 --305.5000;-187.5000 --305.5000;-187.0000 --305.5000;-186.5000 --305.5000;-186.0000 --305.5000;-185.5000 --305.5000;-185.0000 --305.5000;-184.5000 --305.5000;-184.0000 --305.5000;-183.5000 --305.5000;-183.0000 --305.5000;-182.5000 --305.5000;-182.0000 --305.5000;-181.5000 --305.5000;-181.0000 --305.5000;-180.5000 --305.5000;-180.0000 --305.5000;-179.5000 --305.5000;-179.0000 --305.5000;-178.5000 --305.5000;-178.0000 --305.5000;-177.5000 --305.5000;-177.0000 --305.5000;-176.5000 --305.5000;-176.0000 --305.5000;-175.5000 --305.5000;-175.0000 --305.5000;-174.5000 --305.5000;-174.0000 --305.5000;-173.5000 --305.5000;-173.0000 --305.5000;-172.5000 --305.5000;-172.0000 --305.5000;-171.5000 --305.5000;-171.0000 --305.5000;-170.5000 --305.5000;-170.0000 --305.5000;-169.5000 --305.5000;-169.0000 --305.5000;-168.5000 --305.5000;-168.0000 --305.5000;-167.5000 --305.5000;-167.0000 --305.5000;-166.5000 --305.5000;-166.0000 --305.5000;-165.5000 --305.5000;-165.0000 --305.5000;-164.5000 --305.5000;-164.0000 --305.0000;-203.5000 --305.0000;-203.0000 --305.0000;-202.5000 --305.0000;-202.0000 --305.0000;-201.5000 --305.0000;-201.0000 --305.0000;-200.5000 --305.0000;-200.0000 --305.0000;-199.5000 --305.0000;-199.0000 --305.0000;-198.5000 --305.0000;-198.0000 --305.0000;-197.5000 --305.0000;-197.0000 --305.0000;-196.5000 --305.0000;-196.0000 --305.0000;-195.5000 --305.0000;-195.0000 --305.0000;-194.5000 --305.0000;-194.0000 --305.0000;-193.5000 --305.0000;-193.0000 --305.0000;-192.5000 --305.0000;-192.0000 --305.0000;-191.5000 --305.0000;-191.0000 --305.0000;-190.5000 --305.0000;-190.0000 --305.0000;-189.5000 --305.0000;-189.0000 --305.0000;-188.5000 --305.0000;-188.0000 --305.0000;-187.5000 --305.0000;-187.0000 --305.0000;-186.5000 --305.0000;-186.0000 --305.0000;-185.5000 --305.0000;-185.0000 --305.0000;-184.5000 --305.0000;-184.0000 --305.0000;-183.5000 --305.0000;-183.0000 --305.0000;-182.5000 --305.0000;-182.0000 --305.0000;-181.5000 --305.0000;-181.0000 --305.0000;-180.5000 --305.0000;-180.0000 --305.0000;-179.5000 --305.0000;-179.0000 --305.0000;-178.5000 --305.0000;-178.0000 --305.0000;-177.5000 --305.0000;-177.0000 --305.0000;-176.5000 --305.0000;-176.0000 --305.0000;-175.5000 --305.0000;-175.0000 --305.0000;-174.5000 --305.0000;-174.0000 --305.0000;-173.5000 --305.0000;-173.0000 --305.0000;-172.5000 --305.0000;-172.0000 --305.0000;-171.5000 --305.0000;-171.0000 --305.0000;-170.5000 --305.0000;-170.0000 --305.0000;-169.5000 --305.0000;-169.0000 --305.0000;-168.5000 --305.0000;-168.0000 --305.0000;-167.5000 --305.0000;-167.0000 --305.0000;-166.5000 --305.0000;-166.0000 --305.0000;-165.5000 --305.0000;-165.0000 --305.0000;-164.5000 --305.0000;-164.0000 --305.0000;-163.5000 --305.0000;-163.0000 --304.5000;-204.0000 --304.5000;-203.5000 --304.5000;-203.0000 --304.5000;-202.5000 --304.5000;-202.0000 --304.5000;-201.5000 --304.5000;-201.0000 --304.5000;-200.5000 --304.5000;-200.0000 --304.5000;-199.5000 --304.5000;-199.0000 --304.5000;-198.5000 --304.5000;-198.0000 --304.5000;-197.5000 --304.5000;-197.0000 --304.5000;-196.5000 --304.5000;-196.0000 --304.5000;-195.5000 --304.5000;-195.0000 --304.5000;-194.5000 --304.5000;-194.0000 --304.5000;-193.5000 --304.5000;-193.0000 --304.5000;-192.5000 --304.5000;-192.0000 --304.5000;-191.5000 --304.5000;-191.0000 --304.5000;-190.5000 --304.5000;-190.0000 --304.5000;-189.5000 --304.5000;-189.0000 --304.5000;-188.5000 --304.5000;-188.0000 --304.5000;-187.5000 --304.5000;-187.0000 --304.5000;-186.5000 --304.5000;-186.0000 --304.5000;-185.5000 --304.5000;-185.0000 --304.5000;-184.5000 --304.5000;-184.0000 --304.5000;-183.5000 --304.5000;-183.0000 --304.5000;-182.5000 --304.5000;-182.0000 --304.5000;-181.5000 --304.5000;-181.0000 --304.5000;-180.5000 --304.5000;-180.0000 --304.5000;-179.5000 --304.5000;-179.0000 --304.5000;-178.5000 --304.5000;-178.0000 --304.5000;-177.5000 --304.5000;-177.0000 --304.5000;-176.5000 --304.5000;-176.0000 --304.5000;-175.5000 --304.5000;-175.0000 --304.5000;-174.5000 --304.5000;-174.0000 --304.5000;-173.5000 --304.5000;-173.0000 --304.5000;-172.5000 --304.5000;-172.0000 --304.5000;-171.5000 --304.5000;-171.0000 --304.5000;-170.5000 --304.5000;-170.0000 --304.5000;-169.5000 --304.5000;-169.0000 --304.5000;-168.5000 --304.5000;-168.0000 --304.5000;-167.5000 --304.5000;-167.0000 --304.5000;-166.5000 --304.5000;-166.0000 --304.5000;-165.5000 --304.5000;-165.0000 --304.5000;-164.5000 --304.5000;-164.0000 --304.5000;-163.5000 --304.5000;-163.0000 --304.5000;-162.5000 --304.0000;-204.5000 --304.0000;-204.0000 --304.0000;-203.5000 --304.0000;-203.0000 --304.0000;-202.5000 --304.0000;-202.0000 --304.0000;-201.5000 --304.0000;-201.0000 --304.0000;-200.5000 --304.0000;-200.0000 --304.0000;-199.5000 --304.0000;-199.0000 --304.0000;-198.5000 --304.0000;-198.0000 --304.0000;-197.5000 --304.0000;-197.0000 --304.0000;-196.5000 --304.0000;-196.0000 --304.0000;-195.5000 --304.0000;-195.0000 --304.0000;-194.5000 --304.0000;-194.0000 --304.0000;-193.5000 --304.0000;-193.0000 --304.0000;-192.5000 --304.0000;-192.0000 --304.0000;-191.5000 --304.0000;-191.0000 --304.0000;-190.5000 --304.0000;-190.0000 --304.0000;-189.5000 --304.0000;-189.0000 --304.0000;-188.5000 --304.0000;-188.0000 --304.0000;-187.5000 --304.0000;-187.0000 --304.0000;-186.5000 --304.0000;-186.0000 --304.0000;-185.5000 --304.0000;-185.0000 --304.0000;-184.5000 --304.0000;-184.0000 --304.0000;-183.5000 --304.0000;-183.0000 --304.0000;-182.5000 --304.0000;-182.0000 --304.0000;-181.5000 --304.0000;-181.0000 --304.0000;-180.5000 --304.0000;-180.0000 --304.0000;-179.5000 --304.0000;-179.0000 --304.0000;-178.5000 --304.0000;-178.0000 --304.0000;-177.5000 --304.0000;-177.0000 --304.0000;-176.5000 --304.0000;-176.0000 --304.0000;-175.5000 --304.0000;-175.0000 --304.0000;-174.5000 --304.0000;-174.0000 --304.0000;-173.5000 --304.0000;-173.0000 --304.0000;-172.5000 --304.0000;-172.0000 --304.0000;-171.5000 --304.0000;-171.0000 --304.0000;-170.5000 --304.0000;-170.0000 --304.0000;-169.5000 --304.0000;-169.0000 --304.0000;-168.5000 --304.0000;-168.0000 --304.0000;-167.5000 --304.0000;-167.0000 --304.0000;-166.5000 --304.0000;-166.0000 --304.0000;-165.5000 --304.0000;-165.0000 --304.0000;-164.5000 --304.0000;-164.0000 --304.0000;-163.5000 --304.0000;-163.0000 --304.0000;-162.5000 --304.0000;-162.0000 --303.5000;-205.0000 --303.5000;-204.5000 --303.5000;-204.0000 --303.5000;-203.5000 --303.5000;-203.0000 --303.5000;-202.5000 --303.5000;-202.0000 --303.5000;-201.5000 --303.5000;-201.0000 --303.5000;-200.5000 --303.5000;-200.0000 --303.5000;-199.5000 --303.5000;-199.0000 --303.5000;-198.5000 --303.5000;-198.0000 --303.5000;-197.5000 --303.5000;-197.0000 --303.5000;-196.5000 --303.5000;-196.0000 --303.5000;-195.5000 --303.5000;-195.0000 --303.5000;-194.5000 --303.5000;-194.0000 --303.5000;-193.5000 --303.5000;-193.0000 --303.5000;-192.5000 --303.5000;-192.0000 --303.5000;-191.5000 --303.5000;-191.0000 --303.5000;-190.5000 --303.5000;-190.0000 --303.5000;-189.5000 --303.5000;-189.0000 --303.5000;-188.5000 --303.5000;-188.0000 --303.5000;-187.5000 --303.5000;-187.0000 --303.5000;-186.5000 --303.5000;-186.0000 --303.5000;-185.5000 --303.5000;-185.0000 --303.5000;-184.5000 --303.5000;-184.0000 --303.5000;-183.5000 --303.5000;-183.0000 --303.5000;-182.5000 --303.5000;-182.0000 --303.5000;-181.5000 --303.5000;-181.0000 --303.5000;-180.5000 --303.5000;-180.0000 --303.5000;-179.5000 --303.5000;-179.0000 --303.5000;-178.5000 --303.5000;-178.0000 --303.5000;-177.5000 --303.5000;-177.0000 --303.5000;-176.5000 --303.5000;-176.0000 --303.5000;-175.5000 --303.5000;-175.0000 --303.5000;-174.5000 --303.5000;-174.0000 --303.5000;-173.5000 --303.5000;-173.0000 --303.5000;-172.5000 --303.5000;-172.0000 --303.5000;-171.5000 --303.5000;-171.0000 --303.5000;-170.5000 --303.5000;-170.0000 --303.5000;-169.5000 --303.5000;-169.0000 --303.5000;-168.5000 --303.5000;-168.0000 --303.5000;-167.5000 --303.5000;-167.0000 --303.5000;-166.5000 --303.5000;-166.0000 --303.5000;-165.5000 --303.5000;-165.0000 --303.5000;-164.5000 --303.5000;-164.0000 --303.5000;-163.5000 --303.5000;-163.0000 --303.5000;-162.5000 --303.5000;-162.0000 --303.5000;-161.5000 --303.0000;-205.5000 --303.0000;-205.0000 --303.0000;-204.5000 --303.0000;-204.0000 --303.0000;-203.5000 --303.0000;-203.0000 --303.0000;-202.5000 --303.0000;-202.0000 --303.0000;-201.5000 --303.0000;-201.0000 --303.0000;-200.5000 --303.0000;-200.0000 --303.0000;-199.5000 --303.0000;-199.0000 --303.0000;-198.5000 --303.0000;-198.0000 --303.0000;-197.5000 --303.0000;-197.0000 --303.0000;-196.5000 --303.0000;-196.0000 --303.0000;-195.5000 --303.0000;-195.0000 --303.0000;-194.5000 --303.0000;-194.0000 --303.0000;-193.5000 --303.0000;-193.0000 --303.0000;-192.5000 --303.0000;-192.0000 --303.0000;-191.5000 --303.0000;-191.0000 --303.0000;-190.5000 --303.0000;-190.0000 --303.0000;-189.5000 --303.0000;-189.0000 --303.0000;-188.5000 --303.0000;-188.0000 --303.0000;-187.5000 --303.0000;-187.0000 --303.0000;-186.5000 --303.0000;-186.0000 --303.0000;-185.5000 --303.0000;-185.0000 --303.0000;-184.5000 --303.0000;-184.0000 --303.0000;-183.5000 --303.0000;-183.0000 --303.0000;-182.5000 --303.0000;-182.0000 --303.0000;-181.5000 --303.0000;-181.0000 --303.0000;-180.5000 --303.0000;-180.0000 --303.0000;-179.5000 --303.0000;-179.0000 --303.0000;-178.5000 --303.0000;-178.0000 --303.0000;-177.5000 --303.0000;-177.0000 --303.0000;-176.5000 --303.0000;-176.0000 --303.0000;-175.5000 --303.0000;-175.0000 --303.0000;-174.5000 --303.0000;-174.0000 --303.0000;-173.5000 --303.0000;-173.0000 --303.0000;-172.5000 --303.0000;-172.0000 --303.0000;-171.5000 --303.0000;-171.0000 --303.0000;-170.5000 --303.0000;-170.0000 --303.0000;-169.5000 --303.0000;-169.0000 --303.0000;-168.5000 --303.0000;-168.0000 --303.0000;-167.5000 --303.0000;-167.0000 --303.0000;-166.5000 --303.0000;-166.0000 --303.0000;-165.5000 --303.0000;-165.0000 --303.0000;-164.5000 --303.0000;-164.0000 --303.0000;-163.5000 --303.0000;-163.0000 --303.0000;-162.5000 --303.0000;-162.0000 --303.0000;-161.5000 --303.0000;-161.0000 --302.5000;-206.0000 --302.5000;-205.5000 --302.5000;-205.0000 --302.5000;-204.5000 --302.5000;-204.0000 --302.5000;-203.5000 --302.5000;-203.0000 --302.5000;-202.5000 --302.5000;-202.0000 --302.5000;-201.5000 --302.5000;-201.0000 --302.5000;-200.5000 --302.5000;-200.0000 --302.5000;-199.5000 --302.5000;-199.0000 --302.5000;-198.5000 --302.5000;-198.0000 --302.5000;-197.5000 --302.5000;-197.0000 --302.5000;-196.5000 --302.5000;-196.0000 --302.5000;-195.5000 --302.5000;-195.0000 --302.5000;-194.5000 --302.5000;-194.0000 --302.5000;-193.5000 --302.5000;-193.0000 --302.5000;-192.5000 --302.5000;-192.0000 --302.5000;-191.5000 --302.5000;-191.0000 --302.5000;-190.5000 --302.5000;-190.0000 --302.5000;-189.5000 --302.5000;-189.0000 --302.5000;-188.5000 --302.5000;-188.0000 --302.5000;-187.5000 --302.5000;-187.0000 --302.5000;-186.5000 --302.5000;-186.0000 --302.5000;-185.5000 --302.5000;-185.0000 --302.5000;-184.5000 --302.5000;-184.0000 --302.5000;-183.5000 --302.5000;-183.0000 --302.5000;-182.5000 --302.5000;-182.0000 --302.5000;-181.5000 --302.5000;-181.0000 --302.5000;-180.5000 --302.5000;-180.0000 --302.5000;-179.5000 --302.5000;-179.0000 --302.5000;-178.5000 --302.5000;-178.0000 --302.5000;-177.5000 --302.5000;-177.0000 --302.5000;-176.5000 --302.5000;-176.0000 --302.5000;-175.5000 --302.5000;-175.0000 --302.5000;-174.5000 --302.5000;-174.0000 --302.5000;-173.5000 --302.5000;-173.0000 --302.5000;-172.5000 --302.5000;-172.0000 --302.5000;-171.5000 --302.5000;-171.0000 --302.5000;-170.5000 --302.5000;-170.0000 --302.5000;-169.5000 --302.5000;-169.0000 --302.5000;-168.5000 --302.5000;-168.0000 --302.5000;-167.5000 --302.5000;-167.0000 --302.5000;-166.5000 --302.5000;-166.0000 --302.5000;-165.5000 --302.5000;-165.0000 --302.5000;-164.5000 --302.5000;-164.0000 --302.5000;-163.5000 --302.5000;-163.0000 --302.5000;-162.5000 --302.5000;-162.0000 --302.5000;-161.5000 --302.5000;-161.0000 --302.5000;-160.5000 --302.0000;-207.0000 --302.0000;-206.5000 --302.0000;-206.0000 --302.0000;-205.5000 --302.0000;-205.0000 --302.0000;-204.5000 --302.0000;-204.0000 --302.0000;-203.5000 --302.0000;-203.0000 --302.0000;-202.5000 --302.0000;-202.0000 --302.0000;-201.5000 --302.0000;-201.0000 --302.0000;-200.5000 --302.0000;-200.0000 --302.0000;-199.5000 --302.0000;-199.0000 --302.0000;-198.5000 --302.0000;-198.0000 --302.0000;-197.5000 --302.0000;-197.0000 --302.0000;-196.5000 --302.0000;-196.0000 --302.0000;-195.5000 --302.0000;-195.0000 --302.0000;-194.5000 --302.0000;-194.0000 --302.0000;-193.5000 --302.0000;-193.0000 --302.0000;-192.5000 --302.0000;-192.0000 --302.0000;-191.5000 --302.0000;-191.0000 --302.0000;-190.5000 --302.0000;-190.0000 --302.0000;-189.5000 --302.0000;-189.0000 --302.0000;-188.5000 --302.0000;-188.0000 --302.0000;-187.5000 --302.0000;-187.0000 --302.0000;-186.5000 --302.0000;-186.0000 --302.0000;-185.5000 --302.0000;-185.0000 --302.0000;-184.5000 --302.0000;-184.0000 --302.0000;-183.5000 --302.0000;-183.0000 --302.0000;-182.5000 --302.0000;-182.0000 --302.0000;-181.5000 --302.0000;-181.0000 --302.0000;-180.5000 --302.0000;-180.0000 --302.0000;-179.5000 --302.0000;-179.0000 --302.0000;-178.5000 --302.0000;-178.0000 --302.0000;-177.5000 --302.0000;-177.0000 --302.0000;-176.5000 --302.0000;-176.0000 --302.0000;-175.5000 --302.0000;-175.0000 --302.0000;-174.5000 --302.0000;-174.0000 --302.0000;-173.5000 --302.0000;-173.0000 --302.0000;-172.5000 --302.0000;-172.0000 --302.0000;-171.5000 --302.0000;-171.0000 --302.0000;-170.5000 --302.0000;-170.0000 --302.0000;-169.5000 --302.0000;-169.0000 --302.0000;-168.5000 --302.0000;-168.0000 --302.0000;-167.5000 --302.0000;-167.0000 --302.0000;-166.5000 --302.0000;-166.0000 --302.0000;-165.5000 --302.0000;-165.0000 --302.0000;-164.5000 --302.0000;-164.0000 --302.0000;-163.5000 --302.0000;-163.0000 --302.0000;-162.5000 --302.0000;-162.0000 --302.0000;-161.5000 --302.0000;-161.0000 --302.0000;-160.5000 --302.0000;-160.0000 --301.5000;-207.5000 --301.5000;-207.0000 --301.5000;-206.5000 --301.5000;-206.0000 --301.5000;-205.5000 --301.5000;-205.0000 --301.5000;-204.5000 --301.5000;-204.0000 --301.5000;-203.5000 --301.5000;-203.0000 --301.5000;-202.5000 --301.5000;-202.0000 --301.5000;-201.5000 --301.5000;-201.0000 --301.5000;-200.5000 --301.5000;-200.0000 --301.5000;-199.5000 --301.5000;-199.0000 --301.5000;-198.5000 --301.5000;-198.0000 --301.5000;-197.5000 --301.5000;-197.0000 --301.5000;-196.5000 --301.5000;-196.0000 --301.5000;-195.5000 --301.5000;-195.0000 --301.5000;-194.5000 --301.5000;-194.0000 --301.5000;-193.5000 --301.5000;-193.0000 --301.5000;-192.5000 --301.5000;-192.0000 --301.5000;-191.5000 --301.5000;-191.0000 --301.5000;-190.5000 --301.5000;-190.0000 --301.5000;-189.5000 --301.5000;-189.0000 --301.5000;-188.5000 --301.5000;-188.0000 --301.5000;-187.5000 --301.5000;-187.0000 --301.5000;-186.5000 --301.5000;-186.0000 --301.5000;-185.5000 --301.5000;-185.0000 --301.5000;-184.5000 --301.5000;-184.0000 --301.5000;-183.5000 --301.5000;-183.0000 --301.5000;-182.5000 --301.5000;-182.0000 --301.5000;-181.5000 --301.5000;-181.0000 --301.5000;-180.5000 --301.5000;-180.0000 --301.5000;-179.5000 --301.5000;-179.0000 --301.5000;-178.5000 --301.5000;-178.0000 --301.5000;-177.5000 --301.5000;-177.0000 --301.5000;-176.5000 --301.5000;-176.0000 --301.5000;-175.5000 --301.5000;-175.0000 --301.5000;-174.5000 --301.5000;-174.0000 --301.5000;-173.5000 --301.5000;-173.0000 --301.5000;-172.5000 --301.5000;-172.0000 --301.5000;-171.5000 --301.5000;-171.0000 --301.5000;-170.5000 --301.5000;-170.0000 --301.5000;-169.5000 --301.5000;-169.0000 --301.5000;-168.5000 --301.5000;-168.0000 --301.5000;-167.5000 --301.5000;-167.0000 --301.5000;-166.5000 --301.5000;-166.0000 --301.5000;-165.5000 --301.5000;-165.0000 --301.5000;-164.5000 --301.5000;-164.0000 --301.5000;-163.5000 --301.5000;-163.0000 --301.5000;-162.5000 --301.5000;-162.0000 --301.5000;-161.5000 --301.5000;-161.0000 --301.5000;-160.5000 --301.5000;-160.0000 --301.5000;-159.5000 --301.0000;-208.0000 --301.0000;-207.5000 --301.0000;-207.0000 --301.0000;-206.5000 --301.0000;-206.0000 --301.0000;-205.5000 --301.0000;-205.0000 --301.0000;-204.5000 --301.0000;-204.0000 --301.0000;-203.5000 --301.0000;-203.0000 --301.0000;-202.5000 --301.0000;-202.0000 --301.0000;-201.5000 --301.0000;-201.0000 --301.0000;-200.5000 --301.0000;-200.0000 --301.0000;-199.5000 --301.0000;-199.0000 --301.0000;-198.5000 --301.0000;-198.0000 --301.0000;-197.5000 --301.0000;-197.0000 --301.0000;-196.5000 --301.0000;-196.0000 --301.0000;-195.5000 --301.0000;-195.0000 --301.0000;-194.5000 --301.0000;-194.0000 --301.0000;-193.5000 --301.0000;-193.0000 --301.0000;-192.5000 --301.0000;-192.0000 --301.0000;-191.5000 --301.0000;-191.0000 --301.0000;-190.5000 --301.0000;-190.0000 --301.0000;-189.5000 --301.0000;-189.0000 --301.0000;-188.5000 --301.0000;-188.0000 --301.0000;-187.5000 --301.0000;-187.0000 --301.0000;-186.5000 --301.0000;-186.0000 --301.0000;-185.5000 --301.0000;-185.0000 --301.0000;-184.5000 --301.0000;-184.0000 --301.0000;-183.5000 --301.0000;-183.0000 --301.0000;-182.5000 --301.0000;-182.0000 --301.0000;-181.5000 --301.0000;-181.0000 --301.0000;-180.5000 --301.0000;-180.0000 --301.0000;-179.5000 --301.0000;-179.0000 --301.0000;-178.5000 --301.0000;-178.0000 --301.0000;-177.5000 --301.0000;-177.0000 --301.0000;-176.5000 --301.0000;-176.0000 --301.0000;-175.5000 --301.0000;-175.0000 --301.0000;-174.5000 --301.0000;-174.0000 --301.0000;-173.5000 --301.0000;-173.0000 --301.0000;-172.5000 --301.0000;-172.0000 --301.0000;-171.5000 --301.0000;-171.0000 --301.0000;-170.5000 --301.0000;-170.0000 --301.0000;-169.5000 --301.0000;-169.0000 --301.0000;-168.5000 --301.0000;-168.0000 --301.0000;-167.5000 --301.0000;-167.0000 --301.0000;-166.5000 --301.0000;-166.0000 --301.0000;-165.5000 --301.0000;-165.0000 --301.0000;-164.5000 --301.0000;-164.0000 --301.0000;-163.5000 --301.0000;-163.0000 --301.0000;-162.5000 --301.0000;-162.0000 --301.0000;-161.5000 --301.0000;-161.0000 --301.0000;-160.5000 --301.0000;-160.0000 --301.0000;-159.5000 --301.0000;-159.0000 --300.5000;-208.5000 --300.5000;-208.0000 --300.5000;-207.5000 --300.5000;-207.0000 --300.5000;-206.5000 --300.5000;-206.0000 --300.5000;-205.5000 --300.5000;-205.0000 --300.5000;-204.5000 --300.5000;-204.0000 --300.5000;-203.5000 --300.5000;-203.0000 --300.5000;-202.5000 --300.5000;-202.0000 --300.5000;-201.5000 --300.5000;-201.0000 --300.5000;-200.5000 --300.5000;-200.0000 --300.5000;-199.5000 --300.5000;-199.0000 --300.5000;-198.5000 --300.5000;-198.0000 --300.5000;-197.5000 --300.5000;-197.0000 --300.5000;-196.5000 --300.5000;-196.0000 --300.5000;-195.5000 --300.5000;-195.0000 --300.5000;-194.5000 --300.5000;-194.0000 --300.5000;-193.5000 --300.5000;-193.0000 --300.5000;-192.5000 --300.5000;-192.0000 --300.5000;-191.5000 --300.5000;-191.0000 --300.5000;-190.5000 --300.5000;-190.0000 --300.5000;-189.5000 --300.5000;-189.0000 --300.5000;-188.5000 --300.5000;-188.0000 --300.5000;-187.5000 --300.5000;-187.0000 --300.5000;-186.5000 --300.5000;-186.0000 --300.5000;-185.5000 --300.5000;-185.0000 --300.5000;-184.5000 --300.5000;-184.0000 --300.5000;-183.5000 --300.5000;-183.0000 --300.5000;-182.5000 --300.5000;-182.0000 --300.5000;-181.5000 --300.5000;-181.0000 --300.5000;-180.5000 --300.5000;-180.0000 --300.5000;-179.5000 --300.5000;-179.0000 --300.5000;-178.5000 --300.5000;-178.0000 --300.5000;-177.5000 --300.5000;-177.0000 --300.5000;-176.5000 --300.5000;-176.0000 --300.5000;-175.5000 --300.5000;-175.0000 --300.5000;-174.5000 --300.5000;-174.0000 --300.5000;-173.5000 --300.5000;-173.0000 --300.5000;-172.5000 --300.5000;-172.0000 --300.5000;-171.5000 --300.5000;-171.0000 --300.5000;-170.5000 --300.5000;-170.0000 --300.5000;-169.5000 --300.5000;-169.0000 --300.5000;-168.5000 --300.5000;-168.0000 --300.5000;-167.5000 --300.5000;-167.0000 --300.5000;-166.5000 --300.5000;-166.0000 --300.5000;-165.5000 --300.5000;-165.0000 --300.5000;-164.5000 --300.5000;-164.0000 --300.5000;-163.5000 --300.5000;-163.0000 --300.5000;-162.5000 --300.5000;-162.0000 --300.5000;-161.5000 --300.5000;-161.0000 --300.5000;-160.5000 --300.5000;-160.0000 --300.5000;-159.5000 --300.5000;-159.0000 --300.5000;-158.5000 --300.0000;-208.5000 --300.0000;-208.0000 --300.0000;-207.5000 --300.0000;-207.0000 --300.0000;-206.5000 --300.0000;-206.0000 --300.0000;-205.5000 --300.0000;-205.0000 --300.0000;-204.5000 --300.0000;-204.0000 --300.0000;-203.5000 --300.0000;-203.0000 --300.0000;-202.5000 --300.0000;-202.0000 --300.0000;-201.5000 --300.0000;-201.0000 --300.0000;-200.5000 --300.0000;-200.0000 --300.0000;-199.5000 --300.0000;-199.0000 --300.0000;-198.5000 --300.0000;-198.0000 --300.0000;-197.5000 --300.0000;-197.0000 --300.0000;-196.5000 --300.0000;-196.0000 --300.0000;-195.5000 --300.0000;-195.0000 --300.0000;-194.5000 --300.0000;-194.0000 --300.0000;-193.5000 --300.0000;-193.0000 --300.0000;-192.5000 --300.0000;-192.0000 --300.0000;-191.5000 --300.0000;-191.0000 --300.0000;-190.5000 --300.0000;-190.0000 --300.0000;-189.5000 --300.0000;-189.0000 --300.0000;-188.5000 --300.0000;-188.0000 --300.0000;-187.5000 --300.0000;-187.0000 --300.0000;-186.5000 --300.0000;-186.0000 --300.0000;-185.5000 --300.0000;-185.0000 --300.0000;-184.5000 --300.0000;-184.0000 --300.0000;-183.5000 --300.0000;-183.0000 --300.0000;-182.5000 --300.0000;-182.0000 --300.0000;-181.5000 --300.0000;-181.0000 --300.0000;-180.5000 --300.0000;-180.0000 --300.0000;-179.5000 --300.0000;-179.0000 --300.0000;-178.5000 --300.0000;-178.0000 --300.0000;-177.5000 --300.0000;-177.0000 --300.0000;-176.5000 --300.0000;-176.0000 --300.0000;-175.5000 --300.0000;-175.0000 --300.0000;-174.5000 --300.0000;-174.0000 --300.0000;-173.5000 --300.0000;-173.0000 --300.0000;-172.5000 --300.0000;-172.0000 --300.0000;-171.5000 --300.0000;-171.0000 --300.0000;-170.5000 --300.0000;-170.0000 --300.0000;-169.5000 --300.0000;-169.0000 --300.0000;-168.5000 --300.0000;-168.0000 --300.0000;-167.5000 --300.0000;-167.0000 --300.0000;-166.5000 --300.0000;-166.0000 --300.0000;-165.5000 --300.0000;-165.0000 --300.0000;-164.5000 --300.0000;-164.0000 --300.0000;-163.5000 --300.0000;-163.0000 --300.0000;-162.5000 --300.0000;-162.0000 --300.0000;-161.5000 --300.0000;-161.0000 --300.0000;-160.5000 --300.0000;-160.0000 --300.0000;-159.5000 --300.0000;-159.0000 --300.0000;-158.5000 --300.0000;-158.0000 --299.5000;-209.0000 --299.5000;-208.5000 --299.5000;-208.0000 --299.5000;-207.5000 --299.5000;-207.0000 --299.5000;-206.5000 --299.5000;-206.0000 --299.5000;-205.5000 --299.5000;-205.0000 --299.5000;-204.5000 --299.5000;-204.0000 --299.5000;-203.5000 --299.5000;-203.0000 --299.5000;-202.5000 --299.5000;-202.0000 --299.5000;-201.5000 --299.5000;-201.0000 --299.5000;-200.5000 --299.5000;-200.0000 --299.5000;-199.5000 --299.5000;-199.0000 --299.5000;-198.5000 --299.5000;-198.0000 --299.5000;-197.5000 --299.5000;-197.0000 --299.5000;-196.5000 --299.5000;-196.0000 --299.5000;-195.5000 --299.5000;-195.0000 --299.5000;-194.5000 --299.5000;-194.0000 --299.5000;-193.5000 --299.5000;-193.0000 --299.5000;-192.5000 --299.5000;-192.0000 --299.5000;-191.5000 --299.5000;-191.0000 --299.5000;-190.5000 --299.5000;-190.0000 --299.5000;-189.5000 --299.5000;-189.0000 --299.5000;-188.5000 --299.5000;-188.0000 --299.5000;-187.5000 --299.5000;-187.0000 --299.5000;-186.5000 --299.5000;-186.0000 --299.5000;-185.5000 --299.5000;-185.0000 --299.5000;-184.5000 --299.5000;-184.0000 --299.5000;-183.5000 --299.5000;-183.0000 --299.5000;-182.5000 --299.5000;-182.0000 --299.5000;-181.5000 --299.5000;-181.0000 --299.5000;-180.5000 --299.5000;-180.0000 --299.5000;-179.5000 --299.5000;-179.0000 --299.5000;-178.5000 --299.5000;-178.0000 --299.5000;-177.5000 --299.5000;-177.0000 --299.5000;-176.5000 --299.5000;-176.0000 --299.5000;-175.5000 --299.5000;-175.0000 --299.5000;-174.5000 --299.5000;-174.0000 --299.5000;-173.5000 --299.5000;-173.0000 --299.5000;-172.5000 --299.5000;-172.0000 --299.5000;-171.5000 --299.5000;-171.0000 --299.5000;-170.5000 --299.5000;-170.0000 --299.5000;-169.5000 --299.5000;-169.0000 --299.5000;-168.5000 --299.5000;-168.0000 --299.5000;-167.5000 --299.5000;-167.0000 --299.5000;-166.5000 --299.5000;-166.0000 --299.5000;-165.5000 --299.5000;-165.0000 --299.5000;-164.5000 --299.5000;-164.0000 --299.5000;-163.5000 --299.5000;-163.0000 --299.5000;-162.5000 --299.5000;-162.0000 --299.5000;-161.5000 --299.5000;-161.0000 --299.5000;-160.5000 --299.5000;-160.0000 --299.5000;-159.5000 --299.5000;-159.0000 --299.5000;-158.5000 --299.5000;-158.0000 --299.5000;-157.5000 --299.0000;-209.5000 --299.0000;-209.0000 --299.0000;-208.5000 --299.0000;-208.0000 --299.0000;-207.5000 --299.0000;-207.0000 --299.0000;-206.5000 --299.0000;-206.0000 --299.0000;-205.5000 --299.0000;-205.0000 --299.0000;-204.5000 --299.0000;-204.0000 --299.0000;-203.5000 --299.0000;-203.0000 --299.0000;-202.5000 --299.0000;-202.0000 --299.0000;-201.5000 --299.0000;-201.0000 --299.0000;-200.5000 --299.0000;-200.0000 --299.0000;-199.5000 --299.0000;-199.0000 --299.0000;-198.5000 --299.0000;-198.0000 --299.0000;-197.5000 --299.0000;-197.0000 --299.0000;-196.5000 --299.0000;-196.0000 --299.0000;-195.5000 --299.0000;-195.0000 --299.0000;-194.5000 --299.0000;-194.0000 --299.0000;-193.5000 --299.0000;-193.0000 --299.0000;-192.5000 --299.0000;-192.0000 --299.0000;-191.5000 --299.0000;-191.0000 --299.0000;-190.5000 --299.0000;-190.0000 --299.0000;-189.5000 --299.0000;-189.0000 --299.0000;-188.5000 --299.0000;-188.0000 --299.0000;-187.5000 --299.0000;-187.0000 --299.0000;-179.0000 --299.0000;-178.5000 --299.0000;-178.0000 --299.0000;-177.5000 --299.0000;-177.0000 --299.0000;-176.5000 --299.0000;-176.0000 --299.0000;-175.5000 --299.0000;-175.0000 --299.0000;-174.5000 --299.0000;-174.0000 --299.0000;-173.5000 --299.0000;-173.0000 --299.0000;-172.5000 --299.0000;-172.0000 --299.0000;-171.5000 --299.0000;-171.0000 --299.0000;-170.5000 --299.0000;-170.0000 --299.0000;-169.5000 --299.0000;-169.0000 --299.0000;-168.5000 --299.0000;-168.0000 --299.0000;-167.5000 --299.0000;-167.0000 --299.0000;-166.5000 --299.0000;-166.0000 --299.0000;-165.5000 --299.0000;-165.0000 --299.0000;-164.5000 --299.0000;-164.0000 --299.0000;-163.5000 --299.0000;-163.0000 --299.0000;-162.5000 --299.0000;-162.0000 --299.0000;-161.5000 --299.0000;-161.0000 --299.0000;-160.5000 --299.0000;-160.0000 --299.0000;-159.5000 --299.0000;-159.0000 --299.0000;-158.5000 --299.0000;-158.0000 --299.0000;-157.5000 --299.0000;-157.0000 --298.5000;-210.0000 --298.5000;-209.5000 --298.5000;-209.0000 --298.5000;-208.5000 --298.5000;-208.0000 --298.5000;-207.5000 --298.5000;-207.0000 --298.5000;-206.5000 --298.5000;-206.0000 --298.5000;-205.5000 --298.5000;-205.0000 --298.5000;-204.5000 --298.5000;-204.0000 --298.5000;-203.5000 --298.5000;-203.0000 --298.5000;-202.5000 --298.5000;-202.0000 --298.5000;-201.5000 --298.5000;-201.0000 --298.5000;-200.5000 --298.5000;-200.0000 --298.5000;-199.5000 --298.5000;-199.0000 --298.5000;-198.5000 --298.5000;-198.0000 --298.5000;-197.5000 --298.5000;-197.0000 --298.5000;-196.5000 --298.5000;-196.0000 --298.5000;-195.5000 --298.5000;-195.0000 --298.5000;-194.5000 --298.5000;-194.0000 --298.5000;-193.5000 --298.5000;-193.0000 --298.5000;-192.5000 --298.5000;-192.0000 --298.5000;-191.5000 --298.5000;-191.0000 --298.5000;-190.5000 --298.5000;-190.0000 --298.5000;-189.5000 --298.5000;-177.0000 --298.5000;-176.5000 --298.5000;-176.0000 --298.5000;-175.5000 --298.5000;-175.0000 --298.5000;-174.5000 --298.5000;-174.0000 --298.5000;-173.5000 --298.5000;-173.0000 --298.5000;-172.5000 --298.5000;-172.0000 --298.5000;-171.5000 --298.5000;-171.0000 --298.5000;-170.5000 --298.5000;-170.0000 --298.5000;-169.5000 --298.5000;-169.0000 --298.5000;-168.5000 --298.5000;-168.0000 --298.5000;-167.5000 --298.5000;-167.0000 --298.5000;-166.5000 --298.5000;-166.0000 --298.5000;-165.5000 --298.5000;-165.0000 --298.5000;-164.5000 --298.5000;-164.0000 --298.5000;-163.5000 --298.5000;-163.0000 --298.5000;-162.5000 --298.5000;-162.0000 --298.5000;-161.5000 --298.5000;-161.0000 --298.5000;-160.5000 --298.5000;-160.0000 --298.5000;-159.5000 --298.5000;-159.0000 --298.5000;-158.5000 --298.5000;-158.0000 --298.5000;-157.5000 --298.5000;-157.0000 --298.5000;-156.5000 --298.0000;-210.5000 --298.0000;-210.0000 --298.0000;-209.5000 --298.0000;-209.0000 --298.0000;-208.5000 --298.0000;-208.0000 --298.0000;-207.5000 --298.0000;-207.0000 --298.0000;-206.5000 --298.0000;-206.0000 --298.0000;-205.5000 --298.0000;-205.0000 --298.0000;-204.5000 --298.0000;-204.0000 --298.0000;-203.5000 --298.0000;-203.0000 --298.0000;-202.5000 --298.0000;-202.0000 --298.0000;-201.5000 --298.0000;-201.0000 --298.0000;-200.5000 --298.0000;-200.0000 --298.0000;-199.5000 --298.0000;-199.0000 --298.0000;-198.5000 --298.0000;-198.0000 --298.0000;-197.5000 --298.0000;-197.0000 --298.0000;-196.5000 --298.0000;-196.0000 --298.0000;-195.5000 --298.0000;-195.0000 --298.0000;-194.5000 --298.0000;-194.0000 --298.0000;-193.5000 --298.0000;-193.0000 --298.0000;-192.5000 --298.0000;-192.0000 --298.0000;-191.5000 --298.0000;-191.0000 --298.0000;-175.5000 --298.0000;-175.0000 --298.0000;-174.5000 --298.0000;-174.0000 --298.0000;-173.5000 --298.0000;-173.0000 --298.0000;-172.5000 --298.0000;-172.0000 --298.0000;-171.5000 --298.0000;-171.0000 --298.0000;-170.5000 --298.0000;-170.0000 --298.0000;-169.5000 --298.0000;-169.0000 --298.0000;-168.5000 --298.0000;-168.0000 --298.0000;-167.5000 --298.0000;-167.0000 --298.0000;-166.5000 --298.0000;-166.0000 --298.0000;-165.5000 --298.0000;-165.0000 --298.0000;-164.5000 --298.0000;-164.0000 --298.0000;-163.5000 --298.0000;-163.0000 --298.0000;-162.5000 --298.0000;-162.0000 --298.0000;-161.5000 --298.0000;-161.0000 --298.0000;-160.5000 --298.0000;-160.0000 --298.0000;-159.5000 --298.0000;-159.0000 --298.0000;-158.5000 --298.0000;-158.0000 --298.0000;-157.5000 --298.0000;-157.0000 --298.0000;-156.5000 --298.0000;-156.0000 --297.5000;-211.0000 --297.5000;-210.5000 --297.5000;-210.0000 --297.5000;-209.5000 --297.5000;-209.0000 --297.5000;-208.5000 --297.5000;-208.0000 --297.5000;-207.5000 --297.5000;-207.0000 --297.5000;-206.5000 --297.5000;-206.0000 --297.5000;-205.5000 --297.5000;-205.0000 --297.5000;-204.5000 --297.5000;-204.0000 --297.5000;-203.5000 --297.5000;-203.0000 --297.5000;-202.5000 --297.5000;-202.0000 --297.5000;-201.5000 --297.5000;-201.0000 --297.5000;-200.5000 --297.5000;-200.0000 --297.5000;-199.5000 --297.5000;-199.0000 --297.5000;-198.5000 --297.5000;-198.0000 --297.5000;-197.5000 --297.5000;-197.0000 --297.5000;-196.5000 --297.5000;-196.0000 --297.5000;-195.5000 --297.5000;-195.0000 --297.5000;-194.5000 --297.5000;-194.0000 --297.5000;-193.5000 --297.5000;-193.0000 --297.5000;-192.5000 --297.5000;-174.0000 --297.5000;-173.5000 --297.5000;-173.0000 --297.5000;-172.5000 --297.5000;-172.0000 --297.5000;-171.5000 --297.5000;-171.0000 --297.5000;-170.5000 --297.5000;-170.0000 --297.5000;-169.5000 --297.5000;-169.0000 --297.5000;-168.5000 --297.5000;-168.0000 --297.5000;-167.5000 --297.5000;-167.0000 --297.5000;-166.5000 --297.5000;-166.0000 --297.5000;-165.5000 --297.5000;-165.0000 --297.5000;-164.5000 --297.5000;-164.0000 --297.5000;-163.5000 --297.5000;-163.0000 --297.5000;-162.5000 --297.5000;-162.0000 --297.5000;-161.5000 --297.5000;-161.0000 --297.5000;-160.5000 --297.5000;-160.0000 --297.5000;-159.5000 --297.5000;-159.0000 --297.5000;-158.5000 --297.5000;-158.0000 --297.5000;-157.5000 --297.5000;-157.0000 --297.5000;-156.5000 --297.5000;-156.0000 --297.5000;-155.5000 --297.0000;-211.0000 --297.0000;-210.5000 --297.0000;-210.0000 --297.0000;-209.5000 --297.0000;-209.0000 --297.0000;-208.5000 --297.0000;-208.0000 --297.0000;-207.5000 --297.0000;-207.0000 --297.0000;-206.5000 --297.0000;-206.0000 --297.0000;-205.5000 --297.0000;-205.0000 --297.0000;-204.5000 --297.0000;-204.0000 --297.0000;-203.5000 --297.0000;-203.0000 --297.0000;-202.5000 --297.0000;-202.0000 --297.0000;-201.5000 --297.0000;-201.0000 --297.0000;-200.5000 --297.0000;-200.0000 --297.0000;-199.5000 --297.0000;-199.0000 --297.0000;-198.5000 --297.0000;-198.0000 --297.0000;-197.5000 --297.0000;-197.0000 --297.0000;-196.5000 --297.0000;-196.0000 --297.0000;-195.5000 --297.0000;-195.0000 --297.0000;-194.5000 --297.0000;-194.0000 --297.0000;-193.5000 --297.0000;-173.0000 --297.0000;-172.5000 --297.0000;-172.0000 --297.0000;-171.5000 --297.0000;-171.0000 --297.0000;-170.5000 --297.0000;-170.0000 --297.0000;-169.5000 --297.0000;-169.0000 --297.0000;-168.5000 --297.0000;-168.0000 --297.0000;-167.5000 --297.0000;-167.0000 --297.0000;-166.5000 --297.0000;-166.0000 --297.0000;-165.5000 --297.0000;-165.0000 --297.0000;-164.5000 --297.0000;-164.0000 --297.0000;-163.5000 --297.0000;-163.0000 --297.0000;-162.5000 --297.0000;-162.0000 --297.0000;-161.5000 --297.0000;-161.0000 --297.0000;-160.5000 --297.0000;-160.0000 --297.0000;-159.5000 --297.0000;-159.0000 --297.0000;-158.5000 --297.0000;-158.0000 --297.0000;-157.5000 --297.0000;-157.0000 --297.0000;-156.5000 --297.0000;-156.0000 --297.0000;-155.5000 --296.5000;-211.5000 --296.5000;-211.0000 --296.5000;-210.5000 --296.5000;-210.0000 --296.5000;-209.5000 --296.5000;-209.0000 --296.5000;-208.5000 --296.5000;-208.0000 --296.5000;-207.5000 --296.5000;-207.0000 --296.5000;-206.5000 --296.5000;-206.0000 --296.5000;-205.5000 --296.5000;-205.0000 --296.5000;-204.5000 --296.5000;-204.0000 --296.5000;-203.5000 --296.5000;-203.0000 --296.5000;-202.5000 --296.5000;-202.0000 --296.5000;-201.5000 --296.5000;-201.0000 --296.5000;-200.5000 --296.5000;-200.0000 --296.5000;-199.5000 --296.5000;-199.0000 --296.5000;-198.5000 --296.5000;-198.0000 --296.5000;-197.5000 --296.5000;-197.0000 --296.5000;-196.5000 --296.5000;-196.0000 --296.5000;-195.5000 --296.5000;-195.0000 --296.5000;-194.5000 --296.5000;-172.0000 --296.5000;-171.5000 --296.5000;-171.0000 --296.5000;-170.5000 --296.5000;-170.0000 --296.5000;-169.5000 --296.5000;-169.0000 --296.5000;-168.5000 --296.5000;-168.0000 --296.5000;-167.5000 --296.5000;-167.0000 --296.5000;-166.5000 --296.5000;-166.0000 --296.5000;-165.5000 --296.5000;-165.0000 --296.5000;-164.5000 --296.5000;-164.0000 --296.5000;-163.5000 --296.5000;-163.0000 --296.5000;-162.5000 --296.5000;-162.0000 --296.5000;-161.5000 --296.5000;-161.0000 --296.5000;-160.5000 --296.5000;-160.0000 --296.5000;-159.5000 --296.5000;-159.0000 --296.5000;-158.5000 --296.5000;-158.0000 --296.5000;-157.5000 --296.5000;-157.0000 --296.5000;-156.5000 --296.5000;-156.0000 --296.5000;-155.5000 --296.5000;-155.0000 --296.0000;-212.0000 --296.0000;-211.5000 --296.0000;-211.0000 --296.0000;-210.5000 --296.0000;-210.0000 --296.0000;-209.5000 --296.0000;-209.0000 --296.0000;-208.5000 --296.0000;-208.0000 --296.0000;-207.5000 --296.0000;-207.0000 --296.0000;-206.5000 --296.0000;-206.0000 --296.0000;-205.5000 --296.0000;-205.0000 --296.0000;-204.5000 --296.0000;-204.0000 --296.0000;-203.5000 --296.0000;-203.0000 --296.0000;-202.5000 --296.0000;-202.0000 --296.0000;-201.5000 --296.0000;-201.0000 --296.0000;-200.5000 --296.0000;-200.0000 --296.0000;-199.5000 --296.0000;-199.0000 --296.0000;-198.5000 --296.0000;-198.0000 --296.0000;-197.5000 --296.0000;-197.0000 --296.0000;-196.5000 --296.0000;-196.0000 --296.0000;-195.5000 --296.0000;-171.5000 --296.0000;-171.0000 --296.0000;-170.5000 --296.0000;-170.0000 --296.0000;-169.5000 --296.0000;-169.0000 --296.0000;-168.5000 --296.0000;-168.0000 --296.0000;-167.5000 --296.0000;-167.0000 --296.0000;-166.5000 --296.0000;-166.0000 --296.0000;-165.5000 --296.0000;-165.0000 --296.0000;-164.5000 --296.0000;-164.0000 --296.0000;-163.5000 --296.0000;-163.0000 --296.0000;-162.5000 --296.0000;-162.0000 --296.0000;-161.5000 --296.0000;-161.0000 --296.0000;-160.5000 --296.0000;-160.0000 --296.0000;-159.5000 --296.0000;-159.0000 --296.0000;-158.5000 --296.0000;-158.0000 --296.0000;-157.5000 --296.0000;-157.0000 --296.0000;-156.5000 --296.0000;-156.0000 --296.0000;-155.5000 --296.0000;-155.0000 --296.0000;-154.5000 --295.5000;-212.0000 --295.5000;-211.5000 --295.5000;-211.0000 --295.5000;-210.5000 --295.5000;-210.0000 --295.5000;-209.5000 --295.5000;-209.0000 --295.5000;-208.5000 --295.5000;-208.0000 --295.5000;-207.5000 --295.5000;-207.0000 --295.5000;-206.5000 --295.5000;-206.0000 --295.5000;-205.5000 --295.5000;-205.0000 --295.5000;-204.5000 --295.5000;-204.0000 --295.5000;-203.5000 --295.5000;-203.0000 --295.5000;-202.5000 --295.5000;-202.0000 --295.5000;-201.5000 --295.5000;-201.0000 --295.5000;-200.5000 --295.5000;-200.0000 --295.5000;-199.5000 --295.5000;-199.0000 --295.5000;-198.5000 --295.5000;-198.0000 --295.5000;-197.5000 --295.5000;-197.0000 --295.5000;-196.5000 --295.5000;-196.0000 --295.5000;-170.5000 --295.5000;-170.0000 --295.5000;-169.5000 --295.5000;-169.0000 --295.5000;-168.5000 --295.5000;-168.0000 --295.5000;-167.5000 --295.5000;-167.0000 --295.5000;-166.5000 --295.5000;-166.0000 --295.5000;-165.5000 --295.5000;-165.0000 --295.5000;-164.5000 --295.5000;-164.0000 --295.5000;-163.5000 --295.5000;-163.0000 --295.5000;-162.5000 --295.5000;-162.0000 --295.5000;-161.5000 --295.5000;-161.0000 --295.5000;-160.5000 --295.5000;-160.0000 --295.5000;-159.5000 --295.5000;-159.0000 --295.5000;-158.5000 --295.5000;-158.0000 --295.5000;-157.5000 --295.5000;-157.0000 --295.5000;-156.5000 --295.5000;-156.0000 --295.5000;-155.5000 --295.5000;-155.0000 --295.5000;-154.5000 --295.5000;-154.0000 --295.0000;-212.5000 --295.0000;-212.0000 --295.0000;-211.5000 --295.0000;-211.0000 --295.0000;-210.5000 --295.0000;-210.0000 --295.0000;-209.5000 --295.0000;-209.0000 --295.0000;-208.5000 --295.0000;-208.0000 --295.0000;-207.5000 --295.0000;-207.0000 --295.0000;-206.5000 --295.0000;-206.0000 --295.0000;-205.5000 --295.0000;-205.0000 --295.0000;-204.5000 --295.0000;-204.0000 --295.0000;-203.5000 --295.0000;-203.0000 --295.0000;-202.5000 --295.0000;-202.0000 --295.0000;-201.5000 --295.0000;-201.0000 --295.0000;-200.5000 --295.0000;-200.0000 --295.0000;-199.5000 --295.0000;-199.0000 --295.0000;-198.5000 --295.0000;-198.0000 --295.0000;-197.5000 --295.0000;-197.0000 --295.0000;-170.0000 --295.0000;-169.5000 --295.0000;-169.0000 --295.0000;-168.5000 --295.0000;-168.0000 --295.0000;-167.5000 --295.0000;-167.0000 --295.0000;-166.5000 --295.0000;-166.0000 --295.0000;-165.5000 --295.0000;-165.0000 --295.0000;-164.5000 --295.0000;-164.0000 --295.0000;-163.5000 --295.0000;-163.0000 --295.0000;-162.5000 --295.0000;-162.0000 --295.0000;-161.5000 --295.0000;-161.0000 --295.0000;-160.5000 --295.0000;-160.0000 --295.0000;-159.5000 --295.0000;-159.0000 --295.0000;-158.5000 --295.0000;-158.0000 --295.0000;-157.5000 --295.0000;-157.0000 --295.0000;-156.5000 --295.0000;-156.0000 --295.0000;-155.5000 --295.0000;-155.0000 --295.0000;-154.5000 --295.0000;-154.0000 --294.5000;-212.5000 --294.5000;-212.0000 --294.5000;-211.5000 --294.5000;-211.0000 --294.5000;-210.5000 --294.5000;-210.0000 --294.5000;-209.5000 --294.5000;-209.0000 --294.5000;-208.5000 --294.5000;-208.0000 --294.5000;-207.5000 --294.5000;-207.0000 --294.5000;-206.5000 --294.5000;-206.0000 --294.5000;-205.5000 --294.5000;-205.0000 --294.5000;-204.5000 --294.5000;-204.0000 --294.5000;-203.5000 --294.5000;-203.0000 --294.5000;-202.5000 --294.5000;-202.0000 --294.5000;-201.5000 --294.5000;-201.0000 --294.5000;-200.5000 --294.5000;-200.0000 --294.5000;-199.5000 --294.5000;-199.0000 --294.5000;-198.5000 --294.5000;-198.0000 --294.5000;-197.5000 --294.5000;-169.0000 --294.5000;-168.5000 --294.5000;-168.0000 --294.5000;-167.5000 --294.5000;-167.0000 --294.5000;-166.5000 --294.5000;-166.0000 --294.5000;-165.5000 --294.5000;-165.0000 --294.5000;-164.5000 --294.5000;-164.0000 --294.5000;-163.5000 --294.5000;-163.0000 --294.5000;-162.5000 --294.5000;-162.0000 --294.5000;-161.5000 --294.5000;-161.0000 --294.5000;-160.5000 --294.5000;-160.0000 --294.5000;-159.5000 --294.5000;-159.0000 --294.5000;-158.5000 --294.5000;-158.0000 --294.5000;-157.5000 --294.5000;-157.0000 --294.5000;-156.5000 --294.5000;-156.0000 --294.5000;-155.5000 --294.5000;-155.0000 --294.5000;-154.5000 --294.5000;-154.0000 --294.5000;-153.5000 --294.0000;-213.0000 --294.0000;-212.5000 --294.0000;-212.0000 --294.0000;-211.5000 --294.0000;-211.0000 --294.0000;-210.5000 --294.0000;-210.0000 --294.0000;-209.5000 --294.0000;-209.0000 --294.0000;-208.5000 --294.0000;-208.0000 --294.0000;-207.5000 --294.0000;-207.0000 --294.0000;-206.5000 --294.0000;-206.0000 --294.0000;-205.5000 --294.0000;-205.0000 --294.0000;-204.5000 --294.0000;-204.0000 --294.0000;-203.5000 --294.0000;-203.0000 --294.0000;-202.5000 --294.0000;-202.0000 --294.0000;-201.5000 --294.0000;-201.0000 --294.0000;-200.5000 --294.0000;-200.0000 --294.0000;-199.5000 --294.0000;-199.0000 --294.0000;-198.5000 --294.0000;-198.0000 --294.0000;-168.5000 --294.0000;-168.0000 --294.0000;-167.5000 --294.0000;-167.0000 --294.0000;-166.5000 --294.0000;-166.0000 --294.0000;-165.5000 --294.0000;-165.0000 --294.0000;-164.5000 --294.0000;-164.0000 --294.0000;-163.5000 --294.0000;-163.0000 --294.0000;-162.5000 --294.0000;-162.0000 --294.0000;-161.5000 --294.0000;-161.0000 --294.0000;-160.5000 --294.0000;-160.0000 --294.0000;-159.5000 --294.0000;-159.0000 --294.0000;-158.5000 --294.0000;-158.0000 --294.0000;-157.5000 --294.0000;-157.0000 --294.0000;-156.5000 --294.0000;-156.0000 --294.0000;-155.5000 --294.0000;-155.0000 --294.0000;-154.5000 --294.0000;-154.0000 --294.0000;-153.5000 --294.0000;-153.0000 --293.5000;-213.5000 --293.5000;-213.0000 --293.5000;-212.5000 --293.5000;-212.0000 --293.5000;-211.5000 --293.5000;-211.0000 --293.5000;-210.5000 --293.5000;-210.0000 --293.5000;-209.5000 --293.5000;-209.0000 --293.5000;-208.5000 --293.5000;-208.0000 --293.5000;-207.5000 --293.5000;-207.0000 --293.5000;-206.5000 --293.5000;-206.0000 --293.5000;-205.5000 --293.5000;-205.0000 --293.5000;-204.5000 --293.5000;-204.0000 --293.5000;-203.5000 --293.5000;-203.0000 --293.5000;-202.5000 --293.5000;-202.0000 --293.5000;-201.5000 --293.5000;-201.0000 --293.5000;-200.5000 --293.5000;-200.0000 --293.5000;-199.5000 --293.5000;-199.0000 --293.5000;-198.5000 --293.5000;-168.0000 --293.5000;-167.5000 --293.5000;-167.0000 --293.5000;-166.5000 --293.5000;-166.0000 --293.5000;-165.5000 --293.5000;-165.0000 --293.5000;-164.5000 --293.5000;-164.0000 --293.5000;-163.5000 --293.5000;-163.0000 --293.5000;-162.5000 --293.5000;-162.0000 --293.5000;-161.5000 --293.5000;-161.0000 --293.5000;-160.5000 --293.5000;-160.0000 --293.5000;-159.5000 --293.5000;-159.0000 --293.5000;-158.5000 --293.5000;-158.0000 --293.5000;-157.5000 --293.5000;-157.0000 --293.5000;-156.5000 --293.5000;-156.0000 --293.5000;-155.5000 --293.5000;-155.0000 --293.5000;-154.5000 --293.5000;-154.0000 --293.5000;-153.5000 --293.5000;-153.0000 --293.5000;-152.5000 --293.0000;-213.5000 --293.0000;-213.0000 --293.0000;-212.5000 --293.0000;-212.0000 --293.0000;-211.5000 --293.0000;-211.0000 --293.0000;-210.5000 --293.0000;-210.0000 --293.0000;-209.5000 --293.0000;-209.0000 --293.0000;-208.5000 --293.0000;-208.0000 --293.0000;-207.5000 --293.0000;-207.0000 --293.0000;-206.5000 --293.0000;-206.0000 --293.0000;-205.5000 --293.0000;-205.0000 --293.0000;-204.5000 --293.0000;-204.0000 --293.0000;-203.5000 --293.0000;-203.0000 --293.0000;-202.5000 --293.0000;-202.0000 --293.0000;-201.5000 --293.0000;-201.0000 --293.0000;-200.5000 --293.0000;-200.0000 --293.0000;-199.5000 --293.0000;-199.0000 --293.0000;-167.5000 --293.0000;-167.0000 --293.0000;-166.5000 --293.0000;-166.0000 --293.0000;-165.5000 --293.0000;-165.0000 --293.0000;-164.5000 --293.0000;-164.0000 --293.0000;-163.5000 --293.0000;-163.0000 --293.0000;-162.5000 --293.0000;-162.0000 --293.0000;-161.5000 --293.0000;-161.0000 --293.0000;-160.5000 --293.0000;-160.0000 --293.0000;-159.5000 --293.0000;-159.0000 --293.0000;-158.5000 --293.0000;-158.0000 --293.0000;-157.5000 --293.0000;-157.0000 --293.0000;-156.5000 --293.0000;-156.0000 --293.0000;-155.5000 --293.0000;-155.0000 --293.0000;-154.5000 --293.0000;-154.0000 --293.0000;-153.5000 --293.0000;-153.0000 --293.0000;-152.5000 --292.5000;-214.0000 --292.5000;-213.5000 --292.5000;-213.0000 --292.5000;-212.5000 --292.5000;-212.0000 --292.5000;-211.5000 --292.5000;-211.0000 --292.5000;-210.5000 --292.5000;-210.0000 --292.5000;-209.5000 --292.5000;-209.0000 --292.5000;-208.5000 --292.5000;-208.0000 --292.5000;-207.5000 --292.5000;-207.0000 --292.5000;-206.5000 --292.5000;-206.0000 --292.5000;-205.5000 --292.5000;-205.0000 --292.5000;-204.5000 --292.5000;-204.0000 --292.5000;-203.5000 --292.5000;-203.0000 --292.5000;-202.5000 --292.5000;-202.0000 --292.5000;-201.5000 --292.5000;-201.0000 --292.5000;-200.5000 --292.5000;-200.0000 --292.5000;-199.5000 --292.5000;-167.0000 --292.5000;-166.5000 --292.5000;-166.0000 --292.5000;-165.5000 --292.5000;-165.0000 --292.5000;-164.5000 --292.5000;-164.0000 --292.5000;-163.5000 --292.5000;-163.0000 --292.5000;-162.5000 --292.5000;-162.0000 --292.5000;-161.5000 --292.5000;-161.0000 --292.5000;-160.5000 --292.5000;-160.0000 --292.5000;-159.5000 --292.5000;-159.0000 --292.5000;-158.5000 --292.5000;-158.0000 --292.5000;-157.5000 --292.5000;-157.0000 --292.5000;-156.5000 --292.5000;-156.0000 --292.5000;-155.5000 --292.5000;-155.0000 --292.5000;-154.5000 --292.5000;-154.0000 --292.5000;-153.5000 --292.5000;-153.0000 --292.5000;-152.5000 --292.5000;-152.0000 --292.0000;-214.0000 --292.0000;-213.5000 --292.0000;-213.0000 --292.0000;-212.5000 --292.0000;-212.0000 --292.0000;-211.5000 --292.0000;-211.0000 --292.0000;-210.5000 --292.0000;-210.0000 --292.0000;-209.5000 --292.0000;-209.0000 --292.0000;-208.5000 --292.0000;-208.0000 --292.0000;-207.5000 --292.0000;-207.0000 --292.0000;-206.5000 --292.0000;-206.0000 --292.0000;-205.5000 --292.0000;-205.0000 --292.0000;-204.5000 --292.0000;-204.0000 --292.0000;-203.5000 --292.0000;-203.0000 --292.0000;-202.5000 --292.0000;-202.0000 --292.0000;-201.5000 --292.0000;-201.0000 --292.0000;-200.5000 --292.0000;-200.0000 --292.0000;-166.5000 --292.0000;-166.0000 --292.0000;-165.5000 --292.0000;-165.0000 --292.0000;-164.5000 --292.0000;-164.0000 --292.0000;-163.5000 --292.0000;-163.0000 --292.0000;-162.5000 --292.0000;-162.0000 --292.0000;-161.5000 --292.0000;-161.0000 --292.0000;-160.5000 --292.0000;-160.0000 --292.0000;-159.5000 --292.0000;-159.0000 --292.0000;-158.5000 --292.0000;-158.0000 --292.0000;-157.5000 --292.0000;-157.0000 --292.0000;-156.5000 --292.0000;-156.0000 --292.0000;-155.5000 --292.0000;-155.0000 --292.0000;-154.5000 --292.0000;-154.0000 --292.0000;-153.5000 --292.0000;-153.0000 --292.0000;-152.5000 --292.0000;-152.0000 --292.0000;-151.5000 --291.5000;-214.0000 --291.5000;-213.5000 --291.5000;-213.0000 --291.5000;-212.5000 --291.5000;-212.0000 --291.5000;-211.5000 --291.5000;-211.0000 --291.5000;-210.5000 --291.5000;-210.0000 --291.5000;-209.5000 --291.5000;-209.0000 --291.5000;-208.5000 --291.5000;-208.0000 --291.5000;-207.5000 --291.5000;-207.0000 --291.5000;-206.5000 --291.5000;-206.0000 --291.5000;-205.5000 --291.5000;-205.0000 --291.5000;-204.5000 --291.5000;-204.0000 --291.5000;-203.5000 --291.5000;-203.0000 --291.5000;-202.5000 --291.5000;-202.0000 --291.5000;-201.5000 --291.5000;-201.0000 --291.5000;-200.5000 --291.5000;-166.0000 --291.5000;-165.5000 --291.5000;-165.0000 --291.5000;-164.5000 --291.5000;-164.0000 --291.5000;-163.5000 --291.5000;-163.0000 --291.5000;-162.5000 --291.5000;-162.0000 --291.5000;-161.5000 --291.5000;-161.0000 --291.5000;-160.5000 --291.5000;-160.0000 --291.5000;-159.5000 --291.5000;-159.0000 --291.5000;-158.5000 --291.5000;-158.0000 --291.5000;-157.5000 --291.5000;-157.0000 --291.5000;-156.5000 --291.5000;-156.0000 --291.5000;-155.5000 --291.5000;-155.0000 --291.5000;-154.5000 --291.5000;-154.0000 --291.5000;-153.5000 --291.5000;-153.0000 --291.5000;-152.5000 --291.5000;-152.0000 --291.5000;-151.5000 --291.0000;-214.5000 --291.0000;-214.0000 --291.0000;-213.5000 --291.0000;-213.0000 --291.0000;-212.5000 --291.0000;-212.0000 --291.0000;-211.5000 --291.0000;-211.0000 --291.0000;-210.5000 --291.0000;-210.0000 --291.0000;-209.5000 --291.0000;-209.0000 --291.0000;-208.5000 --291.0000;-208.0000 --291.0000;-207.5000 --291.0000;-207.0000 --291.0000;-206.5000 --291.0000;-206.0000 --291.0000;-205.5000 --291.0000;-205.0000 --291.0000;-204.5000 --291.0000;-204.0000 --291.0000;-203.5000 --291.0000;-203.0000 --291.0000;-202.5000 --291.0000;-202.0000 --291.0000;-201.5000 --291.0000;-201.0000 --291.0000;-166.0000 --291.0000;-165.5000 --291.0000;-165.0000 --291.0000;-164.5000 --291.0000;-164.0000 --291.0000;-163.5000 --291.0000;-163.0000 --291.0000;-162.5000 --291.0000;-162.0000 --291.0000;-161.5000 --291.0000;-161.0000 --291.0000;-160.5000 --291.0000;-160.0000 --291.0000;-159.5000 --291.0000;-159.0000 --291.0000;-158.5000 --291.0000;-158.0000 --291.0000;-157.5000 --291.0000;-157.0000 --291.0000;-156.5000 --291.0000;-156.0000 --291.0000;-155.5000 --291.0000;-155.0000 --291.0000;-154.5000 --291.0000;-154.0000 --291.0000;-153.5000 --291.0000;-153.0000 --291.0000;-152.5000 --291.0000;-152.0000 --291.0000;-151.5000 --291.0000;-151.0000 --290.5000;-214.5000 --290.5000;-214.0000 --290.5000;-213.5000 --290.5000;-213.0000 --290.5000;-212.5000 --290.5000;-212.0000 --290.5000;-211.5000 --290.5000;-211.0000 --290.5000;-210.5000 --290.5000;-210.0000 --290.5000;-209.5000 --290.5000;-209.0000 --290.5000;-208.5000 --290.5000;-208.0000 --290.5000;-207.5000 --290.5000;-207.0000 --290.5000;-206.5000 --290.5000;-206.0000 --290.5000;-205.5000 --290.5000;-205.0000 --290.5000;-204.5000 --290.5000;-204.0000 --290.5000;-203.5000 --290.5000;-203.0000 --290.5000;-202.5000 --290.5000;-202.0000 --290.5000;-201.5000 --290.5000;-201.0000 --290.5000;-165.5000 --290.5000;-165.0000 --290.5000;-164.5000 --290.5000;-164.0000 --290.5000;-163.5000 --290.5000;-163.0000 --290.5000;-162.5000 --290.5000;-162.0000 --290.5000;-161.5000 --290.5000;-161.0000 --290.5000;-160.5000 --290.5000;-160.0000 --290.5000;-159.5000 --290.5000;-159.0000 --290.5000;-158.5000 --290.5000;-158.0000 --290.5000;-157.5000 --290.5000;-157.0000 --290.5000;-156.5000 --290.5000;-156.0000 --290.5000;-155.5000 --290.5000;-155.0000 --290.5000;-154.5000 --290.5000;-154.0000 --290.5000;-153.5000 --290.5000;-153.0000 --290.5000;-152.5000 --290.5000;-152.0000 --290.5000;-151.5000 --290.5000;-151.0000 --290.5000;-150.5000 --290.0000;-215.0000 --290.0000;-214.5000 --290.0000;-214.0000 --290.0000;-213.5000 --290.0000;-213.0000 --290.0000;-212.5000 --290.0000;-212.0000 --290.0000;-211.5000 --290.0000;-211.0000 --290.0000;-210.5000 --290.0000;-210.0000 --290.0000;-209.5000 --290.0000;-209.0000 --290.0000;-208.5000 --290.0000;-208.0000 --290.0000;-207.5000 --290.0000;-207.0000 --290.0000;-206.5000 --290.0000;-206.0000 --290.0000;-205.5000 --290.0000;-205.0000 --290.0000;-204.5000 --290.0000;-204.0000 --290.0000;-203.5000 --290.0000;-203.0000 --290.0000;-202.5000 --290.0000;-202.0000 --290.0000;-201.5000 --290.0000;-165.0000 --290.0000;-164.5000 --290.0000;-164.0000 --290.0000;-163.5000 --290.0000;-163.0000 --290.0000;-162.5000 --290.0000;-162.0000 --290.0000;-161.5000 --290.0000;-161.0000 --290.0000;-160.5000 --290.0000;-160.0000 --290.0000;-159.5000 --290.0000;-159.0000 --290.0000;-158.5000 --290.0000;-158.0000 --290.0000;-157.5000 --290.0000;-157.0000 --290.0000;-156.5000 --290.0000;-156.0000 --290.0000;-155.5000 --290.0000;-155.0000 --290.0000;-154.5000 --290.0000;-154.0000 --290.0000;-153.5000 --290.0000;-153.0000 --290.0000;-152.5000 --290.0000;-152.0000 --290.0000;-151.5000 --290.0000;-151.0000 --290.0000;-150.5000 --289.5000;-215.0000 --289.5000;-214.5000 --289.5000;-214.0000 --289.5000;-213.5000 --289.5000;-213.0000 --289.5000;-212.5000 --289.5000;-212.0000 --289.5000;-211.5000 --289.5000;-211.0000 --289.5000;-210.5000 --289.5000;-210.0000 --289.5000;-209.5000 --289.5000;-209.0000 --289.5000;-208.5000 --289.5000;-208.0000 --289.5000;-207.5000 --289.5000;-207.0000 --289.5000;-206.5000 --289.5000;-206.0000 --289.5000;-205.5000 --289.5000;-205.0000 --289.5000;-204.5000 --289.5000;-204.0000 --289.5000;-203.5000 --289.5000;-203.0000 --289.5000;-202.5000 --289.5000;-202.0000 --289.5000;-164.5000 --289.5000;-164.0000 --289.5000;-163.5000 --289.5000;-163.0000 --289.5000;-162.5000 --289.5000;-162.0000 --289.5000;-161.5000 --289.5000;-161.0000 --289.5000;-160.5000 --289.5000;-160.0000 --289.5000;-159.5000 --289.5000;-159.0000 --289.5000;-158.5000 --289.5000;-158.0000 --289.5000;-157.5000 --289.5000;-157.0000 --289.5000;-156.5000 --289.5000;-156.0000 --289.5000;-155.5000 --289.5000;-155.0000 --289.5000;-154.5000 --289.5000;-154.0000 --289.5000;-153.5000 --289.5000;-153.0000 --289.5000;-152.5000 --289.5000;-152.0000 --289.5000;-151.5000 --289.5000;-151.0000 --289.5000;-150.5000 --289.5000;-150.0000 --289.0000;-215.5000 --289.0000;-215.0000 --289.0000;-214.5000 --289.0000;-214.0000 --289.0000;-213.5000 --289.0000;-213.0000 --289.0000;-212.5000 --289.0000;-212.0000 --289.0000;-211.5000 --289.0000;-211.0000 --289.0000;-210.5000 --289.0000;-210.0000 --289.0000;-209.5000 --289.0000;-209.0000 --289.0000;-208.5000 --289.0000;-208.0000 --289.0000;-207.5000 --289.0000;-207.0000 --289.0000;-206.5000 --289.0000;-206.0000 --289.0000;-205.5000 --289.0000;-205.0000 --289.0000;-204.5000 --289.0000;-204.0000 --289.0000;-203.5000 --289.0000;-203.0000 --289.0000;-202.5000 --289.0000;-202.0000 --289.0000;-164.5000 --289.0000;-164.0000 --289.0000;-163.5000 --289.0000;-163.0000 --289.0000;-162.5000 --289.0000;-162.0000 --289.0000;-161.5000 --289.0000;-161.0000 --289.0000;-160.5000 --289.0000;-160.0000 --289.0000;-159.5000 --289.0000;-159.0000 --289.0000;-158.5000 --289.0000;-158.0000 --289.0000;-157.5000 --289.0000;-157.0000 --289.0000;-156.5000 --289.0000;-156.0000 --289.0000;-155.5000 --289.0000;-155.0000 --289.0000;-154.5000 --289.0000;-154.0000 --289.0000;-153.5000 --289.0000;-153.0000 --289.0000;-152.5000 --289.0000;-152.0000 --289.0000;-151.5000 --289.0000;-151.0000 --289.0000;-150.5000 --289.0000;-150.0000 --289.0000;-149.5000 --288.5000;-215.5000 --288.5000;-215.0000 --288.5000;-214.5000 --288.5000;-214.0000 --288.5000;-213.5000 --288.5000;-213.0000 --288.5000;-212.5000 --288.5000;-212.0000 --288.5000;-211.5000 --288.5000;-211.0000 --288.5000;-210.5000 --288.5000;-210.0000 --288.5000;-209.5000 --288.5000;-209.0000 --288.5000;-208.5000 --288.5000;-208.0000 --288.5000;-207.5000 --288.5000;-207.0000 --288.5000;-206.5000 --288.5000;-206.0000 --288.5000;-205.5000 --288.5000;-205.0000 --288.5000;-204.5000 --288.5000;-204.0000 --288.5000;-203.5000 --288.5000;-203.0000 --288.5000;-202.5000 --288.5000;-164.0000 --288.5000;-163.5000 --288.5000;-163.0000 --288.5000;-162.5000 --288.5000;-162.0000 --288.5000;-161.5000 --288.5000;-161.0000 --288.5000;-160.5000 --288.5000;-160.0000 --288.5000;-159.5000 --288.5000;-159.0000 --288.5000;-158.5000 --288.5000;-158.0000 --288.5000;-157.5000 --288.5000;-157.0000 --288.5000;-156.5000 --288.5000;-156.0000 --288.5000;-155.5000 --288.5000;-155.0000 --288.5000;-154.5000 --288.5000;-154.0000 --288.5000;-153.5000 --288.5000;-153.0000 --288.5000;-152.5000 --288.5000;-152.0000 --288.5000;-151.5000 --288.5000;-151.0000 --288.5000;-150.5000 --288.5000;-150.0000 --288.5000;-149.5000 --288.0000;-216.0000 --288.0000;-215.5000 --288.0000;-215.0000 --288.0000;-214.5000 --288.0000;-214.0000 --288.0000;-213.5000 --288.0000;-213.0000 --288.0000;-212.5000 --288.0000;-212.0000 --288.0000;-211.5000 --288.0000;-211.0000 --288.0000;-210.5000 --288.0000;-210.0000 --288.0000;-209.5000 --288.0000;-209.0000 --288.0000;-208.5000 --288.0000;-208.0000 --288.0000;-207.5000 --288.0000;-207.0000 --288.0000;-206.5000 --288.0000;-206.0000 --288.0000;-205.5000 --288.0000;-205.0000 --288.0000;-204.5000 --288.0000;-204.0000 --288.0000;-203.5000 --288.0000;-203.0000 --288.0000;-202.5000 --288.0000;-163.5000 --288.0000;-163.0000 --288.0000;-162.5000 --288.0000;-162.0000 --288.0000;-161.5000 --288.0000;-161.0000 --288.0000;-160.5000 --288.0000;-160.0000 --288.0000;-159.5000 --288.0000;-159.0000 --288.0000;-158.5000 --288.0000;-158.0000 --288.0000;-157.5000 --288.0000;-157.0000 --288.0000;-156.5000 --288.0000;-156.0000 --288.0000;-155.5000 --288.0000;-155.0000 --288.0000;-154.5000 --288.0000;-154.0000 --288.0000;-153.5000 --288.0000;-153.0000 --288.0000;-152.5000 --288.0000;-152.0000 --288.0000;-151.5000 --288.0000;-151.0000 --288.0000;-150.5000 --288.0000;-150.0000 --288.0000;-149.5000 --288.0000;-149.0000 --287.5000;-216.0000 --287.5000;-215.5000 --287.5000;-215.0000 --287.5000;-214.5000 --287.5000;-214.0000 --287.5000;-213.5000 --287.5000;-213.0000 --287.5000;-212.5000 --287.5000;-212.0000 --287.5000;-211.5000 --287.5000;-211.0000 --287.5000;-210.5000 --287.5000;-210.0000 --287.5000;-209.5000 --287.5000;-209.0000 --287.5000;-208.5000 --287.5000;-208.0000 --287.5000;-207.5000 --287.5000;-207.0000 --287.5000;-206.5000 --287.5000;-206.0000 --287.5000;-205.5000 --287.5000;-205.0000 --287.5000;-204.5000 --287.5000;-204.0000 --287.5000;-203.5000 --287.5000;-203.0000 --287.5000;-163.5000 --287.5000;-163.0000 --287.5000;-162.5000 --287.5000;-162.0000 --287.5000;-161.5000 --287.5000;-161.0000 --287.5000;-160.5000 --287.5000;-160.0000 --287.5000;-159.5000 --287.5000;-159.0000 --287.5000;-158.5000 --287.5000;-158.0000 --287.5000;-157.5000 --287.5000;-157.0000 --287.5000;-156.5000 --287.5000;-156.0000 --287.5000;-155.5000 --287.5000;-155.0000 --287.5000;-154.5000 --287.5000;-154.0000 --287.5000;-153.5000 --287.5000;-153.0000 --287.5000;-152.5000 --287.5000;-152.0000 --287.5000;-151.5000 --287.5000;-151.0000 --287.5000;-150.5000 --287.5000;-150.0000 --287.5000;-149.5000 --287.5000;-149.0000 --287.5000;-148.5000 --287.0000;-216.0000 --287.0000;-215.5000 --287.0000;-215.0000 --287.0000;-214.5000 --287.0000;-214.0000 --287.0000;-213.5000 --287.0000;-213.0000 --287.0000;-212.5000 --287.0000;-212.0000 --287.0000;-211.5000 --287.0000;-211.0000 --287.0000;-210.5000 --287.0000;-210.0000 --287.0000;-209.5000 --287.0000;-209.0000 --287.0000;-208.5000 --287.0000;-208.0000 --287.0000;-207.5000 --287.0000;-207.0000 --287.0000;-206.5000 --287.0000;-206.0000 --287.0000;-205.5000 --287.0000;-205.0000 --287.0000;-204.5000 --287.0000;-204.0000 --287.0000;-203.5000 --287.0000;-203.0000 --287.0000;-163.0000 --287.0000;-162.5000 --287.0000;-162.0000 --287.0000;-161.5000 --287.0000;-161.0000 --287.0000;-160.5000 --287.0000;-160.0000 --287.0000;-159.5000 --287.0000;-159.0000 --287.0000;-158.5000 --287.0000;-158.0000 --287.0000;-157.5000 --287.0000;-157.0000 --287.0000;-156.5000 --287.0000;-156.0000 --287.0000;-155.5000 --287.0000;-155.0000 --287.0000;-154.5000 --287.0000;-154.0000 --287.0000;-153.5000 --287.0000;-153.0000 --287.0000;-152.5000 --287.0000;-152.0000 --287.0000;-151.5000 --287.0000;-151.0000 --287.0000;-150.5000 --287.0000;-150.0000 --287.0000;-149.5000 --287.0000;-149.0000 --287.0000;-148.5000 --286.5000;-216.5000 --286.5000;-216.0000 --286.5000;-215.5000 --286.5000;-215.0000 --286.5000;-214.5000 --286.5000;-214.0000 --286.5000;-213.5000 --286.5000;-213.0000 --286.5000;-212.5000 --286.5000;-212.0000 --286.5000;-211.5000 --286.5000;-211.0000 --286.5000;-210.5000 --286.5000;-210.0000 --286.5000;-209.5000 --286.5000;-209.0000 --286.5000;-208.5000 --286.5000;-208.0000 --286.5000;-207.5000 --286.5000;-207.0000 --286.5000;-206.5000 --286.5000;-206.0000 --286.5000;-205.5000 --286.5000;-205.0000 --286.5000;-204.5000 --286.5000;-204.0000 --286.5000;-203.5000 --286.5000;-162.5000 --286.5000;-162.0000 --286.5000;-161.5000 --286.5000;-161.0000 --286.5000;-160.5000 --286.5000;-160.0000 --286.5000;-159.5000 --286.5000;-159.0000 --286.5000;-158.5000 --286.5000;-158.0000 --286.5000;-157.5000 --286.5000;-157.0000 --286.5000;-156.5000 --286.5000;-156.0000 --286.5000;-155.5000 --286.5000;-155.0000 --286.5000;-154.5000 --286.5000;-154.0000 --286.5000;-153.5000 --286.5000;-153.0000 --286.5000;-152.5000 --286.5000;-152.0000 --286.5000;-151.5000 --286.5000;-151.0000 --286.5000;-150.5000 --286.5000;-150.0000 --286.5000;-149.5000 --286.5000;-149.0000 --286.5000;-148.5000 --286.5000;-148.0000 --286.0000;-216.5000 --286.0000;-216.0000 --286.0000;-215.5000 --286.0000;-215.0000 --286.0000;-214.5000 --286.0000;-214.0000 --286.0000;-213.5000 --286.0000;-213.0000 --286.0000;-212.5000 --286.0000;-212.0000 --286.0000;-211.5000 --286.0000;-211.0000 --286.0000;-210.5000 --286.0000;-210.0000 --286.0000;-209.5000 --286.0000;-209.0000 --286.0000;-208.5000 --286.0000;-208.0000 --286.0000;-207.5000 --286.0000;-207.0000 --286.0000;-206.5000 --286.0000;-206.0000 --286.0000;-205.5000 --286.0000;-205.0000 --286.0000;-204.5000 --286.0000;-204.0000 --286.0000;-203.5000 --286.0000;-162.5000 --286.0000;-162.0000 --286.0000;-161.5000 --286.0000;-161.0000 --286.0000;-160.5000 --286.0000;-160.0000 --286.0000;-159.5000 --286.0000;-159.0000 --286.0000;-158.5000 --286.0000;-158.0000 --286.0000;-157.5000 --286.0000;-157.0000 --286.0000;-156.5000 --286.0000;-156.0000 --286.0000;-155.5000 --286.0000;-155.0000 --286.0000;-154.5000 --286.0000;-154.0000 --286.0000;-153.5000 --286.0000;-153.0000 --286.0000;-152.5000 --286.0000;-152.0000 --286.0000;-151.5000 --286.0000;-151.0000 --286.0000;-150.5000 --286.0000;-150.0000 --286.0000;-149.5000 --286.0000;-149.0000 --286.0000;-148.5000 --286.0000;-148.0000 --286.0000;-147.5000 --285.5000;-217.0000 --285.5000;-216.5000 --285.5000;-216.0000 --285.5000;-215.5000 --285.5000;-215.0000 --285.5000;-214.5000 --285.5000;-214.0000 --285.5000;-213.5000 --285.5000;-213.0000 --285.5000;-212.5000 --285.5000;-212.0000 --285.5000;-211.5000 --285.5000;-211.0000 --285.5000;-210.5000 --285.5000;-210.0000 --285.5000;-209.5000 --285.5000;-209.0000 --285.5000;-208.5000 --285.5000;-208.0000 --285.5000;-207.5000 --285.5000;-207.0000 --285.5000;-206.5000 --285.5000;-206.0000 --285.5000;-205.5000 --285.5000;-205.0000 --285.5000;-204.5000 --285.5000;-204.0000 --285.5000;-162.0000 --285.5000;-161.5000 --285.5000;-161.0000 --285.5000;-160.5000 --285.5000;-160.0000 --285.5000;-159.5000 --285.5000;-159.0000 --285.5000;-158.5000 --285.5000;-158.0000 --285.5000;-157.5000 --285.5000;-157.0000 --285.5000;-156.5000 --285.5000;-156.0000 --285.5000;-155.5000 --285.5000;-155.0000 --285.5000;-154.5000 --285.5000;-154.0000 --285.5000;-153.5000 --285.5000;-153.0000 --285.5000;-152.5000 --285.5000;-152.0000 --285.5000;-151.5000 --285.5000;-151.0000 --285.5000;-150.5000 --285.5000;-150.0000 --285.5000;-149.5000 --285.5000;-149.0000 --285.5000;-148.5000 --285.5000;-148.0000 --285.5000;-147.5000 --285.0000;-217.0000 --285.0000;-216.5000 --285.0000;-216.0000 --285.0000;-215.5000 --285.0000;-215.0000 --285.0000;-214.5000 --285.0000;-214.0000 --285.0000;-213.5000 --285.0000;-213.0000 --285.0000;-212.5000 --285.0000;-212.0000 --285.0000;-211.5000 --285.0000;-211.0000 --285.0000;-210.5000 --285.0000;-210.0000 --285.0000;-209.5000 --285.0000;-209.0000 --285.0000;-208.5000 --285.0000;-208.0000 --285.0000;-207.5000 --285.0000;-207.0000 --285.0000;-206.5000 --285.0000;-206.0000 --285.0000;-205.5000 --285.0000;-205.0000 --285.0000;-204.5000 --285.0000;-204.0000 --285.0000;-161.5000 --285.0000;-161.0000 --285.0000;-160.5000 --285.0000;-160.0000 --285.0000;-159.5000 --285.0000;-159.0000 --285.0000;-158.5000 --285.0000;-158.0000 --285.0000;-157.5000 --285.0000;-157.0000 --285.0000;-156.5000 --285.0000;-156.0000 --285.0000;-155.5000 --285.0000;-155.0000 --285.0000;-154.5000 --285.0000;-154.0000 --285.0000;-153.5000 --285.0000;-153.0000 --285.0000;-152.5000 --285.0000;-152.0000 --285.0000;-151.5000 --285.0000;-151.0000 --285.0000;-150.5000 --285.0000;-150.0000 --285.0000;-149.5000 --285.0000;-149.0000 --285.0000;-148.5000 --285.0000;-148.0000 --285.0000;-147.5000 --285.0000;-147.0000 --284.5000;-217.0000 --284.5000;-216.5000 --284.5000;-216.0000 --284.5000;-215.5000 --284.5000;-215.0000 --284.5000;-214.5000 --284.5000;-214.0000 --284.5000;-213.5000 --284.5000;-213.0000 --284.5000;-212.5000 --284.5000;-212.0000 --284.5000;-211.5000 --284.5000;-211.0000 --284.5000;-210.5000 --284.5000;-210.0000 --284.5000;-209.5000 --284.5000;-209.0000 --284.5000;-208.5000 --284.5000;-208.0000 --284.5000;-207.5000 --284.5000;-207.0000 --284.5000;-206.5000 --284.5000;-206.0000 --284.5000;-205.5000 --284.5000;-205.0000 --284.5000;-204.5000 --284.5000;-161.5000 --284.5000;-161.0000 --284.5000;-160.5000 --284.5000;-160.0000 --284.5000;-159.5000 --284.5000;-159.0000 --284.5000;-158.5000 --284.5000;-158.0000 --284.5000;-157.5000 --284.5000;-157.0000 --284.5000;-156.5000 --284.5000;-156.0000 --284.5000;-155.5000 --284.5000;-155.0000 --284.5000;-154.5000 --284.5000;-154.0000 --284.5000;-153.5000 --284.5000;-153.0000 --284.5000;-152.5000 --284.5000;-152.0000 --284.5000;-151.5000 --284.5000;-151.0000 --284.5000;-150.5000 --284.5000;-150.0000 --284.5000;-149.5000 --284.5000;-149.0000 --284.5000;-148.5000 --284.5000;-148.0000 --284.5000;-147.5000 --284.5000;-147.0000 --284.5000;-146.5000 --284.0000;-217.5000 --284.0000;-217.0000 --284.0000;-216.5000 --284.0000;-216.0000 --284.0000;-215.5000 --284.0000;-215.0000 --284.0000;-214.5000 --284.0000;-214.0000 --284.0000;-213.5000 --284.0000;-213.0000 --284.0000;-212.5000 --284.0000;-212.0000 --284.0000;-211.5000 --284.0000;-211.0000 --284.0000;-210.5000 --284.0000;-210.0000 --284.0000;-209.5000 --284.0000;-209.0000 --284.0000;-208.5000 --284.0000;-208.0000 --284.0000;-207.5000 --284.0000;-207.0000 --284.0000;-206.5000 --284.0000;-206.0000 --284.0000;-205.5000 --284.0000;-205.0000 --284.0000;-204.5000 --284.0000;-161.0000 --284.0000;-160.5000 --284.0000;-160.0000 --284.0000;-159.5000 --284.0000;-159.0000 --284.0000;-158.5000 --284.0000;-158.0000 --284.0000;-157.5000 --284.0000;-157.0000 --284.0000;-156.5000 --284.0000;-156.0000 --284.0000;-155.5000 --284.0000;-155.0000 --284.0000;-154.5000 --284.0000;-154.0000 --284.0000;-153.5000 --284.0000;-153.0000 --284.0000;-152.5000 --284.0000;-152.0000 --284.0000;-151.5000 --284.0000;-151.0000 --284.0000;-150.5000 --284.0000;-150.0000 --284.0000;-149.5000 --284.0000;-149.0000 --284.0000;-148.5000 --284.0000;-148.0000 --284.0000;-147.5000 --284.0000;-147.0000 --284.0000;-146.5000 --283.5000;-217.5000 --283.5000;-217.0000 --283.5000;-216.5000 --283.5000;-216.0000 --283.5000;-215.5000 --283.5000;-215.0000 --283.5000;-214.5000 --283.5000;-214.0000 --283.5000;-213.5000 --283.5000;-213.0000 --283.5000;-212.5000 --283.5000;-212.0000 --283.5000;-211.5000 --283.5000;-211.0000 --283.5000;-210.5000 --283.5000;-210.0000 --283.5000;-209.5000 --283.5000;-209.0000 --283.5000;-208.5000 --283.5000;-208.0000 --283.5000;-207.5000 --283.5000;-207.0000 --283.5000;-206.5000 --283.5000;-206.0000 --283.5000;-205.5000 --283.5000;-205.0000 --283.5000;-160.5000 --283.5000;-160.0000 --283.5000;-159.5000 --283.5000;-159.0000 --283.5000;-158.5000 --283.5000;-158.0000 --283.5000;-157.5000 --283.5000;-157.0000 --283.5000;-156.5000 --283.5000;-156.0000 --283.5000;-155.5000 --283.5000;-155.0000 --283.5000;-154.5000 --283.5000;-154.0000 --283.5000;-153.5000 --283.5000;-153.0000 --283.5000;-152.5000 --283.5000;-152.0000 --283.5000;-151.5000 --283.5000;-151.0000 --283.5000;-150.5000 --283.5000;-150.0000 --283.5000;-149.5000 --283.5000;-149.0000 --283.5000;-148.5000 --283.5000;-148.0000 --283.5000;-147.5000 --283.5000;-147.0000 --283.5000;-146.5000 --283.5000;-146.0000 --283.0000;-218.0000 --283.0000;-217.5000 --283.0000;-217.0000 --283.0000;-216.5000 --283.0000;-216.0000 --283.0000;-215.5000 --283.0000;-215.0000 --283.0000;-214.5000 --283.0000;-214.0000 --283.0000;-213.5000 --283.0000;-213.0000 --283.0000;-212.5000 --283.0000;-212.0000 --283.0000;-211.5000 --283.0000;-211.0000 --283.0000;-210.5000 --283.0000;-210.0000 --283.0000;-209.5000 --283.0000;-209.0000 --283.0000;-208.5000 --283.0000;-208.0000 --283.0000;-207.5000 --283.0000;-207.0000 --283.0000;-206.5000 --283.0000;-206.0000 --283.0000;-205.5000 --283.0000;-205.0000 --283.0000;-160.5000 --283.0000;-160.0000 --283.0000;-159.5000 --283.0000;-159.0000 --283.0000;-158.5000 --283.0000;-158.0000 --283.0000;-157.5000 --283.0000;-157.0000 --283.0000;-156.5000 --283.0000;-156.0000 --283.0000;-155.5000 --283.0000;-155.0000 --283.0000;-154.5000 --283.0000;-154.0000 --283.0000;-153.5000 --283.0000;-153.0000 --283.0000;-152.5000 --283.0000;-152.0000 --283.0000;-151.5000 --283.0000;-151.0000 --283.0000;-150.5000 --283.0000;-150.0000 --283.0000;-149.5000 --283.0000;-149.0000 --283.0000;-148.5000 --283.0000;-148.0000 --283.0000;-147.5000 --283.0000;-147.0000 --283.0000;-146.5000 --283.0000;-146.0000 --283.0000;-145.5000 --282.5000;-218.0000 --282.5000;-217.5000 --282.5000;-217.0000 --282.5000;-216.5000 --282.5000;-216.0000 --282.5000;-215.5000 --282.5000;-215.0000 --282.5000;-214.5000 --282.5000;-214.0000 --282.5000;-213.5000 --282.5000;-213.0000 --282.5000;-212.5000 --282.5000;-212.0000 --282.5000;-211.5000 --282.5000;-211.0000 --282.5000;-210.5000 --282.5000;-210.0000 --282.5000;-209.5000 --282.5000;-209.0000 --282.5000;-208.5000 --282.5000;-208.0000 --282.5000;-207.5000 --282.5000;-207.0000 --282.5000;-206.5000 --282.5000;-206.0000 --282.5000;-205.5000 --282.5000;-205.0000 --282.5000;-160.0000 --282.5000;-159.5000 --282.5000;-159.0000 --282.5000;-158.5000 --282.5000;-158.0000 --282.5000;-157.5000 --282.5000;-157.0000 --282.5000;-156.5000 --282.5000;-156.0000 --282.5000;-155.5000 --282.5000;-155.0000 --282.5000;-154.5000 --282.5000;-154.0000 --282.5000;-153.5000 --282.5000;-153.0000 --282.5000;-152.5000 --282.5000;-152.0000 --282.5000;-151.5000 --282.5000;-151.0000 --282.5000;-150.5000 --282.5000;-150.0000 --282.5000;-149.5000 --282.5000;-149.0000 --282.5000;-148.5000 --282.5000;-148.0000 --282.5000;-147.5000 --282.5000;-147.0000 --282.5000;-146.5000 --282.5000;-146.0000 --282.5000;-145.5000 --282.0000;-218.0000 --282.0000;-217.5000 --282.0000;-217.0000 --282.0000;-216.5000 --282.0000;-216.0000 --282.0000;-215.5000 --282.0000;-215.0000 --282.0000;-214.5000 --282.0000;-214.0000 --282.0000;-213.5000 --282.0000;-213.0000 --282.0000;-212.5000 --282.0000;-212.0000 --282.0000;-211.5000 --282.0000;-211.0000 --282.0000;-210.5000 --282.0000;-210.0000 --282.0000;-209.5000 --282.0000;-209.0000 --282.0000;-208.5000 --282.0000;-208.0000 --282.0000;-207.5000 --282.0000;-207.0000 --282.0000;-206.5000 --282.0000;-206.0000 --282.0000;-205.5000 --282.0000;-159.5000 --282.0000;-159.0000 --282.0000;-158.5000 --282.0000;-158.0000 --282.0000;-157.5000 --282.0000;-157.0000 --282.0000;-156.5000 --282.0000;-156.0000 --282.0000;-155.5000 --282.0000;-155.0000 --282.0000;-154.5000 --282.0000;-154.0000 --282.0000;-153.5000 --282.0000;-153.0000 --282.0000;-152.5000 --282.0000;-152.0000 --282.0000;-151.5000 --282.0000;-151.0000 --282.0000;-150.5000 --282.0000;-150.0000 --282.0000;-149.5000 --282.0000;-149.0000 --282.0000;-148.5000 --282.0000;-148.0000 --282.0000;-147.5000 --282.0000;-147.0000 --282.0000;-146.5000 --282.0000;-146.0000 --282.0000;-145.5000 --282.0000;-145.0000 --281.5000;-218.5000 --281.5000;-218.0000 --281.5000;-217.5000 --281.5000;-217.0000 --281.5000;-216.5000 --281.5000;-216.0000 --281.5000;-215.5000 --281.5000;-215.0000 --281.5000;-214.5000 --281.5000;-214.0000 --281.5000;-213.5000 --281.5000;-213.0000 --281.5000;-212.5000 --281.5000;-212.0000 --281.5000;-211.5000 --281.5000;-211.0000 --281.5000;-210.5000 --281.5000;-210.0000 --281.5000;-209.5000 --281.5000;-209.0000 --281.5000;-208.5000 --281.5000;-208.0000 --281.5000;-207.5000 --281.5000;-207.0000 --281.5000;-206.5000 --281.5000;-206.0000 --281.5000;-205.5000 --281.5000;-159.5000 --281.5000;-159.0000 --281.5000;-158.5000 --281.5000;-158.0000 --281.5000;-157.5000 --281.5000;-157.0000 --281.5000;-156.5000 --281.5000;-156.0000 --281.5000;-155.5000 --281.5000;-155.0000 --281.5000;-154.5000 --281.5000;-154.0000 --281.5000;-153.5000 --281.5000;-153.0000 --281.5000;-152.5000 --281.5000;-152.0000 --281.5000;-151.5000 --281.5000;-151.0000 --281.5000;-150.5000 --281.5000;-150.0000 --281.5000;-149.5000 --281.5000;-149.0000 --281.5000;-148.5000 --281.5000;-148.0000 --281.5000;-147.5000 --281.5000;-147.0000 --281.5000;-146.5000 --281.5000;-146.0000 --281.5000;-145.5000 --281.5000;-145.0000 --281.5000;-144.5000 --281.0000;-218.5000 --281.0000;-218.0000 --281.0000;-217.5000 --281.0000;-217.0000 --281.0000;-216.5000 --281.0000;-216.0000 --281.0000;-215.5000 --281.0000;-215.0000 --281.0000;-214.5000 --281.0000;-214.0000 --281.0000;-213.5000 --281.0000;-213.0000 --281.0000;-212.5000 --281.0000;-212.0000 --281.0000;-211.5000 --281.0000;-211.0000 --281.0000;-210.5000 --281.0000;-210.0000 --281.0000;-209.5000 --281.0000;-209.0000 --281.0000;-208.5000 --281.0000;-208.0000 --281.0000;-207.5000 --281.0000;-207.0000 --281.0000;-206.5000 --281.0000;-206.0000 --281.0000;-159.0000 --281.0000;-158.5000 --281.0000;-158.0000 --281.0000;-157.5000 --281.0000;-157.0000 --281.0000;-156.5000 --281.0000;-156.0000 --281.0000;-155.5000 --281.0000;-155.0000 --281.0000;-154.5000 --281.0000;-154.0000 --281.0000;-153.5000 --281.0000;-153.0000 --281.0000;-152.5000 --281.0000;-152.0000 --281.0000;-151.5000 --281.0000;-151.0000 --281.0000;-150.5000 --281.0000;-150.0000 --281.0000;-149.5000 --281.0000;-149.0000 --281.0000;-148.5000 --281.0000;-148.0000 --281.0000;-147.5000 --281.0000;-147.0000 --281.0000;-146.5000 --281.0000;-146.0000 --281.0000;-145.5000 --281.0000;-145.0000 --281.0000;-144.5000 --280.5000;-219.0000 --280.5000;-218.5000 --280.5000;-218.0000 --280.5000;-217.5000 --280.5000;-217.0000 --280.5000;-216.5000 --280.5000;-216.0000 --280.5000;-215.5000 --280.5000;-215.0000 --280.5000;-214.5000 --280.5000;-214.0000 --280.5000;-213.5000 --280.5000;-213.0000 --280.5000;-212.5000 --280.5000;-212.0000 --280.5000;-211.5000 --280.5000;-211.0000 --280.5000;-210.5000 --280.5000;-210.0000 --280.5000;-209.5000 --280.5000;-209.0000 --280.5000;-208.5000 --280.5000;-208.0000 --280.5000;-207.5000 --280.5000;-207.0000 --280.5000;-206.5000 --280.5000;-206.0000 --280.5000;-158.5000 --280.5000;-158.0000 --280.5000;-157.5000 --280.5000;-157.0000 --280.5000;-156.5000 --280.5000;-156.0000 --280.5000;-155.5000 --280.5000;-155.0000 --280.5000;-154.5000 --280.5000;-154.0000 --280.5000;-153.5000 --280.5000;-153.0000 --280.5000;-152.5000 --280.5000;-152.0000 --280.5000;-151.5000 --280.5000;-151.0000 --280.5000;-150.5000 --280.5000;-150.0000 --280.5000;-149.5000 --280.5000;-149.0000 --280.5000;-148.5000 --280.5000;-148.0000 --280.5000;-147.5000 --280.5000;-147.0000 --280.5000;-146.5000 --280.5000;-146.0000 --280.5000;-145.5000 --280.5000;-145.0000 --280.5000;-144.5000 --280.5000;-144.0000 --280.0000;-219.0000 --280.0000;-218.5000 --280.0000;-218.0000 --280.0000;-217.5000 --280.0000;-217.0000 --280.0000;-216.5000 --280.0000;-216.0000 --280.0000;-215.5000 --280.0000;-215.0000 --280.0000;-214.5000 --280.0000;-214.0000 --280.0000;-213.5000 --280.0000;-213.0000 --280.0000;-212.5000 --280.0000;-212.0000 --280.0000;-211.5000 --280.0000;-211.0000 --280.0000;-210.5000 --280.0000;-210.0000 --280.0000;-209.5000 --280.0000;-209.0000 --280.0000;-208.5000 --280.0000;-208.0000 --280.0000;-207.5000 --280.0000;-207.0000 --280.0000;-206.5000 --280.0000;-206.0000 --280.0000;-158.5000 --280.0000;-158.0000 --280.0000;-157.5000 --280.0000;-157.0000 --280.0000;-156.5000 --280.0000;-156.0000 --280.0000;-155.5000 --280.0000;-155.0000 --280.0000;-154.5000 --280.0000;-154.0000 --280.0000;-153.5000 --280.0000;-153.0000 --280.0000;-152.5000 --280.0000;-152.0000 --280.0000;-151.5000 --280.0000;-151.0000 --280.0000;-150.5000 --280.0000;-150.0000 --280.0000;-149.5000 --280.0000;-149.0000 --280.0000;-148.5000 --280.0000;-148.0000 --280.0000;-147.5000 --280.0000;-147.0000 --280.0000;-146.5000 --280.0000;-146.0000 --280.0000;-145.5000 --280.0000;-145.0000 --280.0000;-144.5000 --280.0000;-144.0000 --280.0000;-143.5000 --279.5000;-219.0000 --279.5000;-218.5000 --279.5000;-218.0000 --279.5000;-217.5000 --279.5000;-217.0000 --279.5000;-216.5000 --279.5000;-216.0000 --279.5000;-215.5000 --279.5000;-215.0000 --279.5000;-214.5000 --279.5000;-214.0000 --279.5000;-213.5000 --279.5000;-213.0000 --279.5000;-212.5000 --279.5000;-212.0000 --279.5000;-211.5000 --279.5000;-211.0000 --279.5000;-210.5000 --279.5000;-210.0000 --279.5000;-209.5000 --279.5000;-209.0000 --279.5000;-208.5000 --279.5000;-208.0000 --279.5000;-207.5000 --279.5000;-207.0000 --279.5000;-206.5000 --279.5000;-158.0000 --279.5000;-157.5000 --279.5000;-157.0000 --279.5000;-156.5000 --279.5000;-156.0000 --279.5000;-155.5000 --279.5000;-155.0000 --279.5000;-154.5000 --279.5000;-154.0000 --279.5000;-153.5000 --279.5000;-153.0000 --279.5000;-152.5000 --279.5000;-152.0000 --279.5000;-151.5000 --279.5000;-151.0000 --279.5000;-150.5000 --279.5000;-150.0000 --279.5000;-149.5000 --279.5000;-149.0000 --279.5000;-148.5000 --279.5000;-148.0000 --279.5000;-147.5000 --279.5000;-147.0000 --279.5000;-146.5000 --279.5000;-146.0000 --279.5000;-145.5000 --279.5000;-145.0000 --279.5000;-144.5000 --279.5000;-144.0000 --279.5000;-143.5000 --279.0000;-219.5000 --279.0000;-219.0000 --279.0000;-218.5000 --279.0000;-218.0000 --279.0000;-217.5000 --279.0000;-217.0000 --279.0000;-216.5000 --279.0000;-216.0000 --279.0000;-215.5000 --279.0000;-215.0000 --279.0000;-214.5000 --279.0000;-214.0000 --279.0000;-213.5000 --279.0000;-213.0000 --279.0000;-212.5000 --279.0000;-212.0000 --279.0000;-211.5000 --279.0000;-211.0000 --279.0000;-210.5000 --279.0000;-210.0000 --279.0000;-209.5000 --279.0000;-209.0000 --279.0000;-208.5000 --279.0000;-208.0000 --279.0000;-207.5000 --279.0000;-207.0000 --279.0000;-206.5000 --279.0000;-157.5000 --279.0000;-157.0000 --279.0000;-156.5000 --279.0000;-156.0000 --279.0000;-155.5000 --279.0000;-155.0000 --279.0000;-154.5000 --279.0000;-154.0000 --279.0000;-153.5000 --279.0000;-153.0000 --279.0000;-152.5000 --279.0000;-152.0000 --279.0000;-151.5000 --279.0000;-151.0000 --279.0000;-150.5000 --279.0000;-150.0000 --279.0000;-149.5000 --279.0000;-149.0000 --279.0000;-148.5000 --279.0000;-148.0000 --279.0000;-147.5000 --279.0000;-147.0000 --279.0000;-146.5000 --279.0000;-146.0000 --279.0000;-145.5000 --279.0000;-145.0000 --279.0000;-144.5000 --279.0000;-144.0000 --279.0000;-143.5000 --279.0000;-143.0000 --278.5000;-219.5000 --278.5000;-219.0000 --278.5000;-218.5000 --278.5000;-218.0000 --278.5000;-217.5000 --278.5000;-217.0000 --278.5000;-216.5000 --278.5000;-216.0000 --278.5000;-215.5000 --278.5000;-215.0000 --278.5000;-214.5000 --278.5000;-214.0000 --278.5000;-213.5000 --278.5000;-213.0000 --278.5000;-212.5000 --278.5000;-212.0000 --278.5000;-211.5000 --278.5000;-211.0000 --278.5000;-210.5000 --278.5000;-210.0000 --278.5000;-209.5000 --278.5000;-209.0000 --278.5000;-208.5000 --278.5000;-208.0000 --278.5000;-207.5000 --278.5000;-207.0000 --278.5000;-206.5000 --278.5000;-157.0000 --278.5000;-156.5000 --278.5000;-156.0000 --278.5000;-155.5000 --278.5000;-155.0000 --278.5000;-154.5000 --278.5000;-154.0000 --278.5000;-153.5000 --278.5000;-153.0000 --278.5000;-152.5000 --278.5000;-152.0000 --278.5000;-151.5000 --278.5000;-151.0000 --278.5000;-150.5000 --278.5000;-150.0000 --278.5000;-149.5000 --278.5000;-149.0000 --278.5000;-148.5000 --278.5000;-148.0000 --278.5000;-147.5000 --278.5000;-147.0000 --278.5000;-146.5000 --278.5000;-146.0000 --278.5000;-145.5000 --278.5000;-145.0000 --278.5000;-144.5000 --278.5000;-144.0000 --278.5000;-143.5000 --278.5000;-143.0000 --278.5000;-142.5000 --278.0000;-219.5000 --278.0000;-219.0000 --278.0000;-218.5000 --278.0000;-218.0000 --278.0000;-217.5000 --278.0000;-217.0000 --278.0000;-216.5000 --278.0000;-216.0000 --278.0000;-215.5000 --278.0000;-215.0000 --278.0000;-214.5000 --278.0000;-214.0000 --278.0000;-213.5000 --278.0000;-213.0000 --278.0000;-212.5000 --278.0000;-212.0000 --278.0000;-211.5000 --278.0000;-211.0000 --278.0000;-210.5000 --278.0000;-210.0000 --278.0000;-209.5000 --278.0000;-209.0000 --278.0000;-208.5000 --278.0000;-208.0000 --278.0000;-207.5000 --278.0000;-207.0000 --278.0000;-157.0000 --278.0000;-156.5000 --278.0000;-156.0000 --278.0000;-155.5000 --278.0000;-155.0000 --278.0000;-154.5000 --278.0000;-154.0000 --278.0000;-153.5000 --278.0000;-153.0000 --278.0000;-152.5000 --278.0000;-152.0000 --278.0000;-151.5000 --278.0000;-151.0000 --278.0000;-150.5000 --278.0000;-150.0000 --278.0000;-149.5000 --278.0000;-149.0000 --278.0000;-148.5000 --278.0000;-148.0000 --278.0000;-147.5000 --278.0000;-147.0000 --278.0000;-146.5000 --278.0000;-146.0000 --278.0000;-145.5000 --278.0000;-145.0000 --278.0000;-144.5000 --278.0000;-144.0000 --278.0000;-143.5000 --278.0000;-143.0000 --278.0000;-142.5000 --277.5000;-220.0000 --277.5000;-219.5000 --277.5000;-219.0000 --277.5000;-218.5000 --277.5000;-218.0000 --277.5000;-217.5000 --277.5000;-217.0000 --277.5000;-216.5000 --277.5000;-216.0000 --277.5000;-215.5000 --277.5000;-215.0000 --277.5000;-214.5000 --277.5000;-214.0000 --277.5000;-213.5000 --277.5000;-213.0000 --277.5000;-212.5000 --277.5000;-212.0000 --277.5000;-211.5000 --277.5000;-211.0000 --277.5000;-210.5000 --277.5000;-210.0000 --277.5000;-209.5000 --277.5000;-209.0000 --277.5000;-208.5000 --277.5000;-208.0000 --277.5000;-207.5000 --277.5000;-207.0000 --277.5000;-156.5000 --277.5000;-156.0000 --277.5000;-155.5000 --277.5000;-155.0000 --277.5000;-154.5000 --277.5000;-154.0000 --277.5000;-153.5000 --277.5000;-153.0000 --277.5000;-152.5000 --277.5000;-152.0000 --277.5000;-151.5000 --277.5000;-151.0000 --277.5000;-150.5000 --277.5000;-150.0000 --277.5000;-149.5000 --277.5000;-149.0000 --277.5000;-148.5000 --277.5000;-148.0000 --277.5000;-147.5000 --277.5000;-147.0000 --277.5000;-146.5000 --277.5000;-146.0000 --277.5000;-145.5000 --277.5000;-145.0000 --277.5000;-144.5000 --277.5000;-144.0000 --277.5000;-143.5000 --277.5000;-143.0000 --277.5000;-142.5000 --277.5000;-142.0000 --277.0000;-220.0000 --277.0000;-219.5000 --277.0000;-219.0000 --277.0000;-218.5000 --277.0000;-218.0000 --277.0000;-217.5000 --277.0000;-217.0000 --277.0000;-216.5000 --277.0000;-216.0000 --277.0000;-215.5000 --277.0000;-215.0000 --277.0000;-214.5000 --277.0000;-214.0000 --277.0000;-213.5000 --277.0000;-213.0000 --277.0000;-212.5000 --277.0000;-212.0000 --277.0000;-211.5000 --277.0000;-211.0000 --277.0000;-210.5000 --277.0000;-210.0000 --277.0000;-209.5000 --277.0000;-209.0000 --277.0000;-208.5000 --277.0000;-208.0000 --277.0000;-207.5000 --277.0000;-156.0000 --277.0000;-155.5000 --277.0000;-155.0000 --277.0000;-154.5000 --277.0000;-154.0000 --277.0000;-153.5000 --277.0000;-153.0000 --277.0000;-152.5000 --277.0000;-152.0000 --277.0000;-151.5000 --277.0000;-151.0000 --277.0000;-150.5000 --277.0000;-150.0000 --277.0000;-149.5000 --277.0000;-149.0000 --277.0000;-148.5000 --277.0000;-148.0000 --277.0000;-147.5000 --277.0000;-147.0000 --277.0000;-146.5000 --277.0000;-146.0000 --277.0000;-145.5000 --277.0000;-145.0000 --277.0000;-144.5000 --277.0000;-144.0000 --277.0000;-143.5000 --277.0000;-143.0000 --277.0000;-142.5000 --277.0000;-142.0000 --277.0000;-141.5000 --277.0000;-26.0000 --277.0000;-25.5000 --277.0000;-25.0000 --277.0000;-24.5000 --277.0000;-24.0000 --277.0000;-23.5000 --277.0000;-23.0000 --277.0000;-22.5000 --277.0000;-22.0000 --277.0000;-21.5000 --277.0000;-21.0000 --277.0000;-20.5000 --277.0000;-20.0000 --277.0000;-19.5000 --277.0000;-19.0000 --277.0000;-18.5000 --277.0000;-18.0000 --277.0000;-17.5000 --277.0000;-17.0000 --277.0000;-16.5000 --277.0000;-16.0000 --277.0000;-15.5000 --277.0000;-15.0000 --277.0000;-14.5000 --276.5000;-220.5000 --276.5000;-220.0000 --276.5000;-219.5000 --276.5000;-219.0000 --276.5000;-218.5000 --276.5000;-218.0000 --276.5000;-217.5000 --276.5000;-217.0000 --276.5000;-216.5000 --276.5000;-216.0000 --276.5000;-215.5000 --276.5000;-215.0000 --276.5000;-214.5000 --276.5000;-214.0000 --276.5000;-213.5000 --276.5000;-213.0000 --276.5000;-212.5000 --276.5000;-212.0000 --276.5000;-211.5000 --276.5000;-211.0000 --276.5000;-210.5000 --276.5000;-210.0000 --276.5000;-209.5000 --276.5000;-209.0000 --276.5000;-208.5000 --276.5000;-208.0000 --276.5000;-207.5000 --276.5000;-156.0000 --276.5000;-155.5000 --276.5000;-155.0000 --276.5000;-154.5000 --276.5000;-154.0000 --276.5000;-153.5000 --276.5000;-153.0000 --276.5000;-152.5000 --276.5000;-152.0000 --276.5000;-151.5000 --276.5000;-151.0000 --276.5000;-150.5000 --276.5000;-150.0000 --276.5000;-149.5000 --276.5000;-149.0000 --276.5000;-148.5000 --276.5000;-148.0000 --276.5000;-147.5000 --276.5000;-147.0000 --276.5000;-146.5000 --276.5000;-146.0000 --276.5000;-145.5000 --276.5000;-145.0000 --276.5000;-144.5000 --276.5000;-144.0000 --276.5000;-143.5000 --276.5000;-143.0000 --276.5000;-142.5000 --276.5000;-142.0000 --276.5000;-141.5000 --276.5000;-30.0000 --276.5000;-29.5000 --276.5000;-29.0000 --276.5000;-28.5000 --276.5000;-28.0000 --276.5000;-27.5000 --276.5000;-27.0000 --276.5000;-26.5000 --276.5000;-26.0000 --276.5000;-25.5000 --276.5000;-25.0000 --276.5000;-24.5000 --276.5000;-24.0000 --276.5000;-23.5000 --276.5000;-23.0000 --276.5000;-22.5000 --276.5000;-22.0000 --276.5000;-21.5000 --276.5000;-21.0000 --276.5000;-20.5000 --276.5000;-20.0000 --276.5000;-19.5000 --276.5000;-19.0000 --276.5000;-18.5000 --276.5000;-18.0000 --276.5000;-17.5000 --276.5000;-17.0000 --276.5000;-16.5000 --276.5000;-16.0000 --276.5000;-15.5000 --276.5000;-15.0000 --276.5000;-14.5000 --276.5000;-14.0000 --276.5000;-13.5000 --276.5000;-13.0000 --276.5000;-12.5000 --276.5000;-12.0000 --276.5000;-11.5000 --276.5000;-11.0000 --276.5000;-10.5000 --276.5000;-10.0000 --276.0000;-220.5000 --276.0000;-220.0000 --276.0000;-219.5000 --276.0000;-219.0000 --276.0000;-218.5000 --276.0000;-218.0000 --276.0000;-217.5000 --276.0000;-217.0000 --276.0000;-216.5000 --276.0000;-216.0000 --276.0000;-215.5000 --276.0000;-215.0000 --276.0000;-214.5000 --276.0000;-214.0000 --276.0000;-213.5000 --276.0000;-213.0000 --276.0000;-212.5000 --276.0000;-212.0000 --276.0000;-211.5000 --276.0000;-211.0000 --276.0000;-210.5000 --276.0000;-210.0000 --276.0000;-209.5000 --276.0000;-209.0000 --276.0000;-208.5000 --276.0000;-208.0000 --276.0000;-207.5000 --276.0000;-155.5000 --276.0000;-155.0000 --276.0000;-154.5000 --276.0000;-154.0000 --276.0000;-153.5000 --276.0000;-153.0000 --276.0000;-152.5000 --276.0000;-152.0000 --276.0000;-151.5000 --276.0000;-151.0000 --276.0000;-150.5000 --276.0000;-150.0000 --276.0000;-149.5000 --276.0000;-149.0000 --276.0000;-148.5000 --276.0000;-148.0000 --276.0000;-147.5000 --276.0000;-147.0000 --276.0000;-146.5000 --276.0000;-146.0000 --276.0000;-145.5000 --276.0000;-145.0000 --276.0000;-144.5000 --276.0000;-144.0000 --276.0000;-143.5000 --276.0000;-143.0000 --276.0000;-142.5000 --276.0000;-142.0000 --276.0000;-141.5000 --276.0000;-141.0000 --276.0000;-32.5000 --276.0000;-32.0000 --276.0000;-31.5000 --276.0000;-31.0000 --276.0000;-30.5000 --276.0000;-30.0000 --276.0000;-29.5000 --276.0000;-29.0000 --276.0000;-28.5000 --276.0000;-28.0000 --276.0000;-27.5000 --276.0000;-27.0000 --276.0000;-26.5000 --276.0000;-26.0000 --276.0000;-25.5000 --276.0000;-25.0000 --276.0000;-24.5000 --276.0000;-24.0000 --276.0000;-23.5000 --276.0000;-23.0000 --276.0000;-22.5000 --276.0000;-22.0000 --276.0000;-21.5000 --276.0000;-21.0000 --276.0000;-20.5000 --276.0000;-20.0000 --276.0000;-19.5000 --276.0000;-19.0000 --276.0000;-18.5000 --276.0000;-18.0000 --276.0000;-17.5000 --276.0000;-17.0000 --276.0000;-16.5000 --276.0000;-16.0000 --276.0000;-15.5000 --276.0000;-15.0000 --276.0000;-14.5000 --276.0000;-14.0000 --276.0000;-13.5000 --276.0000;-13.0000 --276.0000;-12.5000 --276.0000;-12.0000 --276.0000;-11.5000 --276.0000;-11.0000 --276.0000;-10.5000 --276.0000;-10.0000 --276.0000;-9.5000 --276.0000;-9.0000 --276.0000;-8.5000 --276.0000;-8.0000 --276.0000;-7.5000 --276.0000;-7.0000 --275.5000;-220.5000 --275.5000;-220.0000 --275.5000;-219.5000 --275.5000;-219.0000 --275.5000;-218.5000 --275.5000;-218.0000 --275.5000;-217.5000 --275.5000;-217.0000 --275.5000;-216.5000 --275.5000;-216.0000 --275.5000;-215.5000 --275.5000;-215.0000 --275.5000;-214.5000 --275.5000;-214.0000 --275.5000;-213.5000 --275.5000;-213.0000 --275.5000;-212.5000 --275.5000;-212.0000 --275.5000;-211.5000 --275.5000;-211.0000 --275.5000;-210.5000 --275.5000;-210.0000 --275.5000;-209.5000 --275.5000;-209.0000 --275.5000;-208.5000 --275.5000;-208.0000 --275.5000;-155.0000 --275.5000;-154.5000 --275.5000;-154.0000 --275.5000;-153.5000 --275.5000;-153.0000 --275.5000;-152.5000 --275.5000;-152.0000 --275.5000;-151.5000 --275.5000;-151.0000 --275.5000;-150.5000 --275.5000;-150.0000 --275.5000;-149.5000 --275.5000;-149.0000 --275.5000;-148.5000 --275.5000;-148.0000 --275.5000;-147.5000 --275.5000;-147.0000 --275.5000;-146.5000 --275.5000;-146.0000 --275.5000;-145.5000 --275.5000;-145.0000 --275.5000;-144.5000 --275.5000;-144.0000 --275.5000;-143.5000 --275.5000;-143.0000 --275.5000;-142.5000 --275.5000;-142.0000 --275.5000;-141.5000 --275.5000;-141.0000 --275.5000;-140.5000 --275.5000;-34.5000 --275.5000;-34.0000 --275.5000;-33.5000 --275.5000;-33.0000 --275.5000;-32.5000 --275.5000;-32.0000 --275.5000;-31.5000 --275.5000;-31.0000 --275.5000;-30.5000 --275.5000;-30.0000 --275.5000;-29.5000 --275.5000;-29.0000 --275.5000;-28.5000 --275.5000;-28.0000 --275.5000;-27.5000 --275.5000;-27.0000 --275.5000;-26.5000 --275.5000;-26.0000 --275.5000;-25.5000 --275.5000;-25.0000 --275.5000;-24.5000 --275.5000;-24.0000 --275.5000;-23.5000 --275.5000;-23.0000 --275.5000;-22.5000 --275.5000;-22.0000 --275.5000;-21.5000 --275.5000;-21.0000 --275.5000;-20.5000 --275.5000;-20.0000 --275.5000;-19.5000 --275.5000;-19.0000 --275.5000;-18.5000 --275.5000;-18.0000 --275.5000;-17.5000 --275.5000;-17.0000 --275.5000;-16.5000 --275.5000;-16.0000 --275.5000;-15.5000 --275.5000;-15.0000 --275.5000;-14.5000 --275.5000;-14.0000 --275.5000;-13.5000 --275.5000;-13.0000 --275.5000;-12.5000 --275.5000;-12.0000 --275.5000;-11.5000 --275.5000;-11.0000 --275.5000;-10.5000 --275.5000;-10.0000 --275.5000;-9.5000 --275.5000;-9.0000 --275.5000;-8.5000 --275.5000;-8.0000 --275.5000;-7.5000 --275.5000;-7.0000 --275.5000;-6.5000 --275.5000;-6.0000 --275.5000;-5.5000 --275.5000;-5.0000 --275.5000;-4.5000 --275.5000;-4.0000 --275.0000;-221.0000 --275.0000;-220.5000 --275.0000;-220.0000 --275.0000;-219.5000 --275.0000;-219.0000 --275.0000;-218.5000 --275.0000;-218.0000 --275.0000;-217.5000 --275.0000;-217.0000 --275.0000;-216.5000 --275.0000;-216.0000 --275.0000;-215.5000 --275.0000;-215.0000 --275.0000;-214.5000 --275.0000;-214.0000 --275.0000;-213.5000 --275.0000;-213.0000 --275.0000;-212.5000 --275.0000;-212.0000 --275.0000;-211.5000 --275.0000;-211.0000 --275.0000;-210.5000 --275.0000;-210.0000 --275.0000;-209.5000 --275.0000;-209.0000 --275.0000;-208.5000 --275.0000;-208.0000 --275.0000;-155.0000 --275.0000;-154.5000 --275.0000;-154.0000 --275.0000;-153.5000 --275.0000;-153.0000 --275.0000;-152.5000 --275.0000;-152.0000 --275.0000;-151.5000 --275.0000;-151.0000 --275.0000;-150.5000 --275.0000;-150.0000 --275.0000;-149.5000 --275.0000;-149.0000 --275.0000;-148.5000 --275.0000;-148.0000 --275.0000;-147.5000 --275.0000;-147.0000 --275.0000;-146.5000 --275.0000;-146.0000 --275.0000;-145.5000 --275.0000;-145.0000 --275.0000;-144.5000 --275.0000;-144.0000 --275.0000;-143.5000 --275.0000;-143.0000 --275.0000;-142.5000 --275.0000;-142.0000 --275.0000;-141.5000 --275.0000;-141.0000 --275.0000;-140.5000 --275.0000;-36.5000 --275.0000;-36.0000 --275.0000;-35.5000 --275.0000;-35.0000 --275.0000;-34.5000 --275.0000;-34.0000 --275.0000;-33.5000 --275.0000;-33.0000 --275.0000;-32.5000 --275.0000;-32.0000 --275.0000;-31.5000 --275.0000;-31.0000 --275.0000;-30.5000 --275.0000;-30.0000 --275.0000;-29.5000 --275.0000;-29.0000 --275.0000;-28.5000 --275.0000;-28.0000 --275.0000;-27.5000 --275.0000;-27.0000 --275.0000;-26.5000 --275.0000;-26.0000 --275.0000;-25.5000 --275.0000;-25.0000 --275.0000;-24.5000 --275.0000;-24.0000 --275.0000;-23.5000 --275.0000;-23.0000 --275.0000;-22.5000 --275.0000;-22.0000 --275.0000;-21.5000 --275.0000;-21.0000 --275.0000;-20.5000 --275.0000;-20.0000 --275.0000;-19.5000 --275.0000;-19.0000 --275.0000;-18.5000 --275.0000;-18.0000 --275.0000;-17.5000 --275.0000;-17.0000 --275.0000;-16.5000 --275.0000;-16.0000 --275.0000;-15.5000 --275.0000;-15.0000 --275.0000;-14.5000 --275.0000;-14.0000 --275.0000;-13.5000 --275.0000;-13.0000 --275.0000;-12.5000 --275.0000;-12.0000 --275.0000;-11.5000 --275.0000;-11.0000 --275.0000;-10.5000 --275.0000;-10.0000 --275.0000;-9.5000 --275.0000;-9.0000 --275.0000;-8.5000 --275.0000;-8.0000 --275.0000;-7.5000 --275.0000;-7.0000 --275.0000;-6.5000 --275.0000;-6.0000 --275.0000;-5.5000 --275.0000;-5.0000 --275.0000;-4.5000 --275.0000;-4.0000 --275.0000;-3.5000 --275.0000;-3.0000 --275.0000;-2.5000 --275.0000;-2.0000 --275.0000;-1.5000 --274.5000;-221.0000 --274.5000;-220.5000 --274.5000;-220.0000 --274.5000;-219.5000 --274.5000;-219.0000 --274.5000;-218.5000 --274.5000;-218.0000 --274.5000;-217.5000 --274.5000;-217.0000 --274.5000;-216.5000 --274.5000;-216.0000 --274.5000;-215.5000 --274.5000;-215.0000 --274.5000;-214.5000 --274.5000;-214.0000 --274.5000;-213.5000 --274.5000;-213.0000 --274.5000;-212.5000 --274.5000;-212.0000 --274.5000;-211.5000 --274.5000;-211.0000 --274.5000;-210.5000 --274.5000;-210.0000 --274.5000;-209.5000 --274.5000;-209.0000 --274.5000;-208.5000 --274.5000;-154.5000 --274.5000;-154.0000 --274.5000;-153.5000 --274.5000;-153.0000 --274.5000;-152.5000 --274.5000;-152.0000 --274.5000;-151.5000 --274.5000;-151.0000 --274.5000;-150.5000 --274.5000;-150.0000 --274.5000;-149.5000 --274.5000;-149.0000 --274.5000;-148.5000 --274.5000;-148.0000 --274.5000;-147.5000 --274.5000;-147.0000 --274.5000;-146.5000 --274.5000;-146.0000 --274.5000;-145.5000 --274.5000;-145.0000 --274.5000;-144.5000 --274.5000;-144.0000 --274.5000;-143.5000 --274.5000;-143.0000 --274.5000;-142.5000 --274.5000;-142.0000 --274.5000;-141.5000 --274.5000;-141.0000 --274.5000;-140.5000 --274.5000;-140.0000 --274.5000;-38.0000 --274.5000;-37.5000 --274.5000;-37.0000 --274.5000;-36.5000 --274.5000;-36.0000 --274.5000;-35.5000 --274.5000;-35.0000 --274.5000;-34.5000 --274.5000;-34.0000 --274.5000;-33.5000 --274.5000;-33.0000 --274.5000;-32.5000 --274.5000;-32.0000 --274.5000;-31.5000 --274.5000;-31.0000 --274.5000;-30.5000 --274.5000;-30.0000 --274.5000;-29.5000 --274.5000;-29.0000 --274.5000;-28.5000 --274.5000;-28.0000 --274.5000;-27.5000 --274.5000;-27.0000 --274.5000;-26.5000 --274.5000;-26.0000 --274.5000;-25.5000 --274.5000;-25.0000 --274.5000;-24.5000 --274.5000;-24.0000 --274.5000;-23.5000 --274.5000;-23.0000 --274.5000;-22.5000 --274.5000;-22.0000 --274.5000;-21.5000 --274.5000;-21.0000 --274.5000;-20.5000 --274.5000;-20.0000 --274.5000;-19.5000 --274.5000;-19.0000 --274.5000;-18.5000 --274.5000;-18.0000 --274.5000;-17.5000 --274.5000;-17.0000 --274.5000;-16.5000 --274.5000;-16.0000 --274.5000;-15.5000 --274.5000;-15.0000 --274.5000;-14.5000 --274.5000;-14.0000 --274.5000;-13.5000 --274.5000;-13.0000 --274.5000;-12.5000 --274.5000;-12.0000 --274.5000;-11.5000 --274.5000;-11.0000 --274.5000;-10.5000 --274.5000;-10.0000 --274.5000;-9.5000 --274.5000;-9.0000 --274.5000;-8.5000 --274.5000;-8.0000 --274.5000;-7.5000 --274.5000;-7.0000 --274.5000;-6.5000 --274.5000;-6.0000 --274.5000;-5.5000 --274.5000;-5.0000 --274.5000;-4.5000 --274.5000;-4.0000 --274.5000;-3.5000 --274.5000;-3.0000 --274.5000;-2.5000 --274.5000;-2.0000 --274.5000;-1.5000 --274.5000;-1.0000 --274.5000;-0.5000 --274.5000;0.0000 --274.5000;0.5000 --274.0000;-221.5000 --274.0000;-221.0000 --274.0000;-220.5000 --274.0000;-220.0000 --274.0000;-219.5000 --274.0000;-219.0000 --274.0000;-218.5000 --274.0000;-218.0000 --274.0000;-217.5000 --274.0000;-217.0000 --274.0000;-216.5000 --274.0000;-216.0000 --274.0000;-215.5000 --274.0000;-215.0000 --274.0000;-214.5000 --274.0000;-214.0000 --274.0000;-213.5000 --274.0000;-213.0000 --274.0000;-212.5000 --274.0000;-212.0000 --274.0000;-211.5000 --274.0000;-211.0000 --274.0000;-210.5000 --274.0000;-210.0000 --274.0000;-209.5000 --274.0000;-209.0000 --274.0000;-208.5000 --274.0000;-154.0000 --274.0000;-153.5000 --274.0000;-153.0000 --274.0000;-152.5000 --274.0000;-152.0000 --274.0000;-151.5000 --274.0000;-151.0000 --274.0000;-150.5000 --274.0000;-150.0000 --274.0000;-149.5000 --274.0000;-149.0000 --274.0000;-148.5000 --274.0000;-148.0000 --274.0000;-147.5000 --274.0000;-147.0000 --274.0000;-146.5000 --274.0000;-146.0000 --274.0000;-145.5000 --274.0000;-145.0000 --274.0000;-144.5000 --274.0000;-144.0000 --274.0000;-143.5000 --274.0000;-143.0000 --274.0000;-142.5000 --274.0000;-142.0000 --274.0000;-141.5000 --274.0000;-141.0000 --274.0000;-140.5000 --274.0000;-140.0000 --274.0000;-139.5000 --274.0000;-39.5000 --274.0000;-39.0000 --274.0000;-38.5000 --274.0000;-38.0000 --274.0000;-37.5000 --274.0000;-37.0000 --274.0000;-36.5000 --274.0000;-36.0000 --274.0000;-35.5000 --274.0000;-35.0000 --274.0000;-34.5000 --274.0000;-34.0000 --274.0000;-33.5000 --274.0000;-33.0000 --274.0000;-32.5000 --274.0000;-32.0000 --274.0000;-31.5000 --274.0000;-31.0000 --274.0000;-30.5000 --274.0000;-30.0000 --274.0000;-29.5000 --274.0000;-29.0000 --274.0000;-28.5000 --274.0000;-28.0000 --274.0000;-27.5000 --274.0000;-27.0000 --274.0000;-26.5000 --274.0000;-26.0000 --274.0000;-25.5000 --274.0000;-25.0000 --274.0000;-24.5000 --274.0000;-24.0000 --274.0000;-23.5000 --274.0000;-23.0000 --274.0000;-22.5000 --274.0000;-22.0000 --274.0000;-21.5000 --274.0000;-21.0000 --274.0000;-20.5000 --274.0000;-20.0000 --274.0000;-19.5000 --274.0000;-19.0000 --274.0000;-18.5000 --274.0000;-18.0000 --274.0000;-17.5000 --274.0000;-17.0000 --274.0000;-16.5000 --274.0000;-16.0000 --274.0000;-15.5000 --274.0000;-15.0000 --274.0000;-14.5000 --274.0000;-14.0000 --274.0000;-13.5000 --274.0000;-13.0000 --274.0000;-12.5000 --274.0000;-12.0000 --274.0000;-11.5000 --274.0000;-11.0000 --274.0000;-10.5000 --274.0000;-10.0000 --274.0000;-9.5000 --274.0000;-9.0000 --274.0000;-8.5000 --274.0000;-8.0000 --274.0000;-7.5000 --274.0000;-7.0000 --274.0000;-6.5000 --274.0000;-6.0000 --274.0000;-5.5000 --274.0000;-5.0000 --274.0000;-4.5000 --274.0000;-4.0000 --274.0000;-3.5000 --274.0000;-3.0000 --274.0000;-2.5000 --274.0000;-2.0000 --274.0000;-1.5000 --274.0000;-1.0000 --274.0000;-0.5000 --274.0000;0.0000 --274.0000;0.5000 --274.0000;1.0000 --274.0000;1.5000 --274.0000;2.0000 --274.0000;2.5000 --273.5000;-221.5000 --273.5000;-221.0000 --273.5000;-220.5000 --273.5000;-220.0000 --273.5000;-219.5000 --273.5000;-219.0000 --273.5000;-218.5000 --273.5000;-218.0000 --273.5000;-217.5000 --273.5000;-217.0000 --273.5000;-216.5000 --273.5000;-216.0000 --273.5000;-215.5000 --273.5000;-215.0000 --273.5000;-214.5000 --273.5000;-214.0000 --273.5000;-213.5000 --273.5000;-213.0000 --273.5000;-212.5000 --273.5000;-212.0000 --273.5000;-211.5000 --273.5000;-211.0000 --273.5000;-210.5000 --273.5000;-210.0000 --273.5000;-209.5000 --273.5000;-209.0000 --273.5000;-208.5000 --273.5000;-154.0000 --273.5000;-153.5000 --273.5000;-153.0000 --273.5000;-152.5000 --273.5000;-152.0000 --273.5000;-151.5000 --273.5000;-151.0000 --273.5000;-150.5000 --273.5000;-150.0000 --273.5000;-149.5000 --273.5000;-149.0000 --273.5000;-148.5000 --273.5000;-148.0000 --273.5000;-147.5000 --273.5000;-147.0000 --273.5000;-146.5000 --273.5000;-146.0000 --273.5000;-145.5000 --273.5000;-145.0000 --273.5000;-144.5000 --273.5000;-144.0000 --273.5000;-143.5000 --273.5000;-143.0000 --273.5000;-142.5000 --273.5000;-142.0000 --273.5000;-141.5000 --273.5000;-141.0000 --273.5000;-140.5000 --273.5000;-140.0000 --273.5000;-139.5000 --273.5000;-41.0000 --273.5000;-40.5000 --273.5000;-40.0000 --273.5000;-39.5000 --273.5000;-39.0000 --273.5000;-38.5000 --273.5000;-38.0000 --273.5000;-37.5000 --273.5000;-37.0000 --273.5000;-36.5000 --273.5000;-36.0000 --273.5000;-35.5000 --273.5000;-35.0000 --273.5000;-34.5000 --273.5000;-34.0000 --273.5000;-33.5000 --273.5000;-33.0000 --273.5000;-32.5000 --273.5000;-32.0000 --273.5000;-31.5000 --273.5000;-31.0000 --273.5000;-30.5000 --273.5000;-30.0000 --273.5000;-29.5000 --273.5000;-29.0000 --273.5000;-28.5000 --273.5000;-28.0000 --273.5000;-27.5000 --273.5000;-27.0000 --273.5000;-26.5000 --273.5000;-26.0000 --273.5000;-25.5000 --273.5000;-25.0000 --273.5000;-24.5000 --273.5000;-24.0000 --273.5000;-23.5000 --273.5000;-23.0000 --273.5000;-22.5000 --273.5000;-22.0000 --273.5000;-21.5000 --273.5000;-21.0000 --273.5000;-20.5000 --273.5000;-20.0000 --273.5000;-19.5000 --273.5000;-19.0000 --273.5000;-18.5000 --273.5000;-18.0000 --273.5000;-17.5000 --273.5000;-17.0000 --273.5000;-16.5000 --273.5000;-16.0000 --273.5000;-15.5000 --273.5000;-15.0000 --273.5000;-14.5000 --273.5000;-14.0000 --273.5000;-13.5000 --273.5000;-13.0000 --273.5000;-12.5000 --273.5000;-12.0000 --273.5000;-11.5000 --273.5000;-11.0000 --273.5000;-10.5000 --273.5000;-10.0000 --273.5000;-9.5000 --273.5000;-9.0000 --273.5000;-8.5000 --273.5000;-8.0000 --273.5000;-7.5000 --273.5000;-7.0000 --273.5000;-6.5000 --273.5000;-6.0000 --273.5000;-5.5000 --273.5000;-5.0000 --273.5000;-4.5000 --273.5000;-4.0000 --273.5000;-3.5000 --273.5000;-3.0000 --273.5000;-2.5000 --273.5000;-2.0000 --273.5000;-1.5000 --273.5000;-1.0000 --273.5000;-0.5000 --273.5000;0.0000 --273.5000;0.5000 --273.5000;1.0000 --273.5000;1.5000 --273.5000;2.0000 --273.5000;2.5000 --273.5000;3.0000 --273.5000;3.5000 --273.5000;4.0000 --273.5000;4.5000 --273.0000;-221.5000 --273.0000;-221.0000 --273.0000;-220.5000 --273.0000;-220.0000 --273.0000;-219.5000 --273.0000;-219.0000 --273.0000;-218.5000 --273.0000;-218.0000 --273.0000;-217.5000 --273.0000;-217.0000 --273.0000;-216.5000 --273.0000;-216.0000 --273.0000;-215.5000 --273.0000;-215.0000 --273.0000;-214.5000 --273.0000;-214.0000 --273.0000;-213.5000 --273.0000;-213.0000 --273.0000;-212.5000 --273.0000;-212.0000 --273.0000;-211.5000 --273.0000;-211.0000 --273.0000;-210.5000 --273.0000;-210.0000 --273.0000;-209.5000 --273.0000;-209.0000 --273.0000;-153.5000 --273.0000;-153.0000 --273.0000;-152.5000 --273.0000;-152.0000 --273.0000;-151.5000 --273.0000;-151.0000 --273.0000;-150.5000 --273.0000;-150.0000 --273.0000;-149.5000 --273.0000;-149.0000 --273.0000;-148.5000 --273.0000;-148.0000 --273.0000;-147.5000 --273.0000;-147.0000 --273.0000;-146.5000 --273.0000;-146.0000 --273.0000;-145.5000 --273.0000;-145.0000 --273.0000;-144.5000 --273.0000;-144.0000 --273.0000;-143.5000 --273.0000;-143.0000 --273.0000;-142.5000 --273.0000;-142.0000 --273.0000;-141.5000 --273.0000;-141.0000 --273.0000;-140.5000 --273.0000;-140.0000 --273.0000;-139.5000 --273.0000;-139.0000 --273.0000;-42.0000 --273.0000;-41.5000 --273.0000;-41.0000 --273.0000;-40.5000 --273.0000;-40.0000 --273.0000;-39.5000 --273.0000;-39.0000 --273.0000;-38.5000 --273.0000;-38.0000 --273.0000;-37.5000 --273.0000;-37.0000 --273.0000;-36.5000 --273.0000;-36.0000 --273.0000;-35.5000 --273.0000;-35.0000 --273.0000;-34.5000 --273.0000;-34.0000 --273.0000;-33.5000 --273.0000;-33.0000 --273.0000;-32.5000 --273.0000;-32.0000 --273.0000;-31.5000 --273.0000;-31.0000 --273.0000;-30.5000 --273.0000;-30.0000 --273.0000;-29.5000 --273.0000;-29.0000 --273.0000;-28.5000 --273.0000;-28.0000 --273.0000;-27.5000 --273.0000;-27.0000 --273.0000;-26.5000 --273.0000;-26.0000 --273.0000;-25.5000 --273.0000;-25.0000 --273.0000;-24.5000 --273.0000;-24.0000 --273.0000;-23.5000 --273.0000;-23.0000 --273.0000;-22.5000 --273.0000;-22.0000 --273.0000;-21.5000 --273.0000;-21.0000 --273.0000;-20.5000 --273.0000;-20.0000 --273.0000;-19.5000 --273.0000;-19.0000 --273.0000;-18.5000 --273.0000;-18.0000 --273.0000;-17.5000 --273.0000;-17.0000 --273.0000;-16.5000 --273.0000;-16.0000 --273.0000;-15.5000 --273.0000;-15.0000 --273.0000;-14.5000 --273.0000;-14.0000 --273.0000;-13.5000 --273.0000;-13.0000 --273.0000;-12.5000 --273.0000;-12.0000 --273.0000;-11.5000 --273.0000;-11.0000 --273.0000;-10.5000 --273.0000;-10.0000 --273.0000;-9.5000 --273.0000;-9.0000 --273.0000;-8.5000 --273.0000;-8.0000 --273.0000;-7.5000 --273.0000;-7.0000 --273.0000;-6.5000 --273.0000;-6.0000 --273.0000;-5.5000 --273.0000;-5.0000 --273.0000;-4.5000 --273.0000;-4.0000 --273.0000;-3.5000 --273.0000;-3.0000 --273.0000;-2.5000 --273.0000;-2.0000 --273.0000;-1.5000 --273.0000;-1.0000 --273.0000;-0.5000 --273.0000;0.0000 --273.0000;0.5000 --273.0000;1.0000 --273.0000;1.5000 --273.0000;2.0000 --273.0000;2.5000 --273.0000;3.0000 --273.0000;3.5000 --273.0000;4.0000 --273.0000;4.5000 --273.0000;5.0000 --273.0000;5.5000 --273.0000;6.0000 --272.5000;-222.0000 --272.5000;-221.5000 --272.5000;-221.0000 --272.5000;-220.5000 --272.5000;-220.0000 --272.5000;-219.5000 --272.5000;-219.0000 --272.5000;-218.5000 --272.5000;-218.0000 --272.5000;-217.5000 --272.5000;-217.0000 --272.5000;-216.5000 --272.5000;-216.0000 --272.5000;-215.5000 --272.5000;-215.0000 --272.5000;-214.5000 --272.5000;-214.0000 --272.5000;-213.5000 --272.5000;-213.0000 --272.5000;-212.5000 --272.5000;-212.0000 --272.5000;-211.5000 --272.5000;-211.0000 --272.5000;-210.5000 --272.5000;-210.0000 --272.5000;-209.5000 --272.5000;-209.0000 --272.5000;-153.0000 --272.5000;-152.5000 --272.5000;-152.0000 --272.5000;-151.5000 --272.5000;-151.0000 --272.5000;-150.5000 --272.5000;-150.0000 --272.5000;-149.5000 --272.5000;-149.0000 --272.5000;-148.5000 --272.5000;-148.0000 --272.5000;-147.5000 --272.5000;-147.0000 --272.5000;-146.5000 --272.5000;-146.0000 --272.5000;-145.5000 --272.5000;-145.0000 --272.5000;-144.5000 --272.5000;-144.0000 --272.5000;-143.5000 --272.5000;-143.0000 --272.5000;-142.5000 --272.5000;-142.0000 --272.5000;-141.5000 --272.5000;-141.0000 --272.5000;-140.5000 --272.5000;-140.0000 --272.5000;-139.5000 --272.5000;-139.0000 --272.5000;-138.5000 --272.5000;-43.0000 --272.5000;-42.5000 --272.5000;-42.0000 --272.5000;-41.5000 --272.5000;-41.0000 --272.5000;-40.5000 --272.5000;-40.0000 --272.5000;-39.5000 --272.5000;-39.0000 --272.5000;-38.5000 --272.5000;-38.0000 --272.5000;-37.5000 --272.5000;-37.0000 --272.5000;-36.5000 --272.5000;-36.0000 --272.5000;-35.5000 --272.5000;-35.0000 --272.5000;-34.5000 --272.5000;-34.0000 --272.5000;-33.5000 --272.5000;-33.0000 --272.5000;-32.5000 --272.5000;-32.0000 --272.5000;-31.5000 --272.5000;-31.0000 --272.5000;-30.5000 --272.5000;-30.0000 --272.5000;-29.5000 --272.5000;-29.0000 --272.5000;-28.5000 --272.5000;-28.0000 --272.5000;-27.5000 --272.5000;-27.0000 --272.5000;-26.5000 --272.5000;-26.0000 --272.5000;-25.5000 --272.5000;-25.0000 --272.5000;-24.5000 --272.5000;-24.0000 --272.5000;-23.5000 --272.5000;-23.0000 --272.5000;-22.5000 --272.5000;-22.0000 --272.5000;-21.5000 --272.5000;-21.0000 --272.5000;-20.5000 --272.5000;-20.0000 --272.5000;-19.5000 --272.5000;-19.0000 --272.5000;-18.5000 --272.5000;-18.0000 --272.5000;-17.5000 --272.5000;-17.0000 --272.5000;-16.5000 --272.5000;-16.0000 --272.5000;-15.5000 --272.5000;-15.0000 --272.5000;-14.5000 --272.5000;-14.0000 --272.5000;-13.5000 --272.5000;-13.0000 --272.5000;-12.5000 --272.5000;-12.0000 --272.5000;-11.5000 --272.5000;-11.0000 --272.5000;-10.5000 --272.5000;-10.0000 --272.5000;-9.5000 --272.5000;-9.0000 --272.5000;-8.5000 --272.5000;-8.0000 --272.5000;-7.5000 --272.5000;-7.0000 --272.5000;-6.5000 --272.5000;-6.0000 --272.5000;-5.5000 --272.5000;-5.0000 --272.5000;-4.5000 --272.5000;-4.0000 --272.5000;-3.5000 --272.5000;-3.0000 --272.5000;-2.5000 --272.5000;-2.0000 --272.5000;-1.5000 --272.5000;-1.0000 --272.5000;-0.5000 --272.5000;0.0000 --272.5000;0.5000 --272.5000;1.0000 --272.5000;1.5000 --272.5000;2.0000 --272.5000;2.5000 --272.5000;3.0000 --272.5000;3.5000 --272.5000;4.0000 --272.5000;4.5000 --272.5000;5.0000 --272.5000;5.5000 --272.5000;6.0000 --272.5000;6.5000 --272.5000;7.0000 --272.5000;7.5000 --272.5000;8.0000 --272.0000;-222.0000 --272.0000;-221.5000 --272.0000;-221.0000 --272.0000;-220.5000 --272.0000;-220.0000 --272.0000;-219.5000 --272.0000;-219.0000 --272.0000;-218.5000 --272.0000;-218.0000 --272.0000;-217.5000 --272.0000;-217.0000 --272.0000;-216.5000 --272.0000;-216.0000 --272.0000;-215.5000 --272.0000;-215.0000 --272.0000;-214.5000 --272.0000;-214.0000 --272.0000;-213.5000 --272.0000;-213.0000 --272.0000;-212.5000 --272.0000;-212.0000 --272.0000;-211.5000 --272.0000;-211.0000 --272.0000;-210.5000 --272.0000;-210.0000 --272.0000;-209.5000 --272.0000;-153.0000 --272.0000;-152.5000 --272.0000;-152.0000 --272.0000;-151.5000 --272.0000;-151.0000 --272.0000;-150.5000 --272.0000;-150.0000 --272.0000;-149.5000 --272.0000;-149.0000 --272.0000;-148.5000 --272.0000;-148.0000 --272.0000;-147.5000 --272.0000;-147.0000 --272.0000;-146.5000 --272.0000;-146.0000 --272.0000;-145.5000 --272.0000;-145.0000 --272.0000;-144.5000 --272.0000;-144.0000 --272.0000;-143.5000 --272.0000;-143.0000 --272.0000;-142.5000 --272.0000;-142.0000 --272.0000;-141.5000 --272.0000;-141.0000 --272.0000;-140.5000 --272.0000;-140.0000 --272.0000;-139.5000 --272.0000;-139.0000 --272.0000;-138.5000 --272.0000;-44.0000 --272.0000;-43.5000 --272.0000;-43.0000 --272.0000;-42.5000 --272.0000;-42.0000 --272.0000;-41.5000 --272.0000;-41.0000 --272.0000;-40.5000 --272.0000;-40.0000 --272.0000;-39.5000 --272.0000;-39.0000 --272.0000;-38.5000 --272.0000;-38.0000 --272.0000;-37.5000 --272.0000;-37.0000 --272.0000;-36.5000 --272.0000;-36.0000 --272.0000;-35.5000 --272.0000;-35.0000 --272.0000;-34.5000 --272.0000;-34.0000 --272.0000;-33.5000 --272.0000;-33.0000 --272.0000;-32.5000 --272.0000;-32.0000 --272.0000;-31.5000 --272.0000;-31.0000 --272.0000;-30.5000 --272.0000;-30.0000 --272.0000;-29.5000 --272.0000;-29.0000 --272.0000;-28.5000 --272.0000;-28.0000 --272.0000;-27.5000 --272.0000;-27.0000 --272.0000;-26.5000 --272.0000;-26.0000 --272.0000;-25.5000 --272.0000;-25.0000 --272.0000;-24.5000 --272.0000;-24.0000 --272.0000;-23.5000 --272.0000;-23.0000 --272.0000;-22.5000 --272.0000;-22.0000 --272.0000;-21.5000 --272.0000;-21.0000 --272.0000;-20.5000 --272.0000;-20.0000 --272.0000;-19.5000 --272.0000;-19.0000 --272.0000;-18.5000 --272.0000;-18.0000 --272.0000;-17.5000 --272.0000;-17.0000 --272.0000;-16.5000 --272.0000;-16.0000 --272.0000;-15.5000 --272.0000;-15.0000 --272.0000;-14.5000 --272.0000;-14.0000 --272.0000;-13.5000 --272.0000;-13.0000 --272.0000;-12.5000 --272.0000;-12.0000 --272.0000;-11.5000 --272.0000;-11.0000 --272.0000;-10.5000 --272.0000;-10.0000 --272.0000;-9.5000 --272.0000;-9.0000 --272.0000;-8.5000 --272.0000;-8.0000 --272.0000;-7.5000 --272.0000;-7.0000 --272.0000;-6.5000 --272.0000;-6.0000 --272.0000;-5.5000 --272.0000;-5.0000 --272.0000;-4.5000 --272.0000;-4.0000 --272.0000;-3.5000 --272.0000;-3.0000 --272.0000;-2.5000 --272.0000;-2.0000 --272.0000;-1.5000 --272.0000;-1.0000 --272.0000;-0.5000 --272.0000;0.0000 --272.0000;0.5000 --272.0000;1.0000 --272.0000;1.5000 --272.0000;2.0000 --272.0000;2.5000 --272.0000;3.0000 --272.0000;3.5000 --272.0000;4.0000 --272.0000;4.5000 --272.0000;5.0000 --272.0000;5.5000 --272.0000;6.0000 --272.0000;6.5000 --272.0000;7.0000 --272.0000;7.5000 --272.0000;8.0000 --272.0000;8.5000 --272.0000;9.0000 --272.0000;9.5000 --271.5000;-222.0000 --271.5000;-221.5000 --271.5000;-221.0000 --271.5000;-220.5000 --271.5000;-220.0000 --271.5000;-219.5000 --271.5000;-219.0000 --271.5000;-218.5000 --271.5000;-218.0000 --271.5000;-217.5000 --271.5000;-217.0000 --271.5000;-216.5000 --271.5000;-216.0000 --271.5000;-215.5000 --271.5000;-215.0000 --271.5000;-214.5000 --271.5000;-214.0000 --271.5000;-213.5000 --271.5000;-213.0000 --271.5000;-212.5000 --271.5000;-212.0000 --271.5000;-211.5000 --271.5000;-211.0000 --271.5000;-210.5000 --271.5000;-210.0000 --271.5000;-209.5000 --271.5000;-152.5000 --271.5000;-152.0000 --271.5000;-151.5000 --271.5000;-151.0000 --271.5000;-150.5000 --271.5000;-150.0000 --271.5000;-149.5000 --271.5000;-149.0000 --271.5000;-148.5000 --271.5000;-148.0000 --271.5000;-147.5000 --271.5000;-147.0000 --271.5000;-146.5000 --271.5000;-146.0000 --271.5000;-145.5000 --271.5000;-145.0000 --271.5000;-144.5000 --271.5000;-144.0000 --271.5000;-143.5000 --271.5000;-143.0000 --271.5000;-142.5000 --271.5000;-142.0000 --271.5000;-141.5000 --271.5000;-141.0000 --271.5000;-140.5000 --271.5000;-140.0000 --271.5000;-139.5000 --271.5000;-139.0000 --271.5000;-138.5000 --271.5000;-138.0000 --271.5000;-45.0000 --271.5000;-44.5000 --271.5000;-44.0000 --271.5000;-43.5000 --271.5000;-43.0000 --271.5000;-42.5000 --271.5000;-42.0000 --271.5000;-41.5000 --271.5000;-41.0000 --271.5000;-40.5000 --271.5000;-40.0000 --271.5000;-39.5000 --271.5000;-39.0000 --271.5000;-38.5000 --271.5000;-38.0000 --271.5000;-37.5000 --271.5000;-37.0000 --271.5000;-36.5000 --271.5000;-36.0000 --271.5000;-35.5000 --271.5000;-35.0000 --271.5000;-34.5000 --271.5000;-34.0000 --271.5000;-33.5000 --271.5000;-33.0000 --271.5000;-32.5000 --271.5000;-32.0000 --271.5000;-31.5000 --271.5000;-31.0000 --271.5000;-30.5000 --271.5000;-30.0000 --271.5000;-29.5000 --271.5000;-29.0000 --271.5000;-28.5000 --271.5000;-28.0000 --271.5000;-27.5000 --271.5000;-27.0000 --271.5000;-26.5000 --271.5000;-26.0000 --271.5000;-25.5000 --271.5000;-25.0000 --271.5000;-24.5000 --271.5000;-24.0000 --271.5000;-23.5000 --271.5000;-23.0000 --271.5000;-22.5000 --271.5000;-22.0000 --271.5000;-21.5000 --271.5000;-21.0000 --271.5000;-20.5000 --271.5000;-20.0000 --271.5000;-19.5000 --271.5000;-19.0000 --271.5000;-18.5000 --271.5000;-18.0000 --271.5000;-17.5000 --271.5000;-17.0000 --271.5000;-16.5000 --271.5000;-16.0000 --271.5000;-15.5000 --271.5000;-15.0000 --271.5000;-14.5000 --271.5000;-14.0000 --271.5000;-13.5000 --271.5000;-13.0000 --271.5000;-12.5000 --271.5000;-12.0000 --271.5000;-11.5000 --271.5000;-11.0000 --271.5000;-10.5000 --271.5000;-10.0000 --271.5000;-9.5000 --271.5000;-9.0000 --271.5000;-8.5000 --271.5000;-8.0000 --271.5000;-7.5000 --271.5000;-7.0000 --271.5000;-6.5000 --271.5000;-6.0000 --271.5000;-5.5000 --271.5000;-5.0000 --271.5000;-4.5000 --271.5000;-4.0000 --271.5000;-3.5000 --271.5000;-3.0000 --271.5000;-2.5000 --271.5000;-2.0000 --271.5000;-1.5000 --271.5000;-1.0000 --271.5000;-0.5000 --271.5000;0.0000 --271.5000;0.5000 --271.5000;1.0000 --271.5000;1.5000 --271.5000;2.0000 --271.5000;2.5000 --271.5000;3.0000 --271.5000;3.5000 --271.5000;4.0000 --271.5000;4.5000 --271.5000;5.0000 --271.5000;5.5000 --271.5000;6.0000 --271.5000;6.5000 --271.5000;7.0000 --271.5000;7.5000 --271.5000;8.0000 --271.5000;8.5000 --271.5000;9.0000 --271.5000;9.5000 --271.5000;10.0000 --271.5000;10.5000 --271.5000;11.0000 --271.0000;-222.5000 --271.0000;-222.0000 --271.0000;-221.5000 --271.0000;-221.0000 --271.0000;-220.5000 --271.0000;-220.0000 --271.0000;-219.5000 --271.0000;-219.0000 --271.0000;-218.5000 --271.0000;-218.0000 --271.0000;-217.5000 --271.0000;-217.0000 --271.0000;-216.5000 --271.0000;-216.0000 --271.0000;-215.5000 --271.0000;-215.0000 --271.0000;-214.5000 --271.0000;-214.0000 --271.0000;-213.5000 --271.0000;-213.0000 --271.0000;-212.5000 --271.0000;-212.0000 --271.0000;-211.5000 --271.0000;-211.0000 --271.0000;-210.5000 --271.0000;-210.0000 --271.0000;-209.5000 --271.0000;-152.0000 --271.0000;-151.5000 --271.0000;-151.0000 --271.0000;-150.5000 --271.0000;-150.0000 --271.0000;-149.5000 --271.0000;-149.0000 --271.0000;-148.5000 --271.0000;-148.0000 --271.0000;-147.5000 --271.0000;-147.0000 --271.0000;-146.5000 --271.0000;-146.0000 --271.0000;-145.5000 --271.0000;-145.0000 --271.0000;-144.5000 --271.0000;-144.0000 --271.0000;-143.5000 --271.0000;-143.0000 --271.0000;-142.5000 --271.0000;-142.0000 --271.0000;-141.5000 --271.0000;-141.0000 --271.0000;-140.5000 --271.0000;-140.0000 --271.0000;-139.5000 --271.0000;-139.0000 --271.0000;-138.5000 --271.0000;-138.0000 --271.0000;-46.0000 --271.0000;-45.5000 --271.0000;-45.0000 --271.0000;-44.5000 --271.0000;-44.0000 --271.0000;-43.5000 --271.0000;-43.0000 --271.0000;-42.5000 --271.0000;-42.0000 --271.0000;-41.5000 --271.0000;-41.0000 --271.0000;-40.5000 --271.0000;-40.0000 --271.0000;-39.5000 --271.0000;-39.0000 --271.0000;-38.5000 --271.0000;-38.0000 --271.0000;-37.5000 --271.0000;-37.0000 --271.0000;-36.5000 --271.0000;-36.0000 --271.0000;-35.5000 --271.0000;-35.0000 --271.0000;-34.5000 --271.0000;-34.0000 --271.0000;-33.5000 --271.0000;-33.0000 --271.0000;-32.5000 --271.0000;-32.0000 --271.0000;-31.5000 --271.0000;-31.0000 --271.0000;-30.5000 --271.0000;-30.0000 --271.0000;-29.5000 --271.0000;-29.0000 --271.0000;-28.5000 --271.0000;-28.0000 --271.0000;-27.5000 --271.0000;-27.0000 --271.0000;-26.5000 --271.0000;-26.0000 --271.0000;-25.5000 --271.0000;-25.0000 --271.0000;-24.5000 --271.0000;-24.0000 --271.0000;-23.5000 --271.0000;-23.0000 --271.0000;-22.5000 --271.0000;-22.0000 --271.0000;-21.5000 --271.0000;-21.0000 --271.0000;-20.5000 --271.0000;-20.0000 --271.0000;-19.5000 --271.0000;-19.0000 --271.0000;-18.5000 --271.0000;-18.0000 --271.0000;-17.5000 --271.0000;-17.0000 --271.0000;-16.5000 --271.0000;-16.0000 --271.0000;-15.5000 --271.0000;-15.0000 --271.0000;-14.5000 --271.0000;-14.0000 --271.0000;-13.5000 --271.0000;-13.0000 --271.0000;-12.5000 --271.0000;-12.0000 --271.0000;-11.5000 --271.0000;-11.0000 --271.0000;-10.5000 --271.0000;-10.0000 --271.0000;-9.5000 --271.0000;-9.0000 --271.0000;-8.5000 --271.0000;-8.0000 --271.0000;-7.5000 --271.0000;-7.0000 --271.0000;-6.5000 --271.0000;-6.0000 --271.0000;-5.5000 --271.0000;-5.0000 --271.0000;-4.5000 --271.0000;-4.0000 --271.0000;-3.5000 --271.0000;-3.0000 --271.0000;-2.5000 --271.0000;-2.0000 --271.0000;-1.5000 --271.0000;-1.0000 --271.0000;-0.5000 --271.0000;0.0000 --271.0000;0.5000 --271.0000;1.0000 --271.0000;1.5000 --271.0000;2.0000 --271.0000;2.5000 --271.0000;3.0000 --271.0000;3.5000 --271.0000;4.0000 --271.0000;4.5000 --271.0000;5.0000 --271.0000;5.5000 --271.0000;6.0000 --271.0000;6.5000 --271.0000;7.0000 --271.0000;7.5000 --271.0000;8.0000 --271.0000;8.5000 --271.0000;9.0000 --271.0000;9.5000 --271.0000;10.0000 --271.0000;10.5000 --271.0000;11.0000 --271.0000;11.5000 --271.0000;12.0000 --271.0000;12.5000 --270.5000;-222.5000 --270.5000;-222.0000 --270.5000;-221.5000 --270.5000;-221.0000 --270.5000;-220.5000 --270.5000;-220.0000 --270.5000;-219.5000 --270.5000;-219.0000 --270.5000;-218.5000 --270.5000;-218.0000 --270.5000;-217.5000 --270.5000;-217.0000 --270.5000;-216.5000 --270.5000;-216.0000 --270.5000;-215.5000 --270.5000;-215.0000 --270.5000;-214.5000 --270.5000;-214.0000 --270.5000;-213.5000 --270.5000;-213.0000 --270.5000;-212.5000 --270.5000;-212.0000 --270.5000;-211.5000 --270.5000;-211.0000 --270.5000;-210.5000 --270.5000;-210.0000 --270.5000;-152.0000 --270.5000;-151.5000 --270.5000;-151.0000 --270.5000;-150.5000 --270.5000;-150.0000 --270.5000;-149.5000 --270.5000;-149.0000 --270.5000;-148.5000 --270.5000;-148.0000 --270.5000;-147.5000 --270.5000;-147.0000 --270.5000;-146.5000 --270.5000;-146.0000 --270.5000;-145.5000 --270.5000;-145.0000 --270.5000;-144.5000 --270.5000;-144.0000 --270.5000;-143.5000 --270.5000;-143.0000 --270.5000;-142.5000 --270.5000;-142.0000 --270.5000;-141.5000 --270.5000;-141.0000 --270.5000;-140.5000 --270.5000;-140.0000 --270.5000;-139.5000 --270.5000;-139.0000 --270.5000;-138.5000 --270.5000;-138.0000 --270.5000;-137.5000 --270.5000;-47.0000 --270.5000;-46.5000 --270.5000;-46.0000 --270.5000;-45.5000 --270.5000;-45.0000 --270.5000;-44.5000 --270.5000;-44.0000 --270.5000;-43.5000 --270.5000;-43.0000 --270.5000;-42.5000 --270.5000;-42.0000 --270.5000;-41.5000 --270.5000;-41.0000 --270.5000;-40.5000 --270.5000;-40.0000 --270.5000;-39.5000 --270.5000;-39.0000 --270.5000;-38.5000 --270.5000;-38.0000 --270.5000;-37.5000 --270.5000;-37.0000 --270.5000;-36.5000 --270.5000;-36.0000 --270.5000;-35.5000 --270.5000;-35.0000 --270.5000;-34.5000 --270.5000;-34.0000 --270.5000;-33.5000 --270.5000;-33.0000 --270.5000;-32.5000 --270.5000;-32.0000 --270.5000;-31.5000 --270.5000;-31.0000 --270.5000;-30.5000 --270.5000;-30.0000 --270.5000;-29.5000 --270.5000;-29.0000 --270.5000;-28.5000 --270.5000;-28.0000 --270.5000;-27.5000 --270.5000;-27.0000 --270.5000;-26.5000 --270.5000;-26.0000 --270.5000;-25.5000 --270.5000;-25.0000 --270.5000;-24.5000 --270.5000;-24.0000 --270.5000;-23.5000 --270.5000;-23.0000 --270.5000;-22.5000 --270.5000;-22.0000 --270.5000;-21.5000 --270.5000;-21.0000 --270.5000;-20.5000 --270.5000;-20.0000 --270.5000;-19.5000 --270.5000;-19.0000 --270.5000;-18.5000 --270.5000;-18.0000 --270.5000;-17.5000 --270.5000;-17.0000 --270.5000;-16.5000 --270.5000;-16.0000 --270.5000;-15.5000 --270.5000;-15.0000 --270.5000;-14.5000 --270.5000;-14.0000 --270.5000;-13.5000 --270.5000;-13.0000 --270.5000;-12.5000 --270.5000;-12.0000 --270.5000;-11.5000 --270.5000;-11.0000 --270.5000;-10.5000 --270.5000;-10.0000 --270.5000;-9.5000 --270.5000;-9.0000 --270.5000;-8.5000 --270.5000;-8.0000 --270.5000;-7.5000 --270.5000;-7.0000 --270.5000;-6.5000 --270.5000;-6.0000 --270.5000;-5.5000 --270.5000;-5.0000 --270.5000;-4.5000 --270.5000;-4.0000 --270.5000;-3.5000 --270.5000;-3.0000 --270.5000;-2.5000 --270.5000;-2.0000 --270.5000;-1.5000 --270.5000;-1.0000 --270.5000;-0.5000 --270.5000;0.0000 --270.5000;0.5000 --270.5000;1.0000 --270.5000;1.5000 --270.5000;2.0000 --270.5000;2.5000 --270.5000;3.0000 --270.5000;3.5000 --270.5000;4.0000 --270.5000;4.5000 --270.5000;5.0000 --270.5000;5.5000 --270.5000;6.0000 --270.5000;6.5000 --270.5000;7.0000 --270.5000;7.5000 --270.5000;8.0000 --270.5000;8.5000 --270.5000;9.0000 --270.5000;9.5000 --270.5000;10.0000 --270.5000;10.5000 --270.5000;11.0000 --270.5000;11.5000 --270.5000;12.0000 --270.5000;12.5000 --270.5000;13.0000 --270.5000;13.5000 --270.5000;14.0000 --270.0000;-223.0000 --270.0000;-222.5000 --270.0000;-222.0000 --270.0000;-221.5000 --270.0000;-221.0000 --270.0000;-220.5000 --270.0000;-220.0000 --270.0000;-219.5000 --270.0000;-219.0000 --270.0000;-218.5000 --270.0000;-218.0000 --270.0000;-217.5000 --270.0000;-217.0000 --270.0000;-216.5000 --270.0000;-216.0000 --270.0000;-215.5000 --270.0000;-215.0000 --270.0000;-214.5000 --270.0000;-214.0000 --270.0000;-213.5000 --270.0000;-213.0000 --270.0000;-212.5000 --270.0000;-212.0000 --270.0000;-211.5000 --270.0000;-211.0000 --270.0000;-210.5000 --270.0000;-210.0000 --270.0000;-151.5000 --270.0000;-151.0000 --270.0000;-150.5000 --270.0000;-150.0000 --270.0000;-149.5000 --270.0000;-149.0000 --270.0000;-148.5000 --270.0000;-148.0000 --270.0000;-147.5000 --270.0000;-147.0000 --270.0000;-146.5000 --270.0000;-146.0000 --270.0000;-145.5000 --270.0000;-145.0000 --270.0000;-144.5000 --270.0000;-144.0000 --270.0000;-143.5000 --270.0000;-143.0000 --270.0000;-142.5000 --270.0000;-142.0000 --270.0000;-141.5000 --270.0000;-141.0000 --270.0000;-140.5000 --270.0000;-140.0000 --270.0000;-139.5000 --270.0000;-139.0000 --270.0000;-138.5000 --270.0000;-138.0000 --270.0000;-137.5000 --270.0000;-137.0000 --270.0000;-48.0000 --270.0000;-47.5000 --270.0000;-47.0000 --270.0000;-46.5000 --270.0000;-46.0000 --270.0000;-45.5000 --270.0000;-45.0000 --270.0000;-44.5000 --270.0000;-44.0000 --270.0000;-43.5000 --270.0000;-43.0000 --270.0000;-42.5000 --270.0000;-42.0000 --270.0000;-41.5000 --270.0000;-41.0000 --270.0000;-40.5000 --270.0000;-40.0000 --270.0000;-39.5000 --270.0000;-39.0000 --270.0000;-38.5000 --270.0000;-38.0000 --270.0000;-37.5000 --270.0000;-37.0000 --270.0000;-36.5000 --270.0000;-36.0000 --270.0000;-35.5000 --270.0000;-35.0000 --270.0000;-34.5000 --270.0000;-34.0000 --270.0000;-33.5000 --270.0000;-33.0000 --270.0000;-32.5000 --270.0000;-32.0000 --270.0000;-31.5000 --270.0000;-31.0000 --270.0000;-30.5000 --270.0000;-30.0000 --270.0000;-29.5000 --270.0000;-29.0000 --270.0000;-28.5000 --270.0000;-28.0000 --270.0000;-27.5000 --270.0000;-27.0000 --270.0000;-26.5000 --270.0000;-26.0000 --270.0000;-25.5000 --270.0000;-25.0000 --270.0000;-24.5000 --270.0000;-24.0000 --270.0000;-23.5000 --270.0000;-23.0000 --270.0000;-22.5000 --270.0000;-22.0000 --270.0000;-21.5000 --270.0000;-21.0000 --270.0000;-20.5000 --270.0000;-20.0000 --270.0000;-19.5000 --270.0000;-19.0000 --270.0000;-18.5000 --270.0000;-18.0000 --270.0000;-17.5000 --270.0000;-17.0000 --270.0000;-16.5000 --270.0000;-16.0000 --270.0000;-15.5000 --270.0000;-15.0000 --270.0000;-14.5000 --270.0000;-14.0000 --270.0000;-13.5000 --270.0000;-13.0000 --270.0000;-12.5000 --270.0000;-12.0000 --270.0000;-11.5000 --270.0000;-11.0000 --270.0000;-10.5000 --270.0000;-10.0000 --270.0000;-9.5000 --270.0000;-9.0000 --270.0000;-8.5000 --270.0000;-8.0000 --270.0000;-7.5000 --270.0000;-7.0000 --270.0000;-6.5000 --270.0000;-6.0000 --270.0000;-5.5000 --270.0000;-5.0000 --270.0000;-4.5000 --270.0000;-4.0000 --270.0000;-3.5000 --270.0000;-3.0000 --270.0000;-2.5000 --270.0000;-2.0000 --270.0000;-1.5000 --270.0000;-1.0000 --270.0000;-0.5000 --270.0000;0.0000 --270.0000;0.5000 --270.0000;1.0000 --270.0000;1.5000 --270.0000;2.0000 --270.0000;2.5000 --270.0000;3.0000 --270.0000;3.5000 --270.0000;4.0000 --270.0000;4.5000 --270.0000;5.0000 --270.0000;5.5000 --270.0000;6.0000 --270.0000;6.5000 --270.0000;7.0000 --270.0000;7.5000 --270.0000;8.0000 --270.0000;8.5000 --270.0000;9.0000 --270.0000;9.5000 --270.0000;10.0000 --270.0000;10.5000 --270.0000;11.0000 --270.0000;11.5000 --270.0000;12.0000 --270.0000;12.5000 --270.0000;13.0000 --270.0000;13.5000 --270.0000;14.0000 --270.0000;14.5000 --270.0000;15.0000 --270.0000;15.5000 --269.5000;-223.0000 --269.5000;-222.5000 --269.5000;-222.0000 --269.5000;-221.5000 --269.5000;-221.0000 --269.5000;-220.5000 --269.5000;-220.0000 --269.5000;-219.5000 --269.5000;-219.0000 --269.5000;-218.5000 --269.5000;-218.0000 --269.5000;-217.5000 --269.5000;-217.0000 --269.5000;-216.5000 --269.5000;-216.0000 --269.5000;-215.5000 --269.5000;-215.0000 --269.5000;-214.5000 --269.5000;-214.0000 --269.5000;-213.5000 --269.5000;-213.0000 --269.5000;-212.5000 --269.5000;-212.0000 --269.5000;-211.5000 --269.5000;-211.0000 --269.5000;-210.5000 --269.5000;-210.0000 --269.5000;-151.0000 --269.5000;-150.5000 --269.5000;-150.0000 --269.5000;-149.5000 --269.5000;-149.0000 --269.5000;-148.5000 --269.5000;-148.0000 --269.5000;-147.5000 --269.5000;-147.0000 --269.5000;-146.5000 --269.5000;-146.0000 --269.5000;-145.5000 --269.5000;-145.0000 --269.5000;-144.5000 --269.5000;-144.0000 --269.5000;-143.5000 --269.5000;-143.0000 --269.5000;-142.5000 --269.5000;-142.0000 --269.5000;-141.5000 --269.5000;-141.0000 --269.5000;-140.5000 --269.5000;-140.0000 --269.5000;-139.5000 --269.5000;-139.0000 --269.5000;-138.5000 --269.5000;-138.0000 --269.5000;-137.5000 --269.5000;-137.0000 --269.5000;-48.5000 --269.5000;-48.0000 --269.5000;-47.5000 --269.5000;-47.0000 --269.5000;-46.5000 --269.5000;-46.0000 --269.5000;-45.5000 --269.5000;-45.0000 --269.5000;-44.5000 --269.5000;-44.0000 --269.5000;-43.5000 --269.5000;-43.0000 --269.5000;-42.5000 --269.5000;-42.0000 --269.5000;-41.5000 --269.5000;-41.0000 --269.5000;-40.5000 --269.5000;-40.0000 --269.5000;-39.5000 --269.5000;-39.0000 --269.5000;-38.5000 --269.5000;-38.0000 --269.5000;-37.5000 --269.5000;-37.0000 --269.5000;-36.5000 --269.5000;-36.0000 --269.5000;-35.5000 --269.5000;-35.0000 --269.5000;-34.5000 --269.5000;-34.0000 --269.5000;-33.5000 --269.5000;-33.0000 --269.5000;-32.5000 --269.5000;-32.0000 --269.5000;-31.5000 --269.5000;-31.0000 --269.5000;-30.5000 --269.5000;-30.0000 --269.5000;-29.5000 --269.5000;-29.0000 --269.5000;-28.5000 --269.5000;-28.0000 --269.5000;-27.5000 --269.5000;-27.0000 --269.5000;-26.5000 --269.5000;-26.0000 --269.5000;-25.5000 --269.5000;-25.0000 --269.5000;-24.5000 --269.5000;-24.0000 --269.5000;-23.5000 --269.5000;-23.0000 --269.5000;-22.5000 --269.5000;-22.0000 --269.5000;-21.5000 --269.5000;-21.0000 --269.5000;-20.5000 --269.5000;-20.0000 --269.5000;-19.5000 --269.5000;-19.0000 --269.5000;-18.5000 --269.5000;-18.0000 --269.5000;-17.5000 --269.5000;-17.0000 --269.5000;-16.5000 --269.5000;-16.0000 --269.5000;-15.5000 --269.5000;-15.0000 --269.5000;-14.5000 --269.5000;-14.0000 --269.5000;-13.5000 --269.5000;-13.0000 --269.5000;-12.5000 --269.5000;-12.0000 --269.5000;-11.5000 --269.5000;-11.0000 --269.5000;-10.5000 --269.5000;-10.0000 --269.5000;-9.5000 --269.5000;-9.0000 --269.5000;-8.5000 --269.5000;-8.0000 --269.5000;-7.5000 --269.5000;-7.0000 --269.5000;-6.5000 --269.5000;-6.0000 --269.5000;-5.5000 --269.5000;-5.0000 --269.5000;-4.5000 --269.5000;-4.0000 --269.5000;-3.5000 --269.5000;-3.0000 --269.5000;-2.5000 --269.5000;-2.0000 --269.5000;-1.5000 --269.5000;-1.0000 --269.5000;-0.5000 --269.5000;0.0000 --269.5000;0.5000 --269.5000;1.0000 --269.5000;1.5000 --269.5000;2.0000 --269.5000;2.5000 --269.5000;3.0000 --269.5000;3.5000 --269.5000;4.0000 --269.5000;4.5000 --269.5000;5.0000 --269.5000;5.5000 --269.5000;6.0000 --269.5000;6.5000 --269.5000;7.0000 --269.5000;7.5000 --269.5000;8.0000 --269.5000;8.5000 --269.5000;9.0000 --269.5000;9.5000 --269.5000;10.0000 --269.5000;10.5000 --269.5000;11.0000 --269.5000;11.5000 --269.5000;12.0000 --269.5000;12.5000 --269.5000;13.0000 --269.5000;13.5000 --269.5000;14.0000 --269.5000;14.5000 --269.5000;15.0000 --269.5000;15.5000 --269.5000;16.0000 --269.5000;16.5000 --269.5000;17.0000 --269.0000;-223.0000 --269.0000;-222.5000 --269.0000;-222.0000 --269.0000;-221.5000 --269.0000;-221.0000 --269.0000;-220.5000 --269.0000;-220.0000 --269.0000;-219.5000 --269.0000;-219.0000 --269.0000;-218.5000 --269.0000;-218.0000 --269.0000;-217.5000 --269.0000;-217.0000 --269.0000;-216.5000 --269.0000;-216.0000 --269.0000;-215.5000 --269.0000;-215.0000 --269.0000;-214.5000 --269.0000;-214.0000 --269.0000;-213.5000 --269.0000;-213.0000 --269.0000;-212.5000 --269.0000;-212.0000 --269.0000;-211.5000 --269.0000;-211.0000 --269.0000;-210.5000 --269.0000;-151.0000 --269.0000;-150.5000 --269.0000;-150.0000 --269.0000;-149.5000 --269.0000;-149.0000 --269.0000;-148.5000 --269.0000;-148.0000 --269.0000;-147.5000 --269.0000;-147.0000 --269.0000;-146.5000 --269.0000;-146.0000 --269.0000;-145.5000 --269.0000;-145.0000 --269.0000;-144.5000 --269.0000;-144.0000 --269.0000;-143.5000 --269.0000;-143.0000 --269.0000;-142.5000 --269.0000;-142.0000 --269.0000;-141.5000 --269.0000;-141.0000 --269.0000;-140.5000 --269.0000;-140.0000 --269.0000;-139.5000 --269.0000;-139.0000 --269.0000;-138.5000 --269.0000;-138.0000 --269.0000;-137.5000 --269.0000;-137.0000 --269.0000;-136.5000 --269.0000;-49.5000 --269.0000;-49.0000 --269.0000;-48.5000 --269.0000;-48.0000 --269.0000;-47.5000 --269.0000;-47.0000 --269.0000;-46.5000 --269.0000;-46.0000 --269.0000;-45.5000 --269.0000;-45.0000 --269.0000;-44.5000 --269.0000;-44.0000 --269.0000;-43.5000 --269.0000;-43.0000 --269.0000;-42.5000 --269.0000;-42.0000 --269.0000;-41.5000 --269.0000;-41.0000 --269.0000;-40.5000 --269.0000;-40.0000 --269.0000;-39.5000 --269.0000;-39.0000 --269.0000;-38.5000 --269.0000;-38.0000 --269.0000;-37.5000 --269.0000;-37.0000 --269.0000;-36.5000 --269.0000;-36.0000 --269.0000;-35.5000 --269.0000;-35.0000 --269.0000;-34.5000 --269.0000;-34.0000 --269.0000;-33.5000 --269.0000;-33.0000 --269.0000;-32.5000 --269.0000;-32.0000 --269.0000;-31.5000 --269.0000;-31.0000 --269.0000;-30.5000 --269.0000;-30.0000 --269.0000;-29.5000 --269.0000;-29.0000 --269.0000;-28.5000 --269.0000;-28.0000 --269.0000;-27.5000 --269.0000;-27.0000 --269.0000;-26.5000 --269.0000;-26.0000 --269.0000;-25.5000 --269.0000;-25.0000 --269.0000;-24.5000 --269.0000;-24.0000 --269.0000;-23.5000 --269.0000;-23.0000 --269.0000;-22.5000 --269.0000;-22.0000 --269.0000;-21.5000 --269.0000;-21.0000 --269.0000;-20.5000 --269.0000;-20.0000 --269.0000;-19.5000 --269.0000;-19.0000 --269.0000;-18.5000 --269.0000;-18.0000 --269.0000;-17.5000 --269.0000;-17.0000 --269.0000;-16.5000 --269.0000;-16.0000 --269.0000;-15.5000 --269.0000;-15.0000 --269.0000;-14.5000 --269.0000;-14.0000 --269.0000;-13.5000 --269.0000;-13.0000 --269.0000;-12.5000 --269.0000;-12.0000 --269.0000;-11.5000 --269.0000;-11.0000 --269.0000;-10.5000 --269.0000;-10.0000 --269.0000;-9.5000 --269.0000;-9.0000 --269.0000;-8.5000 --269.0000;-8.0000 --269.0000;-7.5000 --269.0000;-7.0000 --269.0000;-6.5000 --269.0000;-6.0000 --269.0000;-5.5000 --269.0000;-5.0000 --269.0000;-4.5000 --269.0000;-4.0000 --269.0000;-3.5000 --269.0000;-3.0000 --269.0000;-2.5000 --269.0000;-2.0000 --269.0000;-1.5000 --269.0000;-1.0000 --269.0000;-0.5000 --269.0000;0.0000 --269.0000;0.5000 --269.0000;1.0000 --269.0000;1.5000 --269.0000;2.0000 --269.0000;2.5000 --269.0000;3.0000 --269.0000;3.5000 --269.0000;4.0000 --269.0000;4.5000 --269.0000;5.0000 --269.0000;5.5000 --269.0000;6.0000 --269.0000;6.5000 --269.0000;7.0000 --269.0000;7.5000 --269.0000;8.0000 --269.0000;8.5000 --269.0000;9.0000 --269.0000;9.5000 --269.0000;10.0000 --269.0000;10.5000 --269.0000;11.0000 --269.0000;11.5000 --269.0000;12.0000 --269.0000;12.5000 --269.0000;13.0000 --269.0000;13.5000 --269.0000;14.0000 --269.0000;14.5000 --269.0000;15.0000 --269.0000;15.5000 --269.0000;16.0000 --269.0000;16.5000 --269.0000;17.0000 --269.0000;17.5000 --269.0000;18.0000 --269.0000;18.5000 --268.5000;-223.5000 --268.5000;-223.0000 --268.5000;-222.5000 --268.5000;-222.0000 --268.5000;-221.5000 --268.5000;-221.0000 --268.5000;-220.5000 --268.5000;-220.0000 --268.5000;-219.5000 --268.5000;-219.0000 --268.5000;-218.5000 --268.5000;-218.0000 --268.5000;-217.5000 --268.5000;-217.0000 --268.5000;-216.5000 --268.5000;-216.0000 --268.5000;-215.5000 --268.5000;-215.0000 --268.5000;-214.5000 --268.5000;-214.0000 --268.5000;-213.5000 --268.5000;-213.0000 --268.5000;-212.5000 --268.5000;-212.0000 --268.5000;-211.5000 --268.5000;-211.0000 --268.5000;-210.5000 --268.5000;-150.5000 --268.5000;-150.0000 --268.5000;-149.5000 --268.5000;-149.0000 --268.5000;-148.5000 --268.5000;-148.0000 --268.5000;-147.5000 --268.5000;-147.0000 --268.5000;-146.5000 --268.5000;-146.0000 --268.5000;-145.5000 --268.5000;-145.0000 --268.5000;-144.5000 --268.5000;-144.0000 --268.5000;-143.5000 --268.5000;-143.0000 --268.5000;-142.5000 --268.5000;-142.0000 --268.5000;-141.5000 --268.5000;-141.0000 --268.5000;-140.5000 --268.5000;-140.0000 --268.5000;-139.5000 --268.5000;-139.0000 --268.5000;-138.5000 --268.5000;-138.0000 --268.5000;-137.5000 --268.5000;-137.0000 --268.5000;-136.5000 --268.5000;-136.0000 --268.5000;-50.0000 --268.5000;-49.5000 --268.5000;-49.0000 --268.5000;-48.5000 --268.5000;-48.0000 --268.5000;-47.5000 --268.5000;-47.0000 --268.5000;-46.5000 --268.5000;-46.0000 --268.5000;-45.5000 --268.5000;-45.0000 --268.5000;-44.5000 --268.5000;-44.0000 --268.5000;-43.5000 --268.5000;-43.0000 --268.5000;-42.5000 --268.5000;-42.0000 --268.5000;-41.5000 --268.5000;-41.0000 --268.5000;-40.5000 --268.5000;-40.0000 --268.5000;-39.5000 --268.5000;-39.0000 --268.5000;-38.5000 --268.5000;-38.0000 --268.5000;-37.5000 --268.5000;-37.0000 --268.5000;-36.5000 --268.5000;-36.0000 --268.5000;-35.5000 --268.5000;-35.0000 --268.5000;-34.5000 --268.5000;-34.0000 --268.5000;-33.5000 --268.5000;-33.0000 --268.5000;-32.5000 --268.5000;-32.0000 --268.5000;-31.5000 --268.5000;-31.0000 --268.5000;-30.5000 --268.5000;-30.0000 --268.5000;-29.5000 --268.5000;-29.0000 --268.5000;-28.5000 --268.5000;-28.0000 --268.5000;-27.5000 --268.5000;-27.0000 --268.5000;-26.5000 --268.5000;-26.0000 --268.5000;-25.5000 --268.5000;-25.0000 --268.5000;-24.5000 --268.5000;-24.0000 --268.5000;-23.5000 --268.5000;-23.0000 --268.5000;-22.5000 --268.5000;-22.0000 --268.5000;-21.5000 --268.5000;-21.0000 --268.5000;-20.5000 --268.5000;-20.0000 --268.5000;-19.5000 --268.5000;-19.0000 --268.5000;-18.5000 --268.5000;-18.0000 --268.5000;-17.5000 --268.5000;-17.0000 --268.5000;-16.5000 --268.5000;-16.0000 --268.5000;-15.5000 --268.5000;-15.0000 --268.5000;-14.5000 --268.5000;-14.0000 --268.5000;-13.5000 --268.5000;-13.0000 --268.5000;-12.5000 --268.5000;-12.0000 --268.5000;-11.5000 --268.5000;-11.0000 --268.5000;-10.5000 --268.5000;-10.0000 --268.5000;-9.5000 --268.5000;-9.0000 --268.5000;-8.5000 --268.5000;-8.0000 --268.5000;-7.5000 --268.5000;-7.0000 --268.5000;-6.5000 --268.5000;-6.0000 --268.5000;-5.5000 --268.5000;-5.0000 --268.5000;-4.5000 --268.5000;-4.0000 --268.5000;-3.5000 --268.5000;-3.0000 --268.5000;-2.5000 --268.5000;-2.0000 --268.5000;-1.5000 --268.5000;-1.0000 --268.5000;-0.5000 --268.5000;0.0000 --268.5000;0.5000 --268.5000;1.0000 --268.5000;1.5000 --268.5000;2.0000 --268.5000;2.5000 --268.5000;3.0000 --268.5000;3.5000 --268.5000;4.0000 --268.5000;4.5000 --268.5000;5.0000 --268.5000;5.5000 --268.5000;6.0000 --268.5000;6.5000 --268.5000;7.0000 --268.5000;7.5000 --268.5000;8.0000 --268.5000;8.5000 --268.5000;9.0000 --268.5000;9.5000 --268.5000;10.0000 --268.5000;10.5000 --268.5000;11.0000 --268.5000;11.5000 --268.5000;12.0000 --268.5000;12.5000 --268.5000;13.0000 --268.5000;13.5000 --268.5000;14.0000 --268.5000;14.5000 --268.5000;15.0000 --268.5000;15.5000 --268.5000;16.0000 --268.5000;16.5000 --268.5000;17.0000 --268.5000;17.5000 --268.5000;18.0000 --268.5000;18.5000 --268.5000;19.0000 --268.5000;19.5000 --268.0000;-223.5000 --268.0000;-223.0000 --268.0000;-222.5000 --268.0000;-222.0000 --268.0000;-221.5000 --268.0000;-221.0000 --268.0000;-220.5000 --268.0000;-220.0000 --268.0000;-219.5000 --268.0000;-219.0000 --268.0000;-218.5000 --268.0000;-218.0000 --268.0000;-217.5000 --268.0000;-217.0000 --268.0000;-216.5000 --268.0000;-216.0000 --268.0000;-215.5000 --268.0000;-215.0000 --268.0000;-214.5000 --268.0000;-214.0000 --268.0000;-213.5000 --268.0000;-213.0000 --268.0000;-212.5000 --268.0000;-212.0000 --268.0000;-211.5000 --268.0000;-211.0000 --268.0000;-150.0000 --268.0000;-149.5000 --268.0000;-149.0000 --268.0000;-148.5000 --268.0000;-148.0000 --268.0000;-147.5000 --268.0000;-147.0000 --268.0000;-146.5000 --268.0000;-146.0000 --268.0000;-145.5000 --268.0000;-145.0000 --268.0000;-144.5000 --268.0000;-144.0000 --268.0000;-143.5000 --268.0000;-143.0000 --268.0000;-142.5000 --268.0000;-142.0000 --268.0000;-141.5000 --268.0000;-141.0000 --268.0000;-140.5000 --268.0000;-140.0000 --268.0000;-139.5000 --268.0000;-139.0000 --268.0000;-138.5000 --268.0000;-138.0000 --268.0000;-137.5000 --268.0000;-137.0000 --268.0000;-136.5000 --268.0000;-136.0000 --268.0000;-51.0000 --268.0000;-50.5000 --268.0000;-50.0000 --268.0000;-49.5000 --268.0000;-49.0000 --268.0000;-48.5000 --268.0000;-48.0000 --268.0000;-47.5000 --268.0000;-47.0000 --268.0000;-46.5000 --268.0000;-46.0000 --268.0000;-45.5000 --268.0000;-45.0000 --268.0000;-44.5000 --268.0000;-44.0000 --268.0000;-43.5000 --268.0000;-43.0000 --268.0000;-42.5000 --268.0000;-42.0000 --268.0000;-41.5000 --268.0000;-41.0000 --268.0000;-40.5000 --268.0000;-40.0000 --268.0000;-39.5000 --268.0000;-39.0000 --268.0000;-38.5000 --268.0000;-38.0000 --268.0000;-37.5000 --268.0000;-37.0000 --268.0000;-36.5000 --268.0000;-36.0000 --268.0000;-35.5000 --268.0000;-35.0000 --268.0000;-34.5000 --268.0000;-34.0000 --268.0000;-33.5000 --268.0000;-33.0000 --268.0000;-32.5000 --268.0000;-32.0000 --268.0000;-31.5000 --268.0000;-31.0000 --268.0000;-30.5000 --268.0000;-30.0000 --268.0000;-29.5000 --268.0000;-29.0000 --268.0000;-28.5000 --268.0000;-28.0000 --268.0000;-27.5000 --268.0000;-27.0000 --268.0000;-26.5000 --268.0000;-26.0000 --268.0000;-25.5000 --268.0000;-25.0000 --268.0000;-24.5000 --268.0000;-24.0000 --268.0000;-23.5000 --268.0000;-23.0000 --268.0000;-22.5000 --268.0000;-22.0000 --268.0000;-21.5000 --268.0000;-21.0000 --268.0000;-20.5000 --268.0000;-20.0000 --268.0000;-19.5000 --268.0000;-19.0000 --268.0000;-18.5000 --268.0000;-18.0000 --268.0000;-17.5000 --268.0000;-17.0000 --268.0000;-16.5000 --268.0000;-16.0000 --268.0000;-15.5000 --268.0000;-15.0000 --268.0000;-14.5000 --268.0000;-14.0000 --268.0000;-13.5000 --268.0000;-13.0000 --268.0000;-12.5000 --268.0000;-12.0000 --268.0000;-11.5000 --268.0000;-11.0000 --268.0000;-10.5000 --268.0000;-10.0000 --268.0000;-9.5000 --268.0000;-9.0000 --268.0000;-8.5000 --268.0000;-8.0000 --268.0000;-7.5000 --268.0000;-7.0000 --268.0000;-6.5000 --268.0000;-6.0000 --268.0000;-5.5000 --268.0000;-5.0000 --268.0000;-4.5000 --268.0000;-4.0000 --268.0000;-3.5000 --268.0000;-3.0000 --268.0000;-2.5000 --268.0000;-2.0000 --268.0000;-1.5000 --268.0000;-1.0000 --268.0000;-0.5000 --268.0000;0.0000 --268.0000;0.5000 --268.0000;1.0000 --268.0000;1.5000 --268.0000;2.0000 --268.0000;2.5000 --268.0000;3.0000 --268.0000;3.5000 --268.0000;4.0000 --268.0000;4.5000 --268.0000;5.0000 --268.0000;5.5000 --268.0000;6.0000 --268.0000;6.5000 --268.0000;7.0000 --268.0000;7.5000 --268.0000;8.0000 --268.0000;8.5000 --268.0000;9.0000 --268.0000;9.5000 --268.0000;10.0000 --268.0000;10.5000 --268.0000;11.0000 --268.0000;11.5000 --268.0000;12.0000 --268.0000;12.5000 --268.0000;13.0000 --268.0000;13.5000 --268.0000;14.0000 --268.0000;14.5000 --268.0000;15.0000 --268.0000;15.5000 --268.0000;16.0000 --268.0000;16.5000 --268.0000;17.0000 --268.0000;17.5000 --268.0000;18.0000 --268.0000;18.5000 --268.0000;19.0000 --268.0000;19.5000 --268.0000;20.0000 --268.0000;20.5000 --268.0000;21.0000 --267.5000;-224.0000 --267.5000;-223.5000 --267.5000;-223.0000 --267.5000;-222.5000 --267.5000;-222.0000 --267.5000;-221.5000 --267.5000;-221.0000 --267.5000;-220.5000 --267.5000;-220.0000 --267.5000;-219.5000 --267.5000;-219.0000 --267.5000;-218.5000 --267.5000;-218.0000 --267.5000;-217.5000 --267.5000;-217.0000 --267.5000;-216.5000 --267.5000;-216.0000 --267.5000;-215.5000 --267.5000;-215.0000 --267.5000;-214.5000 --267.5000;-214.0000 --267.5000;-213.5000 --267.5000;-213.0000 --267.5000;-212.5000 --267.5000;-212.0000 --267.5000;-211.5000 --267.5000;-211.0000 --267.5000;-150.0000 --267.5000;-149.5000 --267.5000;-149.0000 --267.5000;-148.5000 --267.5000;-148.0000 --267.5000;-147.5000 --267.5000;-147.0000 --267.5000;-146.5000 --267.5000;-146.0000 --267.5000;-145.5000 --267.5000;-145.0000 --267.5000;-144.5000 --267.5000;-144.0000 --267.5000;-143.5000 --267.5000;-143.0000 --267.5000;-142.5000 --267.5000;-142.0000 --267.5000;-141.5000 --267.5000;-141.0000 --267.5000;-140.5000 --267.5000;-140.0000 --267.5000;-139.5000 --267.5000;-139.0000 --267.5000;-138.5000 --267.5000;-138.0000 --267.5000;-137.5000 --267.5000;-137.0000 --267.5000;-136.5000 --267.5000;-136.0000 --267.5000;-135.5000 --267.5000;-51.5000 --267.5000;-51.0000 --267.5000;-50.5000 --267.5000;-50.0000 --267.5000;-49.5000 --267.5000;-49.0000 --267.5000;-48.5000 --267.5000;-48.0000 --267.5000;-47.5000 --267.5000;-47.0000 --267.5000;-46.5000 --267.5000;-46.0000 --267.5000;-45.5000 --267.5000;-45.0000 --267.5000;-44.5000 --267.5000;-44.0000 --267.5000;-43.5000 --267.5000;-43.0000 --267.5000;-42.5000 --267.5000;-42.0000 --267.5000;-41.5000 --267.5000;-41.0000 --267.5000;-40.5000 --267.5000;-40.0000 --267.5000;-39.5000 --267.5000;-39.0000 --267.5000;-38.5000 --267.5000;-38.0000 --267.5000;-37.5000 --267.5000;-37.0000 --267.5000;-36.5000 --267.5000;-36.0000 --267.5000;-35.5000 --267.5000;-35.0000 --267.5000;-34.5000 --267.5000;-34.0000 --267.5000;-33.5000 --267.5000;-33.0000 --267.5000;-32.5000 --267.5000;-32.0000 --267.5000;-31.5000 --267.5000;-31.0000 --267.5000;-30.5000 --267.5000;-30.0000 --267.5000;-29.5000 --267.5000;-29.0000 --267.5000;-28.5000 --267.5000;-28.0000 --267.5000;-27.5000 --267.5000;-27.0000 --267.5000;-26.5000 --267.5000;-26.0000 --267.5000;-25.5000 --267.5000;-25.0000 --267.5000;-24.5000 --267.5000;-24.0000 --267.5000;-23.5000 --267.5000;-23.0000 --267.5000;-22.5000 --267.5000;-22.0000 --267.5000;-21.5000 --267.5000;-21.0000 --267.5000;-20.5000 --267.5000;-20.0000 --267.5000;-19.5000 --267.5000;-19.0000 --267.5000;-18.5000 --267.5000;-18.0000 --267.5000;-17.5000 --267.5000;-17.0000 --267.5000;-16.5000 --267.5000;-16.0000 --267.5000;-15.5000 --267.5000;-15.0000 --267.5000;-14.5000 --267.5000;-14.0000 --267.5000;-13.5000 --267.5000;-13.0000 --267.5000;-12.5000 --267.5000;-12.0000 --267.5000;-11.5000 --267.5000;-11.0000 --267.5000;-10.5000 --267.5000;-10.0000 --267.5000;-9.5000 --267.5000;-9.0000 --267.5000;-8.5000 --267.5000;-8.0000 --267.5000;-7.5000 --267.5000;-7.0000 --267.5000;-6.5000 --267.5000;-6.0000 --267.5000;-5.5000 --267.5000;-5.0000 --267.5000;-4.5000 --267.5000;-4.0000 --267.5000;-3.5000 --267.5000;-3.0000 --267.5000;-2.5000 --267.5000;-2.0000 --267.5000;-1.5000 --267.5000;-1.0000 --267.5000;-0.5000 --267.5000;0.0000 --267.5000;0.5000 --267.5000;1.0000 --267.5000;1.5000 --267.5000;2.0000 --267.5000;2.5000 --267.5000;3.0000 --267.5000;3.5000 --267.5000;4.0000 --267.5000;4.5000 --267.5000;5.0000 --267.5000;5.5000 --267.5000;6.0000 --267.5000;6.5000 --267.5000;7.0000 --267.5000;7.5000 --267.5000;8.0000 --267.5000;8.5000 --267.5000;9.0000 --267.5000;9.5000 --267.5000;10.0000 --267.5000;10.5000 --267.5000;11.0000 --267.5000;11.5000 --267.5000;12.0000 --267.5000;12.5000 --267.5000;13.0000 --267.5000;13.5000 --267.5000;14.0000 --267.5000;14.5000 --267.5000;15.0000 --267.5000;15.5000 --267.5000;16.0000 --267.5000;16.5000 --267.5000;17.0000 --267.5000;17.5000 --267.5000;18.0000 --267.5000;18.5000 --267.5000;19.0000 --267.5000;19.5000 --267.5000;20.0000 --267.5000;20.5000 --267.5000;21.0000 --267.5000;21.5000 --267.5000;22.0000 --267.5000;22.5000 --267.0000;-224.0000 --267.0000;-223.5000 --267.0000;-223.0000 --267.0000;-222.5000 --267.0000;-222.0000 --267.0000;-221.5000 --267.0000;-221.0000 --267.0000;-220.5000 --267.0000;-220.0000 --267.0000;-219.5000 --267.0000;-219.0000 --267.0000;-218.5000 --267.0000;-218.0000 --267.0000;-217.5000 --267.0000;-217.0000 --267.0000;-216.5000 --267.0000;-216.0000 --267.0000;-215.5000 --267.0000;-215.0000 --267.0000;-214.5000 --267.0000;-214.0000 --267.0000;-213.5000 --267.0000;-213.0000 --267.0000;-212.5000 --267.0000;-212.0000 --267.0000;-211.5000 --267.0000;-211.0000 --267.0000;-149.5000 --267.0000;-149.0000 --267.0000;-148.5000 --267.0000;-148.0000 --267.0000;-147.5000 --267.0000;-147.0000 --267.0000;-146.5000 --267.0000;-146.0000 --267.0000;-145.5000 --267.0000;-145.0000 --267.0000;-144.5000 --267.0000;-144.0000 --267.0000;-143.5000 --267.0000;-143.0000 --267.0000;-142.5000 --267.0000;-142.0000 --267.0000;-141.5000 --267.0000;-141.0000 --267.0000;-140.5000 --267.0000;-140.0000 --267.0000;-139.5000 --267.0000;-139.0000 --267.0000;-138.5000 --267.0000;-138.0000 --267.0000;-137.5000 --267.0000;-137.0000 --267.0000;-136.5000 --267.0000;-136.0000 --267.0000;-135.5000 --267.0000;-135.0000 --267.0000;-52.0000 --267.0000;-51.5000 --267.0000;-51.0000 --267.0000;-50.5000 --267.0000;-50.0000 --267.0000;-49.5000 --267.0000;-49.0000 --267.0000;-48.5000 --267.0000;-48.0000 --267.0000;-47.5000 --267.0000;-47.0000 --267.0000;-46.5000 --267.0000;-46.0000 --267.0000;-45.5000 --267.0000;-45.0000 --267.0000;-44.5000 --267.0000;-44.0000 --267.0000;-43.5000 --267.0000;-43.0000 --267.0000;-42.5000 --267.0000;-42.0000 --267.0000;-41.5000 --267.0000;-41.0000 --267.0000;-40.5000 --267.0000;-40.0000 --267.0000;-39.5000 --267.0000;-39.0000 --267.0000;-38.5000 --267.0000;-38.0000 --267.0000;-37.5000 --267.0000;-37.0000 --267.0000;-36.5000 --267.0000;-36.0000 --267.0000;-35.5000 --267.0000;-35.0000 --267.0000;-34.5000 --267.0000;-34.0000 --267.0000;-33.5000 --267.0000;-33.0000 --267.0000;-32.5000 --267.0000;-32.0000 --267.0000;-31.5000 --267.0000;-31.0000 --267.0000;-30.5000 --267.0000;-30.0000 --267.0000;-29.5000 --267.0000;-29.0000 --267.0000;-28.5000 --267.0000;-28.0000 --267.0000;-27.5000 --267.0000;-27.0000 --267.0000;-26.5000 --267.0000;-26.0000 --267.0000;-25.5000 --267.0000;-25.0000 --267.0000;-24.5000 --267.0000;-24.0000 --267.0000;-23.5000 --267.0000;-23.0000 --267.0000;-22.5000 --267.0000;-22.0000 --267.0000;-21.5000 --267.0000;-21.0000 --267.0000;-20.5000 --267.0000;-20.0000 --267.0000;-19.5000 --267.0000;-19.0000 --267.0000;-18.5000 --267.0000;-18.0000 --267.0000;-17.5000 --267.0000;-17.0000 --267.0000;-16.5000 --267.0000;-16.0000 --267.0000;-15.5000 --267.0000;-15.0000 --267.0000;-14.5000 --267.0000;-14.0000 --267.0000;-13.5000 --267.0000;-13.0000 --267.0000;-12.5000 --267.0000;-12.0000 --267.0000;-11.5000 --267.0000;-11.0000 --267.0000;-10.5000 --267.0000;-10.0000 --267.0000;-9.5000 --267.0000;-9.0000 --267.0000;-8.5000 --267.0000;-8.0000 --267.0000;-7.5000 --267.0000;-7.0000 --267.0000;-6.5000 --267.0000;-6.0000 --267.0000;-5.5000 --267.0000;-5.0000 --267.0000;-4.5000 --267.0000;-4.0000 --267.0000;-3.5000 --267.0000;-3.0000 --267.0000;-2.5000 --267.0000;-2.0000 --267.0000;-1.5000 --267.0000;-1.0000 --267.0000;-0.5000 --267.0000;0.0000 --267.0000;0.5000 --267.0000;1.0000 --267.0000;1.5000 --267.0000;2.0000 --267.0000;2.5000 --267.0000;3.0000 --267.0000;3.5000 --267.0000;4.0000 --267.0000;4.5000 --267.0000;5.0000 --267.0000;5.5000 --267.0000;6.0000 --267.0000;6.5000 --267.0000;7.0000 --267.0000;7.5000 --267.0000;8.0000 --267.0000;8.5000 --267.0000;9.0000 --267.0000;9.5000 --267.0000;10.0000 --267.0000;10.5000 --267.0000;11.0000 --267.0000;11.5000 --267.0000;12.0000 --267.0000;12.5000 --267.0000;13.0000 --267.0000;13.5000 --267.0000;14.0000 --267.0000;14.5000 --267.0000;15.0000 --267.0000;15.5000 --267.0000;16.0000 --267.0000;16.5000 --267.0000;17.0000 --267.0000;17.5000 --267.0000;18.0000 --267.0000;18.5000 --267.0000;19.0000 --267.0000;19.5000 --267.0000;20.0000 --267.0000;20.5000 --267.0000;21.0000 --267.0000;21.5000 --267.0000;22.0000 --267.0000;22.5000 --267.0000;23.0000 --267.0000;23.5000 --266.5000;-224.0000 --266.5000;-223.5000 --266.5000;-223.0000 --266.5000;-222.5000 --266.5000;-222.0000 --266.5000;-221.5000 --266.5000;-221.0000 --266.5000;-220.5000 --266.5000;-220.0000 --266.5000;-219.5000 --266.5000;-219.0000 --266.5000;-218.5000 --266.5000;-218.0000 --266.5000;-217.5000 --266.5000;-217.0000 --266.5000;-216.5000 --266.5000;-216.0000 --266.5000;-215.5000 --266.5000;-215.0000 --266.5000;-214.5000 --266.5000;-214.0000 --266.5000;-213.5000 --266.5000;-213.0000 --266.5000;-212.5000 --266.5000;-212.0000 --266.5000;-211.5000 --266.5000;-149.0000 --266.5000;-148.5000 --266.5000;-148.0000 --266.5000;-147.5000 --266.5000;-147.0000 --266.5000;-146.5000 --266.5000;-146.0000 --266.5000;-145.5000 --266.5000;-145.0000 --266.5000;-144.5000 --266.5000;-144.0000 --266.5000;-143.5000 --266.5000;-143.0000 --266.5000;-142.5000 --266.5000;-142.0000 --266.5000;-141.5000 --266.5000;-141.0000 --266.5000;-140.5000 --266.5000;-140.0000 --266.5000;-139.5000 --266.5000;-139.0000 --266.5000;-138.5000 --266.5000;-138.0000 --266.5000;-137.5000 --266.5000;-137.0000 --266.5000;-136.5000 --266.5000;-136.0000 --266.5000;-135.5000 --266.5000;-135.0000 --266.5000;-53.0000 --266.5000;-52.5000 --266.5000;-52.0000 --266.5000;-51.5000 --266.5000;-51.0000 --266.5000;-50.5000 --266.5000;-50.0000 --266.5000;-49.5000 --266.5000;-49.0000 --266.5000;-48.5000 --266.5000;-48.0000 --266.5000;-47.5000 --266.5000;-47.0000 --266.5000;-46.5000 --266.5000;-46.0000 --266.5000;-45.5000 --266.5000;-45.0000 --266.5000;-44.5000 --266.5000;-44.0000 --266.5000;-43.5000 --266.5000;-43.0000 --266.5000;-42.5000 --266.5000;-42.0000 --266.5000;-41.5000 --266.5000;-41.0000 --266.5000;-40.5000 --266.5000;-40.0000 --266.5000;-39.5000 --266.5000;-39.0000 --266.5000;-38.5000 --266.5000;-38.0000 --266.5000;-37.5000 --266.5000;-37.0000 --266.5000;-36.5000 --266.5000;-36.0000 --266.5000;-35.5000 --266.5000;-35.0000 --266.5000;-34.5000 --266.5000;-34.0000 --266.5000;-33.5000 --266.5000;-33.0000 --266.5000;-32.5000 --266.5000;-32.0000 --266.5000;-31.5000 --266.5000;-31.0000 --266.5000;-30.5000 --266.5000;-30.0000 --266.5000;-29.5000 --266.5000;-29.0000 --266.5000;-28.5000 --266.5000;-28.0000 --266.5000;-27.5000 --266.5000;-27.0000 --266.5000;-26.5000 --266.5000;-26.0000 --266.5000;-25.5000 --266.5000;-25.0000 --266.5000;-24.5000 --266.5000;-24.0000 --266.5000;-23.5000 --266.5000;-23.0000 --266.5000;-22.5000 --266.5000;-22.0000 --266.5000;-21.5000 --266.5000;-21.0000 --266.5000;-20.5000 --266.5000;-20.0000 --266.5000;-19.5000 --266.5000;-19.0000 --266.5000;-18.5000 --266.5000;-18.0000 --266.5000;-17.5000 --266.5000;-17.0000 --266.5000;-16.5000 --266.5000;-16.0000 --266.5000;-15.5000 --266.5000;-15.0000 --266.5000;-14.5000 --266.5000;-14.0000 --266.5000;-13.5000 --266.5000;-13.0000 --266.5000;-12.5000 --266.5000;-12.0000 --266.5000;-11.5000 --266.5000;-11.0000 --266.5000;-10.5000 --266.5000;-10.0000 --266.5000;-9.5000 --266.5000;-9.0000 --266.5000;-8.5000 --266.5000;-8.0000 --266.5000;-7.5000 --266.5000;-7.0000 --266.5000;-6.5000 --266.5000;-6.0000 --266.5000;-5.5000 --266.5000;-5.0000 --266.5000;-4.5000 --266.5000;-4.0000 --266.5000;-3.5000 --266.5000;-3.0000 --266.5000;-2.5000 --266.5000;-2.0000 --266.5000;-1.5000 --266.5000;-1.0000 --266.5000;-0.5000 --266.5000;0.0000 --266.5000;0.5000 --266.5000;1.0000 --266.5000;1.5000 --266.5000;2.0000 --266.5000;2.5000 --266.5000;3.0000 --266.5000;3.5000 --266.5000;4.0000 --266.5000;4.5000 --266.5000;5.0000 --266.5000;5.5000 --266.5000;6.0000 --266.5000;6.5000 --266.5000;7.0000 --266.5000;7.5000 --266.5000;8.0000 --266.5000;8.5000 --266.5000;9.0000 --266.5000;9.5000 --266.5000;10.0000 --266.5000;10.5000 --266.5000;11.0000 --266.5000;11.5000 --266.5000;12.0000 --266.5000;12.5000 --266.5000;13.0000 --266.5000;13.5000 --266.5000;14.0000 --266.5000;14.5000 --266.5000;15.0000 --266.5000;15.5000 --266.5000;16.0000 --266.5000;16.5000 --266.5000;17.0000 --266.5000;17.5000 --266.5000;18.0000 --266.5000;18.5000 --266.5000;19.0000 --266.5000;19.5000 --266.5000;20.0000 --266.5000;20.5000 --266.5000;21.0000 --266.5000;21.5000 --266.5000;22.0000 --266.5000;22.5000 --266.5000;23.0000 --266.5000;23.5000 --266.5000;24.0000 --266.5000;24.5000 --266.0000;-224.5000 --266.0000;-224.0000 --266.0000;-223.5000 --266.0000;-223.0000 --266.0000;-222.5000 --266.0000;-222.0000 --266.0000;-221.5000 --266.0000;-221.0000 --266.0000;-220.5000 --266.0000;-220.0000 --266.0000;-219.5000 --266.0000;-219.0000 --266.0000;-218.5000 --266.0000;-218.0000 --266.0000;-217.5000 --266.0000;-217.0000 --266.0000;-216.5000 --266.0000;-216.0000 --266.0000;-215.5000 --266.0000;-215.0000 --266.0000;-214.5000 --266.0000;-214.0000 --266.0000;-213.5000 --266.0000;-213.0000 --266.0000;-212.5000 --266.0000;-212.0000 --266.0000;-211.5000 --266.0000;-149.0000 --266.0000;-148.5000 --266.0000;-148.0000 --266.0000;-147.5000 --266.0000;-147.0000 --266.0000;-146.5000 --266.0000;-146.0000 --266.0000;-145.5000 --266.0000;-145.0000 --266.0000;-144.5000 --266.0000;-144.0000 --266.0000;-143.5000 --266.0000;-143.0000 --266.0000;-142.5000 --266.0000;-142.0000 --266.0000;-141.5000 --266.0000;-141.0000 --266.0000;-140.5000 --266.0000;-140.0000 --266.0000;-139.5000 --266.0000;-139.0000 --266.0000;-138.5000 --266.0000;-138.0000 --266.0000;-137.5000 --266.0000;-137.0000 --266.0000;-136.5000 --266.0000;-136.0000 --266.0000;-135.5000 --266.0000;-135.0000 --266.0000;-134.5000 --266.0000;-53.5000 --266.0000;-53.0000 --266.0000;-52.5000 --266.0000;-52.0000 --266.0000;-51.5000 --266.0000;-51.0000 --266.0000;-50.5000 --266.0000;-50.0000 --266.0000;-49.5000 --266.0000;-49.0000 --266.0000;-48.5000 --266.0000;-48.0000 --266.0000;-47.5000 --266.0000;-47.0000 --266.0000;-46.5000 --266.0000;-46.0000 --266.0000;-45.5000 --266.0000;-45.0000 --266.0000;-44.5000 --266.0000;-44.0000 --266.0000;-43.5000 --266.0000;-43.0000 --266.0000;-42.5000 --266.0000;-42.0000 --266.0000;-41.5000 --266.0000;-41.0000 --266.0000;-40.5000 --266.0000;-40.0000 --266.0000;-39.5000 --266.0000;-39.0000 --266.0000;-38.5000 --266.0000;-38.0000 --266.0000;-37.5000 --266.0000;-37.0000 --266.0000;-36.5000 --266.0000;-36.0000 --266.0000;-35.5000 --266.0000;-35.0000 --266.0000;-34.5000 --266.0000;-34.0000 --266.0000;-33.5000 --266.0000;-33.0000 --266.0000;-32.5000 --266.0000;-32.0000 --266.0000;-31.5000 --266.0000;-31.0000 --266.0000;-30.5000 --266.0000;-30.0000 --266.0000;-29.5000 --266.0000;-29.0000 --266.0000;-28.5000 --266.0000;-28.0000 --266.0000;-27.5000 --266.0000;-27.0000 --266.0000;-26.5000 --266.0000;-26.0000 --266.0000;-25.5000 --266.0000;-25.0000 --266.0000;-24.5000 --266.0000;-24.0000 --266.0000;-23.5000 --266.0000;-23.0000 --266.0000;-22.5000 --266.0000;-22.0000 --266.0000;-21.5000 --266.0000;-21.0000 --266.0000;-20.5000 --266.0000;-20.0000 --266.0000;-19.5000 --266.0000;-19.0000 --266.0000;-18.5000 --266.0000;-18.0000 --266.0000;-17.5000 --266.0000;-17.0000 --266.0000;-16.5000 --266.0000;-16.0000 --266.0000;-15.5000 --266.0000;-15.0000 --266.0000;-14.5000 --266.0000;-14.0000 --266.0000;-13.5000 --266.0000;-13.0000 --266.0000;-12.5000 --266.0000;-12.0000 --266.0000;-11.5000 --266.0000;-11.0000 --266.0000;-10.5000 --266.0000;-10.0000 --266.0000;-9.5000 --266.0000;-9.0000 --266.0000;-8.5000 --266.0000;-8.0000 --266.0000;-7.5000 --266.0000;-7.0000 --266.0000;-6.5000 --266.0000;-6.0000 --266.0000;-5.5000 --266.0000;-5.0000 --266.0000;-4.5000 --266.0000;-4.0000 --266.0000;-3.5000 --266.0000;-3.0000 --266.0000;-2.5000 --266.0000;-2.0000 --266.0000;-1.5000 --266.0000;-1.0000 --266.0000;-0.5000 --266.0000;0.0000 --266.0000;0.5000 --266.0000;1.0000 --266.0000;1.5000 --266.0000;2.0000 --266.0000;2.5000 --266.0000;3.0000 --266.0000;3.5000 --266.0000;4.0000 --266.0000;4.5000 --266.0000;5.0000 --266.0000;5.5000 --266.0000;6.0000 --266.0000;6.5000 --266.0000;7.0000 --266.0000;7.5000 --266.0000;8.0000 --266.0000;8.5000 --266.0000;9.0000 --266.0000;9.5000 --266.0000;10.0000 --266.0000;10.5000 --266.0000;11.0000 --266.0000;11.5000 --266.0000;12.0000 --266.0000;12.5000 --266.0000;13.0000 --266.0000;13.5000 --266.0000;14.0000 --266.0000;14.5000 --266.0000;15.0000 --266.0000;15.5000 --266.0000;16.0000 --266.0000;16.5000 --266.0000;17.0000 --266.0000;17.5000 --266.0000;18.0000 --266.0000;18.5000 --266.0000;19.0000 --266.0000;19.5000 --266.0000;20.0000 --266.0000;20.5000 --266.0000;21.0000 --266.0000;21.5000 --266.0000;22.0000 --266.0000;22.5000 --266.0000;23.0000 --266.0000;23.5000 --266.0000;24.0000 --266.0000;24.5000 --266.0000;25.0000 --266.0000;25.5000 --265.5000;-224.5000 --265.5000;-224.0000 --265.5000;-223.5000 --265.5000;-223.0000 --265.5000;-222.5000 --265.5000;-222.0000 --265.5000;-221.5000 --265.5000;-221.0000 --265.5000;-220.5000 --265.5000;-220.0000 --265.5000;-219.5000 --265.5000;-219.0000 --265.5000;-218.5000 --265.5000;-218.0000 --265.5000;-217.5000 --265.5000;-217.0000 --265.5000;-216.5000 --265.5000;-216.0000 --265.5000;-215.5000 --265.5000;-215.0000 --265.5000;-214.5000 --265.5000;-214.0000 --265.5000;-213.5000 --265.5000;-213.0000 --265.5000;-212.5000 --265.5000;-212.0000 --265.5000;-211.5000 --265.5000;-148.5000 --265.5000;-148.0000 --265.5000;-147.5000 --265.5000;-147.0000 --265.5000;-146.5000 --265.5000;-146.0000 --265.5000;-145.5000 --265.5000;-145.0000 --265.5000;-144.5000 --265.5000;-144.0000 --265.5000;-143.5000 --265.5000;-143.0000 --265.5000;-142.5000 --265.5000;-142.0000 --265.5000;-141.5000 --265.5000;-141.0000 --265.5000;-140.5000 --265.5000;-140.0000 --265.5000;-139.5000 --265.5000;-139.0000 --265.5000;-138.5000 --265.5000;-138.0000 --265.5000;-137.5000 --265.5000;-137.0000 --265.5000;-136.5000 --265.5000;-136.0000 --265.5000;-135.5000 --265.5000;-135.0000 --265.5000;-134.5000 --265.5000;-134.0000 --265.5000;-54.0000 --265.5000;-53.5000 --265.5000;-53.0000 --265.5000;-52.5000 --265.5000;-52.0000 --265.5000;-51.5000 --265.5000;-51.0000 --265.5000;-50.5000 --265.5000;-50.0000 --265.5000;-49.5000 --265.5000;-49.0000 --265.5000;-48.5000 --265.5000;-48.0000 --265.5000;-47.5000 --265.5000;-47.0000 --265.5000;-46.5000 --265.5000;-46.0000 --265.5000;-45.5000 --265.5000;-45.0000 --265.5000;-44.5000 --265.5000;-44.0000 --265.5000;-43.5000 --265.5000;-43.0000 --265.5000;-42.5000 --265.5000;-42.0000 --265.5000;-41.5000 --265.5000;-41.0000 --265.5000;-40.5000 --265.5000;-40.0000 --265.5000;-39.5000 --265.5000;-39.0000 --265.5000;-38.5000 --265.5000;-38.0000 --265.5000;-37.5000 --265.5000;-37.0000 --265.5000;-36.5000 --265.5000;-36.0000 --265.5000;-35.5000 --265.5000;-35.0000 --265.5000;-34.5000 --265.5000;-34.0000 --265.5000;-33.5000 --265.5000;-33.0000 --265.5000;-32.5000 --265.5000;-32.0000 --265.5000;-31.5000 --265.5000;-31.0000 --265.5000;-30.5000 --265.5000;-30.0000 --265.5000;-29.5000 --265.5000;-29.0000 --265.5000;-28.5000 --265.5000;-28.0000 --265.5000;-27.5000 --265.5000;-27.0000 --265.5000;-26.5000 --265.5000;-26.0000 --265.5000;-25.5000 --265.5000;-25.0000 --265.5000;-24.5000 --265.5000;-24.0000 --265.5000;-23.5000 --265.5000;-23.0000 --265.5000;-22.5000 --265.5000;-22.0000 --265.5000;-21.5000 --265.5000;-21.0000 --265.5000;-20.5000 --265.5000;-20.0000 --265.5000;-19.5000 --265.5000;-19.0000 --265.5000;-18.5000 --265.5000;-18.0000 --265.5000;-17.5000 --265.5000;-17.0000 --265.5000;-16.5000 --265.5000;-16.0000 --265.5000;-15.5000 --265.5000;-15.0000 --265.5000;-14.5000 --265.5000;-14.0000 --265.5000;-13.5000 --265.5000;-13.0000 --265.5000;-12.5000 --265.5000;-12.0000 --265.5000;-11.5000 --265.5000;-11.0000 --265.5000;-10.5000 --265.5000;-10.0000 --265.5000;-9.5000 --265.5000;-9.0000 --265.5000;-8.5000 --265.5000;-8.0000 --265.5000;-7.5000 --265.5000;-7.0000 --265.5000;-6.5000 --265.5000;-6.0000 --265.5000;-5.5000 --265.5000;-5.0000 --265.5000;-4.5000 --265.5000;-4.0000 --265.5000;-3.5000 --265.5000;-3.0000 --265.5000;-2.5000 --265.5000;-2.0000 --265.5000;-1.5000 --265.5000;-1.0000 --265.5000;-0.5000 --265.5000;0.0000 --265.5000;0.5000 --265.5000;1.0000 --265.5000;1.5000 --265.5000;2.0000 --265.5000;2.5000 --265.5000;3.0000 --265.5000;3.5000 --265.5000;4.0000 --265.5000;4.5000 --265.5000;5.0000 --265.5000;5.5000 --265.5000;6.0000 --265.5000;6.5000 --265.5000;7.0000 --265.5000;7.5000 --265.5000;8.0000 --265.5000;8.5000 --265.5000;9.0000 --265.5000;9.5000 --265.5000;10.0000 --265.5000;10.5000 --265.5000;11.0000 --265.5000;11.5000 --265.5000;12.0000 --265.5000;12.5000 --265.5000;13.0000 --265.5000;13.5000 --265.5000;14.0000 --265.5000;14.5000 --265.5000;15.0000 --265.5000;15.5000 --265.5000;16.0000 --265.5000;16.5000 --265.5000;17.0000 --265.5000;17.5000 --265.5000;18.0000 --265.5000;18.5000 --265.5000;19.0000 --265.5000;19.5000 --265.5000;20.0000 --265.5000;20.5000 --265.5000;21.0000 --265.5000;21.5000 --265.5000;22.0000 --265.5000;22.5000 --265.5000;23.0000 --265.5000;23.5000 --265.5000;24.0000 --265.5000;24.5000 --265.5000;25.0000 --265.5000;25.5000 --265.5000;26.0000 --265.5000;26.5000 --265.5000;27.0000 --265.0000;-224.5000 --265.0000;-224.0000 --265.0000;-223.5000 --265.0000;-223.0000 --265.0000;-222.5000 --265.0000;-222.0000 --265.0000;-221.5000 --265.0000;-221.0000 --265.0000;-220.5000 --265.0000;-220.0000 --265.0000;-219.5000 --265.0000;-219.0000 --265.0000;-218.5000 --265.0000;-218.0000 --265.0000;-217.5000 --265.0000;-217.0000 --265.0000;-216.5000 --265.0000;-216.0000 --265.0000;-215.5000 --265.0000;-215.0000 --265.0000;-214.5000 --265.0000;-214.0000 --265.0000;-213.5000 --265.0000;-213.0000 --265.0000;-212.5000 --265.0000;-212.0000 --265.0000;-148.0000 --265.0000;-147.5000 --265.0000;-147.0000 --265.0000;-146.5000 --265.0000;-146.0000 --265.0000;-145.5000 --265.0000;-145.0000 --265.0000;-144.5000 --265.0000;-144.0000 --265.0000;-143.5000 --265.0000;-143.0000 --265.0000;-142.5000 --265.0000;-142.0000 --265.0000;-141.5000 --265.0000;-141.0000 --265.0000;-140.5000 --265.0000;-140.0000 --265.0000;-139.5000 --265.0000;-139.0000 --265.0000;-138.5000 --265.0000;-138.0000 --265.0000;-137.5000 --265.0000;-137.0000 --265.0000;-136.5000 --265.0000;-136.0000 --265.0000;-135.5000 --265.0000;-135.0000 --265.0000;-134.5000 --265.0000;-134.0000 --265.0000;-54.5000 --265.0000;-54.0000 --265.0000;-53.5000 --265.0000;-53.0000 --265.0000;-52.5000 --265.0000;-52.0000 --265.0000;-51.5000 --265.0000;-51.0000 --265.0000;-50.5000 --265.0000;-50.0000 --265.0000;-49.5000 --265.0000;-49.0000 --265.0000;-48.5000 --265.0000;-48.0000 --265.0000;-47.5000 --265.0000;-47.0000 --265.0000;-46.5000 --265.0000;-46.0000 --265.0000;-45.5000 --265.0000;-45.0000 --265.0000;-44.5000 --265.0000;-44.0000 --265.0000;-43.5000 --265.0000;-43.0000 --265.0000;-42.5000 --265.0000;-42.0000 --265.0000;-41.5000 --265.0000;-41.0000 --265.0000;-40.5000 --265.0000;-40.0000 --265.0000;-39.5000 --265.0000;-39.0000 --265.0000;-38.5000 --265.0000;-38.0000 --265.0000;-37.5000 --265.0000;-37.0000 --265.0000;-36.5000 --265.0000;-36.0000 --265.0000;-35.5000 --265.0000;-35.0000 --265.0000;-34.5000 --265.0000;-34.0000 --265.0000;-33.5000 --265.0000;-33.0000 --265.0000;-32.5000 --265.0000;-32.0000 --265.0000;-31.5000 --265.0000;-31.0000 --265.0000;-30.5000 --265.0000;-30.0000 --265.0000;-29.5000 --265.0000;-29.0000 --265.0000;-28.5000 --265.0000;-28.0000 --265.0000;-27.5000 --265.0000;-27.0000 --265.0000;-26.5000 --265.0000;-26.0000 --265.0000;-25.5000 --265.0000;-25.0000 --265.0000;-24.5000 --265.0000;-24.0000 --265.0000;-23.5000 --265.0000;-23.0000 --265.0000;-22.5000 --265.0000;-22.0000 --265.0000;-21.5000 --265.0000;-21.0000 --265.0000;-20.5000 --265.0000;-20.0000 --265.0000;-19.5000 --265.0000;-19.0000 --265.0000;-18.5000 --265.0000;-18.0000 --265.0000;-17.5000 --265.0000;-17.0000 --265.0000;-16.5000 --265.0000;-16.0000 --265.0000;-15.5000 --265.0000;-15.0000 --265.0000;-14.5000 --265.0000;-14.0000 --265.0000;-13.5000 --265.0000;-13.0000 --265.0000;-12.5000 --265.0000;-12.0000 --265.0000;-11.5000 --265.0000;-11.0000 --265.0000;-10.5000 --265.0000;-10.0000 --265.0000;-9.5000 --265.0000;-9.0000 --265.0000;-8.5000 --265.0000;-8.0000 --265.0000;-7.5000 --265.0000;-7.0000 --265.0000;-6.5000 --265.0000;-6.0000 --265.0000;-5.5000 --265.0000;-5.0000 --265.0000;-4.5000 --265.0000;-4.0000 --265.0000;-3.5000 --265.0000;-3.0000 --265.0000;-2.5000 --265.0000;-2.0000 --265.0000;-1.5000 --265.0000;-1.0000 --265.0000;-0.5000 --265.0000;0.0000 --265.0000;0.5000 --265.0000;1.0000 --265.0000;1.5000 --265.0000;2.0000 --265.0000;2.5000 --265.0000;3.0000 --265.0000;3.5000 --265.0000;4.0000 --265.0000;4.5000 --265.0000;5.0000 --265.0000;5.5000 --265.0000;6.0000 --265.0000;6.5000 --265.0000;7.0000 --265.0000;7.5000 --265.0000;8.0000 --265.0000;8.5000 --265.0000;9.0000 --265.0000;9.5000 --265.0000;10.0000 --265.0000;10.5000 --265.0000;11.0000 --265.0000;11.5000 --265.0000;12.0000 --265.0000;12.5000 --265.0000;13.0000 --265.0000;13.5000 --265.0000;14.0000 --265.0000;14.5000 --265.0000;15.0000 --265.0000;15.5000 --265.0000;16.0000 --265.0000;16.5000 --265.0000;17.0000 --265.0000;17.5000 --265.0000;18.0000 --265.0000;18.5000 --265.0000;19.0000 --265.0000;19.5000 --265.0000;20.0000 --265.0000;20.5000 --265.0000;21.0000 --265.0000;21.5000 --265.0000;22.0000 --265.0000;22.5000 --265.0000;23.0000 --265.0000;23.5000 --265.0000;24.0000 --265.0000;24.5000 --265.0000;25.0000 --265.0000;25.5000 --265.0000;26.0000 --265.0000;26.5000 --265.0000;27.0000 --265.0000;27.5000 --265.0000;28.0000 --264.5000;-225.0000 --264.5000;-224.5000 --264.5000;-224.0000 --264.5000;-223.5000 --264.5000;-223.0000 --264.5000;-222.5000 --264.5000;-222.0000 --264.5000;-221.5000 --264.5000;-221.0000 --264.5000;-220.5000 --264.5000;-220.0000 --264.5000;-219.5000 --264.5000;-219.0000 --264.5000;-218.5000 --264.5000;-218.0000 --264.5000;-217.5000 --264.5000;-217.0000 --264.5000;-216.5000 --264.5000;-216.0000 --264.5000;-215.5000 --264.5000;-215.0000 --264.5000;-214.5000 --264.5000;-214.0000 --264.5000;-213.5000 --264.5000;-213.0000 --264.5000;-212.5000 --264.5000;-212.0000 --264.5000;-148.0000 --264.5000;-147.5000 --264.5000;-147.0000 --264.5000;-146.5000 --264.5000;-146.0000 --264.5000;-145.5000 --264.5000;-145.0000 --264.5000;-144.5000 --264.5000;-144.0000 --264.5000;-143.5000 --264.5000;-143.0000 --264.5000;-142.5000 --264.5000;-142.0000 --264.5000;-141.5000 --264.5000;-141.0000 --264.5000;-140.5000 --264.5000;-140.0000 --264.5000;-139.5000 --264.5000;-139.0000 --264.5000;-138.5000 --264.5000;-138.0000 --264.5000;-137.5000 --264.5000;-137.0000 --264.5000;-136.5000 --264.5000;-136.0000 --264.5000;-135.5000 --264.5000;-135.0000 --264.5000;-134.5000 --264.5000;-134.0000 --264.5000;-133.5000 --264.5000;-55.5000 --264.5000;-55.0000 --264.5000;-54.5000 --264.5000;-54.0000 --264.5000;-53.5000 --264.5000;-53.0000 --264.5000;-52.5000 --264.5000;-52.0000 --264.5000;-51.5000 --264.5000;-51.0000 --264.5000;-50.5000 --264.5000;-50.0000 --264.5000;-49.5000 --264.5000;-49.0000 --264.5000;-48.5000 --264.5000;-48.0000 --264.5000;-47.5000 --264.5000;-47.0000 --264.5000;-46.5000 --264.5000;-46.0000 --264.5000;-45.5000 --264.5000;-45.0000 --264.5000;-44.5000 --264.5000;-44.0000 --264.5000;-43.5000 --264.5000;-43.0000 --264.5000;-42.5000 --264.5000;-42.0000 --264.5000;-41.5000 --264.5000;-41.0000 --264.5000;-40.5000 --264.5000;-40.0000 --264.5000;-39.5000 --264.5000;-39.0000 --264.5000;-38.5000 --264.5000;-38.0000 --264.5000;-37.5000 --264.5000;-37.0000 --264.5000;-36.5000 --264.5000;-36.0000 --264.5000;-35.5000 --264.5000;-35.0000 --264.5000;-34.5000 --264.5000;-34.0000 --264.5000;-33.5000 --264.5000;-33.0000 --264.5000;-32.5000 --264.5000;-32.0000 --264.5000;-31.5000 --264.5000;-31.0000 --264.5000;-30.5000 --264.5000;-30.0000 --264.5000;-29.5000 --264.5000;-29.0000 --264.5000;-28.5000 --264.5000;-28.0000 --264.5000;-14.0000 --264.5000;-13.5000 --264.5000;-13.0000 --264.5000;-12.5000 --264.5000;-12.0000 --264.5000;-11.5000 --264.5000;-11.0000 --264.5000;-10.5000 --264.5000;-10.0000 --264.5000;-9.5000 --264.5000;-9.0000 --264.5000;-8.5000 --264.5000;-8.0000 --264.5000;-7.5000 --264.5000;-7.0000 --264.5000;-6.5000 --264.5000;-6.0000 --264.5000;-5.5000 --264.5000;-5.0000 --264.5000;-4.5000 --264.5000;-4.0000 --264.5000;-3.5000 --264.5000;-3.0000 --264.5000;-2.5000 --264.5000;-2.0000 --264.5000;-1.5000 --264.5000;-1.0000 --264.5000;-0.5000 --264.5000;0.0000 --264.5000;0.5000 --264.5000;1.0000 --264.5000;1.5000 --264.5000;2.0000 --264.5000;2.5000 --264.5000;3.0000 --264.5000;3.5000 --264.5000;4.0000 --264.5000;4.5000 --264.5000;5.0000 --264.5000;5.5000 --264.5000;6.0000 --264.5000;6.5000 --264.5000;7.0000 --264.5000;7.5000 --264.5000;8.0000 --264.5000;8.5000 --264.5000;9.0000 --264.5000;9.5000 --264.5000;10.0000 --264.5000;10.5000 --264.5000;11.0000 --264.5000;11.5000 --264.5000;12.0000 --264.5000;12.5000 --264.5000;13.0000 --264.5000;13.5000 --264.5000;14.0000 --264.5000;14.5000 --264.5000;15.0000 --264.5000;15.5000 --264.5000;16.0000 --264.5000;16.5000 --264.5000;17.0000 --264.5000;17.5000 --264.5000;18.0000 --264.5000;18.5000 --264.5000;19.0000 --264.5000;19.5000 --264.5000;20.0000 --264.5000;20.5000 --264.5000;21.0000 --264.5000;21.5000 --264.5000;22.0000 --264.5000;22.5000 --264.5000;23.0000 --264.5000;23.5000 --264.5000;24.0000 --264.5000;24.5000 --264.5000;25.0000 --264.5000;25.5000 --264.5000;26.0000 --264.5000;26.5000 --264.5000;27.0000 --264.5000;27.5000 --264.5000;28.0000 --264.5000;28.5000 --264.5000;29.0000 --264.0000;-225.0000 --264.0000;-224.5000 --264.0000;-224.0000 --264.0000;-223.5000 --264.0000;-223.0000 --264.0000;-222.5000 --264.0000;-222.0000 --264.0000;-221.5000 --264.0000;-221.0000 --264.0000;-220.5000 --264.0000;-220.0000 --264.0000;-219.5000 --264.0000;-219.0000 --264.0000;-218.5000 --264.0000;-218.0000 --264.0000;-217.5000 --264.0000;-217.0000 --264.0000;-216.5000 --264.0000;-216.0000 --264.0000;-215.5000 --264.0000;-215.0000 --264.0000;-214.5000 --264.0000;-214.0000 --264.0000;-213.5000 --264.0000;-213.0000 --264.0000;-212.5000 --264.0000;-147.5000 --264.0000;-147.0000 --264.0000;-146.5000 --264.0000;-146.0000 --264.0000;-145.5000 --264.0000;-145.0000 --264.0000;-144.5000 --264.0000;-144.0000 --264.0000;-143.5000 --264.0000;-143.0000 --264.0000;-142.5000 --264.0000;-142.0000 --264.0000;-141.5000 --264.0000;-141.0000 --264.0000;-140.5000 --264.0000;-140.0000 --264.0000;-139.5000 --264.0000;-139.0000 --264.0000;-138.5000 --264.0000;-138.0000 --264.0000;-137.5000 --264.0000;-137.0000 --264.0000;-136.5000 --264.0000;-136.0000 --264.0000;-135.5000 --264.0000;-135.0000 --264.0000;-134.5000 --264.0000;-134.0000 --264.0000;-133.5000 --264.0000;-133.0000 --264.0000;-56.0000 --264.0000;-55.5000 --264.0000;-55.0000 --264.0000;-54.5000 --264.0000;-54.0000 --264.0000;-53.5000 --264.0000;-53.0000 --264.0000;-52.5000 --264.0000;-52.0000 --264.0000;-51.5000 --264.0000;-51.0000 --264.0000;-50.5000 --264.0000;-50.0000 --264.0000;-49.5000 --264.0000;-49.0000 --264.0000;-48.5000 --264.0000;-48.0000 --264.0000;-47.5000 --264.0000;-47.0000 --264.0000;-46.5000 --264.0000;-46.0000 --264.0000;-45.5000 --264.0000;-45.0000 --264.0000;-44.5000 --264.0000;-44.0000 --264.0000;-43.5000 --264.0000;-43.0000 --264.0000;-42.5000 --264.0000;-42.0000 --264.0000;-41.5000 --264.0000;-41.0000 --264.0000;-40.5000 --264.0000;-40.0000 --264.0000;-39.5000 --264.0000;-39.0000 --264.0000;-38.5000 --264.0000;-38.0000 --264.0000;-37.5000 --264.0000;-37.0000 --264.0000;-36.5000 --264.0000;-36.0000 --264.0000;-35.5000 --264.0000;-35.0000 --264.0000;-34.5000 --264.0000;-34.0000 --264.0000;-33.5000 --264.0000;-33.0000 --264.0000;-32.5000 --264.0000;-32.0000 --264.0000;-31.5000 --264.0000;-31.0000 --264.0000;-10.5000 --264.0000;-10.0000 --264.0000;-9.5000 --264.0000;-9.0000 --264.0000;-8.5000 --264.0000;-8.0000 --264.0000;-7.5000 --264.0000;-7.0000 --264.0000;-6.5000 --264.0000;-6.0000 --264.0000;-5.5000 --264.0000;-5.0000 --264.0000;-4.5000 --264.0000;-4.0000 --264.0000;-3.5000 --264.0000;-3.0000 --264.0000;-2.5000 --264.0000;-2.0000 --264.0000;-1.5000 --264.0000;-1.0000 --264.0000;-0.5000 --264.0000;0.0000 --264.0000;0.5000 --264.0000;1.0000 --264.0000;1.5000 --264.0000;2.0000 --264.0000;2.5000 --264.0000;3.0000 --264.0000;3.5000 --264.0000;4.0000 --264.0000;4.5000 --264.0000;5.0000 --264.0000;5.5000 --264.0000;6.0000 --264.0000;6.5000 --264.0000;7.0000 --264.0000;7.5000 --264.0000;8.0000 --264.0000;8.5000 --264.0000;9.0000 --264.0000;9.5000 --264.0000;10.0000 --264.0000;10.5000 --264.0000;11.0000 --264.0000;11.5000 --264.0000;12.0000 --264.0000;12.5000 --264.0000;13.0000 --264.0000;13.5000 --264.0000;14.0000 --264.0000;14.5000 --264.0000;15.0000 --264.0000;15.5000 --264.0000;16.0000 --264.0000;16.5000 --264.0000;17.0000 --264.0000;17.5000 --264.0000;18.0000 --264.0000;18.5000 --264.0000;19.0000 --264.0000;19.5000 --264.0000;20.0000 --264.0000;20.5000 --264.0000;21.0000 --264.0000;21.5000 --264.0000;22.0000 --264.0000;22.5000 --264.0000;23.0000 --264.0000;23.5000 --264.0000;24.0000 --264.0000;24.5000 --264.0000;25.0000 --264.0000;25.5000 --264.0000;26.0000 --264.0000;26.5000 --264.0000;27.0000 --264.0000;27.5000 --264.0000;28.0000 --264.0000;28.5000 --264.0000;29.0000 --264.0000;29.5000 --264.0000;30.0000 --263.5000;-225.5000 --263.5000;-225.0000 --263.5000;-224.5000 --263.5000;-224.0000 --263.5000;-223.5000 --263.5000;-223.0000 --263.5000;-222.5000 --263.5000;-222.0000 --263.5000;-221.5000 --263.5000;-221.0000 --263.5000;-220.5000 --263.5000;-220.0000 --263.5000;-219.5000 --263.5000;-219.0000 --263.5000;-218.5000 --263.5000;-218.0000 --263.5000;-217.5000 --263.5000;-217.0000 --263.5000;-216.5000 --263.5000;-216.0000 --263.5000;-215.5000 --263.5000;-215.0000 --263.5000;-214.5000 --263.5000;-214.0000 --263.5000;-213.5000 --263.5000;-213.0000 --263.5000;-212.5000 --263.5000;-147.0000 --263.5000;-146.5000 --263.5000;-146.0000 --263.5000;-145.5000 --263.5000;-145.0000 --263.5000;-144.5000 --263.5000;-144.0000 --263.5000;-143.5000 --263.5000;-143.0000 --263.5000;-142.5000 --263.5000;-142.0000 --263.5000;-141.5000 --263.5000;-141.0000 --263.5000;-140.5000 --263.5000;-140.0000 --263.5000;-139.5000 --263.5000;-139.0000 --263.5000;-138.5000 --263.5000;-138.0000 --263.5000;-137.5000 --263.5000;-137.0000 --263.5000;-136.5000 --263.5000;-136.0000 --263.5000;-135.5000 --263.5000;-135.0000 --263.5000;-134.5000 --263.5000;-134.0000 --263.5000;-133.5000 --263.5000;-133.0000 --263.5000;-56.5000 --263.5000;-56.0000 --263.5000;-55.5000 --263.5000;-55.0000 --263.5000;-54.5000 --263.5000;-54.0000 --263.5000;-53.5000 --263.5000;-53.0000 --263.5000;-52.5000 --263.5000;-52.0000 --263.5000;-51.5000 --263.5000;-51.0000 --263.5000;-50.5000 --263.5000;-50.0000 --263.5000;-49.5000 --263.5000;-49.0000 --263.5000;-48.5000 --263.5000;-48.0000 --263.5000;-47.5000 --263.5000;-47.0000 --263.5000;-46.5000 --263.5000;-46.0000 --263.5000;-45.5000 --263.5000;-45.0000 --263.5000;-44.5000 --263.5000;-44.0000 --263.5000;-43.5000 --263.5000;-43.0000 --263.5000;-42.5000 --263.5000;-42.0000 --263.5000;-41.5000 --263.5000;-41.0000 --263.5000;-40.5000 --263.5000;-40.0000 --263.5000;-39.5000 --263.5000;-39.0000 --263.5000;-38.5000 --263.5000;-38.0000 --263.5000;-37.5000 --263.5000;-37.0000 --263.5000;-36.5000 --263.5000;-36.0000 --263.5000;-35.5000 --263.5000;-35.0000 --263.5000;-34.5000 --263.5000;-34.0000 --263.5000;-33.5000 --263.5000;-33.0000 --263.5000;-7.5000 --263.5000;-7.0000 --263.5000;-6.5000 --263.5000;-6.0000 --263.5000;-5.5000 --263.5000;-5.0000 --263.5000;-4.5000 --263.5000;-4.0000 --263.5000;-3.5000 --263.5000;-3.0000 --263.5000;-2.5000 --263.5000;-2.0000 --263.5000;-1.5000 --263.5000;-1.0000 --263.5000;-0.5000 --263.5000;0.0000 --263.5000;0.5000 --263.5000;1.0000 --263.5000;1.5000 --263.5000;2.0000 --263.5000;2.5000 --263.5000;3.0000 --263.5000;3.5000 --263.5000;4.0000 --263.5000;4.5000 --263.5000;5.0000 --263.5000;5.5000 --263.5000;6.0000 --263.5000;6.5000 --263.5000;7.0000 --263.5000;7.5000 --263.5000;8.0000 --263.5000;8.5000 --263.5000;9.0000 --263.5000;9.5000 --263.5000;10.0000 --263.5000;10.5000 --263.5000;11.0000 --263.5000;11.5000 --263.5000;12.0000 --263.5000;12.5000 --263.5000;13.0000 --263.5000;13.5000 --263.5000;14.0000 --263.5000;14.5000 --263.5000;15.0000 --263.5000;15.5000 --263.5000;16.0000 --263.5000;16.5000 --263.5000;17.0000 --263.5000;17.5000 --263.5000;18.0000 --263.5000;18.5000 --263.5000;19.0000 --263.5000;19.5000 --263.5000;20.0000 --263.5000;20.5000 --263.5000;21.0000 --263.5000;21.5000 --263.5000;22.0000 --263.5000;22.5000 --263.5000;23.0000 --263.5000;23.5000 --263.5000;24.0000 --263.5000;24.5000 --263.5000;25.0000 --263.5000;25.5000 --263.5000;26.0000 --263.5000;26.5000 --263.5000;27.0000 --263.5000;27.5000 --263.5000;28.0000 --263.5000;28.5000 --263.5000;29.0000 --263.5000;29.5000 --263.5000;30.0000 --263.5000;30.5000 --263.5000;31.0000 --263.0000;-225.5000 --263.0000;-225.0000 --263.0000;-224.5000 --263.0000;-224.0000 --263.0000;-223.5000 --263.0000;-223.0000 --263.0000;-222.5000 --263.0000;-222.0000 --263.0000;-221.5000 --263.0000;-221.0000 --263.0000;-220.5000 --263.0000;-220.0000 --263.0000;-219.5000 --263.0000;-219.0000 --263.0000;-218.5000 --263.0000;-218.0000 --263.0000;-217.5000 --263.0000;-217.0000 --263.0000;-216.5000 --263.0000;-216.0000 --263.0000;-215.5000 --263.0000;-215.0000 --263.0000;-214.5000 --263.0000;-214.0000 --263.0000;-213.5000 --263.0000;-213.0000 --263.0000;-212.5000 --263.0000;-147.0000 --263.0000;-146.5000 --263.0000;-146.0000 --263.0000;-145.5000 --263.0000;-145.0000 --263.0000;-144.5000 --263.0000;-144.0000 --263.0000;-143.5000 --263.0000;-143.0000 --263.0000;-142.5000 --263.0000;-142.0000 --263.0000;-141.5000 --263.0000;-141.0000 --263.0000;-140.5000 --263.0000;-140.0000 --263.0000;-139.5000 --263.0000;-139.0000 --263.0000;-138.5000 --263.0000;-138.0000 --263.0000;-137.5000 --263.0000;-137.0000 --263.0000;-136.5000 --263.0000;-136.0000 --263.0000;-135.5000 --263.0000;-135.0000 --263.0000;-134.5000 --263.0000;-134.0000 --263.0000;-133.5000 --263.0000;-133.0000 --263.0000;-132.5000 --263.0000;-57.0000 --263.0000;-56.5000 --263.0000;-56.0000 --263.0000;-55.5000 --263.0000;-55.0000 --263.0000;-54.5000 --263.0000;-54.0000 --263.0000;-53.5000 --263.0000;-53.0000 --263.0000;-52.5000 --263.0000;-52.0000 --263.0000;-51.5000 --263.0000;-51.0000 --263.0000;-50.5000 --263.0000;-50.0000 --263.0000;-49.5000 --263.0000;-49.0000 --263.0000;-48.5000 --263.0000;-48.0000 --263.0000;-47.5000 --263.0000;-47.0000 --263.0000;-46.5000 --263.0000;-46.0000 --263.0000;-45.5000 --263.0000;-45.0000 --263.0000;-44.5000 --263.0000;-44.0000 --263.0000;-43.5000 --263.0000;-43.0000 --263.0000;-42.5000 --263.0000;-42.0000 --263.0000;-41.5000 --263.0000;-41.0000 --263.0000;-40.5000 --263.0000;-40.0000 --263.0000;-39.5000 --263.0000;-39.0000 --263.0000;-38.5000 --263.0000;-38.0000 --263.0000;-37.5000 --263.0000;-37.0000 --263.0000;-36.5000 --263.0000;-36.0000 --263.0000;-35.5000 --263.0000;-35.0000 --263.0000;-34.5000 --263.0000;-5.0000 --263.0000;-4.5000 --263.0000;-4.0000 --263.0000;-3.5000 --263.0000;-3.0000 --263.0000;-2.5000 --263.0000;-2.0000 --263.0000;-1.5000 --263.0000;-1.0000 --263.0000;-0.5000 --263.0000;0.0000 --263.0000;0.5000 --263.0000;1.0000 --263.0000;1.5000 --263.0000;2.0000 --263.0000;2.5000 --263.0000;3.0000 --263.0000;3.5000 --263.0000;4.0000 --263.0000;4.5000 --263.0000;5.0000 --263.0000;5.5000 --263.0000;6.0000 --263.0000;6.5000 --263.0000;7.0000 --263.0000;7.5000 --263.0000;8.0000 --263.0000;8.5000 --263.0000;9.0000 --263.0000;9.5000 --263.0000;10.0000 --263.0000;10.5000 --263.0000;11.0000 --263.0000;11.5000 --263.0000;12.0000 --263.0000;12.5000 --263.0000;13.0000 --263.0000;13.5000 --263.0000;14.0000 --263.0000;14.5000 --263.0000;15.0000 --263.0000;15.5000 --263.0000;16.0000 --263.0000;16.5000 --263.0000;17.0000 --263.0000;17.5000 --263.0000;18.0000 --263.0000;18.5000 --263.0000;19.0000 --263.0000;19.5000 --263.0000;20.0000 --263.0000;20.5000 --263.0000;21.0000 --263.0000;21.5000 --263.0000;22.0000 --263.0000;22.5000 --263.0000;23.0000 --263.0000;23.5000 --263.0000;24.0000 --263.0000;24.5000 --263.0000;25.0000 --263.0000;25.5000 --263.0000;26.0000 --263.0000;26.5000 --263.0000;27.0000 --263.0000;27.5000 --263.0000;28.0000 --263.0000;28.5000 --263.0000;29.0000 --263.0000;29.5000 --263.0000;30.0000 --263.0000;30.5000 --263.0000;31.0000 --263.0000;31.5000 --263.0000;32.0000 --262.5000;-225.5000 --262.5000;-225.0000 --262.5000;-224.5000 --262.5000;-224.0000 --262.5000;-223.5000 --262.5000;-223.0000 --262.5000;-222.5000 --262.5000;-222.0000 --262.5000;-221.5000 --262.5000;-221.0000 --262.5000;-220.5000 --262.5000;-220.0000 --262.5000;-219.5000 --262.5000;-219.0000 --262.5000;-218.5000 --262.5000;-218.0000 --262.5000;-217.5000 --262.5000;-217.0000 --262.5000;-216.5000 --262.5000;-216.0000 --262.5000;-215.5000 --262.5000;-215.0000 --262.5000;-214.5000 --262.5000;-214.0000 --262.5000;-213.5000 --262.5000;-213.0000 --262.5000;-146.5000 --262.5000;-146.0000 --262.5000;-145.5000 --262.5000;-145.0000 --262.5000;-144.5000 --262.5000;-144.0000 --262.5000;-143.5000 --262.5000;-143.0000 --262.5000;-142.5000 --262.5000;-142.0000 --262.5000;-141.5000 --262.5000;-141.0000 --262.5000;-140.5000 --262.5000;-140.0000 --262.5000;-139.5000 --262.5000;-139.0000 --262.5000;-138.5000 --262.5000;-138.0000 --262.5000;-137.5000 --262.5000;-137.0000 --262.5000;-136.5000 --262.5000;-136.0000 --262.5000;-135.5000 --262.5000;-135.0000 --262.5000;-134.5000 --262.5000;-134.0000 --262.5000;-133.5000 --262.5000;-133.0000 --262.5000;-132.5000 --262.5000;-57.5000 --262.5000;-57.0000 --262.5000;-56.5000 --262.5000;-56.0000 --262.5000;-55.5000 --262.5000;-55.0000 --262.5000;-54.5000 --262.5000;-54.0000 --262.5000;-53.5000 --262.5000;-53.0000 --262.5000;-52.5000 --262.5000;-52.0000 --262.5000;-51.5000 --262.5000;-51.0000 --262.5000;-50.5000 --262.5000;-50.0000 --262.5000;-49.5000 --262.5000;-49.0000 --262.5000;-48.5000 --262.5000;-48.0000 --262.5000;-47.5000 --262.5000;-47.0000 --262.5000;-46.5000 --262.5000;-46.0000 --262.5000;-45.5000 --262.5000;-45.0000 --262.5000;-44.5000 --262.5000;-44.0000 --262.5000;-43.5000 --262.5000;-43.0000 --262.5000;-42.5000 --262.5000;-42.0000 --262.5000;-41.5000 --262.5000;-41.0000 --262.5000;-40.5000 --262.5000;-40.0000 --262.5000;-39.5000 --262.5000;-39.0000 --262.5000;-38.5000 --262.5000;-38.0000 --262.5000;-37.5000 --262.5000;-37.0000 --262.5000;-36.5000 --262.5000;-36.0000 --262.5000;-2.5000 --262.5000;-2.0000 --262.5000;-1.5000 --262.5000;-1.0000 --262.5000;-0.5000 --262.5000;0.0000 --262.5000;0.5000 --262.5000;1.0000 --262.5000;1.5000 --262.5000;2.0000 --262.5000;2.5000 --262.5000;3.0000 --262.5000;3.5000 --262.5000;4.0000 --262.5000;4.5000 --262.5000;5.0000 --262.5000;5.5000 --262.5000;6.0000 --262.5000;6.5000 --262.5000;7.0000 --262.5000;7.5000 --262.5000;8.0000 --262.5000;8.5000 --262.5000;9.0000 --262.5000;9.5000 --262.5000;10.0000 --262.5000;10.5000 --262.5000;11.0000 --262.5000;11.5000 --262.5000;12.0000 --262.5000;12.5000 --262.5000;13.0000 --262.5000;13.5000 --262.5000;14.0000 --262.5000;14.5000 --262.5000;15.0000 --262.5000;15.5000 --262.5000;16.0000 --262.5000;16.5000 --262.5000;17.0000 --262.5000;17.5000 --262.5000;18.0000 --262.5000;18.5000 --262.5000;19.0000 --262.5000;19.5000 --262.5000;20.0000 --262.5000;20.5000 --262.5000;21.0000 --262.5000;21.5000 --262.5000;22.0000 --262.5000;22.5000 --262.5000;23.0000 --262.5000;23.5000 --262.5000;24.0000 --262.5000;24.5000 --262.5000;25.0000 --262.5000;25.5000 --262.5000;26.0000 --262.5000;26.5000 --262.5000;27.0000 --262.5000;27.5000 --262.5000;28.0000 --262.5000;28.5000 --262.5000;29.0000 --262.5000;29.5000 --262.5000;30.0000 --262.5000;30.5000 --262.5000;31.0000 --262.5000;31.5000 --262.5000;32.0000 --262.5000;32.5000 --262.5000;33.0000 --262.0000;-226.0000 --262.0000;-225.5000 --262.0000;-225.0000 --262.0000;-224.5000 --262.0000;-224.0000 --262.0000;-223.5000 --262.0000;-223.0000 --262.0000;-222.5000 --262.0000;-222.0000 --262.0000;-221.5000 --262.0000;-221.0000 --262.0000;-220.5000 --262.0000;-220.0000 --262.0000;-219.5000 --262.0000;-219.0000 --262.0000;-218.5000 --262.0000;-218.0000 --262.0000;-217.5000 --262.0000;-217.0000 --262.0000;-216.5000 --262.0000;-216.0000 --262.0000;-215.5000 --262.0000;-215.0000 --262.0000;-214.5000 --262.0000;-214.0000 --262.0000;-213.5000 --262.0000;-213.0000 --262.0000;-146.0000 --262.0000;-145.5000 --262.0000;-145.0000 --262.0000;-144.5000 --262.0000;-144.0000 --262.0000;-143.5000 --262.0000;-143.0000 --262.0000;-142.5000 --262.0000;-142.0000 --262.0000;-141.5000 --262.0000;-141.0000 --262.0000;-140.5000 --262.0000;-140.0000 --262.0000;-139.5000 --262.0000;-139.0000 --262.0000;-138.5000 --262.0000;-138.0000 --262.0000;-137.5000 --262.0000;-137.0000 --262.0000;-136.5000 --262.0000;-136.0000 --262.0000;-135.5000 --262.0000;-135.0000 --262.0000;-134.5000 --262.0000;-134.0000 --262.0000;-133.5000 --262.0000;-133.0000 --262.0000;-132.5000 --262.0000;-132.0000 --262.0000;-58.0000 --262.0000;-57.5000 --262.0000;-57.0000 --262.0000;-56.5000 --262.0000;-56.0000 --262.0000;-55.5000 --262.0000;-55.0000 --262.0000;-54.5000 --262.0000;-54.0000 --262.0000;-53.5000 --262.0000;-53.0000 --262.0000;-52.5000 --262.0000;-52.0000 --262.0000;-51.5000 --262.0000;-51.0000 --262.0000;-50.5000 --262.0000;-50.0000 --262.0000;-49.5000 --262.0000;-49.0000 --262.0000;-48.5000 --262.0000;-48.0000 --262.0000;-47.5000 --262.0000;-47.0000 --262.0000;-46.5000 --262.0000;-46.0000 --262.0000;-45.5000 --262.0000;-45.0000 --262.0000;-44.5000 --262.0000;-44.0000 --262.0000;-43.5000 --262.0000;-43.0000 --262.0000;-42.5000 --262.0000;-42.0000 --262.0000;-41.5000 --262.0000;-41.0000 --262.0000;-40.5000 --262.0000;-40.0000 --262.0000;-39.5000 --262.0000;-39.0000 --262.0000;-38.5000 --262.0000;-38.0000 --262.0000;-37.5000 --262.0000;-0.5000 --262.0000;0.0000 --262.0000;0.5000 --262.0000;1.0000 --262.0000;1.5000 --262.0000;2.0000 --262.0000;2.5000 --262.0000;3.0000 --262.0000;3.5000 --262.0000;4.0000 --262.0000;4.5000 --262.0000;5.0000 --262.0000;5.5000 --262.0000;6.0000 --262.0000;6.5000 --262.0000;7.0000 --262.0000;7.5000 --262.0000;8.0000 --262.0000;8.5000 --262.0000;9.0000 --262.0000;9.5000 --262.0000;10.0000 --262.0000;10.5000 --262.0000;11.0000 --262.0000;11.5000 --262.0000;12.0000 --262.0000;12.5000 --262.0000;13.0000 --262.0000;13.5000 --262.0000;14.0000 --262.0000;14.5000 --262.0000;15.0000 --262.0000;15.5000 --262.0000;16.0000 --262.0000;16.5000 --262.0000;17.0000 --262.0000;17.5000 --262.0000;18.0000 --262.0000;18.5000 --262.0000;19.0000 --262.0000;19.5000 --262.0000;20.0000 --262.0000;20.5000 --262.0000;21.0000 --262.0000;21.5000 --262.0000;22.0000 --262.0000;22.5000 --262.0000;23.0000 --262.0000;23.5000 --262.0000;24.0000 --262.0000;24.5000 --262.0000;25.0000 --262.0000;25.5000 --262.0000;26.0000 --262.0000;26.5000 --262.0000;27.0000 --262.0000;27.5000 --262.0000;28.0000 --262.0000;28.5000 --262.0000;29.0000 --262.0000;29.5000 --262.0000;30.0000 --262.0000;30.5000 --262.0000;31.0000 --262.0000;31.5000 --262.0000;32.0000 --262.0000;32.5000 --262.0000;33.0000 --262.0000;33.5000 --262.0000;34.0000 --261.5000;-226.0000 --261.5000;-225.5000 --261.5000;-225.0000 --261.5000;-224.5000 --261.5000;-224.0000 --261.5000;-223.5000 --261.5000;-223.0000 --261.5000;-222.5000 --261.5000;-222.0000 --261.5000;-221.5000 --261.5000;-221.0000 --261.5000;-220.5000 --261.5000;-220.0000 --261.5000;-219.5000 --261.5000;-219.0000 --261.5000;-218.5000 --261.5000;-218.0000 --261.5000;-217.5000 --261.5000;-217.0000 --261.5000;-216.5000 --261.5000;-216.0000 --261.5000;-215.5000 --261.5000;-215.0000 --261.5000;-214.5000 --261.5000;-214.0000 --261.5000;-213.5000 --261.5000;-213.0000 --261.5000;-146.0000 --261.5000;-145.5000 --261.5000;-145.0000 --261.5000;-144.5000 --261.5000;-144.0000 --261.5000;-143.5000 --261.5000;-143.0000 --261.5000;-142.5000 --261.5000;-142.0000 --261.5000;-141.5000 --261.5000;-141.0000 --261.5000;-140.5000 --261.5000;-140.0000 --261.5000;-139.5000 --261.5000;-139.0000 --261.5000;-138.5000 --261.5000;-138.0000 --261.5000;-137.5000 --261.5000;-137.0000 --261.5000;-136.5000 --261.5000;-136.0000 --261.5000;-135.5000 --261.5000;-135.0000 --261.5000;-134.5000 --261.5000;-134.0000 --261.5000;-133.5000 --261.5000;-133.0000 --261.5000;-132.5000 --261.5000;-132.0000 --261.5000;-131.5000 --261.5000;-58.5000 --261.5000;-58.0000 --261.5000;-57.5000 --261.5000;-57.0000 --261.5000;-56.5000 --261.5000;-56.0000 --261.5000;-55.5000 --261.5000;-55.0000 --261.5000;-54.5000 --261.5000;-54.0000 --261.5000;-53.5000 --261.5000;-53.0000 --261.5000;-52.5000 --261.5000;-52.0000 --261.5000;-51.5000 --261.5000;-51.0000 --261.5000;-50.5000 --261.5000;-50.0000 --261.5000;-49.5000 --261.5000;-49.0000 --261.5000;-48.5000 --261.5000;-48.0000 --261.5000;-47.5000 --261.5000;-47.0000 --261.5000;-46.5000 --261.5000;-46.0000 --261.5000;-45.5000 --261.5000;-45.0000 --261.5000;-44.5000 --261.5000;-44.0000 --261.5000;-43.5000 --261.5000;-43.0000 --261.5000;-42.5000 --261.5000;-42.0000 --261.5000;-41.5000 --261.5000;-41.0000 --261.5000;-40.5000 --261.5000;-40.0000 --261.5000;-39.5000 --261.5000;-39.0000 --261.5000;-38.5000 --261.5000;1.5000 --261.5000;2.0000 --261.5000;2.5000 --261.5000;3.0000 --261.5000;3.5000 --261.5000;4.0000 --261.5000;4.5000 --261.5000;5.0000 --261.5000;5.5000 --261.5000;6.0000 --261.5000;6.5000 --261.5000;7.0000 --261.5000;7.5000 --261.5000;8.0000 --261.5000;8.5000 --261.5000;9.0000 --261.5000;9.5000 --261.5000;10.0000 --261.5000;10.5000 --261.5000;11.0000 --261.5000;11.5000 --261.5000;12.0000 --261.5000;12.5000 --261.5000;13.0000 --261.5000;13.5000 --261.5000;14.0000 --261.5000;14.5000 --261.5000;15.0000 --261.5000;15.5000 --261.5000;16.0000 --261.5000;16.5000 --261.5000;17.0000 --261.5000;17.5000 --261.5000;18.0000 --261.5000;18.5000 --261.5000;19.0000 --261.5000;19.5000 --261.5000;20.0000 --261.5000;20.5000 --261.5000;21.0000 --261.5000;21.5000 --261.5000;22.0000 --261.5000;22.5000 --261.5000;23.0000 --261.5000;23.5000 --261.5000;24.0000 --261.5000;24.5000 --261.5000;25.0000 --261.5000;25.5000 --261.5000;26.0000 --261.5000;26.5000 --261.5000;27.0000 --261.5000;27.5000 --261.5000;28.0000 --261.5000;28.5000 --261.5000;29.0000 --261.5000;29.5000 --261.5000;30.0000 --261.5000;30.5000 --261.5000;31.0000 --261.5000;31.5000 --261.5000;32.0000 --261.5000;32.5000 --261.5000;33.0000 --261.5000;33.5000 --261.5000;34.0000 --261.5000;34.5000 --261.5000;35.0000 --261.0000;-226.0000 --261.0000;-225.5000 --261.0000;-225.0000 --261.0000;-224.5000 --261.0000;-224.0000 --261.0000;-223.5000 --261.0000;-223.0000 --261.0000;-222.5000 --261.0000;-222.0000 --261.0000;-221.5000 --261.0000;-221.0000 --261.0000;-220.5000 --261.0000;-220.0000 --261.0000;-219.5000 --261.0000;-219.0000 --261.0000;-218.5000 --261.0000;-218.0000 --261.0000;-217.5000 --261.0000;-217.0000 --261.0000;-216.5000 --261.0000;-216.0000 --261.0000;-215.5000 --261.0000;-215.0000 --261.0000;-214.5000 --261.0000;-214.0000 --261.0000;-213.5000 --261.0000;-145.5000 --261.0000;-145.0000 --261.0000;-144.5000 --261.0000;-144.0000 --261.0000;-143.5000 --261.0000;-143.0000 --261.0000;-142.5000 --261.0000;-142.0000 --261.0000;-141.5000 --261.0000;-141.0000 --261.0000;-140.5000 --261.0000;-140.0000 --261.0000;-139.5000 --261.0000;-139.0000 --261.0000;-138.5000 --261.0000;-138.0000 --261.0000;-137.5000 --261.0000;-137.0000 --261.0000;-136.5000 --261.0000;-136.0000 --261.0000;-135.5000 --261.0000;-135.0000 --261.0000;-134.5000 --261.0000;-134.0000 --261.0000;-133.5000 --261.0000;-133.0000 --261.0000;-132.5000 --261.0000;-132.0000 --261.0000;-131.5000 --261.0000;-59.0000 --261.0000;-58.5000 --261.0000;-58.0000 --261.0000;-57.5000 --261.0000;-57.0000 --261.0000;-56.5000 --261.0000;-56.0000 --261.0000;-55.5000 --261.0000;-55.0000 --261.0000;-54.5000 --261.0000;-54.0000 --261.0000;-53.5000 --261.0000;-53.0000 --261.0000;-52.5000 --261.0000;-52.0000 --261.0000;-51.5000 --261.0000;-51.0000 --261.0000;-50.5000 --261.0000;-50.0000 --261.0000;-49.5000 --261.0000;-49.0000 --261.0000;-48.5000 --261.0000;-48.0000 --261.0000;-47.5000 --261.0000;-47.0000 --261.0000;-46.5000 --261.0000;-46.0000 --261.0000;-45.5000 --261.0000;-45.0000 --261.0000;-44.5000 --261.0000;-44.0000 --261.0000;-43.5000 --261.0000;-43.0000 --261.0000;-42.5000 --261.0000;-42.0000 --261.0000;-41.5000 --261.0000;-41.0000 --261.0000;-40.5000 --261.0000;-40.0000 --261.0000;-39.5000 --261.0000;3.5000 --261.0000;4.0000 --261.0000;4.5000 --261.0000;5.0000 --261.0000;5.5000 --261.0000;6.0000 --261.0000;6.5000 --261.0000;7.0000 --261.0000;7.5000 --261.0000;8.0000 --261.0000;8.5000 --261.0000;9.0000 --261.0000;9.5000 --261.0000;10.0000 --261.0000;10.5000 --261.0000;11.0000 --261.0000;11.5000 --261.0000;12.0000 --261.0000;12.5000 --261.0000;13.0000 --261.0000;13.5000 --261.0000;14.0000 --261.0000;14.5000 --261.0000;15.0000 --261.0000;15.5000 --261.0000;16.0000 --261.0000;16.5000 --261.0000;17.0000 --261.0000;17.5000 --261.0000;18.0000 --261.0000;18.5000 --261.0000;19.0000 --261.0000;19.5000 --261.0000;20.0000 --261.0000;20.5000 --261.0000;21.0000 --261.0000;21.5000 --261.0000;22.0000 --261.0000;22.5000 --261.0000;23.0000 --261.0000;23.5000 --261.0000;24.0000 --261.0000;24.5000 --261.0000;25.0000 --261.0000;25.5000 --261.0000;26.0000 --261.0000;26.5000 --261.0000;27.0000 --261.0000;27.5000 --261.0000;28.0000 --261.0000;28.5000 --261.0000;29.0000 --261.0000;29.5000 --261.0000;30.0000 --261.0000;30.5000 --261.0000;31.0000 --261.0000;31.5000 --261.0000;32.0000 --261.0000;32.5000 --261.0000;33.0000 --261.0000;33.5000 --261.0000;34.0000 --261.0000;34.5000 --261.0000;35.0000 --261.0000;35.5000 --261.0000;36.0000 --261.0000;36.5000 --260.5000;-226.5000 --260.5000;-226.0000 --260.5000;-225.5000 --260.5000;-225.0000 --260.5000;-224.5000 --260.5000;-224.0000 --260.5000;-223.5000 --260.5000;-223.0000 --260.5000;-222.5000 --260.5000;-222.0000 --260.5000;-221.5000 --260.5000;-221.0000 --260.5000;-220.5000 --260.5000;-220.0000 --260.5000;-219.5000 --260.5000;-219.0000 --260.5000;-218.5000 --260.5000;-218.0000 --260.5000;-217.5000 --260.5000;-217.0000 --260.5000;-216.5000 --260.5000;-216.0000 --260.5000;-215.5000 --260.5000;-215.0000 --260.5000;-214.5000 --260.5000;-214.0000 --260.5000;-213.5000 --260.5000;-145.0000 --260.5000;-144.5000 --260.5000;-144.0000 --260.5000;-143.5000 --260.5000;-143.0000 --260.5000;-142.5000 --260.5000;-142.0000 --260.5000;-141.5000 --260.5000;-141.0000 --260.5000;-140.5000 --260.5000;-140.0000 --260.5000;-139.5000 --260.5000;-139.0000 --260.5000;-138.5000 --260.5000;-138.0000 --260.5000;-137.5000 --260.5000;-137.0000 --260.5000;-136.5000 --260.5000;-136.0000 --260.5000;-135.5000 --260.5000;-135.0000 --260.5000;-134.5000 --260.5000;-134.0000 --260.5000;-133.5000 --260.5000;-133.0000 --260.5000;-132.5000 --260.5000;-132.0000 --260.5000;-131.5000 --260.5000;-131.0000 --260.5000;-59.5000 --260.5000;-59.0000 --260.5000;-58.5000 --260.5000;-58.0000 --260.5000;-57.5000 --260.5000;-57.0000 --260.5000;-56.5000 --260.5000;-56.0000 --260.5000;-55.5000 --260.5000;-55.0000 --260.5000;-54.5000 --260.5000;-54.0000 --260.5000;-53.5000 --260.5000;-53.0000 --260.5000;-52.5000 --260.5000;-52.0000 --260.5000;-51.5000 --260.5000;-51.0000 --260.5000;-50.5000 --260.5000;-50.0000 --260.5000;-49.5000 --260.5000;-49.0000 --260.5000;-48.5000 --260.5000;-48.0000 --260.5000;-47.5000 --260.5000;-47.0000 --260.5000;-46.5000 --260.5000;-46.0000 --260.5000;-45.5000 --260.5000;-45.0000 --260.5000;-44.5000 --260.5000;-44.0000 --260.5000;-43.5000 --260.5000;-43.0000 --260.5000;-42.5000 --260.5000;-42.0000 --260.5000;-41.5000 --260.5000;-41.0000 --260.5000;-40.5000 --260.5000;5.0000 --260.5000;5.5000 --260.5000;6.0000 --260.5000;6.5000 --260.5000;7.0000 --260.5000;7.5000 --260.5000;8.0000 --260.5000;8.5000 --260.5000;9.0000 --260.5000;9.5000 --260.5000;10.0000 --260.5000;10.5000 --260.5000;11.0000 --260.5000;11.5000 --260.5000;12.0000 --260.5000;12.5000 --260.5000;13.0000 --260.5000;13.5000 --260.5000;14.0000 --260.5000;14.5000 --260.5000;15.0000 --260.5000;15.5000 --260.5000;16.0000 --260.5000;16.5000 --260.5000;17.0000 --260.5000;17.5000 --260.5000;18.0000 --260.5000;18.5000 --260.5000;19.0000 --260.5000;19.5000 --260.5000;20.0000 --260.5000;20.5000 --260.5000;21.0000 --260.5000;21.5000 --260.5000;22.0000 --260.5000;22.5000 --260.5000;23.0000 --260.5000;23.5000 --260.5000;24.0000 --260.5000;24.5000 --260.5000;25.0000 --260.5000;25.5000 --260.5000;26.0000 --260.5000;26.5000 --260.5000;27.0000 --260.5000;27.5000 --260.5000;28.0000 --260.5000;28.5000 --260.5000;29.0000 --260.5000;29.5000 --260.5000;30.0000 --260.5000;30.5000 --260.5000;31.0000 --260.5000;31.5000 --260.5000;32.0000 --260.5000;32.5000 --260.5000;33.0000 --260.5000;33.5000 --260.5000;34.0000 --260.5000;34.5000 --260.5000;35.0000 --260.5000;35.5000 --260.5000;36.0000 --260.5000;36.5000 --260.5000;37.0000 --260.5000;37.5000 --260.0000;-226.5000 --260.0000;-226.0000 --260.0000;-225.5000 --260.0000;-225.0000 --260.0000;-224.5000 --260.0000;-224.0000 --260.0000;-223.5000 --260.0000;-223.0000 --260.0000;-222.5000 --260.0000;-222.0000 --260.0000;-221.5000 --260.0000;-221.0000 --260.0000;-220.5000 --260.0000;-220.0000 --260.0000;-219.5000 --260.0000;-219.0000 --260.0000;-218.5000 --260.0000;-218.0000 --260.0000;-217.5000 --260.0000;-217.0000 --260.0000;-216.5000 --260.0000;-216.0000 --260.0000;-215.5000 --260.0000;-215.0000 --260.0000;-214.5000 --260.0000;-214.0000 --260.0000;-145.0000 --260.0000;-144.5000 --260.0000;-144.0000 --260.0000;-143.5000 --260.0000;-143.0000 --260.0000;-142.5000 --260.0000;-142.0000 --260.0000;-141.5000 --260.0000;-141.0000 --260.0000;-140.5000 --260.0000;-140.0000 --260.0000;-139.5000 --260.0000;-139.0000 --260.0000;-138.5000 --260.0000;-138.0000 --260.0000;-137.5000 --260.0000;-137.0000 --260.0000;-136.5000 --260.0000;-136.0000 --260.0000;-135.5000 --260.0000;-135.0000 --260.0000;-134.5000 --260.0000;-134.0000 --260.0000;-133.5000 --260.0000;-133.0000 --260.0000;-132.5000 --260.0000;-132.0000 --260.0000;-131.5000 --260.0000;-131.0000 --260.0000;-130.5000 --260.0000;-60.0000 --260.0000;-59.5000 --260.0000;-59.0000 --260.0000;-58.5000 --260.0000;-58.0000 --260.0000;-57.5000 --260.0000;-57.0000 --260.0000;-56.5000 --260.0000;-56.0000 --260.0000;-55.5000 --260.0000;-55.0000 --260.0000;-54.5000 --260.0000;-54.0000 --260.0000;-53.5000 --260.0000;-53.0000 --260.0000;-52.5000 --260.0000;-52.0000 --260.0000;-51.5000 --260.0000;-51.0000 --260.0000;-50.5000 --260.0000;-50.0000 --260.0000;-49.5000 --260.0000;-49.0000 --260.0000;-48.5000 --260.0000;-48.0000 --260.0000;-47.5000 --260.0000;-47.0000 --260.0000;-46.5000 --260.0000;-46.0000 --260.0000;-45.5000 --260.0000;-45.0000 --260.0000;-44.5000 --260.0000;-44.0000 --260.0000;-43.5000 --260.0000;-43.0000 --260.0000;-42.5000 --260.0000;-42.0000 --260.0000;-41.5000 --260.0000;6.5000 --260.0000;7.0000 --260.0000;7.5000 --260.0000;8.0000 --260.0000;8.5000 --260.0000;9.0000 --260.0000;9.5000 --260.0000;10.0000 --260.0000;10.5000 --260.0000;11.0000 --260.0000;11.5000 --260.0000;12.0000 --260.0000;12.5000 --260.0000;13.0000 --260.0000;13.5000 --260.0000;14.0000 --260.0000;14.5000 --260.0000;15.0000 --260.0000;15.5000 --260.0000;16.0000 --260.0000;16.5000 --260.0000;17.0000 --260.0000;17.5000 --260.0000;18.0000 --260.0000;18.5000 --260.0000;19.0000 --260.0000;19.5000 --260.0000;20.0000 --260.0000;20.5000 --260.0000;21.0000 --260.0000;21.5000 --260.0000;22.0000 --260.0000;22.5000 --260.0000;23.0000 --260.0000;23.5000 --260.0000;24.0000 --260.0000;24.5000 --260.0000;25.0000 --260.0000;25.5000 --260.0000;26.0000 --260.0000;26.5000 --260.0000;27.0000 --260.0000;27.5000 --260.0000;28.0000 --260.0000;28.5000 --260.0000;29.0000 --260.0000;29.5000 --260.0000;30.0000 --260.0000;30.5000 --260.0000;31.0000 --260.0000;31.5000 --260.0000;32.0000 --260.0000;32.5000 --260.0000;33.0000 --260.0000;33.5000 --260.0000;34.0000 --260.0000;34.5000 --260.0000;35.0000 --260.0000;35.5000 --260.0000;36.0000 --260.0000;36.5000 --260.0000;37.0000 --260.0000;37.5000 --260.0000;38.0000 --260.0000;38.5000 --259.5000;-227.0000 --259.5000;-226.5000 --259.5000;-226.0000 --259.5000;-225.5000 --259.5000;-225.0000 --259.5000;-224.5000 --259.5000;-224.0000 --259.5000;-223.5000 --259.5000;-223.0000 --259.5000;-222.5000 --259.5000;-222.0000 --259.5000;-221.5000 --259.5000;-221.0000 --259.5000;-220.5000 --259.5000;-220.0000 --259.5000;-219.5000 --259.5000;-219.0000 --259.5000;-218.5000 --259.5000;-218.0000 --259.5000;-217.5000 --259.5000;-217.0000 --259.5000;-216.5000 --259.5000;-216.0000 --259.5000;-215.5000 --259.5000;-215.0000 --259.5000;-214.5000 --259.5000;-214.0000 --259.5000;-144.5000 --259.5000;-144.0000 --259.5000;-143.5000 --259.5000;-143.0000 --259.5000;-142.5000 --259.5000;-142.0000 --259.5000;-141.5000 --259.5000;-141.0000 --259.5000;-140.5000 --259.5000;-140.0000 --259.5000;-139.5000 --259.5000;-139.0000 --259.5000;-138.5000 --259.5000;-138.0000 --259.5000;-137.5000 --259.5000;-137.0000 --259.5000;-136.5000 --259.5000;-136.0000 --259.5000;-135.5000 --259.5000;-135.0000 --259.5000;-134.5000 --259.5000;-134.0000 --259.5000;-133.5000 --259.5000;-133.0000 --259.5000;-132.5000 --259.5000;-132.0000 --259.5000;-131.5000 --259.5000;-131.0000 --259.5000;-130.5000 --259.5000;-60.5000 --259.5000;-60.0000 --259.5000;-59.5000 --259.5000;-59.0000 --259.5000;-58.5000 --259.5000;-58.0000 --259.5000;-57.5000 --259.5000;-57.0000 --259.5000;-56.5000 --259.5000;-56.0000 --259.5000;-55.5000 --259.5000;-55.0000 --259.5000;-54.5000 --259.5000;-54.0000 --259.5000;-53.5000 --259.5000;-53.0000 --259.5000;-52.5000 --259.5000;-52.0000 --259.5000;-51.5000 --259.5000;-51.0000 --259.5000;-50.5000 --259.5000;-50.0000 --259.5000;-49.5000 --259.5000;-49.0000 --259.5000;-48.5000 --259.5000;-48.0000 --259.5000;-47.5000 --259.5000;-47.0000 --259.5000;-46.5000 --259.5000;-46.0000 --259.5000;-45.5000 --259.5000;-45.0000 --259.5000;-44.5000 --259.5000;-44.0000 --259.5000;-43.5000 --259.5000;-43.0000 --259.5000;-42.5000 --259.5000;-42.0000 --259.5000;8.5000 --259.5000;9.0000 --259.5000;9.5000 --259.5000;10.0000 --259.5000;10.5000 --259.5000;11.0000 --259.5000;11.5000 --259.5000;12.0000 --259.5000;12.5000 --259.5000;13.0000 --259.5000;13.5000 --259.5000;14.0000 --259.5000;14.5000 --259.5000;15.0000 --259.5000;15.5000 --259.5000;16.0000 --259.5000;16.5000 --259.5000;17.0000 --259.5000;17.5000 --259.5000;18.0000 --259.5000;18.5000 --259.5000;19.0000 --259.5000;19.5000 --259.5000;20.0000 --259.5000;20.5000 --259.5000;21.0000 --259.5000;21.5000 --259.5000;22.0000 --259.5000;22.5000 --259.5000;23.0000 --259.5000;23.5000 --259.5000;24.0000 --259.5000;24.5000 --259.5000;25.0000 --259.5000;25.5000 --259.5000;26.0000 --259.5000;26.5000 --259.5000;27.0000 --259.5000;27.5000 --259.5000;28.0000 --259.5000;28.5000 --259.5000;29.0000 --259.5000;29.5000 --259.5000;30.0000 --259.5000;30.5000 --259.5000;31.0000 --259.5000;31.5000 --259.5000;32.0000 --259.5000;32.5000 --259.5000;33.0000 --259.5000;33.5000 --259.5000;34.0000 --259.5000;34.5000 --259.5000;35.0000 --259.5000;35.5000 --259.5000;36.0000 --259.5000;36.5000 --259.5000;37.0000 --259.5000;37.5000 --259.5000;38.0000 --259.5000;38.5000 --259.5000;39.0000 --259.5000;39.5000 --259.0000;-227.0000 --259.0000;-226.5000 --259.0000;-226.0000 --259.0000;-225.5000 --259.0000;-225.0000 --259.0000;-224.5000 --259.0000;-224.0000 --259.0000;-223.5000 --259.0000;-223.0000 --259.0000;-222.5000 --259.0000;-222.0000 --259.0000;-221.5000 --259.0000;-221.0000 --259.0000;-220.5000 --259.0000;-220.0000 --259.0000;-219.5000 --259.0000;-219.0000 --259.0000;-218.5000 --259.0000;-218.0000 --259.0000;-217.5000 --259.0000;-217.0000 --259.0000;-216.5000 --259.0000;-216.0000 --259.0000;-215.5000 --259.0000;-215.0000 --259.0000;-214.5000 --259.0000;-214.0000 --259.0000;-144.0000 --259.0000;-143.5000 --259.0000;-143.0000 --259.0000;-142.5000 --259.0000;-142.0000 --259.0000;-141.5000 --259.0000;-141.0000 --259.0000;-140.5000 --259.0000;-140.0000 --259.0000;-139.5000 --259.0000;-139.0000 --259.0000;-138.5000 --259.0000;-138.0000 --259.0000;-137.5000 --259.0000;-137.0000 --259.0000;-136.5000 --259.0000;-136.0000 --259.0000;-135.5000 --259.0000;-135.0000 --259.0000;-134.5000 --259.0000;-134.0000 --259.0000;-133.5000 --259.0000;-133.0000 --259.0000;-132.5000 --259.0000;-132.0000 --259.0000;-131.5000 --259.0000;-131.0000 --259.0000;-130.5000 --259.0000;-130.0000 --259.0000;-61.0000 --259.0000;-60.5000 --259.0000;-60.0000 --259.0000;-59.5000 --259.0000;-59.0000 --259.0000;-58.5000 --259.0000;-58.0000 --259.0000;-57.5000 --259.0000;-57.0000 --259.0000;-56.5000 --259.0000;-56.0000 --259.0000;-55.5000 --259.0000;-55.0000 --259.0000;-54.5000 --259.0000;-54.0000 --259.0000;-53.5000 --259.0000;-53.0000 --259.0000;-52.5000 --259.0000;-52.0000 --259.0000;-51.5000 --259.0000;-51.0000 --259.0000;-50.5000 --259.0000;-50.0000 --259.0000;-49.5000 --259.0000;-49.0000 --259.0000;-48.5000 --259.0000;-48.0000 --259.0000;-47.5000 --259.0000;-47.0000 --259.0000;-46.5000 --259.0000;-46.0000 --259.0000;-45.5000 --259.0000;-45.0000 --259.0000;-44.5000 --259.0000;-44.0000 --259.0000;-43.5000 --259.0000;-43.0000 --259.0000;10.0000 --259.0000;10.5000 --259.0000;11.0000 --259.0000;11.5000 --259.0000;12.0000 --259.0000;12.5000 --259.0000;13.0000 --259.0000;13.5000 --259.0000;14.0000 --259.0000;14.5000 --259.0000;15.0000 --259.0000;15.5000 --259.0000;16.0000 --259.0000;16.5000 --259.0000;17.0000 --259.0000;17.5000 --259.0000;18.0000 --259.0000;18.5000 --259.0000;19.0000 --259.0000;19.5000 --259.0000;20.0000 --259.0000;20.5000 --259.0000;21.0000 --259.0000;21.5000 --259.0000;22.0000 --259.0000;22.5000 --259.0000;23.0000 --259.0000;23.5000 --259.0000;24.0000 --259.0000;24.5000 --259.0000;25.0000 --259.0000;25.5000 --259.0000;26.0000 --259.0000;26.5000 --259.0000;27.0000 --259.0000;27.5000 --259.0000;28.0000 --259.0000;28.5000 --259.0000;29.0000 --259.0000;29.5000 --259.0000;30.0000 --259.0000;30.5000 --259.0000;31.0000 --259.0000;31.5000 --259.0000;32.0000 --259.0000;32.5000 --259.0000;33.0000 --259.0000;33.5000 --259.0000;34.0000 --259.0000;34.5000 --259.0000;35.0000 --259.0000;35.5000 --259.0000;36.0000 --259.0000;36.5000 --259.0000;37.0000 --259.0000;37.5000 --259.0000;38.0000 --259.0000;38.5000 --259.0000;39.0000 --259.0000;39.5000 --259.0000;40.0000 --259.0000;40.5000 --258.5000;-227.0000 --258.5000;-226.5000 --258.5000;-226.0000 --258.5000;-225.5000 --258.5000;-225.0000 --258.5000;-224.5000 --258.5000;-224.0000 --258.5000;-223.5000 --258.5000;-223.0000 --258.5000;-222.5000 --258.5000;-222.0000 --258.5000;-221.5000 --258.5000;-221.0000 --258.5000;-220.5000 --258.5000;-220.0000 --258.5000;-219.5000 --258.5000;-219.0000 --258.5000;-218.5000 --258.5000;-218.0000 --258.5000;-217.5000 --258.5000;-217.0000 --258.5000;-216.5000 --258.5000;-216.0000 --258.5000;-215.5000 --258.5000;-215.0000 --258.5000;-214.5000 --258.5000;-144.0000 --258.5000;-143.5000 --258.5000;-143.0000 --258.5000;-142.5000 --258.5000;-142.0000 --258.5000;-141.5000 --258.5000;-141.0000 --258.5000;-140.5000 --258.5000;-140.0000 --258.5000;-139.5000 --258.5000;-139.0000 --258.5000;-138.5000 --258.5000;-138.0000 --258.5000;-137.5000 --258.5000;-137.0000 --258.5000;-136.5000 --258.5000;-136.0000 --258.5000;-135.5000 --258.5000;-135.0000 --258.5000;-134.5000 --258.5000;-134.0000 --258.5000;-133.5000 --258.5000;-133.0000 --258.5000;-132.5000 --258.5000;-132.0000 --258.5000;-131.5000 --258.5000;-131.0000 --258.5000;-130.5000 --258.5000;-130.0000 --258.5000;-61.5000 --258.5000;-61.0000 --258.5000;-60.5000 --258.5000;-60.0000 --258.5000;-59.5000 --258.5000;-59.0000 --258.5000;-58.5000 --258.5000;-58.0000 --258.5000;-57.5000 --258.5000;-57.0000 --258.5000;-56.5000 --258.5000;-56.0000 --258.5000;-55.5000 --258.5000;-55.0000 --258.5000;-54.5000 --258.5000;-54.0000 --258.5000;-53.5000 --258.5000;-53.0000 --258.5000;-52.5000 --258.5000;-52.0000 --258.5000;-51.5000 --258.5000;-51.0000 --258.5000;-50.5000 --258.5000;-50.0000 --258.5000;-49.5000 --258.5000;-49.0000 --258.5000;-48.5000 --258.5000;-48.0000 --258.5000;-47.5000 --258.5000;-47.0000 --258.5000;-46.5000 --258.5000;-46.0000 --258.5000;-45.5000 --258.5000;-45.0000 --258.5000;-44.5000 --258.5000;-44.0000 --258.5000;-43.5000 --258.5000;11.5000 --258.5000;12.0000 --258.5000;12.5000 --258.5000;13.0000 --258.5000;13.5000 --258.5000;14.0000 --258.5000;14.5000 --258.5000;15.0000 --258.5000;15.5000 --258.5000;16.0000 --258.5000;16.5000 --258.5000;17.0000 --258.5000;17.5000 --258.5000;18.0000 --258.5000;18.5000 --258.5000;19.0000 --258.5000;19.5000 --258.5000;20.0000 --258.5000;20.5000 --258.5000;21.0000 --258.5000;21.5000 --258.5000;22.0000 --258.5000;22.5000 --258.5000;23.0000 --258.5000;23.5000 --258.5000;24.0000 --258.5000;24.5000 --258.5000;25.0000 --258.5000;25.5000 --258.5000;26.0000 --258.5000;26.5000 --258.5000;27.0000 --258.5000;27.5000 --258.5000;28.0000 --258.5000;28.5000 --258.5000;29.0000 --258.5000;29.5000 --258.5000;30.0000 --258.5000;30.5000 --258.5000;31.0000 --258.5000;31.5000 --258.5000;32.0000 --258.5000;32.5000 --258.5000;33.0000 --258.5000;33.5000 --258.5000;34.0000 --258.5000;34.5000 --258.5000;35.0000 --258.5000;35.5000 --258.5000;36.0000 --258.5000;36.5000 --258.5000;37.0000 --258.5000;37.5000 --258.5000;38.0000 --258.5000;38.5000 --258.5000;39.0000 --258.5000;39.5000 --258.5000;40.0000 --258.5000;40.5000 --258.5000;41.0000 --258.5000;41.5000 --258.0000;-227.5000 --258.0000;-227.0000 --258.0000;-226.5000 --258.0000;-226.0000 --258.0000;-225.5000 --258.0000;-225.0000 --258.0000;-224.5000 --258.0000;-224.0000 --258.0000;-223.5000 --258.0000;-223.0000 --258.0000;-222.5000 --258.0000;-222.0000 --258.0000;-221.5000 --258.0000;-221.0000 --258.0000;-220.5000 --258.0000;-220.0000 --258.0000;-219.5000 --258.0000;-219.0000 --258.0000;-218.5000 --258.0000;-218.0000 --258.0000;-217.5000 --258.0000;-217.0000 --258.0000;-216.5000 --258.0000;-216.0000 --258.0000;-215.5000 --258.0000;-215.0000 --258.0000;-214.5000 --258.0000;-143.5000 --258.0000;-143.0000 --258.0000;-142.5000 --258.0000;-142.0000 --258.0000;-141.5000 --258.0000;-141.0000 --258.0000;-140.5000 --258.0000;-140.0000 --258.0000;-139.5000 --258.0000;-139.0000 --258.0000;-138.5000 --258.0000;-138.0000 --258.0000;-137.5000 --258.0000;-137.0000 --258.0000;-136.5000 --258.0000;-136.0000 --258.0000;-135.5000 --258.0000;-135.0000 --258.0000;-134.5000 --258.0000;-134.0000 --258.0000;-133.5000 --258.0000;-133.0000 --258.0000;-132.5000 --258.0000;-132.0000 --258.0000;-131.5000 --258.0000;-131.0000 --258.0000;-130.5000 --258.0000;-130.0000 --258.0000;-129.5000 --258.0000;-62.0000 --258.0000;-61.5000 --258.0000;-61.0000 --258.0000;-60.5000 --258.0000;-60.0000 --258.0000;-59.5000 --258.0000;-59.0000 --258.0000;-58.5000 --258.0000;-58.0000 --258.0000;-57.5000 --258.0000;-57.0000 --258.0000;-56.5000 --258.0000;-56.0000 --258.0000;-55.5000 --258.0000;-55.0000 --258.0000;-54.5000 --258.0000;-54.0000 --258.0000;-53.5000 --258.0000;-53.0000 --258.0000;-52.5000 --258.0000;-52.0000 --258.0000;-51.5000 --258.0000;-51.0000 --258.0000;-50.5000 --258.0000;-50.0000 --258.0000;-49.5000 --258.0000;-49.0000 --258.0000;-48.5000 --258.0000;-48.0000 --258.0000;-47.5000 --258.0000;-47.0000 --258.0000;-46.5000 --258.0000;-46.0000 --258.0000;-45.5000 --258.0000;-45.0000 --258.0000;-44.5000 --258.0000;-44.0000 --258.0000;12.5000 --258.0000;13.0000 --258.0000;13.5000 --258.0000;14.0000 --258.0000;14.5000 --258.0000;15.0000 --258.0000;15.5000 --258.0000;16.0000 --258.0000;16.5000 --258.0000;17.0000 --258.0000;17.5000 --258.0000;18.0000 --258.0000;18.5000 --258.0000;19.0000 --258.0000;19.5000 --258.0000;20.0000 --258.0000;20.5000 --258.0000;21.0000 --258.0000;21.5000 --258.0000;22.0000 --258.0000;22.5000 --258.0000;23.0000 --258.0000;23.5000 --258.0000;24.0000 --258.0000;24.5000 --258.0000;25.0000 --258.0000;25.5000 --258.0000;26.0000 --258.0000;26.5000 --258.0000;27.0000 --258.0000;27.5000 --258.0000;28.0000 --258.0000;28.5000 --258.0000;29.0000 --258.0000;29.5000 --258.0000;30.0000 --258.0000;30.5000 --258.0000;31.0000 --258.0000;31.5000 --258.0000;32.0000 --258.0000;32.5000 --258.0000;33.0000 --258.0000;33.5000 --258.0000;34.0000 --258.0000;34.5000 --258.0000;35.0000 --258.0000;35.5000 --258.0000;36.0000 --258.0000;36.5000 --258.0000;37.0000 --258.0000;37.5000 --258.0000;38.0000 --258.0000;38.5000 --258.0000;39.0000 --258.0000;39.5000 --258.0000;40.0000 --258.0000;40.5000 --258.0000;41.0000 --258.0000;41.5000 --258.0000;42.0000 --258.0000;42.5000 --257.5000;-227.5000 --257.5000;-227.0000 --257.5000;-226.5000 --257.5000;-226.0000 --257.5000;-225.5000 --257.5000;-225.0000 --257.5000;-224.5000 --257.5000;-224.0000 --257.5000;-223.5000 --257.5000;-223.0000 --257.5000;-222.5000 --257.5000;-222.0000 --257.5000;-221.5000 --257.5000;-221.0000 --257.5000;-220.5000 --257.5000;-220.0000 --257.5000;-219.5000 --257.5000;-219.0000 --257.5000;-218.5000 --257.5000;-218.0000 --257.5000;-217.5000 --257.5000;-217.0000 --257.5000;-216.5000 --257.5000;-216.0000 --257.5000;-215.5000 --257.5000;-215.0000 --257.5000;-214.5000 --257.5000;-143.0000 --257.5000;-142.5000 --257.5000;-142.0000 --257.5000;-141.5000 --257.5000;-141.0000 --257.5000;-140.5000 --257.5000;-140.0000 --257.5000;-139.5000 --257.5000;-139.0000 --257.5000;-138.5000 --257.5000;-138.0000 --257.5000;-137.5000 --257.5000;-137.0000 --257.5000;-136.5000 --257.5000;-136.0000 --257.5000;-135.5000 --257.5000;-135.0000 --257.5000;-134.5000 --257.5000;-134.0000 --257.5000;-133.5000 --257.5000;-133.0000 --257.5000;-132.5000 --257.5000;-132.0000 --257.5000;-131.5000 --257.5000;-131.0000 --257.5000;-130.5000 --257.5000;-130.0000 --257.5000;-129.5000 --257.5000;-129.0000 --257.5000;-62.0000 --257.5000;-61.5000 --257.5000;-61.0000 --257.5000;-60.5000 --257.5000;-60.0000 --257.5000;-59.5000 --257.5000;-59.0000 --257.5000;-58.5000 --257.5000;-58.0000 --257.5000;-57.5000 --257.5000;-57.0000 --257.5000;-56.5000 --257.5000;-56.0000 --257.5000;-55.5000 --257.5000;-55.0000 --257.5000;-54.5000 --257.5000;-54.0000 --257.5000;-53.5000 --257.5000;-53.0000 --257.5000;-52.5000 --257.5000;-52.0000 --257.5000;-51.5000 --257.5000;-51.0000 --257.5000;-50.5000 --257.5000;-50.0000 --257.5000;-49.5000 --257.5000;-49.0000 --257.5000;-48.5000 --257.5000;-48.0000 --257.5000;-47.5000 --257.5000;-47.0000 --257.5000;-46.5000 --257.5000;-46.0000 --257.5000;-45.5000 --257.5000;-45.0000 --257.5000;14.0000 --257.5000;14.5000 --257.5000;15.0000 --257.5000;15.5000 --257.5000;16.0000 --257.5000;16.5000 --257.5000;17.0000 --257.5000;17.5000 --257.5000;18.0000 --257.5000;18.5000 --257.5000;19.0000 --257.5000;19.5000 --257.5000;20.0000 --257.5000;20.5000 --257.5000;21.0000 --257.5000;21.5000 --257.5000;22.0000 --257.5000;22.5000 --257.5000;23.0000 --257.5000;23.5000 --257.5000;24.0000 --257.5000;24.5000 --257.5000;25.0000 --257.5000;25.5000 --257.5000;26.0000 --257.5000;26.5000 --257.5000;27.0000 --257.5000;27.5000 --257.5000;28.0000 --257.5000;28.5000 --257.5000;29.0000 --257.5000;29.5000 --257.5000;30.0000 --257.5000;30.5000 --257.5000;31.0000 --257.5000;31.5000 --257.5000;32.0000 --257.5000;32.5000 --257.5000;33.0000 --257.5000;33.5000 --257.5000;34.0000 --257.5000;34.5000 --257.5000;35.0000 --257.5000;35.5000 --257.5000;36.0000 --257.5000;36.5000 --257.5000;37.0000 --257.5000;37.5000 --257.5000;38.0000 --257.5000;38.5000 --257.5000;39.0000 --257.5000;39.5000 --257.5000;40.0000 --257.5000;40.5000 --257.5000;41.0000 --257.5000;41.5000 --257.5000;42.0000 --257.5000;42.5000 --257.5000;43.0000 --257.5000;43.5000 --257.5000;44.0000 --257.0000;-228.0000 --257.0000;-227.5000 --257.0000;-227.0000 --257.0000;-226.5000 --257.0000;-226.0000 --257.0000;-225.5000 --257.0000;-225.0000 --257.0000;-224.5000 --257.0000;-224.0000 --257.0000;-223.5000 --257.0000;-223.0000 --257.0000;-222.5000 --257.0000;-222.0000 --257.0000;-221.5000 --257.0000;-221.0000 --257.0000;-220.5000 --257.0000;-220.0000 --257.0000;-219.5000 --257.0000;-219.0000 --257.0000;-218.5000 --257.0000;-218.0000 --257.0000;-217.5000 --257.0000;-217.0000 --257.0000;-216.5000 --257.0000;-216.0000 --257.0000;-215.5000 --257.0000;-215.0000 --257.0000;-143.0000 --257.0000;-142.5000 --257.0000;-142.0000 --257.0000;-141.5000 --257.0000;-141.0000 --257.0000;-140.5000 --257.0000;-140.0000 --257.0000;-139.5000 --257.0000;-139.0000 --257.0000;-138.5000 --257.0000;-138.0000 --257.0000;-137.5000 --257.0000;-137.0000 --257.0000;-136.5000 --257.0000;-136.0000 --257.0000;-135.5000 --257.0000;-135.0000 --257.0000;-134.5000 --257.0000;-134.0000 --257.0000;-133.5000 --257.0000;-133.0000 --257.0000;-132.5000 --257.0000;-132.0000 --257.0000;-131.5000 --257.0000;-131.0000 --257.0000;-130.5000 --257.0000;-130.0000 --257.0000;-129.5000 --257.0000;-129.0000 --257.0000;-62.5000 --257.0000;-62.0000 --257.0000;-61.5000 --257.0000;-61.0000 --257.0000;-60.5000 --257.0000;-60.0000 --257.0000;-59.5000 --257.0000;-59.0000 --257.0000;-58.5000 --257.0000;-58.0000 --257.0000;-57.5000 --257.0000;-57.0000 --257.0000;-56.5000 --257.0000;-56.0000 --257.0000;-55.5000 --257.0000;-55.0000 --257.0000;-54.5000 --257.0000;-54.0000 --257.0000;-53.5000 --257.0000;-53.0000 --257.0000;-52.5000 --257.0000;-52.0000 --257.0000;-51.5000 --257.0000;-51.0000 --257.0000;-50.5000 --257.0000;-50.0000 --257.0000;-49.5000 --257.0000;-49.0000 --257.0000;-48.5000 --257.0000;-48.0000 --257.0000;-47.5000 --257.0000;-47.0000 --257.0000;-46.5000 --257.0000;-46.0000 --257.0000;-45.5000 --257.0000;15.5000 --257.0000;16.0000 --257.0000;16.5000 --257.0000;17.0000 --257.0000;17.5000 --257.0000;18.0000 --257.0000;18.5000 --257.0000;19.0000 --257.0000;19.5000 --257.0000;20.0000 --257.0000;20.5000 --257.0000;21.0000 --257.0000;21.5000 --257.0000;22.0000 --257.0000;22.5000 --257.0000;23.0000 --257.0000;23.5000 --257.0000;24.0000 --257.0000;24.5000 --257.0000;25.0000 --257.0000;25.5000 --257.0000;26.0000 --257.0000;26.5000 --257.0000;27.0000 --257.0000;27.5000 --257.0000;28.0000 --257.0000;28.5000 --257.0000;29.0000 --257.0000;29.5000 --257.0000;30.0000 --257.0000;30.5000 --257.0000;31.0000 --257.0000;31.5000 --257.0000;32.0000 --257.0000;32.5000 --257.0000;33.0000 --257.0000;33.5000 --257.0000;34.0000 --257.0000;34.5000 --257.0000;35.0000 --257.0000;35.5000 --257.0000;36.0000 --257.0000;36.5000 --257.0000;37.0000 --257.0000;37.5000 --257.0000;38.0000 --257.0000;38.5000 --257.0000;39.0000 --257.0000;39.5000 --257.0000;40.0000 --257.0000;40.5000 --257.0000;41.0000 --257.0000;41.5000 --257.0000;42.0000 --257.0000;42.5000 --257.0000;43.0000 --257.0000;43.5000 --257.0000;44.0000 --257.0000;44.5000 --257.0000;45.0000 --256.5000;-228.0000 --256.5000;-227.5000 --256.5000;-227.0000 --256.5000;-226.5000 --256.5000;-226.0000 --256.5000;-225.5000 --256.5000;-225.0000 --256.5000;-224.5000 --256.5000;-224.0000 --256.5000;-223.5000 --256.5000;-223.0000 --256.5000;-222.5000 --256.5000;-222.0000 --256.5000;-221.5000 --256.5000;-221.0000 --256.5000;-220.5000 --256.5000;-220.0000 --256.5000;-219.5000 --256.5000;-219.0000 --256.5000;-218.5000 --256.5000;-218.0000 --256.5000;-217.5000 --256.5000;-217.0000 --256.5000;-216.5000 --256.5000;-216.0000 --256.5000;-215.5000 --256.5000;-215.0000 --256.5000;-142.5000 --256.5000;-142.0000 --256.5000;-141.5000 --256.5000;-141.0000 --256.5000;-140.5000 --256.5000;-140.0000 --256.5000;-139.5000 --256.5000;-139.0000 --256.5000;-138.5000 --256.5000;-138.0000 --256.5000;-137.5000 --256.5000;-137.0000 --256.5000;-136.5000 --256.5000;-136.0000 --256.5000;-135.5000 --256.5000;-135.0000 --256.5000;-134.5000 --256.5000;-134.0000 --256.5000;-133.5000 --256.5000;-133.0000 --256.5000;-132.5000 --256.5000;-132.0000 --256.5000;-131.5000 --256.5000;-131.0000 --256.5000;-130.5000 --256.5000;-130.0000 --256.5000;-129.5000 --256.5000;-129.0000 --256.5000;-128.5000 --256.5000;-63.0000 --256.5000;-62.5000 --256.5000;-62.0000 --256.5000;-61.5000 --256.5000;-61.0000 --256.5000;-60.5000 --256.5000;-60.0000 --256.5000;-59.5000 --256.5000;-59.0000 --256.5000;-58.5000 --256.5000;-58.0000 --256.5000;-57.5000 --256.5000;-57.0000 --256.5000;-56.5000 --256.5000;-56.0000 --256.5000;-55.5000 --256.5000;-55.0000 --256.5000;-54.5000 --256.5000;-54.0000 --256.5000;-53.5000 --256.5000;-53.0000 --256.5000;-52.5000 --256.5000;-52.0000 --256.5000;-51.5000 --256.5000;-51.0000 --256.5000;-50.5000 --256.5000;-50.0000 --256.5000;-49.5000 --256.5000;-49.0000 --256.5000;-48.5000 --256.5000;-48.0000 --256.5000;-47.5000 --256.5000;-47.0000 --256.5000;-46.5000 --256.5000;-46.0000 --256.5000;16.5000 --256.5000;17.0000 --256.5000;17.5000 --256.5000;18.0000 --256.5000;18.5000 --256.5000;19.0000 --256.5000;19.5000 --256.5000;20.0000 --256.5000;20.5000 --256.5000;21.0000 --256.5000;21.5000 --256.5000;22.0000 --256.5000;22.5000 --256.5000;23.0000 --256.5000;23.5000 --256.5000;24.0000 --256.5000;24.5000 --256.5000;25.0000 --256.5000;25.5000 --256.5000;26.0000 --256.5000;26.5000 --256.5000;27.0000 --256.5000;27.5000 --256.5000;28.0000 --256.5000;28.5000 --256.5000;29.0000 --256.5000;29.5000 --256.5000;30.0000 --256.5000;30.5000 --256.5000;31.0000 --256.5000;31.5000 --256.5000;32.0000 --256.5000;32.5000 --256.5000;33.0000 --256.5000;33.5000 --256.5000;34.0000 --256.5000;34.5000 --256.5000;35.0000 --256.5000;35.5000 --256.5000;36.0000 --256.5000;36.5000 --256.5000;37.0000 --256.5000;37.5000 --256.5000;38.0000 --256.5000;38.5000 --256.5000;39.0000 --256.5000;39.5000 --256.5000;40.0000 --256.5000;40.5000 --256.5000;41.0000 --256.5000;41.5000 --256.5000;42.0000 --256.5000;42.5000 --256.5000;43.0000 --256.5000;43.5000 --256.5000;44.0000 --256.5000;44.5000 --256.5000;45.0000 --256.5000;45.5000 --256.5000;46.0000 --256.0000;-228.0000 --256.0000;-227.5000 --256.0000;-227.0000 --256.0000;-226.5000 --256.0000;-226.0000 --256.0000;-225.5000 --256.0000;-225.0000 --256.0000;-224.5000 --256.0000;-224.0000 --256.0000;-223.5000 --256.0000;-223.0000 --256.0000;-222.5000 --256.0000;-222.0000 --256.0000;-221.5000 --256.0000;-221.0000 --256.0000;-220.5000 --256.0000;-220.0000 --256.0000;-219.5000 --256.0000;-219.0000 --256.0000;-218.5000 --256.0000;-218.0000 --256.0000;-217.5000 --256.0000;-217.0000 --256.0000;-216.5000 --256.0000;-216.0000 --256.0000;-215.5000 --256.0000;-142.5000 --256.0000;-142.0000 --256.0000;-141.5000 --256.0000;-141.0000 --256.0000;-140.5000 --256.0000;-140.0000 --256.0000;-139.5000 --256.0000;-139.0000 --256.0000;-138.5000 --256.0000;-138.0000 --256.0000;-137.5000 --256.0000;-137.0000 --256.0000;-136.5000 --256.0000;-136.0000 --256.0000;-135.5000 --256.0000;-135.0000 --256.0000;-134.5000 --256.0000;-134.0000 --256.0000;-133.5000 --256.0000;-133.0000 --256.0000;-132.5000 --256.0000;-132.0000 --256.0000;-131.5000 --256.0000;-131.0000 --256.0000;-130.5000 --256.0000;-130.0000 --256.0000;-129.5000 --256.0000;-129.0000 --256.0000;-128.5000 --256.0000;-63.5000 --256.0000;-63.0000 --256.0000;-62.5000 --256.0000;-62.0000 --256.0000;-61.5000 --256.0000;-61.0000 --256.0000;-60.5000 --256.0000;-60.0000 --256.0000;-59.5000 --256.0000;-59.0000 --256.0000;-58.5000 --256.0000;-58.0000 --256.0000;-57.5000 --256.0000;-57.0000 --256.0000;-56.5000 --256.0000;-56.0000 --256.0000;-55.5000 --256.0000;-55.0000 --256.0000;-54.5000 --256.0000;-54.0000 --256.0000;-53.5000 --256.0000;-53.0000 --256.0000;-52.5000 --256.0000;-52.0000 --256.0000;-51.5000 --256.0000;-51.0000 --256.0000;-50.5000 --256.0000;-50.0000 --256.0000;-49.5000 --256.0000;-49.0000 --256.0000;-48.5000 --256.0000;-48.0000 --256.0000;-47.5000 --256.0000;-47.0000 --256.0000;-46.5000 --256.0000;18.0000 --256.0000;18.5000 --256.0000;19.0000 --256.0000;19.5000 --256.0000;20.0000 --256.0000;20.5000 --256.0000;21.0000 --256.0000;21.5000 --256.0000;22.0000 --256.0000;22.5000 --256.0000;23.0000 --256.0000;23.5000 --256.0000;24.0000 --256.0000;24.5000 --256.0000;25.0000 --256.0000;25.5000 --256.0000;26.0000 --256.0000;26.5000 --256.0000;27.0000 --256.0000;27.5000 --256.0000;28.0000 --256.0000;28.5000 --256.0000;29.0000 --256.0000;29.5000 --256.0000;30.0000 --256.0000;30.5000 --256.0000;31.0000 --256.0000;31.5000 --256.0000;32.0000 --256.0000;32.5000 --256.0000;33.0000 --256.0000;33.5000 --256.0000;34.0000 --256.0000;34.5000 --256.0000;35.0000 --256.0000;35.5000 --256.0000;36.0000 --256.0000;36.5000 --256.0000;37.0000 --256.0000;37.5000 --256.0000;38.0000 --256.0000;38.5000 --256.0000;39.0000 --256.0000;39.5000 --256.0000;40.0000 --256.0000;40.5000 --256.0000;41.0000 --256.0000;41.5000 --256.0000;42.0000 --256.0000;42.5000 --256.0000;43.0000 --256.0000;43.5000 --256.0000;44.0000 --256.0000;44.5000 --256.0000;45.0000 --256.0000;45.5000 --256.0000;46.0000 --256.0000;46.5000 --256.0000;47.0000 --255.5000;-228.5000 --255.5000;-228.0000 --255.5000;-227.5000 --255.5000;-227.0000 --255.5000;-226.5000 --255.5000;-226.0000 --255.5000;-225.5000 --255.5000;-225.0000 --255.5000;-224.5000 --255.5000;-224.0000 --255.5000;-223.5000 --255.5000;-223.0000 --255.5000;-222.5000 --255.5000;-222.0000 --255.5000;-221.5000 --255.5000;-221.0000 --255.5000;-220.5000 --255.5000;-220.0000 --255.5000;-219.5000 --255.5000;-219.0000 --255.5000;-218.5000 --255.5000;-218.0000 --255.5000;-217.5000 --255.5000;-217.0000 --255.5000;-216.5000 --255.5000;-216.0000 --255.5000;-215.5000 --255.5000;-142.0000 --255.5000;-141.5000 --255.5000;-141.0000 --255.5000;-140.5000 --255.5000;-140.0000 --255.5000;-139.5000 --255.5000;-139.0000 --255.5000;-138.5000 --255.5000;-138.0000 --255.5000;-137.5000 --255.5000;-137.0000 --255.5000;-136.5000 --255.5000;-136.0000 --255.5000;-135.5000 --255.5000;-135.0000 --255.5000;-134.5000 --255.5000;-134.0000 --255.5000;-133.5000 --255.5000;-133.0000 --255.5000;-132.5000 --255.5000;-132.0000 --255.5000;-131.5000 --255.5000;-131.0000 --255.5000;-130.5000 --255.5000;-130.0000 --255.5000;-129.5000 --255.5000;-129.0000 --255.5000;-128.5000 --255.5000;-128.0000 --255.5000;-64.0000 --255.5000;-63.5000 --255.5000;-63.0000 --255.5000;-62.5000 --255.5000;-62.0000 --255.5000;-61.5000 --255.5000;-61.0000 --255.5000;-60.5000 --255.5000;-60.0000 --255.5000;-59.5000 --255.5000;-59.0000 --255.5000;-58.5000 --255.5000;-58.0000 --255.5000;-57.5000 --255.5000;-57.0000 --255.5000;-56.5000 --255.5000;-56.0000 --255.5000;-55.5000 --255.5000;-55.0000 --255.5000;-54.5000 --255.5000;-54.0000 --255.5000;-53.5000 --255.5000;-53.0000 --255.5000;-52.5000 --255.5000;-52.0000 --255.5000;-51.5000 --255.5000;-51.0000 --255.5000;-50.5000 --255.5000;-50.0000 --255.5000;-49.5000 --255.5000;-49.0000 --255.5000;-48.5000 --255.5000;-48.0000 --255.5000;-47.5000 --255.5000;-47.0000 --255.5000;19.0000 --255.5000;19.5000 --255.5000;20.0000 --255.5000;20.5000 --255.5000;21.0000 --255.5000;21.5000 --255.5000;22.0000 --255.5000;22.5000 --255.5000;23.0000 --255.5000;23.5000 --255.5000;24.0000 --255.5000;24.5000 --255.5000;25.0000 --255.5000;25.5000 --255.5000;26.0000 --255.5000;26.5000 --255.5000;27.0000 --255.5000;27.5000 --255.5000;28.0000 --255.5000;28.5000 --255.5000;29.0000 --255.5000;29.5000 --255.5000;30.0000 --255.5000;30.5000 --255.5000;31.0000 --255.5000;31.5000 --255.5000;32.0000 --255.5000;32.5000 --255.5000;33.0000 --255.5000;33.5000 --255.5000;34.0000 --255.5000;34.5000 --255.5000;35.0000 --255.5000;35.5000 --255.5000;36.0000 --255.5000;36.5000 --255.5000;37.0000 --255.5000;37.5000 --255.5000;38.0000 --255.5000;38.5000 --255.5000;39.0000 --255.5000;39.5000 --255.5000;40.0000 --255.5000;40.5000 --255.5000;41.0000 --255.5000;41.5000 --255.5000;42.0000 --255.5000;42.5000 --255.5000;43.0000 --255.5000;43.5000 --255.5000;44.0000 --255.5000;44.5000 --255.5000;45.0000 --255.5000;45.5000 --255.5000;46.0000 --255.5000;46.5000 --255.5000;47.0000 --255.5000;47.5000 --255.5000;48.0000 --255.0000;-228.5000 --255.0000;-228.0000 --255.0000;-227.5000 --255.0000;-227.0000 --255.0000;-226.5000 --255.0000;-226.0000 --255.0000;-225.5000 --255.0000;-225.0000 --255.0000;-224.5000 --255.0000;-224.0000 --255.0000;-223.5000 --255.0000;-223.0000 --255.0000;-222.5000 --255.0000;-222.0000 --255.0000;-221.5000 --255.0000;-221.0000 --255.0000;-220.5000 --255.0000;-220.0000 --255.0000;-219.5000 --255.0000;-219.0000 --255.0000;-218.5000 --255.0000;-218.0000 --255.0000;-217.5000 --255.0000;-217.0000 --255.0000;-216.5000 --255.0000;-216.0000 --255.0000;-215.5000 --255.0000;-141.5000 --255.0000;-141.0000 --255.0000;-140.5000 --255.0000;-140.0000 --255.0000;-139.5000 --255.0000;-139.0000 --255.0000;-138.5000 --255.0000;-138.0000 --255.0000;-137.5000 --255.0000;-137.0000 --255.0000;-136.5000 --255.0000;-136.0000 --255.0000;-135.5000 --255.0000;-135.0000 --255.0000;-134.5000 --255.0000;-134.0000 --255.0000;-133.5000 --255.0000;-133.0000 --255.0000;-132.5000 --255.0000;-132.0000 --255.0000;-131.5000 --255.0000;-131.0000 --255.0000;-130.5000 --255.0000;-130.0000 --255.0000;-129.5000 --255.0000;-129.0000 --255.0000;-128.5000 --255.0000;-128.0000 --255.0000;-127.5000 --255.0000;-64.5000 --255.0000;-64.0000 --255.0000;-63.5000 --255.0000;-63.0000 --255.0000;-62.5000 --255.0000;-62.0000 --255.0000;-61.5000 --255.0000;-61.0000 --255.0000;-60.5000 --255.0000;-60.0000 --255.0000;-59.5000 --255.0000;-59.0000 --255.0000;-58.5000 --255.0000;-58.0000 --255.0000;-57.5000 --255.0000;-57.0000 --255.0000;-56.5000 --255.0000;-56.0000 --255.0000;-55.5000 --255.0000;-55.0000 --255.0000;-54.5000 --255.0000;-54.0000 --255.0000;-53.5000 --255.0000;-53.0000 --255.0000;-52.5000 --255.0000;-52.0000 --255.0000;-51.5000 --255.0000;-51.0000 --255.0000;-50.5000 --255.0000;-50.0000 --255.0000;-49.5000 --255.0000;-49.0000 --255.0000;-48.5000 --255.0000;-48.0000 --255.0000;20.5000 --255.0000;21.0000 --255.0000;21.5000 --255.0000;22.0000 --255.0000;22.5000 --255.0000;23.0000 --255.0000;23.5000 --255.0000;24.0000 --255.0000;24.5000 --255.0000;25.0000 --255.0000;25.5000 --255.0000;26.0000 --255.0000;26.5000 --255.0000;27.0000 --255.0000;27.5000 --255.0000;28.0000 --255.0000;28.5000 --255.0000;29.0000 --255.0000;29.5000 --255.0000;30.0000 --255.0000;30.5000 --255.0000;31.0000 --255.0000;31.5000 --255.0000;32.0000 --255.0000;32.5000 --255.0000;33.0000 --255.0000;33.5000 --255.0000;34.0000 --255.0000;34.5000 --255.0000;35.0000 --255.0000;35.5000 --255.0000;36.0000 --255.0000;36.5000 --255.0000;37.0000 --255.0000;37.5000 --255.0000;38.0000 --255.0000;38.5000 --255.0000;39.0000 --255.0000;39.5000 --255.0000;40.0000 --255.0000;40.5000 --255.0000;41.0000 --255.0000;41.5000 --255.0000;42.0000 --255.0000;42.5000 --255.0000;43.0000 --255.0000;43.5000 --255.0000;44.0000 --255.0000;44.5000 --255.0000;45.0000 --255.0000;45.5000 --255.0000;46.0000 --255.0000;46.5000 --255.0000;47.0000 --255.0000;47.5000 --255.0000;48.0000 --255.0000;48.5000 --255.0000;49.0000 --254.5000;-228.5000 --254.5000;-228.0000 --254.5000;-227.5000 --254.5000;-227.0000 --254.5000;-226.5000 --254.5000;-226.0000 --254.5000;-225.5000 --254.5000;-225.0000 --254.5000;-224.5000 --254.5000;-224.0000 --254.5000;-223.5000 --254.5000;-223.0000 --254.5000;-222.5000 --254.5000;-222.0000 --254.5000;-221.5000 --254.5000;-221.0000 --254.5000;-220.5000 --254.5000;-220.0000 --254.5000;-219.5000 --254.5000;-219.0000 --254.5000;-218.5000 --254.5000;-218.0000 --254.5000;-217.5000 --254.5000;-217.0000 --254.5000;-216.5000 --254.5000;-216.0000 --254.5000;-141.5000 --254.5000;-141.0000 --254.5000;-140.5000 --254.5000;-140.0000 --254.5000;-139.5000 --254.5000;-139.0000 --254.5000;-138.5000 --254.5000;-138.0000 --254.5000;-137.5000 --254.5000;-137.0000 --254.5000;-136.5000 --254.5000;-136.0000 --254.5000;-135.5000 --254.5000;-135.0000 --254.5000;-134.5000 --254.5000;-134.0000 --254.5000;-133.5000 --254.5000;-133.0000 --254.5000;-132.5000 --254.5000;-132.0000 --254.5000;-131.5000 --254.5000;-131.0000 --254.5000;-130.5000 --254.5000;-130.0000 --254.5000;-129.5000 --254.5000;-129.0000 --254.5000;-128.5000 --254.5000;-128.0000 --254.5000;-127.5000 --254.5000;-64.5000 --254.5000;-64.0000 --254.5000;-63.5000 --254.5000;-63.0000 --254.5000;-62.5000 --254.5000;-62.0000 --254.5000;-61.5000 --254.5000;-61.0000 --254.5000;-60.5000 --254.5000;-60.0000 --254.5000;-59.5000 --254.5000;-59.0000 --254.5000;-58.5000 --254.5000;-58.0000 --254.5000;-57.5000 --254.5000;-57.0000 --254.5000;-56.5000 --254.5000;-56.0000 --254.5000;-55.5000 --254.5000;-55.0000 --254.5000;-54.5000 --254.5000;-54.0000 --254.5000;-53.5000 --254.5000;-53.0000 --254.5000;-52.5000 --254.5000;-52.0000 --254.5000;-51.5000 --254.5000;-51.0000 --254.5000;-50.5000 --254.5000;-50.0000 --254.5000;-49.5000 --254.5000;-49.0000 --254.5000;-48.5000 --254.5000;21.5000 --254.5000;22.0000 --254.5000;22.5000 --254.5000;23.0000 --254.5000;23.5000 --254.5000;24.0000 --254.5000;24.5000 --254.5000;25.0000 --254.5000;25.5000 --254.5000;26.0000 --254.5000;26.5000 --254.5000;27.0000 --254.5000;27.5000 --254.5000;28.0000 --254.5000;28.5000 --254.5000;29.0000 --254.5000;29.5000 --254.5000;30.0000 --254.5000;30.5000 --254.5000;31.0000 --254.5000;31.5000 --254.5000;32.0000 --254.5000;32.5000 --254.5000;33.0000 --254.5000;33.5000 --254.5000;34.0000 --254.5000;34.5000 --254.5000;35.0000 --254.5000;35.5000 --254.5000;36.0000 --254.5000;36.5000 --254.5000;37.0000 --254.5000;37.5000 --254.5000;38.0000 --254.5000;38.5000 --254.5000;39.0000 --254.5000;39.5000 --254.5000;40.0000 --254.5000;40.5000 --254.5000;41.0000 --254.5000;41.5000 --254.5000;42.0000 --254.5000;42.5000 --254.5000;43.0000 --254.5000;43.5000 --254.5000;44.0000 --254.5000;44.5000 --254.5000;45.0000 --254.5000;45.5000 --254.5000;46.0000 --254.5000;46.5000 --254.5000;47.0000 --254.5000;47.5000 --254.5000;48.0000 --254.5000;48.5000 --254.5000;49.0000 --254.5000;49.5000 --254.5000;50.0000 --254.0000;-229.0000 --254.0000;-228.5000 --254.0000;-228.0000 --254.0000;-227.5000 --254.0000;-227.0000 --254.0000;-226.5000 --254.0000;-226.0000 --254.0000;-225.5000 --254.0000;-225.0000 --254.0000;-224.5000 --254.0000;-224.0000 --254.0000;-223.5000 --254.0000;-223.0000 --254.0000;-222.5000 --254.0000;-222.0000 --254.0000;-221.5000 --254.0000;-221.0000 --254.0000;-220.5000 --254.0000;-220.0000 --254.0000;-219.5000 --254.0000;-219.0000 --254.0000;-218.5000 --254.0000;-218.0000 --254.0000;-217.5000 --254.0000;-217.0000 --254.0000;-216.5000 --254.0000;-216.0000 --254.0000;-141.0000 --254.0000;-140.5000 --254.0000;-140.0000 --254.0000;-139.5000 --254.0000;-139.0000 --254.0000;-138.5000 --254.0000;-138.0000 --254.0000;-137.5000 --254.0000;-137.0000 --254.0000;-136.5000 --254.0000;-136.0000 --254.0000;-135.5000 --254.0000;-135.0000 --254.0000;-134.5000 --254.0000;-134.0000 --254.0000;-133.5000 --254.0000;-133.0000 --254.0000;-132.5000 --254.0000;-132.0000 --254.0000;-131.5000 --254.0000;-131.0000 --254.0000;-130.5000 --254.0000;-130.0000 --254.0000;-129.5000 --254.0000;-129.0000 --254.0000;-128.5000 --254.0000;-128.0000 --254.0000;-127.5000 --254.0000;-127.0000 --254.0000;-65.0000 --254.0000;-64.5000 --254.0000;-64.0000 --254.0000;-63.5000 --254.0000;-63.0000 --254.0000;-62.5000 --254.0000;-62.0000 --254.0000;-61.5000 --254.0000;-61.0000 --254.0000;-60.5000 --254.0000;-60.0000 --254.0000;-59.5000 --254.0000;-59.0000 --254.0000;-58.5000 --254.0000;-58.0000 --254.0000;-57.5000 --254.0000;-57.0000 --254.0000;-56.5000 --254.0000;-56.0000 --254.0000;-55.5000 --254.0000;-55.0000 --254.0000;-54.5000 --254.0000;-54.0000 --254.0000;-53.5000 --254.0000;-53.0000 --254.0000;-52.5000 --254.0000;-52.0000 --254.0000;-51.5000 --254.0000;-51.0000 --254.0000;-50.5000 --254.0000;-50.0000 --254.0000;-49.5000 --254.0000;-49.0000 --254.0000;22.5000 --254.0000;23.0000 --254.0000;23.5000 --254.0000;24.0000 --254.0000;24.5000 --254.0000;25.0000 --254.0000;25.5000 --254.0000;26.0000 --254.0000;26.5000 --254.0000;27.0000 --254.0000;27.5000 --254.0000;28.0000 --254.0000;28.5000 --254.0000;29.0000 --254.0000;29.5000 --254.0000;30.0000 --254.0000;30.5000 --254.0000;31.0000 --254.0000;31.5000 --254.0000;32.0000 --254.0000;32.5000 --254.0000;33.0000 --254.0000;33.5000 --254.0000;34.0000 --254.0000;34.5000 --254.0000;35.0000 --254.0000;35.5000 --254.0000;36.0000 --254.0000;36.5000 --254.0000;37.0000 --254.0000;37.5000 --254.0000;38.0000 --254.0000;38.5000 --254.0000;39.0000 --254.0000;39.5000 --254.0000;40.0000 --254.0000;40.5000 --254.0000;41.0000 --254.0000;41.5000 --254.0000;42.0000 --254.0000;42.5000 --254.0000;43.0000 --254.0000;43.5000 --254.0000;44.0000 --254.0000;44.5000 --254.0000;45.0000 --254.0000;45.5000 --254.0000;46.0000 --254.0000;46.5000 --254.0000;47.0000 --254.0000;47.5000 --254.0000;48.0000 --254.0000;48.5000 --254.0000;49.0000 --254.0000;49.5000 --254.0000;50.0000 --254.0000;50.5000 --254.0000;51.0000 --253.5000;-229.0000 --253.5000;-228.5000 --253.5000;-228.0000 --253.5000;-227.5000 --253.5000;-227.0000 --253.5000;-226.5000 --253.5000;-226.0000 --253.5000;-225.5000 --253.5000;-225.0000 --253.5000;-224.5000 --253.5000;-224.0000 --253.5000;-223.5000 --253.5000;-223.0000 --253.5000;-222.5000 --253.5000;-222.0000 --253.5000;-221.5000 --253.5000;-221.0000 --253.5000;-220.5000 --253.5000;-220.0000 --253.5000;-219.5000 --253.5000;-219.0000 --253.5000;-218.5000 --253.5000;-218.0000 --253.5000;-217.5000 --253.5000;-217.0000 --253.5000;-216.5000 --253.5000;-140.5000 --253.5000;-140.0000 --253.5000;-139.5000 --253.5000;-139.0000 --253.5000;-138.5000 --253.5000;-138.0000 --253.5000;-137.5000 --253.5000;-137.0000 --253.5000;-136.5000 --253.5000;-136.0000 --253.5000;-135.5000 --253.5000;-135.0000 --253.5000;-134.5000 --253.5000;-134.0000 --253.5000;-133.5000 --253.5000;-133.0000 --253.5000;-132.5000 --253.5000;-132.0000 --253.5000;-131.5000 --253.5000;-131.0000 --253.5000;-130.5000 --253.5000;-130.0000 --253.5000;-129.5000 --253.5000;-129.0000 --253.5000;-128.5000 --253.5000;-128.0000 --253.5000;-127.5000 --253.5000;-127.0000 --253.5000;-65.5000 --253.5000;-65.0000 --253.5000;-64.5000 --253.5000;-64.0000 --253.5000;-63.5000 --253.5000;-63.0000 --253.5000;-62.5000 --253.5000;-62.0000 --253.5000;-61.5000 --253.5000;-61.0000 --253.5000;-60.5000 --253.5000;-60.0000 --253.5000;-59.5000 --253.5000;-59.0000 --253.5000;-58.5000 --253.5000;-58.0000 --253.5000;-57.5000 --253.5000;-57.0000 --253.5000;-56.5000 --253.5000;-56.0000 --253.5000;-55.5000 --253.5000;-55.0000 --253.5000;-54.5000 --253.5000;-54.0000 --253.5000;-53.5000 --253.5000;-53.0000 --253.5000;-52.5000 --253.5000;-52.0000 --253.5000;-51.5000 --253.5000;-51.0000 --253.5000;-50.5000 --253.5000;-50.0000 --253.5000;-49.5000 --253.5000;24.0000 --253.5000;24.5000 --253.5000;25.0000 --253.5000;25.5000 --253.5000;26.0000 --253.5000;26.5000 --253.5000;27.0000 --253.5000;27.5000 --253.5000;28.0000 --253.5000;28.5000 --253.5000;29.0000 --253.5000;29.5000 --253.5000;30.0000 --253.5000;30.5000 --253.5000;31.0000 --253.5000;31.5000 --253.5000;32.0000 --253.5000;32.5000 --253.5000;33.0000 --253.5000;33.5000 --253.5000;34.0000 --253.5000;34.5000 --253.5000;35.0000 --253.5000;35.5000 --253.5000;36.0000 --253.5000;36.5000 --253.5000;37.0000 --253.5000;37.5000 --253.5000;38.0000 --253.5000;38.5000 --253.5000;39.0000 --253.5000;39.5000 --253.5000;40.0000 --253.5000;40.5000 --253.5000;41.0000 --253.5000;41.5000 --253.5000;42.0000 --253.5000;42.5000 --253.5000;43.0000 --253.5000;43.5000 --253.5000;44.0000 --253.5000;44.5000 --253.5000;45.0000 --253.5000;45.5000 --253.5000;46.0000 --253.5000;46.5000 --253.5000;47.0000 --253.5000;47.5000 --253.5000;48.0000 --253.5000;48.5000 --253.5000;49.0000 --253.5000;49.5000 --253.5000;50.0000 --253.5000;50.5000 --253.5000;51.0000 --253.5000;51.5000 --253.5000;52.0000 --253.0000;-229.5000 --253.0000;-229.0000 --253.0000;-228.5000 --253.0000;-228.0000 --253.0000;-227.5000 --253.0000;-227.0000 --253.0000;-226.5000 --253.0000;-226.0000 --253.0000;-225.5000 --253.0000;-225.0000 --253.0000;-224.5000 --253.0000;-224.0000 --253.0000;-223.5000 --253.0000;-223.0000 --253.0000;-222.5000 --253.0000;-222.0000 --253.0000;-221.5000 --253.0000;-221.0000 --253.0000;-220.5000 --253.0000;-220.0000 --253.0000;-219.5000 --253.0000;-219.0000 --253.0000;-218.5000 --253.0000;-218.0000 --253.0000;-217.5000 --253.0000;-217.0000 --253.0000;-216.5000 --253.0000;-140.5000 --253.0000;-140.0000 --253.0000;-139.5000 --253.0000;-139.0000 --253.0000;-138.5000 --253.0000;-138.0000 --253.0000;-137.5000 --253.0000;-137.0000 --253.0000;-136.5000 --253.0000;-136.0000 --253.0000;-135.5000 --253.0000;-135.0000 --253.0000;-134.5000 --253.0000;-134.0000 --253.0000;-133.5000 --253.0000;-133.0000 --253.0000;-132.5000 --253.0000;-132.0000 --253.0000;-131.5000 --253.0000;-131.0000 --253.0000;-130.5000 --253.0000;-130.0000 --253.0000;-129.5000 --253.0000;-129.0000 --253.0000;-128.5000 --253.0000;-128.0000 --253.0000;-127.5000 --253.0000;-127.0000 --253.0000;-126.5000 --253.0000;-66.0000 --253.0000;-65.5000 --253.0000;-65.0000 --253.0000;-64.5000 --253.0000;-64.0000 --253.0000;-63.5000 --253.0000;-63.0000 --253.0000;-62.5000 --253.0000;-62.0000 --253.0000;-61.5000 --253.0000;-61.0000 --253.0000;-60.5000 --253.0000;-60.0000 --253.0000;-59.5000 --253.0000;-59.0000 --253.0000;-58.5000 --253.0000;-58.0000 --253.0000;-57.5000 --253.0000;-57.0000 --253.0000;-56.5000 --253.0000;-56.0000 --253.0000;-55.5000 --253.0000;-55.0000 --253.0000;-54.5000 --253.0000;-54.0000 --253.0000;-53.5000 --253.0000;-53.0000 --253.0000;-52.5000 --253.0000;-52.0000 --253.0000;-51.5000 --253.0000;-51.0000 --253.0000;-50.5000 --253.0000;-50.0000 --253.0000;25.0000 --253.0000;25.5000 --253.0000;26.0000 --253.0000;26.5000 --253.0000;27.0000 --253.0000;27.5000 --253.0000;28.0000 --253.0000;28.5000 --253.0000;29.0000 --253.0000;29.5000 --253.0000;30.0000 --253.0000;30.5000 --253.0000;31.0000 --253.0000;31.5000 --253.0000;32.0000 --253.0000;32.5000 --253.0000;33.0000 --253.0000;33.5000 --253.0000;34.0000 --253.0000;34.5000 --253.0000;35.0000 --253.0000;35.5000 --253.0000;36.0000 --253.0000;36.5000 --253.0000;37.0000 --253.0000;37.5000 --253.0000;38.0000 --253.0000;38.5000 --253.0000;39.0000 --253.0000;39.5000 --253.0000;40.0000 --253.0000;40.5000 --253.0000;41.0000 --253.0000;41.5000 --253.0000;42.0000 --253.0000;42.5000 --253.0000;43.0000 --253.0000;43.5000 --253.0000;44.0000 --253.0000;44.5000 --253.0000;45.0000 --253.0000;45.5000 --253.0000;46.0000 --253.0000;46.5000 --253.0000;47.0000 --253.0000;47.5000 --253.0000;48.0000 --253.0000;48.5000 --253.0000;49.0000 --253.0000;49.5000 --253.0000;50.0000 --253.0000;50.5000 --253.0000;51.0000 --253.0000;51.5000 --253.0000;52.0000 --253.0000;52.5000 --253.0000;53.0000 --253.0000;53.5000 --252.5000;-229.5000 --252.5000;-229.0000 --252.5000;-228.5000 --252.5000;-228.0000 --252.5000;-227.5000 --252.5000;-227.0000 --252.5000;-226.5000 --252.5000;-226.0000 --252.5000;-225.5000 --252.5000;-225.0000 --252.5000;-224.5000 --252.5000;-224.0000 --252.5000;-223.5000 --252.5000;-223.0000 --252.5000;-222.5000 --252.5000;-222.0000 --252.5000;-221.5000 --252.5000;-221.0000 --252.5000;-220.5000 --252.5000;-220.0000 --252.5000;-219.5000 --252.5000;-219.0000 --252.5000;-218.5000 --252.5000;-218.0000 --252.5000;-217.5000 --252.5000;-217.0000 --252.5000;-216.5000 --252.5000;-140.0000 --252.5000;-139.5000 --252.5000;-139.0000 --252.5000;-138.5000 --252.5000;-138.0000 --252.5000;-137.5000 --252.5000;-137.0000 --252.5000;-136.5000 --252.5000;-136.0000 --252.5000;-135.5000 --252.5000;-135.0000 --252.5000;-134.5000 --252.5000;-134.0000 --252.5000;-133.5000 --252.5000;-133.0000 --252.5000;-132.5000 --252.5000;-132.0000 --252.5000;-131.5000 --252.5000;-131.0000 --252.5000;-130.5000 --252.5000;-130.0000 --252.5000;-129.5000 --252.5000;-129.0000 --252.5000;-128.5000 --252.5000;-128.0000 --252.5000;-127.5000 --252.5000;-127.0000 --252.5000;-126.5000 --252.5000;-66.5000 --252.5000;-66.0000 --252.5000;-65.5000 --252.5000;-65.0000 --252.5000;-64.5000 --252.5000;-64.0000 --252.5000;-63.5000 --252.5000;-63.0000 --252.5000;-62.5000 --252.5000;-62.0000 --252.5000;-61.5000 --252.5000;-61.0000 --252.5000;-60.5000 --252.5000;-60.0000 --252.5000;-59.5000 --252.5000;-59.0000 --252.5000;-58.5000 --252.5000;-58.0000 --252.5000;-57.5000 --252.5000;-57.0000 --252.5000;-56.5000 --252.5000;-56.0000 --252.5000;-55.5000 --252.5000;-55.0000 --252.5000;-54.5000 --252.5000;-54.0000 --252.5000;-53.5000 --252.5000;-53.0000 --252.5000;-52.5000 --252.5000;-52.0000 --252.5000;-51.5000 --252.5000;-51.0000 --252.5000;-50.5000 --252.5000;26.0000 --252.5000;26.5000 --252.5000;27.0000 --252.5000;27.5000 --252.5000;28.0000 --252.5000;28.5000 --252.5000;29.0000 --252.5000;29.5000 --252.5000;30.0000 --252.5000;30.5000 --252.5000;31.0000 --252.5000;31.5000 --252.5000;32.0000 --252.5000;32.5000 --252.5000;33.0000 --252.5000;33.5000 --252.5000;34.0000 --252.5000;34.5000 --252.5000;35.0000 --252.5000;35.5000 --252.5000;36.0000 --252.5000;36.5000 --252.5000;37.0000 --252.5000;37.5000 --252.5000;38.0000 --252.5000;38.5000 --252.5000;39.0000 --252.5000;39.5000 --252.5000;40.0000 --252.5000;40.5000 --252.5000;41.0000 --252.5000;41.5000 --252.5000;42.0000 --252.5000;42.5000 --252.5000;43.0000 --252.5000;43.5000 --252.5000;44.0000 --252.5000;44.5000 --252.5000;45.0000 --252.5000;45.5000 --252.5000;46.0000 --252.5000;46.5000 --252.5000;47.0000 --252.5000;47.5000 --252.5000;48.0000 --252.5000;48.5000 --252.5000;49.0000 --252.5000;49.5000 --252.5000;50.0000 --252.5000;50.5000 --252.5000;51.0000 --252.5000;51.5000 --252.5000;52.0000 --252.5000;52.5000 --252.5000;53.0000 --252.5000;53.5000 --252.5000;54.0000 --252.5000;54.5000 --252.0000;-229.5000 --252.0000;-229.0000 --252.0000;-228.5000 --252.0000;-228.0000 --252.0000;-227.5000 --252.0000;-227.0000 --252.0000;-226.5000 --252.0000;-226.0000 --252.0000;-225.5000 --252.0000;-225.0000 --252.0000;-224.5000 --252.0000;-224.0000 --252.0000;-223.5000 --252.0000;-223.0000 --252.0000;-222.5000 --252.0000;-222.0000 --252.0000;-221.5000 --252.0000;-221.0000 --252.0000;-220.5000 --252.0000;-220.0000 --252.0000;-219.5000 --252.0000;-219.0000 --252.0000;-218.5000 --252.0000;-218.0000 --252.0000;-217.5000 --252.0000;-217.0000 --252.0000;-139.5000 --252.0000;-139.0000 --252.0000;-138.5000 --252.0000;-138.0000 --252.0000;-137.5000 --252.0000;-137.0000 --252.0000;-136.5000 --252.0000;-136.0000 --252.0000;-135.5000 --252.0000;-135.0000 --252.0000;-134.5000 --252.0000;-134.0000 --252.0000;-133.5000 --252.0000;-133.0000 --252.0000;-132.5000 --252.0000;-132.0000 --252.0000;-131.5000 --252.0000;-131.0000 --252.0000;-130.5000 --252.0000;-130.0000 --252.0000;-129.5000 --252.0000;-129.0000 --252.0000;-128.5000 --252.0000;-128.0000 --252.0000;-127.5000 --252.0000;-127.0000 --252.0000;-126.5000 --252.0000;-126.0000 --252.0000;-66.5000 --252.0000;-66.0000 --252.0000;-65.5000 --252.0000;-65.0000 --252.0000;-64.5000 --252.0000;-64.0000 --252.0000;-63.5000 --252.0000;-63.0000 --252.0000;-62.5000 --252.0000;-62.0000 --252.0000;-61.5000 --252.0000;-61.0000 --252.0000;-60.5000 --252.0000;-60.0000 --252.0000;-59.5000 --252.0000;-59.0000 --252.0000;-58.5000 --252.0000;-58.0000 --252.0000;-57.5000 --252.0000;-57.0000 --252.0000;-56.5000 --252.0000;-56.0000 --252.0000;-55.5000 --252.0000;-55.0000 --252.0000;-54.5000 --252.0000;-54.0000 --252.0000;-53.5000 --252.0000;-53.0000 --252.0000;-52.5000 --252.0000;-52.0000 --252.0000;-51.5000 --252.0000;-51.0000 --252.0000;27.0000 --252.0000;27.5000 --252.0000;28.0000 --252.0000;28.5000 --252.0000;29.0000 --252.0000;29.5000 --252.0000;30.0000 --252.0000;30.5000 --252.0000;31.0000 --252.0000;31.5000 --252.0000;32.0000 --252.0000;32.5000 --252.0000;33.0000 --252.0000;33.5000 --252.0000;34.0000 --252.0000;34.5000 --252.0000;35.0000 --252.0000;35.5000 --252.0000;36.0000 --252.0000;36.5000 --252.0000;37.0000 --252.0000;37.5000 --252.0000;38.0000 --252.0000;38.5000 --252.0000;39.0000 --252.0000;39.5000 --252.0000;40.0000 --252.0000;40.5000 --252.0000;41.0000 --252.0000;41.5000 --252.0000;42.0000 --252.0000;42.5000 --252.0000;43.0000 --252.0000;43.5000 --252.0000;44.0000 --252.0000;44.5000 --252.0000;45.0000 --252.0000;45.5000 --252.0000;46.0000 --252.0000;46.5000 --252.0000;47.0000 --252.0000;47.5000 --252.0000;48.0000 --252.0000;48.5000 --252.0000;49.0000 --252.0000;49.5000 --252.0000;50.0000 --252.0000;50.5000 --252.0000;51.0000 --252.0000;51.5000 --252.0000;52.0000 --252.0000;52.5000 --252.0000;53.0000 --252.0000;53.5000 --252.0000;54.0000 --252.0000;54.5000 --252.0000;55.0000 --252.0000;55.5000 --251.5000;-230.0000 --251.5000;-229.5000 --251.5000;-229.0000 --251.5000;-228.5000 --251.5000;-228.0000 --251.5000;-227.5000 --251.5000;-227.0000 --251.5000;-226.5000 --251.5000;-226.0000 --251.5000;-225.5000 --251.5000;-225.0000 --251.5000;-224.5000 --251.5000;-224.0000 --251.5000;-223.5000 --251.5000;-223.0000 --251.5000;-222.5000 --251.5000;-222.0000 --251.5000;-221.5000 --251.5000;-221.0000 --251.5000;-220.5000 --251.5000;-220.0000 --251.5000;-219.5000 --251.5000;-219.0000 --251.5000;-218.5000 --251.5000;-218.0000 --251.5000;-217.5000 --251.5000;-217.0000 --251.5000;-139.5000 --251.5000;-139.0000 --251.5000;-138.5000 --251.5000;-138.0000 --251.5000;-137.5000 --251.5000;-137.0000 --251.5000;-136.5000 --251.5000;-136.0000 --251.5000;-135.5000 --251.5000;-135.0000 --251.5000;-134.5000 --251.5000;-134.0000 --251.5000;-133.5000 --251.5000;-133.0000 --251.5000;-132.5000 --251.5000;-132.0000 --251.5000;-131.5000 --251.5000;-131.0000 --251.5000;-130.5000 --251.5000;-130.0000 --251.5000;-129.5000 --251.5000;-129.0000 --251.5000;-128.5000 --251.5000;-128.0000 --251.5000;-127.5000 --251.5000;-127.0000 --251.5000;-126.5000 --251.5000;-126.0000 --251.5000;-67.0000 --251.5000;-66.5000 --251.5000;-66.0000 --251.5000;-65.5000 --251.5000;-65.0000 --251.5000;-64.5000 --251.5000;-64.0000 --251.5000;-63.5000 --251.5000;-63.0000 --251.5000;-62.5000 --251.5000;-62.0000 --251.5000;-61.5000 --251.5000;-61.0000 --251.5000;-60.5000 --251.5000;-60.0000 --251.5000;-59.5000 --251.5000;-59.0000 --251.5000;-58.5000 --251.5000;-58.0000 --251.5000;-57.5000 --251.5000;-57.0000 --251.5000;-56.5000 --251.5000;-56.0000 --251.5000;-55.5000 --251.5000;-55.0000 --251.5000;-54.5000 --251.5000;-54.0000 --251.5000;-53.5000 --251.5000;-53.0000 --251.5000;-52.5000 --251.5000;-52.0000 --251.5000;-51.5000 --251.5000;28.0000 --251.5000;28.5000 --251.5000;29.0000 --251.5000;29.5000 --251.5000;30.0000 --251.5000;30.5000 --251.5000;31.0000 --251.5000;31.5000 --251.5000;32.0000 --251.5000;32.5000 --251.5000;33.0000 --251.5000;33.5000 --251.5000;34.0000 --251.5000;34.5000 --251.5000;35.0000 --251.5000;35.5000 --251.5000;36.0000 --251.5000;36.5000 --251.5000;37.0000 --251.5000;37.5000 --251.5000;38.0000 --251.5000;38.5000 --251.5000;39.0000 --251.5000;39.5000 --251.5000;40.0000 --251.5000;40.5000 --251.5000;41.0000 --251.5000;41.5000 --251.5000;42.0000 --251.5000;42.5000 --251.5000;43.0000 --251.5000;43.5000 --251.5000;44.0000 --251.5000;44.5000 --251.5000;45.0000 --251.5000;45.5000 --251.5000;46.0000 --251.5000;46.5000 --251.5000;47.0000 --251.5000;47.5000 --251.5000;48.0000 --251.5000;48.5000 --251.5000;49.0000 --251.5000;49.5000 --251.5000;50.0000 --251.5000;50.5000 --251.5000;51.0000 --251.5000;51.5000 --251.5000;52.0000 --251.5000;52.5000 --251.5000;53.0000 --251.5000;53.5000 --251.5000;54.0000 --251.5000;54.5000 --251.5000;55.0000 --251.5000;55.5000 --251.5000;56.0000 --251.5000;56.5000 --251.0000;-230.0000 --251.0000;-229.5000 --251.0000;-229.0000 --251.0000;-228.5000 --251.0000;-228.0000 --251.0000;-227.5000 --251.0000;-227.0000 --251.0000;-226.5000 --251.0000;-226.0000 --251.0000;-225.5000 --251.0000;-225.0000 --251.0000;-224.5000 --251.0000;-224.0000 --251.0000;-223.5000 --251.0000;-223.0000 --251.0000;-222.5000 --251.0000;-222.0000 --251.0000;-221.5000 --251.0000;-221.0000 --251.0000;-220.5000 --251.0000;-220.0000 --251.0000;-219.5000 --251.0000;-219.0000 --251.0000;-218.5000 --251.0000;-218.0000 --251.0000;-217.5000 --251.0000;-217.0000 --251.0000;-139.0000 --251.0000;-138.5000 --251.0000;-138.0000 --251.0000;-137.5000 --251.0000;-137.0000 --251.0000;-136.5000 --251.0000;-136.0000 --251.0000;-135.5000 --251.0000;-135.0000 --251.0000;-134.5000 --251.0000;-134.0000 --251.0000;-133.5000 --251.0000;-133.0000 --251.0000;-132.5000 --251.0000;-132.0000 --251.0000;-131.5000 --251.0000;-131.0000 --251.0000;-130.5000 --251.0000;-130.0000 --251.0000;-129.5000 --251.0000;-129.0000 --251.0000;-128.5000 --251.0000;-128.0000 --251.0000;-127.5000 --251.0000;-127.0000 --251.0000;-126.5000 --251.0000;-126.0000 --251.0000;-125.5000 --251.0000;-67.5000 --251.0000;-67.0000 --251.0000;-66.5000 --251.0000;-66.0000 --251.0000;-65.5000 --251.0000;-65.0000 --251.0000;-64.5000 --251.0000;-64.0000 --251.0000;-63.5000 --251.0000;-63.0000 --251.0000;-62.5000 --251.0000;-62.0000 --251.0000;-61.5000 --251.0000;-61.0000 --251.0000;-60.5000 --251.0000;-60.0000 --251.0000;-59.5000 --251.0000;-59.0000 --251.0000;-58.5000 --251.0000;-58.0000 --251.0000;-57.5000 --251.0000;-57.0000 --251.0000;-56.5000 --251.0000;-56.0000 --251.0000;-55.5000 --251.0000;-55.0000 --251.0000;-54.5000 --251.0000;-54.0000 --251.0000;-53.5000 --251.0000;-53.0000 --251.0000;-52.5000 --251.0000;-52.0000 --251.0000;29.0000 --251.0000;29.5000 --251.0000;30.0000 --251.0000;30.5000 --251.0000;31.0000 --251.0000;31.5000 --251.0000;32.0000 --251.0000;32.5000 --251.0000;33.0000 --251.0000;33.5000 --251.0000;34.0000 --251.0000;34.5000 --251.0000;35.0000 --251.0000;35.5000 --251.0000;36.0000 --251.0000;36.5000 --251.0000;37.0000 --251.0000;37.5000 --251.0000;38.0000 --251.0000;38.5000 --251.0000;39.0000 --251.0000;39.5000 --251.0000;40.0000 --251.0000;40.5000 --251.0000;41.0000 --251.0000;41.5000 --251.0000;42.0000 --251.0000;42.5000 --251.0000;43.0000 --251.0000;43.5000 --251.0000;44.0000 --251.0000;44.5000 --251.0000;45.0000 --251.0000;45.5000 --251.0000;46.0000 --251.0000;46.5000 --251.0000;47.0000 --251.0000;47.5000 --251.0000;48.0000 --251.0000;48.5000 --251.0000;49.0000 --251.0000;49.5000 --251.0000;50.0000 --251.0000;50.5000 --251.0000;51.0000 --251.0000;51.5000 --251.0000;52.0000 --251.0000;52.5000 --251.0000;53.0000 --251.0000;53.5000 --251.0000;54.0000 --251.0000;54.5000 --251.0000;55.0000 --251.0000;55.5000 --251.0000;56.0000 --251.0000;56.5000 --251.0000;57.0000 --251.0000;57.5000 --250.5000;-230.5000 --250.5000;-230.0000 --250.5000;-229.5000 --250.5000;-229.0000 --250.5000;-228.5000 --250.5000;-228.0000 --250.5000;-227.5000 --250.5000;-227.0000 --250.5000;-226.5000 --250.5000;-226.0000 --250.5000;-225.5000 --250.5000;-225.0000 --250.5000;-224.5000 --250.5000;-224.0000 --250.5000;-223.5000 --250.5000;-223.0000 --250.5000;-222.5000 --250.5000;-222.0000 --250.5000;-221.5000 --250.5000;-221.0000 --250.5000;-220.5000 --250.5000;-220.0000 --250.5000;-219.5000 --250.5000;-219.0000 --250.5000;-218.5000 --250.5000;-218.0000 --250.5000;-217.5000 --250.5000;-139.0000 --250.5000;-138.5000 --250.5000;-138.0000 --250.5000;-137.5000 --250.5000;-137.0000 --250.5000;-136.5000 --250.5000;-136.0000 --250.5000;-135.5000 --250.5000;-135.0000 --250.5000;-134.5000 --250.5000;-134.0000 --250.5000;-133.5000 --250.5000;-133.0000 --250.5000;-132.5000 --250.5000;-132.0000 --250.5000;-131.5000 --250.5000;-131.0000 --250.5000;-130.5000 --250.5000;-130.0000 --250.5000;-129.5000 --250.5000;-129.0000 --250.5000;-128.5000 --250.5000;-128.0000 --250.5000;-127.5000 --250.5000;-127.0000 --250.5000;-126.5000 --250.5000;-126.0000 --250.5000;-125.5000 --250.5000;-67.5000 --250.5000;-67.0000 --250.5000;-66.5000 --250.5000;-66.0000 --250.5000;-65.5000 --250.5000;-65.0000 --250.5000;-64.5000 --250.5000;-64.0000 --250.5000;-63.5000 --250.5000;-63.0000 --250.5000;-62.5000 --250.5000;-62.0000 --250.5000;-61.5000 --250.5000;-61.0000 --250.5000;-60.5000 --250.5000;-60.0000 --250.5000;-59.5000 --250.5000;-59.0000 --250.5000;-58.5000 --250.5000;-58.0000 --250.5000;-57.5000 --250.5000;-57.0000 --250.5000;-56.5000 --250.5000;-56.0000 --250.5000;-55.5000 --250.5000;-55.0000 --250.5000;-54.5000 --250.5000;-54.0000 --250.5000;-53.5000 --250.5000;-53.0000 --250.5000;-52.5000 --250.5000;-52.0000 --250.5000;30.5000 --250.5000;31.0000 --250.5000;31.5000 --250.5000;32.0000 --250.5000;32.5000 --250.5000;33.0000 --250.5000;33.5000 --250.5000;34.0000 --250.5000;34.5000 --250.5000;35.0000 --250.5000;35.5000 --250.5000;36.0000 --250.5000;36.5000 --250.5000;37.0000 --250.5000;37.5000 --250.5000;38.0000 --250.5000;38.5000 --250.5000;39.0000 --250.5000;39.5000 --250.5000;40.0000 --250.5000;40.5000 --250.5000;41.0000 --250.5000;41.5000 --250.5000;42.0000 --250.5000;42.5000 --250.5000;43.0000 --250.5000;43.5000 --250.5000;44.0000 --250.5000;44.5000 --250.5000;45.0000 --250.5000;45.5000 --250.5000;46.0000 --250.5000;46.5000 --250.5000;47.0000 --250.5000;47.5000 --250.5000;48.0000 --250.5000;48.5000 --250.5000;49.0000 --250.5000;49.5000 --250.5000;50.0000 --250.5000;50.5000 --250.5000;51.0000 --250.5000;51.5000 --250.5000;52.0000 --250.5000;52.5000 --250.5000;53.0000 --250.5000;53.5000 --250.5000;54.0000 --250.5000;54.5000 --250.5000;55.0000 --250.5000;55.5000 --250.5000;56.0000 --250.5000;56.5000 --250.5000;57.0000 --250.5000;57.5000 --250.5000;58.0000 --250.5000;58.5000 --250.0000;-230.5000 --250.0000;-230.0000 --250.0000;-229.5000 --250.0000;-229.0000 --250.0000;-228.5000 --250.0000;-228.0000 --250.0000;-227.5000 --250.0000;-227.0000 --250.0000;-226.5000 --250.0000;-226.0000 --250.0000;-225.5000 --250.0000;-225.0000 --250.0000;-224.5000 --250.0000;-224.0000 --250.0000;-223.5000 --250.0000;-223.0000 --250.0000;-222.5000 --250.0000;-222.0000 --250.0000;-221.5000 --250.0000;-221.0000 --250.0000;-220.5000 --250.0000;-220.0000 --250.0000;-219.5000 --250.0000;-219.0000 --250.0000;-218.5000 --250.0000;-218.0000 --250.0000;-217.5000 --250.0000;-138.5000 --250.0000;-138.0000 --250.0000;-137.5000 --250.0000;-137.0000 --250.0000;-136.5000 --250.0000;-136.0000 --250.0000;-135.5000 --250.0000;-135.0000 --250.0000;-134.5000 --250.0000;-134.0000 --250.0000;-133.5000 --250.0000;-133.0000 --250.0000;-132.5000 --250.0000;-132.0000 --250.0000;-131.5000 --250.0000;-131.0000 --250.0000;-130.5000 --250.0000;-130.0000 --250.0000;-129.5000 --250.0000;-129.0000 --250.0000;-128.5000 --250.0000;-128.0000 --250.0000;-127.5000 --250.0000;-127.0000 --250.0000;-126.5000 --250.0000;-126.0000 --250.0000;-125.5000 --250.0000;-125.0000 --250.0000;-68.0000 --250.0000;-67.5000 --250.0000;-67.0000 --250.0000;-66.5000 --250.0000;-66.0000 --250.0000;-65.5000 --250.0000;-65.0000 --250.0000;-64.5000 --250.0000;-64.0000 --250.0000;-63.5000 --250.0000;-63.0000 --250.0000;-62.5000 --250.0000;-62.0000 --250.0000;-61.5000 --250.0000;-61.0000 --250.0000;-60.5000 --250.0000;-60.0000 --250.0000;-59.5000 --250.0000;-59.0000 --250.0000;-58.5000 --250.0000;-58.0000 --250.0000;-57.5000 --250.0000;-57.0000 --250.0000;-56.5000 --250.0000;-56.0000 --250.0000;-55.5000 --250.0000;-55.0000 --250.0000;-54.5000 --250.0000;-54.0000 --250.0000;-53.5000 --250.0000;-53.0000 --250.0000;-52.5000 --250.0000;31.5000 --250.0000;32.0000 --250.0000;32.5000 --250.0000;33.0000 --250.0000;33.5000 --250.0000;34.0000 --250.0000;34.5000 --250.0000;35.0000 --250.0000;35.5000 --250.0000;36.0000 --250.0000;36.5000 --250.0000;37.0000 --250.0000;37.5000 --250.0000;38.0000 --250.0000;38.5000 --250.0000;39.0000 --250.0000;39.5000 --250.0000;40.0000 --250.0000;40.5000 --250.0000;41.0000 --250.0000;41.5000 --250.0000;42.0000 --250.0000;42.5000 --250.0000;43.0000 --250.0000;43.5000 --250.0000;44.0000 --250.0000;44.5000 --250.0000;45.0000 --250.0000;45.5000 --250.0000;46.0000 --250.0000;46.5000 --250.0000;47.0000 --250.0000;47.5000 --250.0000;48.0000 --250.0000;48.5000 --250.0000;49.0000 --250.0000;49.5000 --250.0000;50.0000 --250.0000;50.5000 --250.0000;51.0000 --250.0000;51.5000 --250.0000;52.0000 --250.0000;52.5000 --250.0000;53.0000 --250.0000;53.5000 --250.0000;54.0000 --250.0000;54.5000 --250.0000;55.0000 --250.0000;55.5000 --250.0000;56.0000 --250.0000;56.5000 --250.0000;57.0000 --250.0000;57.5000 --250.0000;58.0000 --250.0000;58.5000 --250.0000;59.0000 --250.0000;59.5000 --249.5000;-230.5000 --249.5000;-230.0000 --249.5000;-229.5000 --249.5000;-229.0000 --249.5000;-228.5000 --249.5000;-228.0000 --249.5000;-227.5000 --249.5000;-227.0000 --249.5000;-226.5000 --249.5000;-226.0000 --249.5000;-225.5000 --249.5000;-225.0000 --249.5000;-224.5000 --249.5000;-224.0000 --249.5000;-223.5000 --249.5000;-223.0000 --249.5000;-222.5000 --249.5000;-222.0000 --249.5000;-221.5000 --249.5000;-221.0000 --249.5000;-220.5000 --249.5000;-220.0000 --249.5000;-219.5000 --249.5000;-219.0000 --249.5000;-218.5000 --249.5000;-218.0000 --249.5000;-138.5000 --249.5000;-138.0000 --249.5000;-137.5000 --249.5000;-137.0000 --249.5000;-136.5000 --249.5000;-136.0000 --249.5000;-135.5000 --249.5000;-135.0000 --249.5000;-134.5000 --249.5000;-134.0000 --249.5000;-133.5000 --249.5000;-133.0000 --249.5000;-132.5000 --249.5000;-132.0000 --249.5000;-131.5000 --249.5000;-131.0000 --249.5000;-130.5000 --249.5000;-130.0000 --249.5000;-129.5000 --249.5000;-129.0000 --249.5000;-128.5000 --249.5000;-128.0000 --249.5000;-127.5000 --249.5000;-127.0000 --249.5000;-126.5000 --249.5000;-126.0000 --249.5000;-125.5000 --249.5000;-125.0000 --249.5000;-68.0000 --249.5000;-67.5000 --249.5000;-67.0000 --249.5000;-66.5000 --249.5000;-66.0000 --249.5000;-65.5000 --249.5000;-65.0000 --249.5000;-64.5000 --249.5000;-64.0000 --249.5000;-63.5000 --249.5000;-63.0000 --249.5000;-62.5000 --249.5000;-62.0000 --249.5000;-61.5000 --249.5000;-61.0000 --249.5000;-60.5000 --249.5000;-60.0000 --249.5000;-59.5000 --249.5000;-59.0000 --249.5000;-58.5000 --249.5000;-58.0000 --249.5000;-57.5000 --249.5000;-57.0000 --249.5000;-56.5000 --249.5000;-56.0000 --249.5000;-55.5000 --249.5000;-55.0000 --249.5000;-54.5000 --249.5000;-54.0000 --249.5000;-53.5000 --249.5000;-53.0000 --249.5000;32.5000 --249.5000;33.0000 --249.5000;33.5000 --249.5000;34.0000 --249.5000;34.5000 --249.5000;35.0000 --249.5000;35.5000 --249.5000;36.0000 --249.5000;36.5000 --249.5000;37.0000 --249.5000;37.5000 --249.5000;38.0000 --249.5000;38.5000 --249.5000;39.0000 --249.5000;39.5000 --249.5000;40.0000 --249.5000;40.5000 --249.5000;41.0000 --249.5000;41.5000 --249.5000;42.0000 --249.5000;42.5000 --249.5000;43.0000 --249.5000;43.5000 --249.5000;44.0000 --249.5000;44.5000 --249.5000;45.0000 --249.5000;45.5000 --249.5000;46.0000 --249.5000;46.5000 --249.5000;47.0000 --249.5000;47.5000 --249.5000;48.0000 --249.5000;48.5000 --249.5000;49.0000 --249.5000;49.5000 --249.5000;50.0000 --249.5000;50.5000 --249.5000;51.0000 --249.5000;51.5000 --249.5000;52.0000 --249.5000;52.5000 --249.5000;53.0000 --249.5000;53.5000 --249.5000;54.0000 --249.5000;54.5000 --249.5000;55.0000 --249.5000;55.5000 --249.5000;56.0000 --249.5000;56.5000 --249.5000;57.0000 --249.5000;57.5000 --249.5000;58.0000 --249.5000;58.5000 --249.5000;59.0000 --249.5000;59.5000 --249.5000;60.0000 --249.5000;60.5000 --249.0000;-231.0000 --249.0000;-230.5000 --249.0000;-230.0000 --249.0000;-229.5000 --249.0000;-229.0000 --249.0000;-228.5000 --249.0000;-228.0000 --249.0000;-227.5000 --249.0000;-227.0000 --249.0000;-226.5000 --249.0000;-226.0000 --249.0000;-225.5000 --249.0000;-225.0000 --249.0000;-224.5000 --249.0000;-224.0000 --249.0000;-223.5000 --249.0000;-223.0000 --249.0000;-222.5000 --249.0000;-222.0000 --249.0000;-221.5000 --249.0000;-221.0000 --249.0000;-220.5000 --249.0000;-220.0000 --249.0000;-219.5000 --249.0000;-219.0000 --249.0000;-218.5000 --249.0000;-218.0000 --249.0000;-138.0000 --249.0000;-137.5000 --249.0000;-137.0000 --249.0000;-136.5000 --249.0000;-136.0000 --249.0000;-135.5000 --249.0000;-135.0000 --249.0000;-134.5000 --249.0000;-134.0000 --249.0000;-133.5000 --249.0000;-133.0000 --249.0000;-132.5000 --249.0000;-132.0000 --249.0000;-131.5000 --249.0000;-131.0000 --249.0000;-130.5000 --249.0000;-130.0000 --249.0000;-129.5000 --249.0000;-129.0000 --249.0000;-128.5000 --249.0000;-128.0000 --249.0000;-127.5000 --249.0000;-127.0000 --249.0000;-126.5000 --249.0000;-126.0000 --249.0000;-125.5000 --249.0000;-125.0000 --249.0000;-124.5000 --249.0000;-68.5000 --249.0000;-68.0000 --249.0000;-67.5000 --249.0000;-67.0000 --249.0000;-66.5000 --249.0000;-66.0000 --249.0000;-65.5000 --249.0000;-65.0000 --249.0000;-64.5000 --249.0000;-64.0000 --249.0000;-63.5000 --249.0000;-63.0000 --249.0000;-62.5000 --249.0000;-62.0000 --249.0000;-61.5000 --249.0000;-61.0000 --249.0000;-60.5000 --249.0000;-60.0000 --249.0000;-59.5000 --249.0000;-59.0000 --249.0000;-58.5000 --249.0000;-58.0000 --249.0000;-57.5000 --249.0000;-57.0000 --249.0000;-56.5000 --249.0000;-56.0000 --249.0000;-55.5000 --249.0000;-55.0000 --249.0000;-54.5000 --249.0000;-54.0000 --249.0000;-53.5000 --249.0000;33.5000 --249.0000;34.0000 --249.0000;34.5000 --249.0000;35.0000 --249.0000;35.5000 --249.0000;36.0000 --249.0000;36.5000 --249.0000;37.0000 --249.0000;37.5000 --249.0000;38.0000 --249.0000;38.5000 --249.0000;39.0000 --249.0000;39.5000 --249.0000;40.0000 --249.0000;40.5000 --249.0000;41.0000 --249.0000;41.5000 --249.0000;42.0000 --249.0000;42.5000 --249.0000;43.0000 --249.0000;43.5000 --249.0000;44.0000 --249.0000;44.5000 --249.0000;45.0000 --249.0000;45.5000 --249.0000;46.0000 --249.0000;46.5000 --249.0000;47.0000 --249.0000;47.5000 --249.0000;48.0000 --249.0000;48.5000 --249.0000;49.0000 --249.0000;49.5000 --249.0000;50.0000 --249.0000;50.5000 --249.0000;51.0000 --249.0000;51.5000 --249.0000;52.0000 --249.0000;52.5000 --249.0000;53.0000 --249.0000;53.5000 --249.0000;54.0000 --249.0000;54.5000 --249.0000;55.0000 --249.0000;55.5000 --249.0000;56.0000 --249.0000;56.5000 --249.0000;57.0000 --249.0000;57.5000 --249.0000;58.0000 --249.0000;58.5000 --249.0000;59.0000 --249.0000;59.5000 --249.0000;60.0000 --249.0000;60.5000 --249.0000;61.0000 --249.0000;61.5000 --249.0000;62.0000 --248.5000;-231.0000 --248.5000;-230.5000 --248.5000;-230.0000 --248.5000;-229.5000 --248.5000;-229.0000 --248.5000;-228.5000 --248.5000;-228.0000 --248.5000;-227.5000 --248.5000;-227.0000 --248.5000;-226.5000 --248.5000;-226.0000 --248.5000;-225.5000 --248.5000;-225.0000 --248.5000;-224.5000 --248.5000;-224.0000 --248.5000;-223.5000 --248.5000;-223.0000 --248.5000;-222.5000 --248.5000;-222.0000 --248.5000;-221.5000 --248.5000;-221.0000 --248.5000;-220.5000 --248.5000;-220.0000 --248.5000;-219.5000 --248.5000;-219.0000 --248.5000;-218.5000 --248.5000;-218.0000 --248.5000;-137.5000 --248.5000;-137.0000 --248.5000;-136.5000 --248.5000;-136.0000 --248.5000;-135.5000 --248.5000;-135.0000 --248.5000;-134.5000 --248.5000;-134.0000 --248.5000;-133.5000 --248.5000;-133.0000 --248.5000;-132.5000 --248.5000;-132.0000 --248.5000;-131.5000 --248.5000;-131.0000 --248.5000;-130.5000 --248.5000;-130.0000 --248.5000;-129.5000 --248.5000;-129.0000 --248.5000;-128.5000 --248.5000;-128.0000 --248.5000;-127.5000 --248.5000;-127.0000 --248.5000;-126.5000 --248.5000;-126.0000 --248.5000;-125.5000 --248.5000;-125.0000 --248.5000;-124.5000 --248.5000;-69.0000 --248.5000;-68.5000 --248.5000;-68.0000 --248.5000;-67.5000 --248.5000;-67.0000 --248.5000;-66.5000 --248.5000;-66.0000 --248.5000;-65.5000 --248.5000;-65.0000 --248.5000;-64.5000 --248.5000;-64.0000 --248.5000;-63.5000 --248.5000;-63.0000 --248.5000;-62.5000 --248.5000;-62.0000 --248.5000;-61.5000 --248.5000;-61.0000 --248.5000;-60.5000 --248.5000;-60.0000 --248.5000;-59.5000 --248.5000;-59.0000 --248.5000;-58.5000 --248.5000;-58.0000 --248.5000;-57.5000 --248.5000;-57.0000 --248.5000;-56.5000 --248.5000;-56.0000 --248.5000;-55.5000 --248.5000;-55.0000 --248.5000;-54.5000 --248.5000;-54.0000 --248.5000;34.5000 --248.5000;35.0000 --248.5000;35.5000 --248.5000;36.0000 --248.5000;36.5000 --248.5000;37.0000 --248.5000;37.5000 --248.5000;38.0000 --248.5000;38.5000 --248.5000;39.0000 --248.5000;39.5000 --248.5000;40.0000 --248.5000;40.5000 --248.5000;41.0000 --248.5000;41.5000 --248.5000;42.0000 --248.5000;42.5000 --248.5000;43.0000 --248.5000;43.5000 --248.5000;44.0000 --248.5000;44.5000 --248.5000;45.0000 --248.5000;45.5000 --248.5000;46.0000 --248.5000;46.5000 --248.5000;47.0000 --248.5000;47.5000 --248.5000;48.0000 --248.5000;48.5000 --248.5000;49.0000 --248.5000;49.5000 --248.5000;50.0000 --248.5000;50.5000 --248.5000;51.0000 --248.5000;51.5000 --248.5000;52.0000 --248.5000;52.5000 --248.5000;53.0000 --248.5000;53.5000 --248.5000;54.0000 --248.5000;54.5000 --248.5000;55.0000 --248.5000;55.5000 --248.5000;56.0000 --248.5000;56.5000 --248.5000;57.0000 --248.5000;57.5000 --248.5000;58.0000 --248.5000;58.5000 --248.5000;59.0000 --248.5000;59.5000 --248.5000;60.0000 --248.5000;60.5000 --248.5000;61.0000 --248.5000;61.5000 --248.5000;62.0000 --248.5000;62.5000 --248.5000;63.0000 --248.0000;-231.0000 --248.0000;-230.5000 --248.0000;-230.0000 --248.0000;-229.5000 --248.0000;-229.0000 --248.0000;-228.5000 --248.0000;-228.0000 --248.0000;-227.5000 --248.0000;-227.0000 --248.0000;-226.5000 --248.0000;-226.0000 --248.0000;-225.5000 --248.0000;-225.0000 --248.0000;-224.5000 --248.0000;-224.0000 --248.0000;-223.5000 --248.0000;-223.0000 --248.0000;-222.5000 --248.0000;-222.0000 --248.0000;-221.5000 --248.0000;-221.0000 --248.0000;-220.5000 --248.0000;-220.0000 --248.0000;-219.5000 --248.0000;-219.0000 --248.0000;-218.5000 --248.0000;-137.5000 --248.0000;-137.0000 --248.0000;-136.5000 --248.0000;-136.0000 --248.0000;-135.5000 --248.0000;-135.0000 --248.0000;-134.5000 --248.0000;-134.0000 --248.0000;-133.5000 --248.0000;-133.0000 --248.0000;-132.5000 --248.0000;-132.0000 --248.0000;-131.5000 --248.0000;-131.0000 --248.0000;-130.5000 --248.0000;-130.0000 --248.0000;-129.5000 --248.0000;-129.0000 --248.0000;-128.5000 --248.0000;-128.0000 --248.0000;-127.5000 --248.0000;-127.0000 --248.0000;-126.5000 --248.0000;-126.0000 --248.0000;-125.5000 --248.0000;-125.0000 --248.0000;-124.5000 --248.0000;-124.0000 --248.0000;-69.0000 --248.0000;-68.5000 --248.0000;-68.0000 --248.0000;-67.5000 --248.0000;-67.0000 --248.0000;-66.5000 --248.0000;-66.0000 --248.0000;-65.5000 --248.0000;-65.0000 --248.0000;-64.5000 --248.0000;-64.0000 --248.0000;-63.5000 --248.0000;-63.0000 --248.0000;-62.5000 --248.0000;-62.0000 --248.0000;-61.5000 --248.0000;-61.0000 --248.0000;-60.5000 --248.0000;-60.0000 --248.0000;-59.5000 --248.0000;-59.0000 --248.0000;-58.5000 --248.0000;-58.0000 --248.0000;-57.5000 --248.0000;-57.0000 --248.0000;-56.5000 --248.0000;-56.0000 --248.0000;-55.5000 --248.0000;-55.0000 --248.0000;-54.5000 --248.0000;35.5000 --248.0000;36.0000 --248.0000;36.5000 --248.0000;37.0000 --248.0000;37.5000 --248.0000;38.0000 --248.0000;38.5000 --248.0000;39.0000 --248.0000;39.5000 --248.0000;40.0000 --248.0000;40.5000 --248.0000;41.0000 --248.0000;41.5000 --248.0000;42.0000 --248.0000;42.5000 --248.0000;43.0000 --248.0000;43.5000 --248.0000;44.0000 --248.0000;44.5000 --248.0000;45.0000 --248.0000;45.5000 --248.0000;46.0000 --248.0000;46.5000 --248.0000;47.0000 --248.0000;47.5000 --248.0000;48.0000 --248.0000;48.5000 --248.0000;49.0000 --248.0000;49.5000 --248.0000;50.0000 --248.0000;50.5000 --248.0000;51.0000 --248.0000;51.5000 --248.0000;52.0000 --248.0000;52.5000 --248.0000;53.0000 --248.0000;53.5000 --248.0000;54.0000 --248.0000;54.5000 --248.0000;55.0000 --248.0000;55.5000 --248.0000;56.0000 --248.0000;56.5000 --248.0000;57.0000 --248.0000;57.5000 --248.0000;58.0000 --248.0000;58.5000 --248.0000;59.0000 --248.0000;59.5000 --248.0000;60.0000 --248.0000;60.5000 --248.0000;61.0000 --248.0000;61.5000 --248.0000;62.0000 --248.0000;62.5000 --248.0000;63.0000 --248.0000;63.5000 --248.0000;64.0000 --247.5000;-231.5000 --247.5000;-231.0000 --247.5000;-230.5000 --247.5000;-230.0000 --247.5000;-229.5000 --247.5000;-229.0000 --247.5000;-228.5000 --247.5000;-228.0000 --247.5000;-227.5000 --247.5000;-227.0000 --247.5000;-226.5000 --247.5000;-226.0000 --247.5000;-225.5000 --247.5000;-225.0000 --247.5000;-224.5000 --247.5000;-224.0000 --247.5000;-223.5000 --247.5000;-223.0000 --247.5000;-222.5000 --247.5000;-222.0000 --247.5000;-221.5000 --247.5000;-221.0000 --247.5000;-220.5000 --247.5000;-220.0000 --247.5000;-219.5000 --247.5000;-219.0000 --247.5000;-218.5000 --247.5000;-137.0000 --247.5000;-136.5000 --247.5000;-136.0000 --247.5000;-135.5000 --247.5000;-135.0000 --247.5000;-134.5000 --247.5000;-134.0000 --247.5000;-133.5000 --247.5000;-133.0000 --247.5000;-132.5000 --247.5000;-132.0000 --247.5000;-131.5000 --247.5000;-131.0000 --247.5000;-130.5000 --247.5000;-130.0000 --247.5000;-129.5000 --247.5000;-129.0000 --247.5000;-128.5000 --247.5000;-128.0000 --247.5000;-127.5000 --247.5000;-127.0000 --247.5000;-126.5000 --247.5000;-126.0000 --247.5000;-125.5000 --247.5000;-125.0000 --247.5000;-124.5000 --247.5000;-124.0000 --247.5000;-69.5000 --247.5000;-69.0000 --247.5000;-68.5000 --247.5000;-68.0000 --247.5000;-67.5000 --247.5000;-67.0000 --247.5000;-66.5000 --247.5000;-66.0000 --247.5000;-65.5000 --247.5000;-65.0000 --247.5000;-64.5000 --247.5000;-64.0000 --247.5000;-63.5000 --247.5000;-63.0000 --247.5000;-62.5000 --247.5000;-62.0000 --247.5000;-61.5000 --247.5000;-61.0000 --247.5000;-60.5000 --247.5000;-60.0000 --247.5000;-59.5000 --247.5000;-59.0000 --247.5000;-58.5000 --247.5000;-58.0000 --247.5000;-57.5000 --247.5000;-57.0000 --247.5000;-56.5000 --247.5000;-56.0000 --247.5000;-55.5000 --247.5000;-55.0000 --247.5000;36.5000 --247.5000;37.0000 --247.5000;37.5000 --247.5000;38.0000 --247.5000;38.5000 --247.5000;39.0000 --247.5000;39.5000 --247.5000;40.0000 --247.5000;40.5000 --247.5000;41.0000 --247.5000;41.5000 --247.5000;42.0000 --247.5000;42.5000 --247.5000;43.0000 --247.5000;43.5000 --247.5000;44.0000 --247.5000;44.5000 --247.5000;45.0000 --247.5000;45.5000 --247.5000;46.0000 --247.5000;46.5000 --247.5000;47.0000 --247.5000;47.5000 --247.5000;48.0000 --247.5000;48.5000 --247.5000;49.0000 --247.5000;49.5000 --247.5000;50.0000 --247.5000;50.5000 --247.5000;51.0000 --247.5000;51.5000 --247.5000;52.0000 --247.5000;52.5000 --247.5000;53.0000 --247.5000;53.5000 --247.5000;54.0000 --247.5000;54.5000 --247.5000;55.0000 --247.5000;55.5000 --247.5000;56.0000 --247.5000;56.5000 --247.5000;57.0000 --247.5000;57.5000 --247.5000;58.0000 --247.5000;58.5000 --247.5000;59.0000 --247.5000;59.5000 --247.5000;60.0000 --247.5000;60.5000 --247.5000;61.0000 --247.5000;61.5000 --247.5000;62.0000 --247.5000;62.5000 --247.5000;63.0000 --247.5000;63.5000 --247.5000;64.0000 --247.5000;64.5000 --247.5000;65.0000 --247.0000;-231.5000 --247.0000;-231.0000 --247.0000;-230.5000 --247.0000;-230.0000 --247.0000;-229.5000 --247.0000;-229.0000 --247.0000;-228.5000 --247.0000;-228.0000 --247.0000;-227.5000 --247.0000;-227.0000 --247.0000;-226.5000 --247.0000;-226.0000 --247.0000;-225.5000 --247.0000;-225.0000 --247.0000;-224.5000 --247.0000;-224.0000 --247.0000;-223.5000 --247.0000;-223.0000 --247.0000;-222.5000 --247.0000;-222.0000 --247.0000;-221.5000 --247.0000;-221.0000 --247.0000;-220.5000 --247.0000;-220.0000 --247.0000;-219.5000 --247.0000;-219.0000 --247.0000;-137.0000 --247.0000;-136.5000 --247.0000;-136.0000 --247.0000;-135.5000 --247.0000;-135.0000 --247.0000;-134.5000 --247.0000;-134.0000 --247.0000;-133.5000 --247.0000;-133.0000 --247.0000;-132.5000 --247.0000;-132.0000 --247.0000;-131.5000 --247.0000;-131.0000 --247.0000;-130.5000 --247.0000;-130.0000 --247.0000;-129.5000 --247.0000;-129.0000 --247.0000;-128.5000 --247.0000;-128.0000 --247.0000;-127.5000 --247.0000;-127.0000 --247.0000;-126.5000 --247.0000;-126.0000 --247.0000;-125.5000 --247.0000;-125.0000 --247.0000;-124.5000 --247.0000;-124.0000 --247.0000;-69.5000 --247.0000;-69.0000 --247.0000;-68.5000 --247.0000;-68.0000 --247.0000;-67.5000 --247.0000;-67.0000 --247.0000;-66.5000 --247.0000;-66.0000 --247.0000;-65.5000 --247.0000;-65.0000 --247.0000;-64.5000 --247.0000;-64.0000 --247.0000;-63.5000 --247.0000;-63.0000 --247.0000;-62.5000 --247.0000;-62.0000 --247.0000;-61.5000 --247.0000;-61.0000 --247.0000;-60.5000 --247.0000;-60.0000 --247.0000;-59.5000 --247.0000;-59.0000 --247.0000;-58.5000 --247.0000;-58.0000 --247.0000;-57.5000 --247.0000;-57.0000 --247.0000;-56.5000 --247.0000;-56.0000 --247.0000;-55.5000 --247.0000;-55.0000 --247.0000;37.5000 --247.0000;38.0000 --247.0000;38.5000 --247.0000;39.0000 --247.0000;39.5000 --247.0000;40.0000 --247.0000;40.5000 --247.0000;41.0000 --247.0000;41.5000 --247.0000;42.0000 --247.0000;42.5000 --247.0000;43.0000 --247.0000;43.5000 --247.0000;44.0000 --247.0000;44.5000 --247.0000;45.0000 --247.0000;45.5000 --247.0000;46.0000 --247.0000;46.5000 --247.0000;47.0000 --247.0000;47.5000 --247.0000;48.0000 --247.0000;48.5000 --247.0000;49.0000 --247.0000;49.5000 --247.0000;50.0000 --247.0000;50.5000 --247.0000;51.0000 --247.0000;51.5000 --247.0000;52.0000 --247.0000;52.5000 --247.0000;53.0000 --247.0000;53.5000 --247.0000;54.0000 --247.0000;54.5000 --247.0000;55.0000 --247.0000;55.5000 --247.0000;56.0000 --247.0000;56.5000 --247.0000;57.0000 --247.0000;57.5000 --247.0000;58.0000 --247.0000;58.5000 --247.0000;59.0000 --247.0000;59.5000 --247.0000;60.0000 --247.0000;60.5000 --247.0000;61.0000 --247.0000;61.5000 --247.0000;62.0000 --247.0000;62.5000 --247.0000;63.0000 --247.0000;63.5000 --247.0000;64.0000 --247.0000;64.5000 --247.0000;65.0000 --247.0000;65.5000 --247.0000;66.0000 --246.5000;-232.0000 --246.5000;-231.5000 --246.5000;-231.0000 --246.5000;-230.5000 --246.5000;-230.0000 --246.5000;-229.5000 --246.5000;-229.0000 --246.5000;-228.5000 --246.5000;-228.0000 --246.5000;-227.5000 --246.5000;-227.0000 --246.5000;-226.5000 --246.5000;-226.0000 --246.5000;-225.5000 --246.5000;-225.0000 --246.5000;-224.5000 --246.5000;-224.0000 --246.5000;-223.5000 --246.5000;-223.0000 --246.5000;-222.5000 --246.5000;-222.0000 --246.5000;-221.5000 --246.5000;-221.0000 --246.5000;-220.5000 --246.5000;-220.0000 --246.5000;-219.5000 --246.5000;-219.0000 --246.5000;-136.5000 --246.5000;-136.0000 --246.5000;-135.5000 --246.5000;-135.0000 --246.5000;-134.5000 --246.5000;-134.0000 --246.5000;-133.5000 --246.5000;-133.0000 --246.5000;-132.5000 --246.5000;-132.0000 --246.5000;-131.5000 --246.5000;-131.0000 --246.5000;-130.5000 --246.5000;-130.0000 --246.5000;-129.5000 --246.5000;-129.0000 --246.5000;-128.5000 --246.5000;-128.0000 --246.5000;-127.5000 --246.5000;-127.0000 --246.5000;-126.5000 --246.5000;-126.0000 --246.5000;-125.5000 --246.5000;-125.0000 --246.5000;-124.5000 --246.5000;-124.0000 --246.5000;-123.5000 --246.5000;-69.5000 --246.5000;-69.0000 --246.5000;-68.5000 --246.5000;-68.0000 --246.5000;-67.5000 --246.5000;-67.0000 --246.5000;-66.5000 --246.5000;-66.0000 --246.5000;-65.5000 --246.5000;-65.0000 --246.5000;-64.5000 --246.5000;-64.0000 --246.5000;-63.5000 --246.5000;-63.0000 --246.5000;-62.5000 --246.5000;-62.0000 --246.5000;-61.5000 --246.5000;-61.0000 --246.5000;-60.5000 --246.5000;-60.0000 --246.5000;-59.5000 --246.5000;-59.0000 --246.5000;-58.5000 --246.5000;-58.0000 --246.5000;-57.5000 --246.5000;-57.0000 --246.5000;-56.5000 --246.5000;-56.0000 --246.5000;-55.5000 --246.5000;38.5000 --246.5000;39.0000 --246.5000;39.5000 --246.5000;40.0000 --246.5000;40.5000 --246.5000;41.0000 --246.5000;41.5000 --246.5000;42.0000 --246.5000;42.5000 --246.5000;43.0000 --246.5000;43.5000 --246.5000;44.0000 --246.5000;44.5000 --246.5000;45.0000 --246.5000;45.5000 --246.5000;46.0000 --246.5000;46.5000 --246.5000;47.0000 --246.5000;47.5000 --246.5000;48.0000 --246.5000;48.5000 --246.5000;49.0000 --246.5000;49.5000 --246.5000;50.0000 --246.5000;50.5000 --246.5000;51.0000 --246.5000;51.5000 --246.5000;52.0000 --246.5000;52.5000 --246.5000;53.0000 --246.5000;53.5000 --246.5000;54.0000 --246.5000;54.5000 --246.5000;55.0000 --246.5000;55.5000 --246.5000;56.0000 --246.5000;56.5000 --246.5000;57.0000 --246.5000;57.5000 --246.5000;58.0000 --246.5000;58.5000 --246.5000;59.0000 --246.5000;59.5000 --246.5000;60.0000 --246.5000;60.5000 --246.5000;61.0000 --246.5000;61.5000 --246.5000;62.0000 --246.5000;62.5000 --246.5000;63.0000 --246.5000;63.5000 --246.5000;64.0000 --246.5000;64.5000 --246.5000;65.0000 --246.5000;65.5000 --246.5000;66.0000 --246.5000;66.5000 --246.5000;67.0000 --246.0000;-232.0000 --246.0000;-231.5000 --246.0000;-231.0000 --246.0000;-230.5000 --246.0000;-230.0000 --246.0000;-229.5000 --246.0000;-229.0000 --246.0000;-228.5000 --246.0000;-228.0000 --246.0000;-227.5000 --246.0000;-227.0000 --246.0000;-226.5000 --246.0000;-226.0000 --246.0000;-225.5000 --246.0000;-225.0000 --246.0000;-224.5000 --246.0000;-224.0000 --246.0000;-223.5000 --246.0000;-223.0000 --246.0000;-222.5000 --246.0000;-222.0000 --246.0000;-221.5000 --246.0000;-221.0000 --246.0000;-220.5000 --246.0000;-220.0000 --246.0000;-219.5000 --246.0000;-219.0000 --246.0000;-136.5000 --246.0000;-136.0000 --246.0000;-135.5000 --246.0000;-135.0000 --246.0000;-134.5000 --246.0000;-134.0000 --246.0000;-133.5000 --246.0000;-133.0000 --246.0000;-132.5000 --246.0000;-132.0000 --246.0000;-131.5000 --246.0000;-131.0000 --246.0000;-130.5000 --246.0000;-130.0000 --246.0000;-129.5000 --246.0000;-129.0000 --246.0000;-128.5000 --246.0000;-128.0000 --246.0000;-127.5000 --246.0000;-127.0000 --246.0000;-126.5000 --246.0000;-126.0000 --246.0000;-125.5000 --246.0000;-125.0000 --246.0000;-124.5000 --246.0000;-124.0000 --246.0000;-123.5000 --246.0000;-70.0000 --246.0000;-69.5000 --246.0000;-69.0000 --246.0000;-68.5000 --246.0000;-68.0000 --246.0000;-67.5000 --246.0000;-67.0000 --246.0000;-66.5000 --246.0000;-66.0000 --246.0000;-65.5000 --246.0000;-65.0000 --246.0000;-64.5000 --246.0000;-64.0000 --246.0000;-63.5000 --246.0000;-63.0000 --246.0000;-62.5000 --246.0000;-62.0000 --246.0000;-61.5000 --246.0000;-61.0000 --246.0000;-60.5000 --246.0000;-60.0000 --246.0000;-59.5000 --246.0000;-59.0000 --246.0000;-58.5000 --246.0000;-58.0000 --246.0000;-57.5000 --246.0000;-57.0000 --246.0000;-56.5000 --246.0000;-56.0000 --246.0000;39.5000 --246.0000;40.0000 --246.0000;40.5000 --246.0000;41.0000 --246.0000;41.5000 --246.0000;42.0000 --246.0000;42.5000 --246.0000;43.0000 --246.0000;43.5000 --246.0000;44.0000 --246.0000;44.5000 --246.0000;45.0000 --246.0000;45.5000 --246.0000;46.0000 --246.0000;46.5000 --246.0000;47.0000 --246.0000;47.5000 --246.0000;48.0000 --246.0000;48.5000 --246.0000;49.0000 --246.0000;49.5000 --246.0000;50.0000 --246.0000;50.5000 --246.0000;51.0000 --246.0000;51.5000 --246.0000;52.0000 --246.0000;52.5000 --246.0000;53.0000 --246.0000;53.5000 --246.0000;54.0000 --246.0000;54.5000 --246.0000;55.0000 --246.0000;55.5000 --246.0000;56.0000 --246.0000;56.5000 --246.0000;57.0000 --246.0000;57.5000 --246.0000;58.0000 --246.0000;58.5000 --246.0000;59.0000 --246.0000;59.5000 --246.0000;60.0000 --246.0000;60.5000 --246.0000;61.0000 --246.0000;61.5000 --246.0000;62.0000 --246.0000;62.5000 --246.0000;63.0000 --246.0000;63.5000 --246.0000;64.0000 --246.0000;64.5000 --246.0000;65.0000 --246.0000;65.5000 --246.0000;66.0000 --246.0000;66.5000 --246.0000;67.0000 --246.0000;67.5000 --246.0000;68.0000 --245.5000;-232.0000 --245.5000;-231.5000 --245.5000;-231.0000 --245.5000;-230.5000 --245.5000;-230.0000 --245.5000;-229.5000 --245.5000;-229.0000 --245.5000;-228.5000 --245.5000;-228.0000 --245.5000;-227.5000 --245.5000;-227.0000 --245.5000;-226.5000 --245.5000;-226.0000 --245.5000;-225.5000 --245.5000;-225.0000 --245.5000;-224.5000 --245.5000;-224.0000 --245.5000;-223.5000 --245.5000;-223.0000 --245.5000;-222.5000 --245.5000;-222.0000 --245.5000;-221.5000 --245.5000;-221.0000 --245.5000;-220.5000 --245.5000;-220.0000 --245.5000;-219.5000 --245.5000;-136.0000 --245.5000;-135.5000 --245.5000;-135.0000 --245.5000;-134.5000 --245.5000;-134.0000 --245.5000;-133.5000 --245.5000;-133.0000 --245.5000;-132.5000 --245.5000;-132.0000 --245.5000;-131.5000 --245.5000;-131.0000 --245.5000;-130.5000 --245.5000;-130.0000 --245.5000;-129.5000 --245.5000;-129.0000 --245.5000;-128.5000 --245.5000;-128.0000 --245.5000;-127.5000 --245.5000;-127.0000 --245.5000;-126.5000 --245.5000;-126.0000 --245.5000;-125.5000 --245.5000;-125.0000 --245.5000;-124.5000 --245.5000;-124.0000 --245.5000;-123.5000 --245.5000;-70.0000 --245.5000;-69.5000 --245.5000;-69.0000 --245.5000;-68.5000 --245.5000;-68.0000 --245.5000;-67.5000 --245.5000;-67.0000 --245.5000;-66.5000 --245.5000;-66.0000 --245.5000;-65.5000 --245.5000;-65.0000 --245.5000;-64.5000 --245.5000;-64.0000 --245.5000;-63.5000 --245.5000;-63.0000 --245.5000;-62.5000 --245.5000;-62.0000 --245.5000;-61.5000 --245.5000;-61.0000 --245.5000;-60.5000 --245.5000;-60.0000 --245.5000;-59.5000 --245.5000;-59.0000 --245.5000;-58.5000 --245.5000;-58.0000 --245.5000;-57.5000 --245.5000;-57.0000 --245.5000;-56.5000 --245.5000;40.5000 --245.5000;41.0000 --245.5000;41.5000 --245.5000;42.0000 --245.5000;42.5000 --245.5000;43.0000 --245.5000;43.5000 --245.5000;44.0000 --245.5000;44.5000 --245.5000;45.0000 --245.5000;45.5000 --245.5000;46.0000 --245.5000;46.5000 --245.5000;47.0000 --245.5000;47.5000 --245.5000;48.0000 --245.5000;48.5000 --245.5000;49.0000 --245.5000;49.5000 --245.5000;50.0000 --245.5000;50.5000 --245.5000;51.0000 --245.5000;51.5000 --245.5000;52.0000 --245.5000;52.5000 --245.5000;53.0000 --245.5000;53.5000 --245.5000;54.0000 --245.5000;54.5000 --245.5000;55.0000 --245.5000;55.5000 --245.5000;56.0000 --245.5000;56.5000 --245.5000;57.0000 --245.5000;57.5000 --245.5000;58.0000 --245.5000;58.5000 --245.5000;59.0000 --245.5000;59.5000 --245.5000;60.0000 --245.5000;60.5000 --245.5000;61.0000 --245.5000;61.5000 --245.5000;62.0000 --245.5000;62.5000 --245.5000;63.0000 --245.5000;63.5000 --245.5000;64.0000 --245.5000;64.5000 --245.5000;65.0000 --245.5000;65.5000 --245.5000;66.0000 --245.5000;66.5000 --245.5000;67.0000 --245.5000;67.5000 --245.5000;68.0000 --245.5000;68.5000 --245.5000;69.0000 --245.0000;-232.5000 --245.0000;-232.0000 --245.0000;-231.5000 --245.0000;-231.0000 --245.0000;-230.5000 --245.0000;-230.0000 --245.0000;-229.5000 --245.0000;-229.0000 --245.0000;-228.5000 --245.0000;-228.0000 --245.0000;-227.5000 --245.0000;-227.0000 --245.0000;-226.5000 --245.0000;-226.0000 --245.0000;-225.5000 --245.0000;-225.0000 --245.0000;-224.5000 --245.0000;-224.0000 --245.0000;-223.5000 --245.0000;-223.0000 --245.0000;-222.5000 --245.0000;-222.0000 --245.0000;-221.5000 --245.0000;-221.0000 --245.0000;-220.5000 --245.0000;-220.0000 --245.0000;-219.5000 --245.0000;-136.0000 --245.0000;-135.5000 --245.0000;-135.0000 --245.0000;-134.5000 --245.0000;-134.0000 --245.0000;-133.5000 --245.0000;-133.0000 --245.0000;-132.5000 --245.0000;-132.0000 --245.0000;-131.5000 --245.0000;-131.0000 --245.0000;-130.5000 --245.0000;-130.0000 --245.0000;-129.5000 --245.0000;-129.0000 --245.0000;-128.5000 --245.0000;-128.0000 --245.0000;-127.5000 --245.0000;-127.0000 --245.0000;-126.5000 --245.0000;-126.0000 --245.0000;-125.5000 --245.0000;-125.0000 --245.0000;-124.5000 --245.0000;-124.0000 --245.0000;-123.5000 --245.0000;-123.0000 --245.0000;-70.5000 --245.0000;-70.0000 --245.0000;-69.5000 --245.0000;-69.0000 --245.0000;-68.5000 --245.0000;-68.0000 --245.0000;-67.5000 --245.0000;-67.0000 --245.0000;-66.5000 --245.0000;-66.0000 --245.0000;-65.5000 --245.0000;-65.0000 --245.0000;-64.5000 --245.0000;-64.0000 --245.0000;-63.5000 --245.0000;-63.0000 --245.0000;-62.5000 --245.0000;-62.0000 --245.0000;-61.5000 --245.0000;-61.0000 --245.0000;-60.5000 --245.0000;-60.0000 --245.0000;-59.5000 --245.0000;-59.0000 --245.0000;-58.5000 --245.0000;-58.0000 --245.0000;-57.5000 --245.0000;-57.0000 --245.0000;-56.5000 --245.0000;41.5000 --245.0000;42.0000 --245.0000;42.5000 --245.0000;43.0000 --245.0000;43.5000 --245.0000;44.0000 --245.0000;44.5000 --245.0000;45.0000 --245.0000;45.5000 --245.0000;46.0000 --245.0000;46.5000 --245.0000;47.0000 --245.0000;47.5000 --245.0000;48.0000 --245.0000;48.5000 --245.0000;49.0000 --245.0000;49.5000 --245.0000;50.0000 --245.0000;50.5000 --245.0000;51.0000 --245.0000;51.5000 --245.0000;52.0000 --245.0000;52.5000 --245.0000;53.0000 --245.0000;53.5000 --245.0000;54.0000 --245.0000;54.5000 --245.0000;55.0000 --245.0000;55.5000 --245.0000;56.0000 --245.0000;56.5000 --245.0000;57.0000 --245.0000;57.5000 --245.0000;58.0000 --245.0000;58.5000 --245.0000;59.0000 --245.0000;59.5000 --245.0000;60.0000 --245.0000;60.5000 --245.0000;61.0000 --245.0000;61.5000 --245.0000;62.0000 --245.0000;62.5000 --245.0000;63.0000 --245.0000;63.5000 --245.0000;64.0000 --245.0000;64.5000 --245.0000;65.0000 --245.0000;65.5000 --245.0000;66.0000 --245.0000;66.5000 --245.0000;67.0000 --245.0000;67.5000 --245.0000;68.0000 --245.0000;68.5000 --245.0000;69.0000 --245.0000;69.5000 --245.0000;70.0000 --244.5000;-232.5000 --244.5000;-232.0000 --244.5000;-231.5000 --244.5000;-231.0000 --244.5000;-230.5000 --244.5000;-230.0000 --244.5000;-229.5000 --244.5000;-229.0000 --244.5000;-228.5000 --244.5000;-228.0000 --244.5000;-227.5000 --244.5000;-227.0000 --244.5000;-226.5000 --244.5000;-226.0000 --244.5000;-225.5000 --244.5000;-225.0000 --244.5000;-224.5000 --244.5000;-224.0000 --244.5000;-223.5000 --244.5000;-223.0000 --244.5000;-222.5000 --244.5000;-222.0000 --244.5000;-221.5000 --244.5000;-221.0000 --244.5000;-220.5000 --244.5000;-220.0000 --244.5000;-135.5000 --244.5000;-135.0000 --244.5000;-134.5000 --244.5000;-134.0000 --244.5000;-133.5000 --244.5000;-133.0000 --244.5000;-132.5000 --244.5000;-132.0000 --244.5000;-131.5000 --244.5000;-131.0000 --244.5000;-130.5000 --244.5000;-130.0000 --244.5000;-129.5000 --244.5000;-129.0000 --244.5000;-128.5000 --244.5000;-128.0000 --244.5000;-127.5000 --244.5000;-127.0000 --244.5000;-126.5000 --244.5000;-126.0000 --244.5000;-125.5000 --244.5000;-125.0000 --244.5000;-124.5000 --244.5000;-124.0000 --244.5000;-123.5000 --244.5000;-123.0000 --244.5000;-70.5000 --244.5000;-70.0000 --244.5000;-69.5000 --244.5000;-69.0000 --244.5000;-68.5000 --244.5000;-68.0000 --244.5000;-67.5000 --244.5000;-67.0000 --244.5000;-66.5000 --244.5000;-66.0000 --244.5000;-65.5000 --244.5000;-65.0000 --244.5000;-64.5000 --244.5000;-64.0000 --244.5000;-63.5000 --244.5000;-63.0000 --244.5000;-62.5000 --244.5000;-62.0000 --244.5000;-61.5000 --244.5000;-61.0000 --244.5000;-60.5000 --244.5000;-60.0000 --244.5000;-59.5000 --244.5000;-59.0000 --244.5000;-58.5000 --244.5000;-58.0000 --244.5000;-57.5000 --244.5000;-57.0000 --244.5000;43.0000 --244.5000;43.5000 --244.5000;44.0000 --244.5000;44.5000 --244.5000;45.0000 --244.5000;45.5000 --244.5000;46.0000 --244.5000;46.5000 --244.5000;47.0000 --244.5000;47.5000 --244.5000;48.0000 --244.5000;48.5000 --244.5000;49.0000 --244.5000;49.5000 --244.5000;50.0000 --244.5000;50.5000 --244.5000;51.0000 --244.5000;51.5000 --244.5000;52.0000 --244.5000;52.5000 --244.5000;53.0000 --244.5000;53.5000 --244.5000;54.0000 --244.5000;54.5000 --244.5000;55.0000 --244.5000;55.5000 --244.5000;56.0000 --244.5000;56.5000 --244.5000;57.0000 --244.5000;57.5000 --244.5000;58.0000 --244.5000;58.5000 --244.5000;59.0000 --244.5000;59.5000 --244.5000;60.0000 --244.5000;60.5000 --244.5000;61.0000 --244.5000;61.5000 --244.5000;62.0000 --244.5000;62.5000 --244.5000;63.0000 --244.5000;63.5000 --244.5000;64.0000 --244.5000;64.5000 --244.5000;65.0000 --244.5000;65.5000 --244.5000;66.0000 --244.5000;66.5000 --244.5000;67.0000 --244.5000;67.5000 --244.5000;68.0000 --244.5000;68.5000 --244.5000;69.0000 --244.5000;69.5000 --244.5000;70.0000 --244.5000;70.5000 --244.5000;71.0000 --244.0000;-232.5000 --244.0000;-232.0000 --244.0000;-231.5000 --244.0000;-231.0000 --244.0000;-230.5000 --244.0000;-230.0000 --244.0000;-229.5000 --244.0000;-229.0000 --244.0000;-228.5000 --244.0000;-228.0000 --244.0000;-227.5000 --244.0000;-227.0000 --244.0000;-226.5000 --244.0000;-226.0000 --244.0000;-225.5000 --244.0000;-225.0000 --244.0000;-224.5000 --244.0000;-224.0000 --244.0000;-223.5000 --244.0000;-223.0000 --244.0000;-222.5000 --244.0000;-222.0000 --244.0000;-221.5000 --244.0000;-221.0000 --244.0000;-220.5000 --244.0000;-220.0000 --244.0000;-135.5000 --244.0000;-135.0000 --244.0000;-134.5000 --244.0000;-134.0000 --244.0000;-133.5000 --244.0000;-133.0000 --244.0000;-132.5000 --244.0000;-132.0000 --244.0000;-131.5000 --244.0000;-131.0000 --244.0000;-130.5000 --244.0000;-130.0000 --244.0000;-129.5000 --244.0000;-129.0000 --244.0000;-128.5000 --244.0000;-128.0000 --244.0000;-127.5000 --244.0000;-127.0000 --244.0000;-126.5000 --244.0000;-126.0000 --244.0000;-125.5000 --244.0000;-125.0000 --244.0000;-124.5000 --244.0000;-124.0000 --244.0000;-123.5000 --244.0000;-123.0000 --244.0000;-122.5000 --244.0000;-71.0000 --244.0000;-70.5000 --244.0000;-70.0000 --244.0000;-69.5000 --244.0000;-69.0000 --244.0000;-68.5000 --244.0000;-68.0000 --244.0000;-67.5000 --244.0000;-67.0000 --244.0000;-66.5000 --244.0000;-66.0000 --244.0000;-65.5000 --244.0000;-65.0000 --244.0000;-64.5000 --244.0000;-64.0000 --244.0000;-63.5000 --244.0000;-63.0000 --244.0000;-62.5000 --244.0000;-62.0000 --244.0000;-61.5000 --244.0000;-61.0000 --244.0000;-60.5000 --244.0000;-60.0000 --244.0000;-59.5000 --244.0000;-59.0000 --244.0000;-58.5000 --244.0000;-58.0000 --244.0000;-57.5000 --244.0000;44.0000 --244.0000;44.5000 --244.0000;45.0000 --244.0000;45.5000 --244.0000;46.0000 --244.0000;46.5000 --244.0000;47.0000 --244.0000;47.5000 --244.0000;48.0000 --244.0000;48.5000 --244.0000;49.0000 --244.0000;49.5000 --244.0000;50.0000 --244.0000;50.5000 --244.0000;51.0000 --244.0000;51.5000 --244.0000;52.0000 --244.0000;52.5000 --244.0000;53.0000 --244.0000;53.5000 --244.0000;54.0000 --244.0000;54.5000 --244.0000;55.0000 --244.0000;55.5000 --244.0000;56.0000 --244.0000;56.5000 --244.0000;57.0000 --244.0000;57.5000 --244.0000;58.0000 --244.0000;58.5000 --244.0000;59.0000 --244.0000;59.5000 --244.0000;60.0000 --244.0000;60.5000 --244.0000;61.0000 --244.0000;61.5000 --244.0000;62.0000 --244.0000;62.5000 --244.0000;63.0000 --244.0000;63.5000 --244.0000;64.0000 --244.0000;64.5000 --244.0000;65.0000 --244.0000;65.5000 --244.0000;66.0000 --244.0000;66.5000 --244.0000;67.0000 --244.0000;67.5000 --244.0000;68.0000 --244.0000;68.5000 --244.0000;69.0000 --244.0000;69.5000 --244.0000;70.0000 --244.0000;70.5000 --244.0000;71.0000 --244.0000;71.5000 --244.0000;72.0000 --244.0000;72.5000 --243.5000;-233.0000 --243.5000;-232.5000 --243.5000;-232.0000 --243.5000;-231.5000 --243.5000;-231.0000 --243.5000;-230.5000 --243.5000;-230.0000 --243.5000;-229.5000 --243.5000;-229.0000 --243.5000;-228.5000 --243.5000;-228.0000 --243.5000;-227.5000 --243.5000;-227.0000 --243.5000;-226.5000 --243.5000;-226.0000 --243.5000;-225.5000 --243.5000;-225.0000 --243.5000;-224.5000 --243.5000;-224.0000 --243.5000;-223.5000 --243.5000;-223.0000 --243.5000;-222.5000 --243.5000;-222.0000 --243.5000;-221.5000 --243.5000;-221.0000 --243.5000;-220.5000 --243.5000;-220.0000 --243.5000;-135.5000 --243.5000;-135.0000 --243.5000;-134.5000 --243.5000;-134.0000 --243.5000;-133.5000 --243.5000;-133.0000 --243.5000;-132.5000 --243.5000;-132.0000 --243.5000;-131.5000 --243.5000;-131.0000 --243.5000;-130.5000 --243.5000;-130.0000 --243.5000;-129.5000 --243.5000;-129.0000 --243.5000;-128.5000 --243.5000;-128.0000 --243.5000;-127.5000 --243.5000;-127.0000 --243.5000;-126.5000 --243.5000;-126.0000 --243.5000;-125.5000 --243.5000;-125.0000 --243.5000;-124.5000 --243.5000;-124.0000 --243.5000;-123.5000 --243.5000;-123.0000 --243.5000;-122.5000 --243.5000;-71.0000 --243.5000;-70.5000 --243.5000;-70.0000 --243.5000;-69.5000 --243.5000;-69.0000 --243.5000;-68.5000 --243.5000;-68.0000 --243.5000;-67.5000 --243.5000;-67.0000 --243.5000;-66.5000 --243.5000;-66.0000 --243.5000;-65.5000 --243.5000;-65.0000 --243.5000;-64.5000 --243.5000;-64.0000 --243.5000;-63.5000 --243.5000;-63.0000 --243.5000;-62.5000 --243.5000;-62.0000 --243.5000;-61.5000 --243.5000;-61.0000 --243.5000;-60.5000 --243.5000;-60.0000 --243.5000;-59.5000 --243.5000;-59.0000 --243.5000;-58.5000 --243.5000;-58.0000 --243.5000;-57.5000 --243.5000;45.0000 --243.5000;45.5000 --243.5000;46.0000 --243.5000;46.5000 --243.5000;47.0000 --243.5000;47.5000 --243.5000;48.0000 --243.5000;48.5000 --243.5000;49.0000 --243.5000;49.5000 --243.5000;50.0000 --243.5000;50.5000 --243.5000;51.0000 --243.5000;51.5000 --243.5000;52.0000 --243.5000;52.5000 --243.5000;53.0000 --243.5000;53.5000 --243.5000;54.0000 --243.5000;54.5000 --243.5000;55.0000 --243.5000;55.5000 --243.5000;56.0000 --243.5000;56.5000 --243.5000;57.0000 --243.5000;57.5000 --243.5000;58.0000 --243.5000;58.5000 --243.5000;59.0000 --243.5000;59.5000 --243.5000;60.0000 --243.5000;60.5000 --243.5000;61.0000 --243.5000;61.5000 --243.5000;62.0000 --243.5000;62.5000 --243.5000;63.0000 --243.5000;63.5000 --243.5000;64.0000 --243.5000;64.5000 --243.5000;65.0000 --243.5000;65.5000 --243.5000;66.0000 --243.5000;66.5000 --243.5000;67.0000 --243.5000;67.5000 --243.5000;68.0000 --243.5000;68.5000 --243.5000;69.0000 --243.5000;69.5000 --243.5000;70.0000 --243.5000;70.5000 --243.5000;71.0000 --243.5000;71.5000 --243.5000;72.0000 --243.5000;72.5000 --243.5000;73.0000 --243.5000;73.5000 --243.0000;-233.0000 --243.0000;-232.5000 --243.0000;-232.0000 --243.0000;-231.5000 --243.0000;-231.0000 --243.0000;-230.5000 --243.0000;-230.0000 --243.0000;-229.5000 --243.0000;-229.0000 --243.0000;-228.5000 --243.0000;-228.0000 --243.0000;-227.5000 --243.0000;-227.0000 --243.0000;-226.5000 --243.0000;-226.0000 --243.0000;-225.5000 --243.0000;-225.0000 --243.0000;-224.5000 --243.0000;-224.0000 --243.0000;-223.5000 --243.0000;-223.0000 --243.0000;-222.5000 --243.0000;-222.0000 --243.0000;-221.5000 --243.0000;-221.0000 --243.0000;-220.5000 --243.0000;-135.0000 --243.0000;-134.5000 --243.0000;-134.0000 --243.0000;-133.5000 --243.0000;-133.0000 --243.0000;-132.5000 --243.0000;-132.0000 --243.0000;-131.5000 --243.0000;-131.0000 --243.0000;-130.5000 --243.0000;-130.0000 --243.0000;-129.5000 --243.0000;-129.0000 --243.0000;-128.5000 --243.0000;-128.0000 --243.0000;-127.5000 --243.0000;-127.0000 --243.0000;-126.5000 --243.0000;-126.0000 --243.0000;-125.5000 --243.0000;-125.0000 --243.0000;-124.5000 --243.0000;-124.0000 --243.0000;-123.5000 --243.0000;-123.0000 --243.0000;-122.5000 --243.0000;-71.0000 --243.0000;-70.5000 --243.0000;-70.0000 --243.0000;-69.5000 --243.0000;-69.0000 --243.0000;-68.5000 --243.0000;-68.0000 --243.0000;-67.5000 --243.0000;-67.0000 --243.0000;-66.5000 --243.0000;-66.0000 --243.0000;-65.5000 --243.0000;-65.0000 --243.0000;-64.5000 --243.0000;-64.0000 --243.0000;-63.5000 --243.0000;-63.0000 --243.0000;-62.5000 --243.0000;-62.0000 --243.0000;-61.5000 --243.0000;-61.0000 --243.0000;-60.5000 --243.0000;-60.0000 --243.0000;-59.5000 --243.0000;-59.0000 --243.0000;-58.5000 --243.0000;-58.0000 --243.0000;46.0000 --243.0000;46.5000 --243.0000;47.0000 --243.0000;47.5000 --243.0000;48.0000 --243.0000;48.5000 --243.0000;49.0000 --243.0000;49.5000 --243.0000;50.0000 --243.0000;50.5000 --243.0000;51.0000 --243.0000;51.5000 --243.0000;52.0000 --243.0000;52.5000 --243.0000;53.0000 --243.0000;53.5000 --243.0000;54.0000 --243.0000;54.5000 --243.0000;55.0000 --243.0000;55.5000 --243.0000;56.0000 --243.0000;56.5000 --243.0000;57.0000 --243.0000;57.5000 --243.0000;58.0000 --243.0000;58.5000 --243.0000;59.0000 --243.0000;59.5000 --243.0000;60.0000 --243.0000;60.5000 --243.0000;61.0000 --243.0000;61.5000 --243.0000;62.0000 --243.0000;62.5000 --243.0000;63.0000 --243.0000;63.5000 --243.0000;64.0000 --243.0000;64.5000 --243.0000;65.0000 --243.0000;65.5000 --243.0000;66.0000 --243.0000;66.5000 --243.0000;67.0000 --243.0000;67.5000 --243.0000;68.0000 --243.0000;68.5000 --243.0000;69.0000 --243.0000;69.5000 --243.0000;70.0000 --243.0000;70.5000 --243.0000;71.0000 --243.0000;71.5000 --243.0000;72.0000 --243.0000;72.5000 --243.0000;73.0000 --243.0000;73.5000 --243.0000;74.0000 --243.0000;74.5000 --242.5000;-233.5000 --242.5000;-233.0000 --242.5000;-232.5000 --242.5000;-232.0000 --242.5000;-231.5000 --242.5000;-231.0000 --242.5000;-230.5000 --242.5000;-230.0000 --242.5000;-229.5000 --242.5000;-229.0000 --242.5000;-228.5000 --242.5000;-228.0000 --242.5000;-227.5000 --242.5000;-227.0000 --242.5000;-226.5000 --242.5000;-226.0000 --242.5000;-225.5000 --242.5000;-225.0000 --242.5000;-224.5000 --242.5000;-224.0000 --242.5000;-223.5000 --242.5000;-223.0000 --242.5000;-222.5000 --242.5000;-222.0000 --242.5000;-221.5000 --242.5000;-221.0000 --242.5000;-220.5000 --242.5000;-135.0000 --242.5000;-134.5000 --242.5000;-134.0000 --242.5000;-133.5000 --242.5000;-133.0000 --242.5000;-132.5000 --242.5000;-132.0000 --242.5000;-131.5000 --242.5000;-131.0000 --242.5000;-130.5000 --242.5000;-130.0000 --242.5000;-129.5000 --242.5000;-129.0000 --242.5000;-128.5000 --242.5000;-128.0000 --242.5000;-127.5000 --242.5000;-127.0000 --242.5000;-126.5000 --242.5000;-126.0000 --242.5000;-125.5000 --242.5000;-125.0000 --242.5000;-124.5000 --242.5000;-124.0000 --242.5000;-123.5000 --242.5000;-123.0000 --242.5000;-122.5000 --242.5000;-122.0000 --242.5000;-71.5000 --242.5000;-71.0000 --242.5000;-70.5000 --242.5000;-70.0000 --242.5000;-69.5000 --242.5000;-69.0000 --242.5000;-68.5000 --242.5000;-68.0000 --242.5000;-67.5000 --242.5000;-67.0000 --242.5000;-66.5000 --242.5000;-66.0000 --242.5000;-65.5000 --242.5000;-65.0000 --242.5000;-64.5000 --242.5000;-64.0000 --242.5000;-63.5000 --242.5000;-63.0000 --242.5000;-62.5000 --242.5000;-62.0000 --242.5000;-61.5000 --242.5000;-61.0000 --242.5000;-60.5000 --242.5000;-60.0000 --242.5000;-59.5000 --242.5000;-59.0000 --242.5000;-58.5000 --242.5000;-58.0000 --242.5000;47.0000 --242.5000;47.5000 --242.5000;48.0000 --242.5000;48.5000 --242.5000;49.0000 --242.5000;49.5000 --242.5000;50.0000 --242.5000;50.5000 --242.5000;51.0000 --242.5000;51.5000 --242.5000;52.0000 --242.5000;52.5000 --242.5000;53.0000 --242.5000;53.5000 --242.5000;54.0000 --242.5000;54.5000 --242.5000;55.0000 --242.5000;55.5000 --242.5000;56.0000 --242.5000;56.5000 --242.5000;57.0000 --242.5000;57.5000 --242.5000;58.0000 --242.5000;58.5000 --242.5000;59.0000 --242.5000;59.5000 --242.5000;60.0000 --242.5000;60.5000 --242.5000;61.0000 --242.5000;61.5000 --242.5000;62.0000 --242.5000;62.5000 --242.5000;63.0000 --242.5000;63.5000 --242.5000;64.0000 --242.5000;64.5000 --242.5000;65.0000 --242.5000;65.5000 --242.5000;66.0000 --242.5000;66.5000 --242.5000;67.0000 --242.5000;67.5000 --242.5000;68.0000 --242.5000;68.5000 --242.5000;69.0000 --242.5000;69.5000 --242.5000;70.0000 --242.5000;70.5000 --242.5000;71.0000 --242.5000;71.5000 --242.5000;72.0000 --242.5000;72.5000 --242.5000;73.0000 --242.5000;73.5000 --242.5000;74.0000 --242.5000;74.5000 --242.5000;75.0000 --242.5000;75.5000 --242.0000;-233.5000 --242.0000;-233.0000 --242.0000;-232.5000 --242.0000;-232.0000 --242.0000;-231.5000 --242.0000;-231.0000 --242.0000;-230.5000 --242.0000;-230.0000 --242.0000;-229.5000 --242.0000;-229.0000 --242.0000;-228.5000 --242.0000;-228.0000 --242.0000;-227.5000 --242.0000;-227.0000 --242.0000;-226.5000 --242.0000;-226.0000 --242.0000;-225.5000 --242.0000;-225.0000 --242.0000;-224.5000 --242.0000;-224.0000 --242.0000;-223.5000 --242.0000;-223.0000 --242.0000;-222.5000 --242.0000;-222.0000 --242.0000;-221.5000 --242.0000;-221.0000 --242.0000;-134.5000 --242.0000;-134.0000 --242.0000;-133.5000 --242.0000;-133.0000 --242.0000;-132.5000 --242.0000;-132.0000 --242.0000;-131.5000 --242.0000;-131.0000 --242.0000;-130.5000 --242.0000;-130.0000 --242.0000;-129.5000 --242.0000;-129.0000 --242.0000;-128.5000 --242.0000;-128.0000 --242.0000;-127.5000 --242.0000;-127.0000 --242.0000;-126.5000 --242.0000;-126.0000 --242.0000;-125.5000 --242.0000;-125.0000 --242.0000;-124.5000 --242.0000;-124.0000 --242.0000;-123.5000 --242.0000;-123.0000 --242.0000;-122.5000 --242.0000;-122.0000 --242.0000;-71.5000 --242.0000;-71.0000 --242.0000;-70.5000 --242.0000;-70.0000 --242.0000;-69.5000 --242.0000;-69.0000 --242.0000;-68.5000 --242.0000;-68.0000 --242.0000;-67.5000 --242.0000;-67.0000 --242.0000;-66.5000 --242.0000;-66.0000 --242.0000;-65.5000 --242.0000;-65.0000 --242.0000;-64.5000 --242.0000;-64.0000 --242.0000;-63.5000 --242.0000;-63.0000 --242.0000;-62.5000 --242.0000;-62.0000 --242.0000;-61.5000 --242.0000;-61.0000 --242.0000;-60.5000 --242.0000;-60.0000 --242.0000;-59.5000 --242.0000;-59.0000 --242.0000;-58.5000 --242.0000;48.0000 --242.0000;48.5000 --242.0000;49.0000 --242.0000;49.5000 --242.0000;50.0000 --242.0000;50.5000 --242.0000;51.0000 --242.0000;51.5000 --242.0000;52.0000 --242.0000;52.5000 --242.0000;53.0000 --242.0000;53.5000 --242.0000;54.0000 --242.0000;54.5000 --242.0000;55.0000 --242.0000;55.5000 --242.0000;56.0000 --242.0000;56.5000 --242.0000;57.0000 --242.0000;57.5000 --242.0000;58.0000 --242.0000;58.5000 --242.0000;59.0000 --242.0000;59.5000 --242.0000;60.0000 --242.0000;60.5000 --242.0000;61.0000 --242.0000;61.5000 --242.0000;62.0000 --242.0000;62.5000 --242.0000;63.0000 --242.0000;63.5000 --242.0000;64.0000 --242.0000;64.5000 --242.0000;65.0000 --242.0000;65.5000 --242.0000;66.0000 --242.0000;66.5000 --242.0000;67.0000 --242.0000;67.5000 --242.0000;68.0000 --242.0000;68.5000 --242.0000;69.0000 --242.0000;69.5000 --242.0000;70.0000 --242.0000;70.5000 --242.0000;71.0000 --242.0000;71.5000 --242.0000;72.0000 --242.0000;72.5000 --242.0000;73.0000 --242.0000;73.5000 --242.0000;74.0000 --242.0000;74.5000 --242.0000;75.0000 --242.0000;75.5000 --242.0000;76.0000 --242.0000;76.5000 --241.5000;-233.5000 --241.5000;-233.0000 --241.5000;-232.5000 --241.5000;-232.0000 --241.5000;-231.5000 --241.5000;-231.0000 --241.5000;-230.5000 --241.5000;-230.0000 --241.5000;-229.5000 --241.5000;-229.0000 --241.5000;-228.5000 --241.5000;-228.0000 --241.5000;-227.5000 --241.5000;-227.0000 --241.5000;-226.5000 --241.5000;-226.0000 --241.5000;-225.5000 --241.5000;-225.0000 --241.5000;-224.5000 --241.5000;-224.0000 --241.5000;-223.5000 --241.5000;-223.0000 --241.5000;-222.5000 --241.5000;-222.0000 --241.5000;-221.5000 --241.5000;-221.0000 --241.5000;-134.5000 --241.5000;-134.0000 --241.5000;-133.5000 --241.5000;-133.0000 --241.5000;-132.5000 --241.5000;-132.0000 --241.5000;-131.5000 --241.5000;-131.0000 --241.5000;-130.5000 --241.5000;-130.0000 --241.5000;-129.5000 --241.5000;-129.0000 --241.5000;-128.5000 --241.5000;-128.0000 --241.5000;-127.5000 --241.5000;-127.0000 --241.5000;-126.5000 --241.5000;-126.0000 --241.5000;-125.5000 --241.5000;-125.0000 --241.5000;-124.5000 --241.5000;-124.0000 --241.5000;-123.5000 --241.5000;-123.0000 --241.5000;-122.5000 --241.5000;-122.0000 --241.5000;-72.0000 --241.5000;-71.5000 --241.5000;-71.0000 --241.5000;-70.5000 --241.5000;-70.0000 --241.5000;-69.5000 --241.5000;-69.0000 --241.5000;-68.5000 --241.5000;-68.0000 --241.5000;-67.5000 --241.5000;-67.0000 --241.5000;-66.5000 --241.5000;-66.0000 --241.5000;-65.5000 --241.5000;-65.0000 --241.5000;-64.5000 --241.5000;-64.0000 --241.5000;-63.5000 --241.5000;-63.0000 --241.5000;-62.5000 --241.5000;-62.0000 --241.5000;-61.5000 --241.5000;-61.0000 --241.5000;-60.5000 --241.5000;-60.0000 --241.5000;-59.5000 --241.5000;-59.0000 --241.5000;49.0000 --241.5000;49.5000 --241.5000;50.0000 --241.5000;50.5000 --241.5000;51.0000 --241.5000;51.5000 --241.5000;52.0000 --241.5000;52.5000 --241.5000;53.0000 --241.5000;53.5000 --241.5000;54.0000 --241.5000;54.5000 --241.5000;55.0000 --241.5000;55.5000 --241.5000;56.0000 --241.5000;56.5000 --241.5000;57.0000 --241.5000;57.5000 --241.5000;58.0000 --241.5000;58.5000 --241.5000;59.0000 --241.5000;59.5000 --241.5000;60.0000 --241.5000;60.5000 --241.5000;61.0000 --241.5000;61.5000 --241.5000;62.0000 --241.5000;62.5000 --241.5000;63.0000 --241.5000;63.5000 --241.5000;64.0000 --241.5000;64.5000 --241.5000;65.0000 --241.5000;65.5000 --241.5000;66.0000 --241.5000;66.5000 --241.5000;67.0000 --241.5000;67.5000 --241.5000;68.0000 --241.5000;68.5000 --241.5000;69.0000 --241.5000;69.5000 --241.5000;70.0000 --241.5000;70.5000 --241.5000;71.0000 --241.5000;71.5000 --241.5000;72.0000 --241.5000;72.5000 --241.5000;73.0000 --241.5000;73.5000 --241.5000;74.0000 --241.5000;74.5000 --241.5000;75.0000 --241.5000;75.5000 --241.5000;76.0000 --241.5000;76.5000 --241.5000;77.0000 --241.5000;77.5000 --241.0000;-234.0000 --241.0000;-233.5000 --241.0000;-233.0000 --241.0000;-232.5000 --241.0000;-232.0000 --241.0000;-231.5000 --241.0000;-231.0000 --241.0000;-230.5000 --241.0000;-230.0000 --241.0000;-229.5000 --241.0000;-229.0000 --241.0000;-228.5000 --241.0000;-228.0000 --241.0000;-227.5000 --241.0000;-227.0000 --241.0000;-226.5000 --241.0000;-226.0000 --241.0000;-225.5000 --241.0000;-225.0000 --241.0000;-224.5000 --241.0000;-224.0000 --241.0000;-223.5000 --241.0000;-223.0000 --241.0000;-222.5000 --241.0000;-222.0000 --241.0000;-221.5000 --241.0000;-221.0000 --241.0000;-134.0000 --241.0000;-133.5000 --241.0000;-133.0000 --241.0000;-132.5000 --241.0000;-132.0000 --241.0000;-131.5000 --241.0000;-131.0000 --241.0000;-130.5000 --241.0000;-130.0000 --241.0000;-129.5000 --241.0000;-129.0000 --241.0000;-128.5000 --241.0000;-128.0000 --241.0000;-127.5000 --241.0000;-127.0000 --241.0000;-126.5000 --241.0000;-126.0000 --241.0000;-125.5000 --241.0000;-125.0000 --241.0000;-124.5000 --241.0000;-124.0000 --241.0000;-123.5000 --241.0000;-123.0000 --241.0000;-122.5000 --241.0000;-122.0000 --241.0000;-72.0000 --241.0000;-71.5000 --241.0000;-71.0000 --241.0000;-70.5000 --241.0000;-70.0000 --241.0000;-69.5000 --241.0000;-69.0000 --241.0000;-68.5000 --241.0000;-68.0000 --241.0000;-67.5000 --241.0000;-67.0000 --241.0000;-66.5000 --241.0000;-66.0000 --241.0000;-65.5000 --241.0000;-65.0000 --241.0000;-64.5000 --241.0000;-64.0000 --241.0000;-63.5000 --241.0000;-63.0000 --241.0000;-62.5000 --241.0000;-62.0000 --241.0000;-61.5000 --241.0000;-61.0000 --241.0000;-60.5000 --241.0000;-60.0000 --241.0000;-59.5000 --241.0000;-59.0000 --241.0000;50.0000 --241.0000;50.5000 --241.0000;51.0000 --241.0000;51.5000 --241.0000;52.0000 --241.0000;52.5000 --241.0000;53.0000 --241.0000;53.5000 --241.0000;54.0000 --241.0000;54.5000 --241.0000;55.0000 --241.0000;55.5000 --241.0000;56.0000 --241.0000;56.5000 --241.0000;57.0000 --241.0000;57.5000 --241.0000;58.0000 --241.0000;58.5000 --241.0000;59.0000 --241.0000;59.5000 --241.0000;60.0000 --241.0000;60.5000 --241.0000;61.0000 --241.0000;61.5000 --241.0000;62.0000 --241.0000;62.5000 --241.0000;63.0000 --241.0000;63.5000 --241.0000;64.0000 --241.0000;64.5000 --241.0000;65.0000 --241.0000;65.5000 --241.0000;66.0000 --241.0000;66.5000 --241.0000;67.0000 --241.0000;67.5000 --241.0000;68.0000 --241.0000;68.5000 --241.0000;69.0000 --241.0000;69.5000 --241.0000;70.0000 --241.0000;70.5000 --241.0000;71.0000 --241.0000;71.5000 --241.0000;72.0000 --241.0000;72.5000 --241.0000;73.0000 --241.0000;73.5000 --241.0000;74.0000 --241.0000;74.5000 --241.0000;75.0000 --241.0000;75.5000 --241.0000;76.0000 --241.0000;76.5000 --241.0000;77.0000 --241.0000;77.5000 --241.0000;78.0000 --241.0000;78.5000 --240.5000;-234.0000 --240.5000;-233.5000 --240.5000;-233.0000 --240.5000;-232.5000 --240.5000;-232.0000 --240.5000;-231.5000 --240.5000;-231.0000 --240.5000;-230.5000 --240.5000;-230.0000 --240.5000;-229.5000 --240.5000;-229.0000 --240.5000;-228.5000 --240.5000;-228.0000 --240.5000;-227.5000 --240.5000;-227.0000 --240.5000;-226.5000 --240.5000;-226.0000 --240.5000;-225.5000 --240.5000;-225.0000 --240.5000;-224.5000 --240.5000;-224.0000 --240.5000;-223.5000 --240.5000;-223.0000 --240.5000;-222.5000 --240.5000;-222.0000 --240.5000;-221.5000 --240.5000;-134.0000 --240.5000;-133.5000 --240.5000;-133.0000 --240.5000;-132.5000 --240.5000;-132.0000 --240.5000;-131.5000 --240.5000;-131.0000 --240.5000;-130.5000 --240.5000;-130.0000 --240.5000;-129.5000 --240.5000;-129.0000 --240.5000;-128.5000 --240.5000;-128.0000 --240.5000;-127.5000 --240.5000;-127.0000 --240.5000;-126.5000 --240.5000;-126.0000 --240.5000;-125.5000 --240.5000;-125.0000 --240.5000;-124.5000 --240.5000;-124.0000 --240.5000;-123.5000 --240.5000;-123.0000 --240.5000;-122.5000 --240.5000;-122.0000 --240.5000;-121.5000 --240.5000;-72.0000 --240.5000;-71.5000 --240.5000;-71.0000 --240.5000;-70.5000 --240.5000;-70.0000 --240.5000;-69.5000 --240.5000;-69.0000 --240.5000;-68.5000 --240.5000;-68.0000 --240.5000;-67.5000 --240.5000;-67.0000 --240.5000;-66.5000 --240.5000;-66.0000 --240.5000;-65.5000 --240.5000;-65.0000 --240.5000;-64.5000 --240.5000;-64.0000 --240.5000;-63.5000 --240.5000;-63.0000 --240.5000;-62.5000 --240.5000;-62.0000 --240.5000;-61.5000 --240.5000;-61.0000 --240.5000;-60.5000 --240.5000;-60.0000 --240.5000;-59.5000 --240.5000;51.0000 --240.5000;51.5000 --240.5000;52.0000 --240.5000;52.5000 --240.5000;53.0000 --240.5000;53.5000 --240.5000;54.0000 --240.5000;54.5000 --240.5000;55.0000 --240.5000;55.5000 --240.5000;56.0000 --240.5000;56.5000 --240.5000;57.0000 --240.5000;57.5000 --240.5000;58.0000 --240.5000;58.5000 --240.5000;59.0000 --240.5000;59.5000 --240.5000;60.0000 --240.5000;60.5000 --240.5000;61.0000 --240.5000;61.5000 --240.5000;62.0000 --240.5000;62.5000 --240.5000;63.0000 --240.5000;63.5000 --240.5000;64.0000 --240.5000;64.5000 --240.5000;65.0000 --240.5000;65.5000 --240.5000;66.0000 --240.5000;66.5000 --240.5000;67.0000 --240.5000;67.5000 --240.5000;68.0000 --240.5000;68.5000 --240.5000;69.0000 --240.5000;69.5000 --240.5000;70.0000 --240.5000;70.5000 --240.5000;71.0000 --240.5000;71.5000 --240.5000;72.0000 --240.5000;72.5000 --240.5000;73.0000 --240.5000;73.5000 --240.5000;74.0000 --240.5000;74.5000 --240.5000;75.0000 --240.5000;75.5000 --240.5000;76.0000 --240.5000;76.5000 --240.5000;77.0000 --240.5000;77.5000 --240.5000;78.0000 --240.5000;78.5000 --240.5000;79.0000 --240.5000;79.5000 --240.0000;-234.0000 --240.0000;-233.5000 --240.0000;-233.0000 --240.0000;-232.5000 --240.0000;-232.0000 --240.0000;-231.5000 --240.0000;-231.0000 --240.0000;-230.5000 --240.0000;-230.0000 --240.0000;-229.5000 --240.0000;-229.0000 --240.0000;-228.5000 --240.0000;-228.0000 --240.0000;-227.5000 --240.0000;-227.0000 --240.0000;-226.5000 --240.0000;-226.0000 --240.0000;-225.5000 --240.0000;-225.0000 --240.0000;-224.5000 --240.0000;-224.0000 --240.0000;-223.5000 --240.0000;-223.0000 --240.0000;-222.5000 --240.0000;-222.0000 --240.0000;-221.5000 --240.0000;-134.0000 --240.0000;-133.5000 --240.0000;-133.0000 --240.0000;-132.5000 --240.0000;-132.0000 --240.0000;-131.5000 --240.0000;-131.0000 --240.0000;-130.5000 --240.0000;-130.0000 --240.0000;-129.5000 --240.0000;-129.0000 --240.0000;-128.5000 --240.0000;-128.0000 --240.0000;-127.5000 --240.0000;-127.0000 --240.0000;-126.5000 --240.0000;-126.0000 --240.0000;-125.5000 --240.0000;-125.0000 --240.0000;-124.5000 --240.0000;-124.0000 --240.0000;-123.5000 --240.0000;-123.0000 --240.0000;-122.5000 --240.0000;-122.0000 --240.0000;-121.5000 --240.0000;-72.5000 --240.0000;-72.0000 --240.0000;-71.5000 --240.0000;-71.0000 --240.0000;-70.5000 --240.0000;-70.0000 --240.0000;-69.5000 --240.0000;-69.0000 --240.0000;-68.5000 --240.0000;-68.0000 --240.0000;-67.5000 --240.0000;-67.0000 --240.0000;-66.5000 --240.0000;-66.0000 --240.0000;-65.5000 --240.0000;-65.0000 --240.0000;-64.5000 --240.0000;-64.0000 --240.0000;-63.5000 --240.0000;-63.0000 --240.0000;-62.5000 --240.0000;-62.0000 --240.0000;-61.5000 --240.0000;-61.0000 --240.0000;-60.5000 --240.0000;-60.0000 --240.0000;-59.5000 --240.0000;52.0000 --240.0000;52.5000 --240.0000;53.0000 --240.0000;53.5000 --240.0000;54.0000 --240.0000;54.5000 --240.0000;55.0000 --240.0000;55.5000 --240.0000;56.0000 --240.0000;56.5000 --240.0000;57.0000 --240.0000;57.5000 --240.0000;58.0000 --240.0000;58.5000 --240.0000;59.0000 --240.0000;59.5000 --240.0000;60.0000 --240.0000;60.5000 --240.0000;61.0000 --240.0000;61.5000 --240.0000;62.0000 --240.0000;62.5000 --240.0000;63.0000 --240.0000;63.5000 --240.0000;64.0000 --240.0000;64.5000 --240.0000;65.0000 --240.0000;65.5000 --240.0000;66.0000 --240.0000;66.5000 --240.0000;67.0000 --240.0000;67.5000 --240.0000;68.0000 --240.0000;68.5000 --240.0000;69.0000 --240.0000;69.5000 --240.0000;70.0000 --240.0000;70.5000 --240.0000;71.0000 --240.0000;71.5000 --240.0000;72.0000 --240.0000;72.5000 --240.0000;73.0000 --240.0000;73.5000 --240.0000;74.0000 --240.0000;74.5000 --240.0000;75.0000 --240.0000;75.5000 --240.0000;76.0000 --240.0000;76.5000 --240.0000;77.0000 --240.0000;77.5000 --240.0000;78.0000 --240.0000;78.5000 --240.0000;79.0000 --240.0000;79.5000 --240.0000;80.0000 --240.0000;80.5000 --239.5000;-234.5000 --239.5000;-234.0000 --239.5000;-233.5000 --239.5000;-233.0000 --239.5000;-232.5000 --239.5000;-232.0000 --239.5000;-231.5000 --239.5000;-231.0000 --239.5000;-230.5000 --239.5000;-230.0000 --239.5000;-229.5000 --239.5000;-229.0000 --239.5000;-228.5000 --239.5000;-228.0000 --239.5000;-227.5000 --239.5000;-227.0000 --239.5000;-226.5000 --239.5000;-226.0000 --239.5000;-225.5000 --239.5000;-225.0000 --239.5000;-224.5000 --239.5000;-224.0000 --239.5000;-223.5000 --239.5000;-223.0000 --239.5000;-222.5000 --239.5000;-222.0000 --239.5000;-221.5000 --239.5000;-133.5000 --239.5000;-133.0000 --239.5000;-132.5000 --239.5000;-132.0000 --239.5000;-131.5000 --239.5000;-131.0000 --239.5000;-130.5000 --239.5000;-130.0000 --239.5000;-129.5000 --239.5000;-129.0000 --239.5000;-128.5000 --239.5000;-128.0000 --239.5000;-127.5000 --239.5000;-127.0000 --239.5000;-126.5000 --239.5000;-126.0000 --239.5000;-125.5000 --239.5000;-125.0000 --239.5000;-124.5000 --239.5000;-124.0000 --239.5000;-123.5000 --239.5000;-123.0000 --239.5000;-122.5000 --239.5000;-122.0000 --239.5000;-121.5000 --239.5000;-72.5000 --239.5000;-72.0000 --239.5000;-71.5000 --239.5000;-71.0000 --239.5000;-70.5000 --239.5000;-70.0000 --239.5000;-69.5000 --239.5000;-69.0000 --239.5000;-68.5000 --239.5000;-68.0000 --239.5000;-67.5000 --239.5000;-67.0000 --239.5000;-66.5000 --239.5000;-66.0000 --239.5000;-65.5000 --239.5000;-65.0000 --239.5000;-64.5000 --239.5000;-64.0000 --239.5000;-63.5000 --239.5000;-63.0000 --239.5000;-62.5000 --239.5000;-62.0000 --239.5000;-61.5000 --239.5000;-61.0000 --239.5000;-60.5000 --239.5000;-60.0000 --239.5000;53.0000 --239.5000;53.5000 --239.5000;54.0000 --239.5000;54.5000 --239.5000;55.0000 --239.5000;55.5000 --239.5000;56.0000 --239.5000;56.5000 --239.5000;57.0000 --239.5000;57.5000 --239.5000;58.0000 --239.5000;58.5000 --239.5000;59.0000 --239.5000;59.5000 --239.5000;60.0000 --239.5000;60.5000 --239.5000;61.0000 --239.5000;61.5000 --239.5000;62.0000 --239.5000;62.5000 --239.5000;63.0000 --239.5000;63.5000 --239.5000;64.0000 --239.5000;64.5000 --239.5000;65.0000 --239.5000;65.5000 --239.5000;66.0000 --239.5000;66.5000 --239.5000;67.0000 --239.5000;67.5000 --239.5000;68.0000 --239.5000;68.5000 --239.5000;69.0000 --239.5000;69.5000 --239.5000;70.0000 --239.5000;70.5000 --239.5000;71.0000 --239.5000;71.5000 --239.5000;72.0000 --239.5000;72.5000 --239.5000;73.0000 --239.5000;73.5000 --239.5000;74.0000 --239.5000;74.5000 --239.5000;75.0000 --239.5000;75.5000 --239.5000;76.0000 --239.5000;76.5000 --239.5000;77.0000 --239.5000;77.5000 --239.5000;78.0000 --239.5000;78.5000 --239.5000;79.0000 --239.5000;79.5000 --239.5000;80.0000 --239.5000;80.5000 --239.5000;81.0000 --239.5000;81.5000 --239.5000;82.0000 --239.0000;-234.5000 --239.0000;-234.0000 --239.0000;-233.5000 --239.0000;-233.0000 --239.0000;-232.5000 --239.0000;-232.0000 --239.0000;-231.5000 --239.0000;-231.0000 --239.0000;-230.5000 --239.0000;-230.0000 --239.0000;-229.5000 --239.0000;-229.0000 --239.0000;-228.5000 --239.0000;-228.0000 --239.0000;-227.5000 --239.0000;-227.0000 --239.0000;-226.5000 --239.0000;-226.0000 --239.0000;-225.5000 --239.0000;-225.0000 --239.0000;-224.5000 --239.0000;-224.0000 --239.0000;-223.5000 --239.0000;-223.0000 --239.0000;-222.5000 --239.0000;-222.0000 --239.0000;-133.5000 --239.0000;-133.0000 --239.0000;-132.5000 --239.0000;-132.0000 --239.0000;-131.5000 --239.0000;-131.0000 --239.0000;-130.5000 --239.0000;-130.0000 --239.0000;-129.5000 --239.0000;-129.0000 --239.0000;-128.5000 --239.0000;-128.0000 --239.0000;-127.5000 --239.0000;-127.0000 --239.0000;-126.5000 --239.0000;-126.0000 --239.0000;-125.5000 --239.0000;-125.0000 --239.0000;-124.5000 --239.0000;-124.0000 --239.0000;-123.5000 --239.0000;-123.0000 --239.0000;-122.5000 --239.0000;-122.0000 --239.0000;-121.5000 --239.0000;-121.0000 --239.0000;-72.5000 --239.0000;-72.0000 --239.0000;-71.5000 --239.0000;-71.0000 --239.0000;-70.5000 --239.0000;-70.0000 --239.0000;-69.5000 --239.0000;-69.0000 --239.0000;-68.5000 --239.0000;-68.0000 --239.0000;-67.5000 --239.0000;-67.0000 --239.0000;-66.5000 --239.0000;-66.0000 --239.0000;-65.5000 --239.0000;-65.0000 --239.0000;-64.5000 --239.0000;-64.0000 --239.0000;-63.5000 --239.0000;-63.0000 --239.0000;-62.5000 --239.0000;-62.0000 --239.0000;-61.5000 --239.0000;-61.0000 --239.0000;-60.5000 --239.0000;-60.0000 --239.0000;54.0000 --239.0000;54.5000 --239.0000;55.0000 --239.0000;55.5000 --239.0000;56.0000 --239.0000;56.5000 --239.0000;57.0000 --239.0000;57.5000 --239.0000;58.0000 --239.0000;58.5000 --239.0000;59.0000 --239.0000;59.5000 --239.0000;60.0000 --239.0000;60.5000 --239.0000;61.0000 --239.0000;61.5000 --239.0000;62.0000 --239.0000;62.5000 --239.0000;63.0000 --239.0000;63.5000 --239.0000;64.0000 --239.0000;64.5000 --239.0000;65.0000 --239.0000;65.5000 --239.0000;66.0000 --239.0000;66.5000 --239.0000;67.0000 --239.0000;67.5000 --239.0000;68.0000 --239.0000;68.5000 --239.0000;69.0000 --239.0000;69.5000 --239.0000;70.0000 --239.0000;70.5000 --239.0000;71.0000 --239.0000;71.5000 --239.0000;72.0000 --239.0000;72.5000 --239.0000;73.0000 --239.0000;73.5000 --239.0000;74.0000 --239.0000;74.5000 --239.0000;75.0000 --239.0000;75.5000 --239.0000;76.0000 --239.0000;76.5000 --239.0000;77.0000 --239.0000;77.5000 --239.0000;78.0000 --239.0000;78.5000 --239.0000;79.0000 --239.0000;79.5000 --239.0000;80.0000 --239.0000;80.5000 --239.0000;81.0000 --239.0000;81.5000 --239.0000;82.0000 --239.0000;82.5000 --239.0000;83.0000 --238.5000;-235.0000 --238.5000;-234.5000 --238.5000;-234.0000 --238.5000;-233.5000 --238.5000;-233.0000 --238.5000;-232.5000 --238.5000;-232.0000 --238.5000;-231.5000 --238.5000;-231.0000 --238.5000;-230.5000 --238.5000;-230.0000 --238.5000;-229.5000 --238.5000;-229.0000 --238.5000;-228.5000 --238.5000;-228.0000 --238.5000;-227.5000 --238.5000;-227.0000 --238.5000;-226.5000 --238.5000;-226.0000 --238.5000;-225.5000 --238.5000;-225.0000 --238.5000;-224.5000 --238.5000;-224.0000 --238.5000;-223.5000 --238.5000;-223.0000 --238.5000;-222.5000 --238.5000;-222.0000 --238.5000;-133.5000 --238.5000;-133.0000 --238.5000;-132.5000 --238.5000;-132.0000 --238.5000;-131.5000 --238.5000;-131.0000 --238.5000;-130.5000 --238.5000;-130.0000 --238.5000;-129.5000 --238.5000;-129.0000 --238.5000;-128.5000 --238.5000;-128.0000 --238.5000;-127.5000 --238.5000;-127.0000 --238.5000;-126.5000 --238.5000;-126.0000 --238.5000;-125.5000 --238.5000;-125.0000 --238.5000;-124.5000 --238.5000;-124.0000 --238.5000;-123.5000 --238.5000;-123.0000 --238.5000;-122.5000 --238.5000;-122.0000 --238.5000;-121.5000 --238.5000;-121.0000 --238.5000;-73.0000 --238.5000;-72.5000 --238.5000;-72.0000 --238.5000;-71.5000 --238.5000;-71.0000 --238.5000;-70.5000 --238.5000;-70.0000 --238.5000;-69.5000 --238.5000;-69.0000 --238.5000;-68.5000 --238.5000;-68.0000 --238.5000;-67.5000 --238.5000;-67.0000 --238.5000;-66.5000 --238.5000;-66.0000 --238.5000;-65.5000 --238.5000;-65.0000 --238.5000;-64.5000 --238.5000;-64.0000 --238.5000;-63.5000 --238.5000;-63.0000 --238.5000;-62.5000 --238.5000;-62.0000 --238.5000;-61.5000 --238.5000;-61.0000 --238.5000;-60.5000 --238.5000;55.5000 --238.5000;56.0000 --238.5000;56.5000 --238.5000;57.0000 --238.5000;57.5000 --238.5000;58.0000 --238.5000;58.5000 --238.5000;59.0000 --238.5000;59.5000 --238.5000;60.0000 --238.5000;60.5000 --238.5000;61.0000 --238.5000;61.5000 --238.5000;62.0000 --238.5000;62.5000 --238.5000;63.0000 --238.5000;63.5000 --238.5000;64.0000 --238.5000;64.5000 --238.5000;65.0000 --238.5000;65.5000 --238.5000;66.0000 --238.5000;66.5000 --238.5000;67.0000 --238.5000;67.5000 --238.5000;68.0000 --238.5000;68.5000 --238.5000;69.0000 --238.5000;69.5000 --238.5000;70.0000 --238.5000;70.5000 --238.5000;71.0000 --238.5000;71.5000 --238.5000;72.0000 --238.5000;72.5000 --238.5000;73.0000 --238.5000;73.5000 --238.5000;74.0000 --238.5000;74.5000 --238.5000;75.0000 --238.5000;75.5000 --238.5000;76.0000 --238.5000;76.5000 --238.5000;77.0000 --238.5000;77.5000 --238.5000;78.0000 --238.5000;78.5000 --238.5000;79.0000 --238.5000;79.5000 --238.5000;80.0000 --238.5000;80.5000 --238.5000;81.0000 --238.5000;81.5000 --238.5000;82.0000 --238.5000;82.5000 --238.5000;83.0000 --238.5000;83.5000 --238.5000;84.0000 --238.0000;-235.0000 --238.0000;-234.5000 --238.0000;-234.0000 --238.0000;-233.5000 --238.0000;-233.0000 --238.0000;-232.5000 --238.0000;-232.0000 --238.0000;-231.5000 --238.0000;-231.0000 --238.0000;-230.5000 --238.0000;-230.0000 --238.0000;-229.5000 --238.0000;-229.0000 --238.0000;-228.5000 --238.0000;-228.0000 --238.0000;-227.5000 --238.0000;-227.0000 --238.0000;-226.5000 --238.0000;-226.0000 --238.0000;-225.5000 --238.0000;-225.0000 --238.0000;-224.5000 --238.0000;-224.0000 --238.0000;-223.5000 --238.0000;-223.0000 --238.0000;-222.5000 --238.0000;-133.0000 --238.0000;-132.5000 --238.0000;-132.0000 --238.0000;-131.5000 --238.0000;-131.0000 --238.0000;-130.5000 --238.0000;-130.0000 --238.0000;-129.5000 --238.0000;-129.0000 --238.0000;-128.5000 --238.0000;-128.0000 --238.0000;-127.5000 --238.0000;-127.0000 --238.0000;-126.5000 --238.0000;-126.0000 --238.0000;-125.5000 --238.0000;-125.0000 --238.0000;-124.5000 --238.0000;-124.0000 --238.0000;-123.5000 --238.0000;-123.0000 --238.0000;-122.5000 --238.0000;-122.0000 --238.0000;-121.5000 --238.0000;-121.0000 --238.0000;-73.0000 --238.0000;-72.5000 --238.0000;-72.0000 --238.0000;-71.5000 --238.0000;-71.0000 --238.0000;-70.5000 --238.0000;-70.0000 --238.0000;-69.5000 --238.0000;-69.0000 --238.0000;-68.5000 --238.0000;-68.0000 --238.0000;-67.5000 --238.0000;-67.0000 --238.0000;-66.5000 --238.0000;-66.0000 --238.0000;-65.5000 --238.0000;-65.0000 --238.0000;-64.5000 --238.0000;-64.0000 --238.0000;-63.5000 --238.0000;-63.0000 --238.0000;-62.5000 --238.0000;-62.0000 --238.0000;-61.5000 --238.0000;-61.0000 --238.0000;-60.5000 --238.0000;56.5000 --238.0000;57.0000 --238.0000;57.5000 --238.0000;58.0000 --238.0000;58.5000 --238.0000;59.0000 --238.0000;59.5000 --238.0000;60.0000 --238.0000;60.5000 --238.0000;61.0000 --238.0000;61.5000 --238.0000;62.0000 --238.0000;62.5000 --238.0000;63.0000 --238.0000;63.5000 --238.0000;64.0000 --238.0000;64.5000 --238.0000;65.0000 --238.0000;65.5000 --238.0000;66.0000 --238.0000;66.5000 --238.0000;67.0000 --238.0000;67.5000 --238.0000;68.0000 --238.0000;68.5000 --238.0000;69.0000 --238.0000;69.5000 --238.0000;70.0000 --238.0000;70.5000 --238.0000;71.0000 --238.0000;71.5000 --238.0000;72.0000 --238.0000;72.5000 --238.0000;73.0000 --238.0000;73.5000 --238.0000;74.0000 --238.0000;74.5000 --238.0000;75.0000 --238.0000;75.5000 --238.0000;76.0000 --238.0000;76.5000 --238.0000;77.0000 --238.0000;77.5000 --238.0000;78.0000 --238.0000;78.5000 --238.0000;79.0000 --238.0000;79.5000 --238.0000;80.0000 --238.0000;80.5000 --238.0000;81.0000 --238.0000;81.5000 --238.0000;82.0000 --238.0000;82.5000 --238.0000;83.0000 --238.0000;83.5000 --238.0000;84.0000 --238.0000;84.5000 --238.0000;85.0000 --237.5000;-235.0000 --237.5000;-234.5000 --237.5000;-234.0000 --237.5000;-233.5000 --237.5000;-233.0000 --237.5000;-232.5000 --237.5000;-232.0000 --237.5000;-231.5000 --237.5000;-231.0000 --237.5000;-230.5000 --237.5000;-230.0000 --237.5000;-229.5000 --237.5000;-229.0000 --237.5000;-228.5000 --237.5000;-228.0000 --237.5000;-227.5000 --237.5000;-227.0000 --237.5000;-226.5000 --237.5000;-226.0000 --237.5000;-225.5000 --237.5000;-225.0000 --237.5000;-224.5000 --237.5000;-224.0000 --237.5000;-223.5000 --237.5000;-223.0000 --237.5000;-222.5000 --237.5000;-133.0000 --237.5000;-132.5000 --237.5000;-132.0000 --237.5000;-131.5000 --237.5000;-131.0000 --237.5000;-130.5000 --237.5000;-130.0000 --237.5000;-129.5000 --237.5000;-129.0000 --237.5000;-128.5000 --237.5000;-128.0000 --237.5000;-127.5000 --237.5000;-127.0000 --237.5000;-126.5000 --237.5000;-126.0000 --237.5000;-125.5000 --237.5000;-125.0000 --237.5000;-124.5000 --237.5000;-124.0000 --237.5000;-123.5000 --237.5000;-123.0000 --237.5000;-122.5000 --237.5000;-122.0000 --237.5000;-121.5000 --237.5000;-121.0000 --237.5000;-73.0000 --237.5000;-72.5000 --237.5000;-72.0000 --237.5000;-71.5000 --237.5000;-71.0000 --237.5000;-70.5000 --237.5000;-70.0000 --237.5000;-69.5000 --237.5000;-69.0000 --237.5000;-68.5000 --237.5000;-68.0000 --237.5000;-67.5000 --237.5000;-67.0000 --237.5000;-66.5000 --237.5000;-66.0000 --237.5000;-65.5000 --237.5000;-65.0000 --237.5000;-64.5000 --237.5000;-64.0000 --237.5000;-63.5000 --237.5000;-63.0000 --237.5000;-62.5000 --237.5000;-62.0000 --237.5000;-61.5000 --237.5000;-61.0000 --237.5000;57.5000 --237.5000;58.0000 --237.5000;58.5000 --237.5000;59.0000 --237.5000;59.5000 --237.5000;60.0000 --237.5000;60.5000 --237.5000;61.0000 --237.5000;61.5000 --237.5000;62.0000 --237.5000;62.5000 --237.5000;63.0000 --237.5000;63.5000 --237.5000;64.0000 --237.5000;64.5000 --237.5000;65.0000 --237.5000;65.5000 --237.5000;66.0000 --237.5000;66.5000 --237.5000;67.0000 --237.5000;67.5000 --237.5000;68.0000 --237.5000;68.5000 --237.5000;69.0000 --237.5000;69.5000 --237.5000;70.0000 --237.5000;70.5000 --237.5000;71.0000 --237.5000;71.5000 --237.5000;72.0000 --237.5000;72.5000 --237.5000;73.0000 --237.5000;73.5000 --237.5000;74.0000 --237.5000;74.5000 --237.5000;75.0000 --237.5000;75.5000 --237.5000;76.0000 --237.5000;76.5000 --237.5000;77.0000 --237.5000;77.5000 --237.5000;78.0000 --237.5000;78.5000 --237.5000;79.0000 --237.5000;79.5000 --237.5000;80.0000 --237.5000;80.5000 --237.5000;81.0000 --237.5000;81.5000 --237.5000;82.0000 --237.5000;82.5000 --237.5000;83.0000 --237.5000;83.5000 --237.5000;84.0000 --237.5000;84.5000 --237.5000;85.0000 --237.5000;85.5000 --237.5000;86.0000 --237.0000;-235.5000 --237.0000;-235.0000 --237.0000;-234.5000 --237.0000;-234.0000 --237.0000;-233.5000 --237.0000;-233.0000 --237.0000;-232.5000 --237.0000;-232.0000 --237.0000;-231.5000 --237.0000;-231.0000 --237.0000;-230.5000 --237.0000;-230.0000 --237.0000;-229.5000 --237.0000;-229.0000 --237.0000;-228.5000 --237.0000;-228.0000 --237.0000;-227.5000 --237.0000;-227.0000 --237.0000;-226.5000 --237.0000;-226.0000 --237.0000;-225.5000 --237.0000;-225.0000 --237.0000;-224.5000 --237.0000;-224.0000 --237.0000;-223.5000 --237.0000;-223.0000 --237.0000;-222.5000 --237.0000;-133.0000 --237.0000;-132.5000 --237.0000;-132.0000 --237.0000;-131.5000 --237.0000;-131.0000 --237.0000;-130.5000 --237.0000;-130.0000 --237.0000;-129.5000 --237.0000;-129.0000 --237.0000;-128.5000 --237.0000;-128.0000 --237.0000;-127.5000 --237.0000;-127.0000 --237.0000;-126.5000 --237.0000;-126.0000 --237.0000;-125.5000 --237.0000;-125.0000 --237.0000;-124.5000 --237.0000;-124.0000 --237.0000;-123.5000 --237.0000;-123.0000 --237.0000;-122.5000 --237.0000;-122.0000 --237.0000;-121.5000 --237.0000;-121.0000 --237.0000;-120.5000 --237.0000;-73.0000 --237.0000;-72.5000 --237.0000;-72.0000 --237.0000;-71.5000 --237.0000;-71.0000 --237.0000;-70.5000 --237.0000;-70.0000 --237.0000;-69.5000 --237.0000;-69.0000 --237.0000;-68.5000 --237.0000;-68.0000 --237.0000;-67.5000 --237.0000;-67.0000 --237.0000;-66.5000 --237.0000;-66.0000 --237.0000;-65.5000 --237.0000;-65.0000 --237.0000;-64.5000 --237.0000;-64.0000 --237.0000;-63.5000 --237.0000;-63.0000 --237.0000;-62.5000 --237.0000;-62.0000 --237.0000;-61.5000 --237.0000;-61.0000 --237.0000;58.5000 --237.0000;59.0000 --237.0000;59.5000 --237.0000;60.0000 --237.0000;60.5000 --237.0000;61.0000 --237.0000;61.5000 --237.0000;62.0000 --237.0000;62.5000 --237.0000;63.0000 --237.0000;63.5000 --237.0000;64.0000 --237.0000;64.5000 --237.0000;65.0000 --237.0000;65.5000 --237.0000;66.0000 --237.0000;66.5000 --237.0000;67.0000 --237.0000;67.5000 --237.0000;68.0000 --237.0000;68.5000 --237.0000;69.0000 --237.0000;69.5000 --237.0000;70.0000 --237.0000;70.5000 --237.0000;71.0000 --237.0000;71.5000 --237.0000;72.0000 --237.0000;72.5000 --237.0000;73.0000 --237.0000;73.5000 --237.0000;74.0000 --237.0000;74.5000 --237.0000;75.0000 --237.0000;75.5000 --237.0000;76.0000 --237.0000;76.5000 --237.0000;77.0000 --237.0000;77.5000 --237.0000;78.0000 --237.0000;78.5000 --237.0000;79.0000 --237.0000;79.5000 --237.0000;80.0000 --237.0000;80.5000 --237.0000;81.0000 --237.0000;81.5000 --237.0000;82.0000 --237.0000;82.5000 --237.0000;83.0000 --237.0000;83.5000 --237.0000;84.0000 --237.0000;84.5000 --237.0000;85.0000 --237.0000;85.5000 --237.0000;86.0000 --237.0000;86.5000 --237.0000;87.0000 --236.5000;-235.5000 --236.5000;-235.0000 --236.5000;-234.5000 --236.5000;-234.0000 --236.5000;-233.5000 --236.5000;-233.0000 --236.5000;-232.5000 --236.5000;-232.0000 --236.5000;-231.5000 --236.5000;-231.0000 --236.5000;-230.5000 --236.5000;-230.0000 --236.5000;-229.5000 --236.5000;-229.0000 --236.5000;-228.5000 --236.5000;-228.0000 --236.5000;-227.5000 --236.5000;-227.0000 --236.5000;-226.5000 --236.5000;-226.0000 --236.5000;-225.5000 --236.5000;-225.0000 --236.5000;-224.5000 --236.5000;-224.0000 --236.5000;-223.5000 --236.5000;-223.0000 --236.5000;-132.5000 --236.5000;-132.0000 --236.5000;-131.5000 --236.5000;-131.0000 --236.5000;-130.5000 --236.5000;-130.0000 --236.5000;-129.5000 --236.5000;-129.0000 --236.5000;-128.5000 --236.5000;-128.0000 --236.5000;-127.5000 --236.5000;-127.0000 --236.5000;-126.5000 --236.5000;-126.0000 --236.5000;-125.5000 --236.5000;-125.0000 --236.5000;-124.5000 --236.5000;-124.0000 --236.5000;-123.5000 --236.5000;-123.0000 --236.5000;-122.5000 --236.5000;-122.0000 --236.5000;-121.5000 --236.5000;-121.0000 --236.5000;-120.5000 --236.5000;-73.5000 --236.5000;-73.0000 --236.5000;-72.5000 --236.5000;-72.0000 --236.5000;-71.5000 --236.5000;-71.0000 --236.5000;-70.5000 --236.5000;-70.0000 --236.5000;-69.5000 --236.5000;-69.0000 --236.5000;-68.5000 --236.5000;-68.0000 --236.5000;-67.5000 --236.5000;-67.0000 --236.5000;-66.5000 --236.5000;-66.0000 --236.5000;-65.5000 --236.5000;-65.0000 --236.5000;-64.5000 --236.5000;-64.0000 --236.5000;-63.5000 --236.5000;-63.0000 --236.5000;-62.5000 --236.5000;-62.0000 --236.5000;-61.5000 --236.5000;59.5000 --236.5000;60.0000 --236.5000;60.5000 --236.5000;61.0000 --236.5000;61.5000 --236.5000;62.0000 --236.5000;62.5000 --236.5000;63.0000 --236.5000;63.5000 --236.5000;64.0000 --236.5000;64.5000 --236.5000;65.0000 --236.5000;65.5000 --236.5000;66.0000 --236.5000;66.5000 --236.5000;67.0000 --236.5000;67.5000 --236.5000;68.0000 --236.5000;68.5000 --236.5000;69.0000 --236.5000;69.5000 --236.5000;70.0000 --236.5000;70.5000 --236.5000;71.0000 --236.5000;71.5000 --236.5000;72.0000 --236.5000;72.5000 --236.5000;73.0000 --236.5000;73.5000 --236.5000;74.0000 --236.5000;74.5000 --236.5000;75.0000 --236.5000;75.5000 --236.5000;76.0000 --236.5000;76.5000 --236.5000;77.0000 --236.5000;77.5000 --236.5000;78.0000 --236.5000;78.5000 --236.5000;79.0000 --236.5000;79.5000 --236.5000;80.0000 --236.5000;80.5000 --236.5000;81.0000 --236.5000;81.5000 --236.5000;82.0000 --236.5000;82.5000 --236.5000;83.0000 --236.5000;83.5000 --236.5000;84.0000 --236.5000;84.5000 --236.5000;85.0000 --236.5000;85.5000 --236.5000;86.0000 --236.5000;86.5000 --236.5000;87.0000 --236.5000;87.5000 --236.5000;88.0000 --236.0000;-236.0000 --236.0000;-235.5000 --236.0000;-235.0000 --236.0000;-234.5000 --236.0000;-234.0000 --236.0000;-233.5000 --236.0000;-233.0000 --236.0000;-232.5000 --236.0000;-232.0000 --236.0000;-231.5000 --236.0000;-231.0000 --236.0000;-230.5000 --236.0000;-230.0000 --236.0000;-229.5000 --236.0000;-229.0000 --236.0000;-228.5000 --236.0000;-228.0000 --236.0000;-227.5000 --236.0000;-227.0000 --236.0000;-226.5000 --236.0000;-226.0000 --236.0000;-225.5000 --236.0000;-225.0000 --236.0000;-224.5000 --236.0000;-224.0000 --236.0000;-223.5000 --236.0000;-223.0000 --236.0000;-132.5000 --236.0000;-132.0000 --236.0000;-131.5000 --236.0000;-131.0000 --236.0000;-130.5000 --236.0000;-130.0000 --236.0000;-129.5000 --236.0000;-129.0000 --236.0000;-128.5000 --236.0000;-128.0000 --236.0000;-127.5000 --236.0000;-127.0000 --236.0000;-126.5000 --236.0000;-126.0000 --236.0000;-125.5000 --236.0000;-125.0000 --236.0000;-124.5000 --236.0000;-124.0000 --236.0000;-123.5000 --236.0000;-123.0000 --236.0000;-122.5000 --236.0000;-122.0000 --236.0000;-121.5000 --236.0000;-121.0000 --236.0000;-120.5000 --236.0000;-73.5000 --236.0000;-73.0000 --236.0000;-72.5000 --236.0000;-72.0000 --236.0000;-71.5000 --236.0000;-71.0000 --236.0000;-70.5000 --236.0000;-70.0000 --236.0000;-69.5000 --236.0000;-69.0000 --236.0000;-68.5000 --236.0000;-68.0000 --236.0000;-67.5000 --236.0000;-67.0000 --236.0000;-66.5000 --236.0000;-66.0000 --236.0000;-65.5000 --236.0000;-65.0000 --236.0000;-64.5000 --236.0000;-64.0000 --236.0000;-63.5000 --236.0000;-63.0000 --236.0000;-62.5000 --236.0000;-62.0000 --236.0000;-61.5000 --236.0000;60.5000 --236.0000;61.0000 --236.0000;61.5000 --236.0000;62.0000 --236.0000;62.5000 --236.0000;63.0000 --236.0000;63.5000 --236.0000;64.0000 --236.0000;64.5000 --236.0000;65.0000 --236.0000;65.5000 --236.0000;66.0000 --236.0000;66.5000 --236.0000;67.0000 --236.0000;67.5000 --236.0000;68.0000 --236.0000;68.5000 --236.0000;69.0000 --236.0000;69.5000 --236.0000;70.0000 --236.0000;70.5000 --236.0000;71.0000 --236.0000;71.5000 --236.0000;72.0000 --236.0000;72.5000 --236.0000;73.0000 --236.0000;73.5000 --236.0000;74.0000 --236.0000;74.5000 --236.0000;75.0000 --236.0000;75.5000 --236.0000;76.0000 --236.0000;76.5000 --236.0000;77.0000 --236.0000;77.5000 --236.0000;78.0000 --236.0000;78.5000 --236.0000;79.0000 --236.0000;79.5000 --236.0000;80.0000 --236.0000;80.5000 --236.0000;81.0000 --236.0000;81.5000 --236.0000;82.0000 --236.0000;82.5000 --236.0000;83.0000 --236.0000;83.5000 --236.0000;84.0000 --236.0000;84.5000 --236.0000;85.0000 --236.0000;85.5000 --236.0000;86.0000 --236.0000;86.5000 --236.0000;87.0000 --236.0000;87.5000 --236.0000;88.0000 --236.0000;88.5000 --236.0000;89.0000 --235.5000;-236.0000 --235.5000;-235.5000 --235.5000;-235.0000 --235.5000;-234.5000 --235.5000;-234.0000 --235.5000;-233.5000 --235.5000;-233.0000 --235.5000;-232.5000 --235.5000;-232.0000 --235.5000;-231.5000 --235.5000;-231.0000 --235.5000;-230.5000 --235.5000;-230.0000 --235.5000;-229.5000 --235.5000;-229.0000 --235.5000;-228.5000 --235.5000;-228.0000 --235.5000;-227.5000 --235.5000;-227.0000 --235.5000;-226.5000 --235.5000;-226.0000 --235.5000;-225.5000 --235.5000;-225.0000 --235.5000;-224.5000 --235.5000;-224.0000 --235.5000;-223.5000 --235.5000;-132.5000 --235.5000;-132.0000 --235.5000;-131.5000 --235.5000;-131.0000 --235.5000;-130.5000 --235.5000;-130.0000 --235.5000;-129.5000 --235.5000;-129.0000 --235.5000;-128.5000 --235.5000;-128.0000 --235.5000;-127.5000 --235.5000;-127.0000 --235.5000;-126.5000 --235.5000;-126.0000 --235.5000;-125.5000 --235.5000;-125.0000 --235.5000;-124.5000 --235.5000;-124.0000 --235.5000;-123.5000 --235.5000;-123.0000 --235.5000;-122.5000 --235.5000;-122.0000 --235.5000;-121.5000 --235.5000;-121.0000 --235.5000;-120.5000 --235.5000;-73.5000 --235.5000;-73.0000 --235.5000;-72.5000 --235.5000;-72.0000 --235.5000;-71.5000 --235.5000;-71.0000 --235.5000;-70.5000 --235.5000;-70.0000 --235.5000;-69.5000 --235.5000;-69.0000 --235.5000;-68.5000 --235.5000;-68.0000 --235.5000;-67.5000 --235.5000;-67.0000 --235.5000;-66.5000 --235.5000;-66.0000 --235.5000;-65.5000 --235.5000;-65.0000 --235.5000;-64.5000 --235.5000;-64.0000 --235.5000;-63.5000 --235.5000;-63.0000 --235.5000;-62.5000 --235.5000;-62.0000 --235.5000;-61.5000 --235.5000;62.0000 --235.5000;62.5000 --235.5000;63.0000 --235.5000;63.5000 --235.5000;64.0000 --235.5000;64.5000 --235.5000;65.0000 --235.5000;65.5000 --235.5000;66.0000 --235.5000;66.5000 --235.5000;67.0000 --235.5000;67.5000 --235.5000;68.0000 --235.5000;68.5000 --235.5000;69.0000 --235.5000;69.5000 --235.5000;70.0000 --235.5000;70.5000 --235.5000;71.0000 --235.5000;71.5000 --235.5000;72.0000 --235.5000;72.5000 --235.5000;73.0000 --235.5000;73.5000 --235.5000;74.0000 --235.5000;74.5000 --235.5000;75.0000 --235.5000;75.5000 --235.5000;76.0000 --235.5000;76.5000 --235.5000;77.0000 --235.5000;77.5000 --235.5000;78.0000 --235.5000;78.5000 --235.5000;79.0000 --235.5000;79.5000 --235.5000;80.0000 --235.5000;80.5000 --235.5000;81.0000 --235.5000;81.5000 --235.5000;82.0000 --235.5000;82.5000 --235.5000;83.0000 --235.5000;83.5000 --235.5000;84.0000 --235.5000;84.5000 --235.5000;85.0000 --235.5000;85.5000 --235.5000;86.0000 --235.5000;86.5000 --235.5000;87.0000 --235.5000;87.5000 --235.5000;88.0000 --235.5000;88.5000 --235.5000;89.0000 --235.5000;89.5000 --235.5000;90.0000 --235.0000;-236.0000 --235.0000;-235.5000 --235.0000;-235.0000 --235.0000;-234.5000 --235.0000;-234.0000 --235.0000;-233.5000 --235.0000;-233.0000 --235.0000;-232.5000 --235.0000;-232.0000 --235.0000;-231.5000 --235.0000;-231.0000 --235.0000;-230.5000 --235.0000;-230.0000 --235.0000;-229.5000 --235.0000;-229.0000 --235.0000;-228.5000 --235.0000;-228.0000 --235.0000;-227.5000 --235.0000;-227.0000 --235.0000;-226.5000 --235.0000;-226.0000 --235.0000;-225.5000 --235.0000;-225.0000 --235.0000;-224.5000 --235.0000;-224.0000 --235.0000;-223.5000 --235.0000;-132.5000 --235.0000;-132.0000 --235.0000;-131.5000 --235.0000;-131.0000 --235.0000;-130.5000 --235.0000;-130.0000 --235.0000;-129.5000 --235.0000;-129.0000 --235.0000;-128.5000 --235.0000;-128.0000 --235.0000;-127.5000 --235.0000;-127.0000 --235.0000;-126.5000 --235.0000;-126.0000 --235.0000;-125.5000 --235.0000;-125.0000 --235.0000;-124.5000 --235.0000;-124.0000 --235.0000;-123.5000 --235.0000;-123.0000 --235.0000;-122.5000 --235.0000;-122.0000 --235.0000;-121.5000 --235.0000;-121.0000 --235.0000;-120.5000 --235.0000;-73.5000 --235.0000;-73.0000 --235.0000;-72.5000 --235.0000;-72.0000 --235.0000;-71.5000 --235.0000;-71.0000 --235.0000;-70.5000 --235.0000;-70.0000 --235.0000;-69.5000 --235.0000;-69.0000 --235.0000;-68.5000 --235.0000;-68.0000 --235.0000;-67.5000 --235.0000;-67.0000 --235.0000;-66.5000 --235.0000;-66.0000 --235.0000;-65.5000 --235.0000;-65.0000 --235.0000;-64.5000 --235.0000;-64.0000 --235.0000;-63.5000 --235.0000;-63.0000 --235.0000;-62.5000 --235.0000;-62.0000 --235.0000;63.0000 --235.0000;63.5000 --235.0000;64.0000 --235.0000;64.5000 --235.0000;65.0000 --235.0000;65.5000 --235.0000;66.0000 --235.0000;66.5000 --235.0000;67.0000 --235.0000;67.5000 --235.0000;68.0000 --235.0000;68.5000 --235.0000;69.0000 --235.0000;69.5000 --235.0000;70.0000 --235.0000;70.5000 --235.0000;71.0000 --235.0000;71.5000 --235.0000;72.0000 --235.0000;72.5000 --235.0000;73.0000 --235.0000;73.5000 --235.0000;74.0000 --235.0000;74.5000 --235.0000;75.0000 --235.0000;75.5000 --235.0000;76.0000 --235.0000;76.5000 --235.0000;77.0000 --235.0000;77.5000 --235.0000;78.0000 --235.0000;78.5000 --235.0000;79.0000 --235.0000;79.5000 --235.0000;80.0000 --235.0000;80.5000 --235.0000;81.0000 --235.0000;81.5000 --235.0000;82.0000 --235.0000;82.5000 --235.0000;83.0000 --235.0000;83.5000 --235.0000;84.0000 --235.0000;84.5000 --235.0000;85.0000 --235.0000;85.5000 --235.0000;86.0000 --235.0000;86.5000 --235.0000;87.0000 --235.0000;87.5000 --235.0000;88.0000 --235.0000;88.5000 --235.0000;89.0000 --235.0000;89.5000 --235.0000;90.0000 --235.0000;90.5000 --235.0000;91.0000 --235.0000;91.5000 --234.5000;-236.5000 --234.5000;-236.0000 --234.5000;-235.5000 --234.5000;-235.0000 --234.5000;-234.5000 --234.5000;-234.0000 --234.5000;-233.5000 --234.5000;-233.0000 --234.5000;-232.5000 --234.5000;-232.0000 --234.5000;-231.5000 --234.5000;-231.0000 --234.5000;-230.5000 --234.5000;-230.0000 --234.5000;-229.5000 --234.5000;-229.0000 --234.5000;-228.5000 --234.5000;-228.0000 --234.5000;-227.5000 --234.5000;-227.0000 --234.5000;-226.5000 --234.5000;-226.0000 --234.5000;-225.5000 --234.5000;-225.0000 --234.5000;-224.5000 --234.5000;-224.0000 --234.5000;-223.5000 --234.5000;-132.0000 --234.5000;-131.5000 --234.5000;-131.0000 --234.5000;-130.5000 --234.5000;-130.0000 --234.5000;-129.5000 --234.5000;-129.0000 --234.5000;-128.5000 --234.5000;-128.0000 --234.5000;-127.5000 --234.5000;-127.0000 --234.5000;-126.5000 --234.5000;-126.0000 --234.5000;-125.5000 --234.5000;-125.0000 --234.5000;-124.5000 --234.5000;-124.0000 --234.5000;-123.5000 --234.5000;-123.0000 --234.5000;-122.5000 --234.5000;-122.0000 --234.5000;-121.5000 --234.5000;-121.0000 --234.5000;-120.5000 --234.5000;-120.0000 --234.5000;-74.0000 --234.5000;-73.5000 --234.5000;-73.0000 --234.5000;-72.5000 --234.5000;-72.0000 --234.5000;-71.5000 --234.5000;-71.0000 --234.5000;-70.5000 --234.5000;-70.0000 --234.5000;-69.5000 --234.5000;-69.0000 --234.5000;-68.5000 --234.5000;-68.0000 --234.5000;-67.5000 --234.5000;-67.0000 --234.5000;-66.5000 --234.5000;-66.0000 --234.5000;-65.5000 --234.5000;-65.0000 --234.5000;-64.5000 --234.5000;-64.0000 --234.5000;-63.5000 --234.5000;-63.0000 --234.5000;-62.5000 --234.5000;-62.0000 --234.5000;64.0000 --234.5000;64.5000 --234.5000;65.0000 --234.5000;65.5000 --234.5000;66.0000 --234.5000;66.5000 --234.5000;67.0000 --234.5000;67.5000 --234.5000;68.0000 --234.5000;68.5000 --234.5000;69.0000 --234.5000;69.5000 --234.5000;70.0000 --234.5000;70.5000 --234.5000;71.0000 --234.5000;71.5000 --234.5000;72.0000 --234.5000;72.5000 --234.5000;73.0000 --234.5000;73.5000 --234.5000;74.0000 --234.5000;74.5000 --234.5000;75.0000 --234.5000;75.5000 --234.5000;76.0000 --234.5000;76.5000 --234.5000;77.0000 --234.5000;77.5000 --234.5000;78.0000 --234.5000;78.5000 --234.5000;79.0000 --234.5000;79.5000 --234.5000;80.0000 --234.5000;80.5000 --234.5000;81.0000 --234.5000;81.5000 --234.5000;82.0000 --234.5000;82.5000 --234.5000;83.0000 --234.5000;83.5000 --234.5000;84.0000 --234.5000;84.5000 --234.5000;85.0000 --234.5000;85.5000 --234.5000;86.0000 --234.5000;86.5000 --234.5000;87.0000 --234.5000;87.5000 --234.5000;88.0000 --234.5000;88.5000 --234.5000;89.0000 --234.5000;89.5000 --234.5000;90.0000 --234.5000;90.5000 --234.5000;91.0000 --234.5000;91.5000 --234.5000;92.0000 --234.5000;92.5000 --234.0000;-236.5000 --234.0000;-236.0000 --234.0000;-235.5000 --234.0000;-235.0000 --234.0000;-234.5000 --234.0000;-234.0000 --234.0000;-233.5000 --234.0000;-233.0000 --234.0000;-232.5000 --234.0000;-232.0000 --234.0000;-231.5000 --234.0000;-231.0000 --234.0000;-230.5000 --234.0000;-230.0000 --234.0000;-229.5000 --234.0000;-229.0000 --234.0000;-228.5000 --234.0000;-228.0000 --234.0000;-227.5000 --234.0000;-227.0000 --234.0000;-226.5000 --234.0000;-226.0000 --234.0000;-225.5000 --234.0000;-225.0000 --234.0000;-224.5000 --234.0000;-224.0000 --234.0000;-132.0000 --234.0000;-131.5000 --234.0000;-131.0000 --234.0000;-130.5000 --234.0000;-130.0000 --234.0000;-129.5000 --234.0000;-129.0000 --234.0000;-128.5000 --234.0000;-128.0000 --234.0000;-127.5000 --234.0000;-127.0000 --234.0000;-126.5000 --234.0000;-126.0000 --234.0000;-125.5000 --234.0000;-125.0000 --234.0000;-124.5000 --234.0000;-124.0000 --234.0000;-123.5000 --234.0000;-123.0000 --234.0000;-122.5000 --234.0000;-122.0000 --234.0000;-121.5000 --234.0000;-121.0000 --234.0000;-120.5000 --234.0000;-120.0000 --234.0000;-74.0000 --234.0000;-73.5000 --234.0000;-73.0000 --234.0000;-72.5000 --234.0000;-72.0000 --234.0000;-71.5000 --234.0000;-71.0000 --234.0000;-70.5000 --234.0000;-70.0000 --234.0000;-69.5000 --234.0000;-69.0000 --234.0000;-68.5000 --234.0000;-68.0000 --234.0000;-67.5000 --234.0000;-67.0000 --234.0000;-66.5000 --234.0000;-66.0000 --234.0000;-65.5000 --234.0000;-65.0000 --234.0000;-64.5000 --234.0000;-64.0000 --234.0000;-63.5000 --234.0000;-63.0000 --234.0000;-62.5000 --234.0000;-62.0000 --234.0000;65.0000 --234.0000;65.5000 --234.0000;66.0000 --234.0000;66.5000 --234.0000;67.0000 --234.0000;67.5000 --234.0000;68.0000 --234.0000;68.5000 --234.0000;69.0000 --234.0000;69.5000 --234.0000;70.0000 --234.0000;70.5000 --234.0000;71.0000 --234.0000;71.5000 --234.0000;72.0000 --234.0000;72.5000 --234.0000;73.0000 --234.0000;73.5000 --234.0000;74.0000 --234.0000;74.5000 --234.0000;75.0000 --234.0000;75.5000 --234.0000;76.0000 --234.0000;76.5000 --234.0000;77.0000 --234.0000;77.5000 --234.0000;78.0000 --234.0000;78.5000 --234.0000;79.0000 --234.0000;79.5000 --234.0000;80.0000 --234.0000;80.5000 --234.0000;81.0000 --234.0000;81.5000 --234.0000;82.0000 --234.0000;82.5000 --234.0000;83.0000 --234.0000;83.5000 --234.0000;84.0000 --234.0000;84.5000 --234.0000;85.0000 --234.0000;85.5000 --234.0000;86.0000 --234.0000;86.5000 --234.0000;87.0000 --234.0000;87.5000 --234.0000;88.0000 --234.0000;88.5000 --234.0000;89.0000 --234.0000;89.5000 --234.0000;90.0000 --234.0000;90.5000 --234.0000;91.0000 --234.0000;91.5000 --234.0000;92.0000 --234.0000;92.5000 --234.0000;93.0000 --234.0000;93.5000 --233.5000;-236.5000 --233.5000;-236.0000 --233.5000;-235.5000 --233.5000;-235.0000 --233.5000;-234.5000 --233.5000;-234.0000 --233.5000;-233.5000 --233.5000;-233.0000 --233.5000;-232.5000 --233.5000;-232.0000 --233.5000;-231.5000 --233.5000;-231.0000 --233.5000;-230.5000 --233.5000;-230.0000 --233.5000;-229.5000 --233.5000;-229.0000 --233.5000;-228.5000 --233.5000;-228.0000 --233.5000;-227.5000 --233.5000;-227.0000 --233.5000;-226.5000 --233.5000;-226.0000 --233.5000;-225.5000 --233.5000;-225.0000 --233.5000;-224.5000 --233.5000;-224.0000 --233.5000;-132.0000 --233.5000;-131.5000 --233.5000;-131.0000 --233.5000;-130.5000 --233.5000;-130.0000 --233.5000;-129.5000 --233.5000;-129.0000 --233.5000;-128.5000 --233.5000;-128.0000 --233.5000;-127.5000 --233.5000;-127.0000 --233.5000;-126.5000 --233.5000;-126.0000 --233.5000;-125.5000 --233.5000;-125.0000 --233.5000;-124.5000 --233.5000;-124.0000 --233.5000;-123.5000 --233.5000;-123.0000 --233.5000;-122.5000 --233.5000;-122.0000 --233.5000;-121.5000 --233.5000;-121.0000 --233.5000;-120.5000 --233.5000;-120.0000 --233.5000;-74.0000 --233.5000;-73.5000 --233.5000;-73.0000 --233.5000;-72.5000 --233.5000;-72.0000 --233.5000;-71.5000 --233.5000;-71.0000 --233.5000;-70.5000 --233.5000;-70.0000 --233.5000;-69.5000 --233.5000;-69.0000 --233.5000;-68.5000 --233.5000;-68.0000 --233.5000;-67.5000 --233.5000;-67.0000 --233.5000;-66.5000 --233.5000;-66.0000 --233.5000;-65.5000 --233.5000;-65.0000 --233.5000;-64.5000 --233.5000;-64.0000 --233.5000;-63.5000 --233.5000;-63.0000 --233.5000;-62.5000 --233.5000;-62.0000 --233.5000;66.0000 --233.5000;66.5000 --233.5000;67.0000 --233.5000;67.5000 --233.5000;68.0000 --233.5000;68.5000 --233.5000;69.0000 --233.5000;69.5000 --233.5000;70.0000 --233.5000;70.5000 --233.5000;71.0000 --233.5000;71.5000 --233.5000;72.0000 --233.5000;72.5000 --233.5000;73.0000 --233.5000;73.5000 --233.5000;74.0000 --233.5000;74.5000 --233.5000;75.0000 --233.5000;75.5000 --233.5000;76.0000 --233.5000;76.5000 --233.5000;77.0000 --233.5000;77.5000 --233.5000;78.0000 --233.5000;78.5000 --233.5000;79.0000 --233.5000;79.5000 --233.5000;80.0000 --233.5000;80.5000 --233.5000;81.0000 --233.5000;81.5000 --233.5000;82.0000 --233.5000;82.5000 --233.5000;83.0000 --233.5000;83.5000 --233.5000;84.0000 --233.5000;84.5000 --233.5000;85.0000 --233.5000;85.5000 --233.5000;86.0000 --233.5000;86.5000 --233.5000;87.0000 --233.5000;87.5000 --233.5000;88.0000 --233.5000;88.5000 --233.5000;89.0000 --233.5000;89.5000 --233.5000;90.0000 --233.5000;90.5000 --233.5000;91.0000 --233.5000;91.5000 --233.5000;92.0000 --233.5000;92.5000 --233.5000;93.0000 --233.5000;93.5000 --233.5000;94.0000 --233.5000;94.5000 --233.0000;-237.0000 --233.0000;-236.5000 --233.0000;-236.0000 --233.0000;-235.5000 --233.0000;-235.0000 --233.0000;-234.5000 --233.0000;-234.0000 --233.0000;-233.5000 --233.0000;-233.0000 --233.0000;-232.5000 --233.0000;-232.0000 --233.0000;-231.5000 --233.0000;-231.0000 --233.0000;-230.5000 --233.0000;-230.0000 --233.0000;-229.5000 --233.0000;-229.0000 --233.0000;-228.5000 --233.0000;-228.0000 --233.0000;-227.5000 --233.0000;-227.0000 --233.0000;-226.5000 --233.0000;-226.0000 --233.0000;-225.5000 --233.0000;-225.0000 --233.0000;-224.5000 --233.0000;-132.0000 --233.0000;-131.5000 --233.0000;-131.0000 --233.0000;-130.5000 --233.0000;-130.0000 --233.0000;-129.5000 --233.0000;-129.0000 --233.0000;-128.5000 --233.0000;-128.0000 --233.0000;-127.5000 --233.0000;-127.0000 --233.0000;-126.5000 --233.0000;-126.0000 --233.0000;-125.5000 --233.0000;-125.0000 --233.0000;-124.5000 --233.0000;-124.0000 --233.0000;-123.5000 --233.0000;-123.0000 --233.0000;-122.5000 --233.0000;-122.0000 --233.0000;-121.5000 --233.0000;-121.0000 --233.0000;-120.5000 --233.0000;-120.0000 --233.0000;-74.0000 --233.0000;-73.5000 --233.0000;-73.0000 --233.0000;-72.5000 --233.0000;-72.0000 --233.0000;-71.5000 --233.0000;-71.0000 --233.0000;-70.5000 --233.0000;-70.0000 --233.0000;-69.5000 --233.0000;-69.0000 --233.0000;-68.5000 --233.0000;-68.0000 --233.0000;-67.5000 --233.0000;-67.0000 --233.0000;-66.5000 --233.0000;-66.0000 --233.0000;-65.5000 --233.0000;-65.0000 --233.0000;-64.5000 --233.0000;-64.0000 --233.0000;-63.5000 --233.0000;-63.0000 --233.0000;-62.5000 --233.0000;67.0000 --233.0000;67.5000 --233.0000;68.0000 --233.0000;68.5000 --233.0000;69.0000 --233.0000;69.5000 --233.0000;70.0000 --233.0000;70.5000 --233.0000;71.0000 --233.0000;71.5000 --233.0000;72.0000 --233.0000;72.5000 --233.0000;73.0000 --233.0000;73.5000 --233.0000;74.0000 --233.0000;74.5000 --233.0000;75.0000 --233.0000;75.5000 --233.0000;76.0000 --233.0000;76.5000 --233.0000;77.0000 --233.0000;77.5000 --233.0000;78.0000 --233.0000;78.5000 --233.0000;79.0000 --233.0000;79.5000 --233.0000;80.0000 --233.0000;80.5000 --233.0000;81.0000 --233.0000;81.5000 --233.0000;82.0000 --233.0000;82.5000 --233.0000;83.0000 --233.0000;83.5000 --233.0000;84.0000 --233.0000;84.5000 --233.0000;85.0000 --233.0000;85.5000 --233.0000;86.0000 --233.0000;86.5000 --233.0000;87.0000 --233.0000;87.5000 --233.0000;88.0000 --233.0000;88.5000 --233.0000;89.0000 --233.0000;89.5000 --233.0000;90.0000 --233.0000;90.5000 --233.0000;91.0000 --233.0000;91.5000 --233.0000;92.0000 --233.0000;92.5000 --233.0000;93.0000 --233.0000;93.5000 --233.0000;94.0000 --233.0000;94.5000 --233.0000;95.0000 --233.0000;95.5000 --232.5000;-237.0000 --232.5000;-236.5000 --232.5000;-236.0000 --232.5000;-235.5000 --232.5000;-235.0000 --232.5000;-234.5000 --232.5000;-234.0000 --232.5000;-233.5000 --232.5000;-233.0000 --232.5000;-232.5000 --232.5000;-232.0000 --232.5000;-231.5000 --232.5000;-231.0000 --232.5000;-230.5000 --232.5000;-230.0000 --232.5000;-229.5000 --232.5000;-229.0000 --232.5000;-228.5000 --232.5000;-228.0000 --232.5000;-227.5000 --232.5000;-227.0000 --232.5000;-226.5000 --232.5000;-226.0000 --232.5000;-225.5000 --232.5000;-225.0000 --232.5000;-224.5000 --232.5000;-131.5000 --232.5000;-131.0000 --232.5000;-130.5000 --232.5000;-130.0000 --232.5000;-129.5000 --232.5000;-129.0000 --232.5000;-128.5000 --232.5000;-128.0000 --232.5000;-127.5000 --232.5000;-127.0000 --232.5000;-126.5000 --232.5000;-126.0000 --232.5000;-125.5000 --232.5000;-125.0000 --232.5000;-124.5000 --232.5000;-124.0000 --232.5000;-123.5000 --232.5000;-123.0000 --232.5000;-122.5000 --232.5000;-122.0000 --232.5000;-121.5000 --232.5000;-121.0000 --232.5000;-120.5000 --232.5000;-120.0000 --232.5000;-74.0000 --232.5000;-73.5000 --232.5000;-73.0000 --232.5000;-72.5000 --232.5000;-72.0000 --232.5000;-71.5000 --232.5000;-71.0000 --232.5000;-70.5000 --232.5000;-70.0000 --232.5000;-69.5000 --232.5000;-69.0000 --232.5000;-68.5000 --232.5000;-68.0000 --232.5000;-67.5000 --232.5000;-67.0000 --232.5000;-66.5000 --232.5000;-66.0000 --232.5000;-65.5000 --232.5000;-65.0000 --232.5000;-64.5000 --232.5000;-64.0000 --232.5000;-63.5000 --232.5000;-63.0000 --232.5000;-62.5000 --232.5000;68.0000 --232.5000;68.5000 --232.5000;69.0000 --232.5000;69.5000 --232.5000;70.0000 --232.5000;70.5000 --232.5000;71.0000 --232.5000;71.5000 --232.5000;72.0000 --232.5000;72.5000 --232.5000;73.0000 --232.5000;73.5000 --232.5000;74.0000 --232.5000;74.5000 --232.5000;75.0000 --232.5000;75.5000 --232.5000;76.0000 --232.5000;76.5000 --232.5000;77.0000 --232.5000;77.5000 --232.5000;78.0000 --232.5000;78.5000 --232.5000;79.0000 --232.5000;79.5000 --232.5000;80.0000 --232.5000;80.5000 --232.5000;81.0000 --232.5000;81.5000 --232.5000;82.0000 --232.5000;82.5000 --232.5000;83.0000 --232.5000;83.5000 --232.5000;84.0000 --232.5000;84.5000 --232.5000;85.0000 --232.5000;85.5000 --232.5000;86.0000 --232.5000;86.5000 --232.5000;87.0000 --232.5000;87.5000 --232.5000;88.0000 --232.5000;88.5000 --232.5000;89.0000 --232.5000;89.5000 --232.5000;90.0000 --232.5000;90.5000 --232.5000;91.0000 --232.5000;91.5000 --232.5000;92.0000 --232.5000;92.5000 --232.5000;93.0000 --232.5000;93.5000 --232.5000;94.0000 --232.5000;94.5000 --232.5000;95.0000 --232.5000;95.5000 --232.5000;96.0000 --232.5000;96.5000 --232.0000;-237.5000 --232.0000;-237.0000 --232.0000;-236.5000 --232.0000;-236.0000 --232.0000;-235.5000 --232.0000;-235.0000 --232.0000;-234.5000 --232.0000;-234.0000 --232.0000;-233.5000 --232.0000;-233.0000 --232.0000;-232.5000 --232.0000;-232.0000 --232.0000;-231.5000 --232.0000;-231.0000 --232.0000;-230.5000 --232.0000;-230.0000 --232.0000;-229.5000 --232.0000;-229.0000 --232.0000;-228.5000 --232.0000;-228.0000 --232.0000;-227.5000 --232.0000;-227.0000 --232.0000;-226.5000 --232.0000;-226.0000 --232.0000;-225.5000 --232.0000;-225.0000 --232.0000;-224.5000 --232.0000;-131.5000 --232.0000;-131.0000 --232.0000;-130.5000 --232.0000;-130.0000 --232.0000;-129.5000 --232.0000;-129.0000 --232.0000;-128.5000 --232.0000;-128.0000 --232.0000;-127.5000 --232.0000;-127.0000 --232.0000;-126.5000 --232.0000;-126.0000 --232.0000;-125.5000 --232.0000;-125.0000 --232.0000;-124.5000 --232.0000;-124.0000 --232.0000;-123.5000 --232.0000;-123.0000 --232.0000;-122.5000 --232.0000;-122.0000 --232.0000;-121.5000 --232.0000;-121.0000 --232.0000;-120.5000 --232.0000;-120.0000 --232.0000;-119.5000 --232.0000;-74.0000 --232.0000;-73.5000 --232.0000;-73.0000 --232.0000;-72.5000 --232.0000;-72.0000 --232.0000;-71.5000 --232.0000;-71.0000 --232.0000;-70.5000 --232.0000;-70.0000 --232.0000;-69.5000 --232.0000;-69.0000 --232.0000;-68.5000 --232.0000;-68.0000 --232.0000;-67.5000 --232.0000;-67.0000 --232.0000;-66.5000 --232.0000;-66.0000 --232.0000;-65.5000 --232.0000;-65.0000 --232.0000;-64.5000 --232.0000;-64.0000 --232.0000;-63.5000 --232.0000;-63.0000 --232.0000;-62.5000 --232.0000;69.0000 --232.0000;69.5000 --232.0000;70.0000 --232.0000;70.5000 --232.0000;71.0000 --232.0000;71.5000 --232.0000;72.0000 --232.0000;72.5000 --232.0000;73.0000 --232.0000;73.5000 --232.0000;74.0000 --232.0000;74.5000 --232.0000;75.0000 --232.0000;75.5000 --232.0000;76.0000 --232.0000;76.5000 --232.0000;77.0000 --232.0000;77.5000 --232.0000;78.0000 --232.0000;78.5000 --232.0000;79.0000 --232.0000;79.5000 --232.0000;80.0000 --232.0000;80.5000 --232.0000;81.0000 --232.0000;81.5000 --232.0000;82.0000 --232.0000;82.5000 --232.0000;83.0000 --232.0000;83.5000 --232.0000;84.0000 --232.0000;84.5000 --232.0000;85.0000 --232.0000;85.5000 --232.0000;86.0000 --232.0000;86.5000 --232.0000;87.0000 --232.0000;87.5000 --232.0000;88.0000 --232.0000;88.5000 --232.0000;89.0000 --232.0000;89.5000 --232.0000;90.0000 --232.0000;90.5000 --232.0000;91.0000 --232.0000;91.5000 --232.0000;92.0000 --232.0000;92.5000 --232.0000;93.0000 --232.0000;93.5000 --232.0000;94.0000 --232.0000;94.5000 --232.0000;95.0000 --232.0000;95.5000 --232.0000;96.0000 --232.0000;96.5000 --232.0000;97.0000 --232.0000;97.5000 --231.5000;-237.5000 --231.5000;-237.0000 --231.5000;-236.5000 --231.5000;-236.0000 --231.5000;-235.5000 --231.5000;-235.0000 --231.5000;-234.5000 --231.5000;-234.0000 --231.5000;-233.5000 --231.5000;-233.0000 --231.5000;-232.5000 --231.5000;-232.0000 --231.5000;-231.5000 --231.5000;-231.0000 --231.5000;-230.5000 --231.5000;-230.0000 --231.5000;-229.5000 --231.5000;-229.0000 --231.5000;-228.5000 --231.5000;-228.0000 --231.5000;-227.5000 --231.5000;-227.0000 --231.5000;-226.5000 --231.5000;-226.0000 --231.5000;-225.5000 --231.5000;-225.0000 --231.5000;-131.5000 --231.5000;-131.0000 --231.5000;-130.5000 --231.5000;-130.0000 --231.5000;-129.5000 --231.5000;-129.0000 --231.5000;-128.5000 --231.5000;-128.0000 --231.5000;-127.5000 --231.5000;-127.0000 --231.5000;-126.5000 --231.5000;-126.0000 --231.5000;-125.5000 --231.5000;-125.0000 --231.5000;-124.5000 --231.5000;-124.0000 --231.5000;-123.5000 --231.5000;-123.0000 --231.5000;-122.5000 --231.5000;-122.0000 --231.5000;-121.5000 --231.5000;-121.0000 --231.5000;-120.5000 --231.5000;-120.0000 --231.5000;-119.5000 --231.5000;-74.0000 --231.5000;-73.5000 --231.5000;-73.0000 --231.5000;-72.5000 --231.5000;-72.0000 --231.5000;-71.5000 --231.5000;-71.0000 --231.5000;-70.5000 --231.5000;-70.0000 --231.5000;-69.5000 --231.5000;-69.0000 --231.5000;-68.5000 --231.5000;-68.0000 --231.5000;-67.5000 --231.5000;-67.0000 --231.5000;-66.5000 --231.5000;-66.0000 --231.5000;-65.5000 --231.5000;-65.0000 --231.5000;-64.5000 --231.5000;-64.0000 --231.5000;-63.5000 --231.5000;-63.0000 --231.5000;-62.5000 --231.5000;70.0000 --231.5000;70.5000 --231.5000;71.0000 --231.5000;71.5000 --231.5000;72.0000 --231.5000;72.5000 --231.5000;73.0000 --231.5000;73.5000 --231.5000;74.0000 --231.5000;74.5000 --231.5000;75.0000 --231.5000;75.5000 --231.5000;76.0000 --231.5000;76.5000 --231.5000;77.0000 --231.5000;77.5000 --231.5000;78.0000 --231.5000;78.5000 --231.5000;79.0000 --231.5000;79.5000 --231.5000;80.0000 --231.5000;80.5000 --231.5000;81.0000 --231.5000;81.5000 --231.5000;82.0000 --231.5000;82.5000 --231.5000;83.0000 --231.5000;83.5000 --231.5000;84.0000 --231.5000;84.5000 --231.5000;85.0000 --231.5000;85.5000 --231.5000;86.0000 --231.5000;86.5000 --231.5000;87.0000 --231.5000;87.5000 --231.5000;88.0000 --231.5000;88.5000 --231.5000;89.0000 --231.5000;89.5000 --231.5000;90.0000 --231.5000;90.5000 --231.5000;91.0000 --231.5000;91.5000 --231.5000;92.0000 --231.5000;92.5000 --231.5000;93.0000 --231.5000;93.5000 --231.5000;94.0000 --231.5000;94.5000 --231.5000;95.0000 --231.5000;95.5000 --231.5000;96.0000 --231.5000;96.5000 --231.5000;97.0000 --231.5000;97.5000 --231.5000;98.0000 --231.5000;98.5000 --231.0000;-237.5000 --231.0000;-237.0000 --231.0000;-236.5000 --231.0000;-236.0000 --231.0000;-235.5000 --231.0000;-235.0000 --231.0000;-234.5000 --231.0000;-234.0000 --231.0000;-233.5000 --231.0000;-233.0000 --231.0000;-232.5000 --231.0000;-232.0000 --231.0000;-231.5000 --231.0000;-231.0000 --231.0000;-230.5000 --231.0000;-230.0000 --231.0000;-229.5000 --231.0000;-229.0000 --231.0000;-228.5000 --231.0000;-228.0000 --231.0000;-227.5000 --231.0000;-227.0000 --231.0000;-226.5000 --231.0000;-226.0000 --231.0000;-225.5000 --231.0000;-225.0000 --231.0000;-131.5000 --231.0000;-131.0000 --231.0000;-130.5000 --231.0000;-130.0000 --231.0000;-129.5000 --231.0000;-129.0000 --231.0000;-128.5000 --231.0000;-128.0000 --231.0000;-127.5000 --231.0000;-127.0000 --231.0000;-126.5000 --231.0000;-126.0000 --231.0000;-125.5000 --231.0000;-125.0000 --231.0000;-124.5000 --231.0000;-124.0000 --231.0000;-123.5000 --231.0000;-123.0000 --231.0000;-122.5000 --231.0000;-122.0000 --231.0000;-121.5000 --231.0000;-121.0000 --231.0000;-120.5000 --231.0000;-120.0000 --231.0000;-119.5000 --231.0000;-74.5000 --231.0000;-74.0000 --231.0000;-73.5000 --231.0000;-73.0000 --231.0000;-72.5000 --231.0000;-72.0000 --231.0000;-71.5000 --231.0000;-71.0000 --231.0000;-70.5000 --231.0000;-70.0000 --231.0000;-69.5000 --231.0000;-69.0000 --231.0000;-68.5000 --231.0000;-68.0000 --231.0000;-67.5000 --231.0000;-67.0000 --231.0000;-66.5000 --231.0000;-66.0000 --231.0000;-65.5000 --231.0000;-65.0000 --231.0000;-64.5000 --231.0000;-64.0000 --231.0000;-63.5000 --231.0000;-63.0000 --231.0000;-62.5000 --231.0000;71.5000 --231.0000;72.0000 --231.0000;72.5000 --231.0000;73.0000 --231.0000;73.5000 --231.0000;74.0000 --231.0000;74.5000 --231.0000;75.0000 --231.0000;75.5000 --231.0000;76.0000 --231.0000;76.5000 --231.0000;77.0000 --231.0000;77.5000 --231.0000;78.0000 --231.0000;78.5000 --231.0000;79.0000 --231.0000;79.5000 --231.0000;80.0000 --231.0000;80.5000 --231.0000;81.0000 --231.0000;81.5000 --231.0000;82.0000 --231.0000;82.5000 --231.0000;83.0000 --231.0000;83.5000 --231.0000;84.0000 --231.0000;84.5000 --231.0000;85.0000 --231.0000;85.5000 --231.0000;86.0000 --231.0000;86.5000 --231.0000;87.0000 --231.0000;87.5000 --231.0000;88.0000 --231.0000;88.5000 --231.0000;89.0000 --231.0000;89.5000 --231.0000;90.0000 --231.0000;90.5000 --231.0000;91.0000 --231.0000;91.5000 --231.0000;92.0000 --231.0000;92.5000 --231.0000;93.0000 --231.0000;93.5000 --231.0000;94.0000 --231.0000;94.5000 --231.0000;95.0000 --231.0000;95.5000 --231.0000;96.0000 --231.0000;96.5000 --231.0000;97.0000 --231.0000;97.5000 --231.0000;98.0000 --231.0000;98.5000 --231.0000;99.0000 --231.0000;99.5000 --230.5000;-238.0000 --230.5000;-237.5000 --230.5000;-237.0000 --230.5000;-236.5000 --230.5000;-236.0000 --230.5000;-235.5000 --230.5000;-235.0000 --230.5000;-234.5000 --230.5000;-234.0000 --230.5000;-233.5000 --230.5000;-233.0000 --230.5000;-232.5000 --230.5000;-232.0000 --230.5000;-231.5000 --230.5000;-231.0000 --230.5000;-230.5000 --230.5000;-230.0000 --230.5000;-229.5000 --230.5000;-229.0000 --230.5000;-228.5000 --230.5000;-228.0000 --230.5000;-227.5000 --230.5000;-227.0000 --230.5000;-226.5000 --230.5000;-226.0000 --230.5000;-225.5000 --230.5000;-225.0000 --230.5000;-131.5000 --230.5000;-131.0000 --230.5000;-130.5000 --230.5000;-130.0000 --230.5000;-129.5000 --230.5000;-129.0000 --230.5000;-128.5000 --230.5000;-128.0000 --230.5000;-127.5000 --230.5000;-127.0000 --230.5000;-126.5000 --230.5000;-126.0000 --230.5000;-125.5000 --230.5000;-125.0000 --230.5000;-124.5000 --230.5000;-124.0000 --230.5000;-123.5000 --230.5000;-123.0000 --230.5000;-122.5000 --230.5000;-122.0000 --230.5000;-121.5000 --230.5000;-121.0000 --230.5000;-120.5000 --230.5000;-120.0000 --230.5000;-119.5000 --230.5000;-74.5000 --230.5000;-74.0000 --230.5000;-73.5000 --230.5000;-73.0000 --230.5000;-72.5000 --230.5000;-72.0000 --230.5000;-71.5000 --230.5000;-71.0000 --230.5000;-70.5000 --230.5000;-70.0000 --230.5000;-69.5000 --230.5000;-69.0000 --230.5000;-68.5000 --230.5000;-68.0000 --230.5000;-67.5000 --230.5000;-67.0000 --230.5000;-66.5000 --230.5000;-66.0000 --230.5000;-65.5000 --230.5000;-65.0000 --230.5000;-64.5000 --230.5000;-64.0000 --230.5000;-63.5000 --230.5000;-63.0000 --230.5000;72.5000 --230.5000;73.0000 --230.5000;73.5000 --230.5000;74.0000 --230.5000;74.5000 --230.5000;75.0000 --230.5000;75.5000 --230.5000;76.0000 --230.5000;76.5000 --230.5000;77.0000 --230.5000;77.5000 --230.5000;78.0000 --230.5000;78.5000 --230.5000;79.0000 --230.5000;79.5000 --230.5000;80.0000 --230.5000;80.5000 --230.5000;81.0000 --230.5000;81.5000 --230.5000;82.0000 --230.5000;82.5000 --230.5000;83.0000 --230.5000;83.5000 --230.5000;84.0000 --230.5000;84.5000 --230.5000;85.0000 --230.5000;85.5000 --230.5000;86.0000 --230.5000;86.5000 --230.5000;87.0000 --230.5000;87.5000 --230.5000;88.0000 --230.5000;88.5000 --230.5000;89.0000 --230.5000;89.5000 --230.5000;90.0000 --230.5000;90.5000 --230.5000;91.0000 --230.5000;91.5000 --230.5000;92.0000 --230.5000;92.5000 --230.5000;93.0000 --230.5000;93.5000 --230.5000;94.0000 --230.5000;94.5000 --230.5000;95.0000 --230.5000;95.5000 --230.5000;96.0000 --230.5000;96.5000 --230.5000;97.0000 --230.5000;97.5000 --230.5000;98.0000 --230.5000;98.5000 --230.5000;99.0000 --230.5000;99.5000 --230.5000;100.0000 --230.5000;100.5000 --230.0000;-238.0000 --230.0000;-237.5000 --230.0000;-237.0000 --230.0000;-236.5000 --230.0000;-236.0000 --230.0000;-235.5000 --230.0000;-235.0000 --230.0000;-234.5000 --230.0000;-234.0000 --230.0000;-233.5000 --230.0000;-233.0000 --230.0000;-232.5000 --230.0000;-232.0000 --230.0000;-231.5000 --230.0000;-231.0000 --230.0000;-230.5000 --230.0000;-230.0000 --230.0000;-229.5000 --230.0000;-229.0000 --230.0000;-228.5000 --230.0000;-228.0000 --230.0000;-227.5000 --230.0000;-227.0000 --230.0000;-226.5000 --230.0000;-226.0000 --230.0000;-225.5000 --230.0000;-131.0000 --230.0000;-130.5000 --230.0000;-130.0000 --230.0000;-129.5000 --230.0000;-129.0000 --230.0000;-128.5000 --230.0000;-128.0000 --230.0000;-127.5000 --230.0000;-127.0000 --230.0000;-126.5000 --230.0000;-126.0000 --230.0000;-125.5000 --230.0000;-125.0000 --230.0000;-124.5000 --230.0000;-124.0000 --230.0000;-123.5000 --230.0000;-123.0000 --230.0000;-122.5000 --230.0000;-122.0000 --230.0000;-121.5000 --230.0000;-121.0000 --230.0000;-120.5000 --230.0000;-120.0000 --230.0000;-119.5000 --230.0000;-74.5000 --230.0000;-74.0000 --230.0000;-73.5000 --230.0000;-73.0000 --230.0000;-72.5000 --230.0000;-72.0000 --230.0000;-71.5000 --230.0000;-71.0000 --230.0000;-70.5000 --230.0000;-70.0000 --230.0000;-69.5000 --230.0000;-69.0000 --230.0000;-68.5000 --230.0000;-68.0000 --230.0000;-67.5000 --230.0000;-67.0000 --230.0000;-66.5000 --230.0000;-66.0000 --230.0000;-65.5000 --230.0000;-65.0000 --230.0000;-64.5000 --230.0000;-64.0000 --230.0000;-63.5000 --230.0000;-63.0000 --230.0000;73.5000 --230.0000;74.0000 --230.0000;74.5000 --230.0000;75.0000 --230.0000;75.5000 --230.0000;76.0000 --230.0000;76.5000 --230.0000;77.0000 --230.0000;77.5000 --230.0000;78.0000 --230.0000;78.5000 --230.0000;79.0000 --230.0000;79.5000 --230.0000;80.0000 --230.0000;80.5000 --230.0000;81.0000 --230.0000;81.5000 --230.0000;82.0000 --230.0000;82.5000 --230.0000;83.0000 --230.0000;83.5000 --230.0000;84.0000 --230.0000;84.5000 --230.0000;85.0000 --230.0000;85.5000 --230.0000;86.0000 --230.0000;86.5000 --230.0000;87.0000 --230.0000;87.5000 --230.0000;88.0000 --230.0000;88.5000 --230.0000;89.0000 --230.0000;89.5000 --230.0000;90.0000 --230.0000;90.5000 --230.0000;91.0000 --230.0000;91.5000 --230.0000;92.0000 --230.0000;92.5000 --230.0000;93.0000 --230.0000;93.5000 --230.0000;94.0000 --230.0000;94.5000 --230.0000;95.0000 --230.0000;95.5000 --230.0000;96.0000 --230.0000;96.5000 --230.0000;97.0000 --230.0000;97.5000 --230.0000;98.0000 --230.0000;98.5000 --230.0000;99.0000 --230.0000;99.5000 --230.0000;100.0000 --230.0000;100.5000 --230.0000;101.0000 --230.0000;101.5000 --229.5000;-238.0000 --229.5000;-237.5000 --229.5000;-237.0000 --229.5000;-236.5000 --229.5000;-236.0000 --229.5000;-235.5000 --229.5000;-235.0000 --229.5000;-234.5000 --229.5000;-234.0000 --229.5000;-233.5000 --229.5000;-233.0000 --229.5000;-232.5000 --229.5000;-232.0000 --229.5000;-231.5000 --229.5000;-231.0000 --229.5000;-230.5000 --229.5000;-230.0000 --229.5000;-229.5000 --229.5000;-229.0000 --229.5000;-228.5000 --229.5000;-228.0000 --229.5000;-227.5000 --229.5000;-227.0000 --229.5000;-226.5000 --229.5000;-226.0000 --229.5000;-225.5000 --229.5000;-131.0000 --229.5000;-130.5000 --229.5000;-130.0000 --229.5000;-129.5000 --229.5000;-129.0000 --229.5000;-128.5000 --229.5000;-128.0000 --229.5000;-127.5000 --229.5000;-127.0000 --229.5000;-126.5000 --229.5000;-126.0000 --229.5000;-125.5000 --229.5000;-125.0000 --229.5000;-124.5000 --229.5000;-124.0000 --229.5000;-123.5000 --229.5000;-123.0000 --229.5000;-122.5000 --229.5000;-122.0000 --229.5000;-121.5000 --229.5000;-121.0000 --229.5000;-120.5000 --229.5000;-120.0000 --229.5000;-119.5000 --229.5000;-74.5000 --229.5000;-74.0000 --229.5000;-73.5000 --229.5000;-73.0000 --229.5000;-72.5000 --229.5000;-72.0000 --229.5000;-71.5000 --229.5000;-71.0000 --229.5000;-70.5000 --229.5000;-70.0000 --229.5000;-69.5000 --229.5000;-69.0000 --229.5000;-68.5000 --229.5000;-68.0000 --229.5000;-67.5000 --229.5000;-67.0000 --229.5000;-66.5000 --229.5000;-66.0000 --229.5000;-65.5000 --229.5000;-65.0000 --229.5000;-64.5000 --229.5000;-64.0000 --229.5000;-63.5000 --229.5000;-63.0000 --229.5000;74.5000 --229.5000;75.0000 --229.5000;75.5000 --229.5000;76.0000 --229.5000;76.5000 --229.5000;77.0000 --229.5000;77.5000 --229.5000;78.0000 --229.5000;78.5000 --229.5000;79.0000 --229.5000;79.5000 --229.5000;80.0000 --229.5000;80.5000 --229.5000;81.0000 --229.5000;81.5000 --229.5000;82.0000 --229.5000;82.5000 --229.5000;83.0000 --229.5000;83.5000 --229.5000;84.0000 --229.5000;84.5000 --229.5000;85.0000 --229.5000;85.5000 --229.5000;86.0000 --229.5000;86.5000 --229.5000;87.0000 --229.5000;87.5000 --229.5000;88.0000 --229.5000;88.5000 --229.5000;89.0000 --229.5000;89.5000 --229.5000;90.0000 --229.5000;90.5000 --229.5000;91.0000 --229.5000;91.5000 --229.5000;92.0000 --229.5000;92.5000 --229.5000;93.0000 --229.5000;93.5000 --229.5000;94.0000 --229.5000;94.5000 --229.5000;95.0000 --229.5000;95.5000 --229.5000;96.0000 --229.5000;96.5000 --229.5000;97.0000 --229.5000;97.5000 --229.5000;98.0000 --229.5000;98.5000 --229.5000;99.0000 --229.5000;99.5000 --229.5000;100.0000 --229.5000;100.5000 --229.5000;101.0000 --229.5000;101.5000 --229.5000;102.0000 --229.5000;102.5000 --229.0000;-238.5000 --229.0000;-238.0000 --229.0000;-237.5000 --229.0000;-237.0000 --229.0000;-236.5000 --229.0000;-236.0000 --229.0000;-235.5000 --229.0000;-235.0000 --229.0000;-234.5000 --229.0000;-234.0000 --229.0000;-233.5000 --229.0000;-233.0000 --229.0000;-232.5000 --229.0000;-232.0000 --229.0000;-231.5000 --229.0000;-231.0000 --229.0000;-230.5000 --229.0000;-230.0000 --229.0000;-229.5000 --229.0000;-229.0000 --229.0000;-228.5000 --229.0000;-228.0000 --229.0000;-227.5000 --229.0000;-227.0000 --229.0000;-226.5000 --229.0000;-226.0000 --229.0000;-131.0000 --229.0000;-130.5000 --229.0000;-130.0000 --229.0000;-129.5000 --229.0000;-129.0000 --229.0000;-128.5000 --229.0000;-128.0000 --229.0000;-127.5000 --229.0000;-127.0000 --229.0000;-126.5000 --229.0000;-126.0000 --229.0000;-125.5000 --229.0000;-125.0000 --229.0000;-124.5000 --229.0000;-124.0000 --229.0000;-123.5000 --229.0000;-123.0000 --229.0000;-122.5000 --229.0000;-122.0000 --229.0000;-121.5000 --229.0000;-121.0000 --229.0000;-120.5000 --229.0000;-120.0000 --229.0000;-119.5000 --229.0000;-74.5000 --229.0000;-74.0000 --229.0000;-73.5000 --229.0000;-73.0000 --229.0000;-72.5000 --229.0000;-72.0000 --229.0000;-71.5000 --229.0000;-71.0000 --229.0000;-70.5000 --229.0000;-70.0000 --229.0000;-69.5000 --229.0000;-69.0000 --229.0000;-68.5000 --229.0000;-68.0000 --229.0000;-67.5000 --229.0000;-67.0000 --229.0000;-66.5000 --229.0000;-66.0000 --229.0000;-65.5000 --229.0000;-65.0000 --229.0000;-64.5000 --229.0000;-64.0000 --229.0000;-63.5000 --229.0000;-63.0000 --229.0000;75.5000 --229.0000;76.0000 --229.0000;76.5000 --229.0000;77.0000 --229.0000;77.5000 --229.0000;78.0000 --229.0000;78.5000 --229.0000;79.0000 --229.0000;79.5000 --229.0000;80.0000 --229.0000;80.5000 --229.0000;81.0000 --229.0000;81.5000 --229.0000;82.0000 --229.0000;82.5000 --229.0000;83.0000 --229.0000;83.5000 --229.0000;84.0000 --229.0000;84.5000 --229.0000;85.0000 --229.0000;85.5000 --229.0000;86.0000 --229.0000;86.5000 --229.0000;87.0000 --229.0000;87.5000 --229.0000;88.0000 --229.0000;88.5000 --229.0000;89.0000 --229.0000;89.5000 --229.0000;90.0000 --229.0000;90.5000 --229.0000;91.0000 --229.0000;91.5000 --229.0000;92.0000 --229.0000;92.5000 --229.0000;93.0000 --229.0000;93.5000 --229.0000;94.0000 --229.0000;94.5000 --229.0000;95.0000 --229.0000;95.5000 --229.0000;96.0000 --229.0000;96.5000 --229.0000;97.0000 --229.0000;97.5000 --229.0000;98.0000 --229.0000;98.5000 --229.0000;99.0000 --229.0000;99.5000 --229.0000;100.0000 --229.0000;100.5000 --229.0000;101.0000 --229.0000;101.5000 --229.0000;102.0000 --229.0000;102.5000 --229.0000;103.0000 --229.0000;103.5000 --229.0000;104.0000 --228.5000;-238.5000 --228.5000;-238.0000 --228.5000;-237.5000 --228.5000;-237.0000 --228.5000;-236.5000 --228.5000;-236.0000 --228.5000;-235.5000 --228.5000;-235.0000 --228.5000;-234.5000 --228.5000;-234.0000 --228.5000;-233.5000 --228.5000;-233.0000 --228.5000;-232.5000 --228.5000;-232.0000 --228.5000;-231.5000 --228.5000;-231.0000 --228.5000;-230.5000 --228.5000;-230.0000 --228.5000;-229.5000 --228.5000;-229.0000 --228.5000;-228.5000 --228.5000;-228.0000 --228.5000;-227.5000 --228.5000;-227.0000 --228.5000;-226.5000 --228.5000;-226.0000 --228.5000;-131.0000 --228.5000;-130.5000 --228.5000;-130.0000 --228.5000;-129.5000 --228.5000;-129.0000 --228.5000;-128.5000 --228.5000;-128.0000 --228.5000;-127.5000 --228.5000;-127.0000 --228.5000;-126.5000 --228.5000;-126.0000 --228.5000;-125.5000 --228.5000;-125.0000 --228.5000;-124.5000 --228.5000;-124.0000 --228.5000;-123.5000 --228.5000;-123.0000 --228.5000;-122.5000 --228.5000;-122.0000 --228.5000;-121.5000 --228.5000;-121.0000 --228.5000;-120.5000 --228.5000;-120.0000 --228.5000;-119.5000 --228.5000;-119.0000 --228.5000;-74.5000 --228.5000;-74.0000 --228.5000;-73.5000 --228.5000;-73.0000 --228.5000;-72.5000 --228.5000;-72.0000 --228.5000;-71.5000 --228.5000;-71.0000 --228.5000;-70.5000 --228.5000;-70.0000 --228.5000;-69.5000 --228.5000;-69.0000 --228.5000;-68.5000 --228.5000;-68.0000 --228.5000;-67.5000 --228.5000;-67.0000 --228.5000;-66.5000 --228.5000;-66.0000 --228.5000;-65.5000 --228.5000;-65.0000 --228.5000;-64.5000 --228.5000;-64.0000 --228.5000;-63.5000 --228.5000;-63.0000 --228.5000;76.5000 --228.5000;77.0000 --228.5000;77.5000 --228.5000;78.0000 --228.5000;78.5000 --228.5000;79.0000 --228.5000;79.5000 --228.5000;80.0000 --228.5000;80.5000 --228.5000;81.0000 --228.5000;81.5000 --228.5000;82.0000 --228.5000;82.5000 --228.5000;83.0000 --228.5000;83.5000 --228.5000;84.0000 --228.5000;84.5000 --228.5000;85.0000 --228.5000;85.5000 --228.5000;86.0000 --228.5000;86.5000 --228.5000;87.0000 --228.5000;87.5000 --228.5000;88.0000 --228.5000;88.5000 --228.5000;89.0000 --228.5000;89.5000 --228.5000;90.0000 --228.5000;90.5000 --228.5000;91.0000 --228.5000;91.5000 --228.5000;92.0000 --228.5000;92.5000 --228.5000;93.0000 --228.5000;93.5000 --228.5000;94.0000 --228.5000;94.5000 --228.5000;95.0000 --228.5000;95.5000 --228.5000;96.0000 --228.5000;96.5000 --228.5000;97.0000 --228.5000;97.5000 --228.5000;98.0000 --228.5000;98.5000 --228.5000;99.0000 --228.5000;99.5000 --228.5000;100.0000 --228.5000;100.5000 --228.5000;101.0000 --228.5000;101.5000 --228.5000;102.0000 --228.5000;102.5000 --228.5000;103.0000 --228.5000;103.5000 --228.5000;104.0000 --228.5000;104.5000 --228.5000;105.0000 --228.0000;-239.0000 --228.0000;-238.5000 --228.0000;-238.0000 --228.0000;-237.5000 --228.0000;-237.0000 --228.0000;-236.5000 --228.0000;-236.0000 --228.0000;-235.5000 --228.0000;-235.0000 --228.0000;-234.5000 --228.0000;-234.0000 --228.0000;-233.5000 --228.0000;-233.0000 --228.0000;-232.5000 --228.0000;-232.0000 --228.0000;-231.5000 --228.0000;-231.0000 --228.0000;-230.5000 --228.0000;-230.0000 --228.0000;-229.5000 --228.0000;-229.0000 --228.0000;-228.5000 --228.0000;-228.0000 --228.0000;-227.5000 --228.0000;-227.0000 --228.0000;-226.5000 --228.0000;-226.0000 --228.0000;-131.0000 --228.0000;-130.5000 --228.0000;-130.0000 --228.0000;-129.5000 --228.0000;-129.0000 --228.0000;-128.5000 --228.0000;-128.0000 --228.0000;-127.5000 --228.0000;-127.0000 --228.0000;-126.5000 --228.0000;-126.0000 --228.0000;-125.5000 --228.0000;-125.0000 --228.0000;-124.5000 --228.0000;-124.0000 --228.0000;-123.5000 --228.0000;-123.0000 --228.0000;-122.5000 --228.0000;-122.0000 --228.0000;-121.5000 --228.0000;-121.0000 --228.0000;-120.5000 --228.0000;-120.0000 --228.0000;-119.5000 --228.0000;-119.0000 --228.0000;-74.5000 --228.0000;-74.0000 --228.0000;-73.5000 --228.0000;-73.0000 --228.0000;-72.5000 --228.0000;-72.0000 --228.0000;-71.5000 --228.0000;-71.0000 --228.0000;-70.5000 --228.0000;-70.0000 --228.0000;-69.5000 --228.0000;-69.0000 --228.0000;-68.5000 --228.0000;-68.0000 --228.0000;-67.5000 --228.0000;-67.0000 --228.0000;-66.5000 --228.0000;-66.0000 --228.0000;-65.5000 --228.0000;-65.0000 --228.0000;-64.5000 --228.0000;-64.0000 --228.0000;-63.5000 --228.0000;-63.0000 --228.0000;77.5000 --228.0000;78.0000 --228.0000;78.5000 --228.0000;79.0000 --228.0000;79.5000 --228.0000;80.0000 --228.0000;80.5000 --228.0000;81.0000 --228.0000;81.5000 --228.0000;82.0000 --228.0000;82.5000 --228.0000;83.0000 --228.0000;83.5000 --228.0000;84.0000 --228.0000;84.5000 --228.0000;85.0000 --228.0000;85.5000 --228.0000;86.0000 --228.0000;86.5000 --228.0000;87.0000 --228.0000;87.5000 --228.0000;88.0000 --228.0000;88.5000 --228.0000;89.0000 --228.0000;89.5000 --228.0000;90.0000 --228.0000;90.5000 --228.0000;91.0000 --228.0000;91.5000 --228.0000;92.0000 --228.0000;92.5000 --228.0000;93.0000 --228.0000;93.5000 --228.0000;94.0000 --228.0000;94.5000 --228.0000;95.0000 --228.0000;95.5000 --228.0000;96.0000 --228.0000;96.5000 --228.0000;97.0000 --228.0000;97.5000 --228.0000;98.0000 --228.0000;98.5000 --228.0000;99.0000 --228.0000;99.5000 --228.0000;100.0000 --228.0000;100.5000 --228.0000;101.0000 --228.0000;101.5000 --228.0000;102.0000 --228.0000;102.5000 --228.0000;103.0000 --228.0000;103.5000 --228.0000;104.0000 --228.0000;104.5000 --228.0000;105.0000 --228.0000;105.5000 --228.0000;106.0000 --227.5000;-239.0000 --227.5000;-238.5000 --227.5000;-238.0000 --227.5000;-237.5000 --227.5000;-237.0000 --227.5000;-236.5000 --227.5000;-236.0000 --227.5000;-235.5000 --227.5000;-235.0000 --227.5000;-234.5000 --227.5000;-234.0000 --227.5000;-233.5000 --227.5000;-233.0000 --227.5000;-232.5000 --227.5000;-232.0000 --227.5000;-231.5000 --227.5000;-231.0000 --227.5000;-230.5000 --227.5000;-230.0000 --227.5000;-229.5000 --227.5000;-229.0000 --227.5000;-228.5000 --227.5000;-228.0000 --227.5000;-227.5000 --227.5000;-227.0000 --227.5000;-226.5000 --227.5000;-131.0000 --227.5000;-130.5000 --227.5000;-130.0000 --227.5000;-129.5000 --227.5000;-129.0000 --227.5000;-128.5000 --227.5000;-128.0000 --227.5000;-127.5000 --227.5000;-127.0000 --227.5000;-126.5000 --227.5000;-126.0000 --227.5000;-125.5000 --227.5000;-125.0000 --227.5000;-124.5000 --227.5000;-124.0000 --227.5000;-123.5000 --227.5000;-123.0000 --227.5000;-122.5000 --227.5000;-122.0000 --227.5000;-121.5000 --227.5000;-121.0000 --227.5000;-120.5000 --227.5000;-120.0000 --227.5000;-119.5000 --227.5000;-119.0000 --227.5000;-74.5000 --227.5000;-74.0000 --227.5000;-73.5000 --227.5000;-73.0000 --227.5000;-72.5000 --227.5000;-72.0000 --227.5000;-71.5000 --227.5000;-71.0000 --227.5000;-70.5000 --227.5000;-70.0000 --227.5000;-69.5000 --227.5000;-69.0000 --227.5000;-68.5000 --227.5000;-68.0000 --227.5000;-67.5000 --227.5000;-67.0000 --227.5000;-66.5000 --227.5000;-66.0000 --227.5000;-65.5000 --227.5000;-65.0000 --227.5000;-64.5000 --227.5000;-64.0000 --227.5000;-63.5000 --227.5000;-63.0000 --227.5000;78.5000 --227.5000;79.0000 --227.5000;79.5000 --227.5000;80.0000 --227.5000;80.5000 --227.5000;81.0000 --227.5000;81.5000 --227.5000;82.0000 --227.5000;82.5000 --227.5000;83.0000 --227.5000;83.5000 --227.5000;84.0000 --227.5000;84.5000 --227.5000;85.0000 --227.5000;85.5000 --227.5000;86.0000 --227.5000;86.5000 --227.5000;87.0000 --227.5000;87.5000 --227.5000;88.0000 --227.5000;88.5000 --227.5000;89.0000 --227.5000;89.5000 --227.5000;90.0000 --227.5000;90.5000 --227.5000;91.0000 --227.5000;91.5000 --227.5000;92.0000 --227.5000;92.5000 --227.5000;93.0000 --227.5000;93.5000 --227.5000;94.0000 --227.5000;94.5000 --227.5000;95.0000 --227.5000;95.5000 --227.5000;96.0000 --227.5000;96.5000 --227.5000;97.0000 --227.5000;97.5000 --227.5000;98.0000 --227.5000;98.5000 --227.5000;99.0000 --227.5000;99.5000 --227.5000;100.0000 --227.5000;100.5000 --227.5000;101.0000 --227.5000;101.5000 --227.5000;102.0000 --227.5000;102.5000 --227.5000;103.0000 --227.5000;103.5000 --227.5000;104.0000 --227.5000;104.5000 --227.5000;105.0000 --227.5000;105.5000 --227.5000;106.0000 --227.5000;106.5000 --227.5000;107.0000 --227.0000;-239.0000 --227.0000;-238.5000 --227.0000;-238.0000 --227.0000;-237.5000 --227.0000;-237.0000 --227.0000;-236.5000 --227.0000;-236.0000 --227.0000;-235.5000 --227.0000;-235.0000 --227.0000;-234.5000 --227.0000;-234.0000 --227.0000;-233.5000 --227.0000;-233.0000 --227.0000;-232.5000 --227.0000;-232.0000 --227.0000;-231.5000 --227.0000;-231.0000 --227.0000;-230.5000 --227.0000;-230.0000 --227.0000;-229.5000 --227.0000;-229.0000 --227.0000;-228.5000 --227.0000;-228.0000 --227.0000;-227.5000 --227.0000;-227.0000 --227.0000;-226.5000 --227.0000;-131.0000 --227.0000;-130.5000 --227.0000;-130.0000 --227.0000;-129.5000 --227.0000;-129.0000 --227.0000;-128.5000 --227.0000;-128.0000 --227.0000;-127.5000 --227.0000;-127.0000 --227.0000;-126.5000 --227.0000;-126.0000 --227.0000;-125.5000 --227.0000;-125.0000 --227.0000;-124.5000 --227.0000;-124.0000 --227.0000;-123.5000 --227.0000;-123.0000 --227.0000;-122.5000 --227.0000;-122.0000 --227.0000;-121.5000 --227.0000;-121.0000 --227.0000;-120.5000 --227.0000;-120.0000 --227.0000;-119.5000 --227.0000;-119.0000 --227.0000;-74.5000 --227.0000;-74.0000 --227.0000;-73.5000 --227.0000;-73.0000 --227.0000;-72.5000 --227.0000;-72.0000 --227.0000;-71.5000 --227.0000;-71.0000 --227.0000;-70.5000 --227.0000;-70.0000 --227.0000;-69.5000 --227.0000;-69.0000 --227.0000;-68.5000 --227.0000;-68.0000 --227.0000;-67.5000 --227.0000;-67.0000 --227.0000;-66.5000 --227.0000;-66.0000 --227.0000;-65.5000 --227.0000;-65.0000 --227.0000;-64.5000 --227.0000;-64.0000 --227.0000;-63.5000 --227.0000;-63.0000 --227.0000;79.5000 --227.0000;80.0000 --227.0000;80.5000 --227.0000;81.0000 --227.0000;81.5000 --227.0000;82.0000 --227.0000;82.5000 --227.0000;83.0000 --227.0000;83.5000 --227.0000;84.0000 --227.0000;84.5000 --227.0000;85.0000 --227.0000;85.5000 --227.0000;86.0000 --227.0000;86.5000 --227.0000;87.0000 --227.0000;87.5000 --227.0000;88.0000 --227.0000;88.5000 --227.0000;89.0000 --227.0000;89.5000 --227.0000;90.0000 --227.0000;90.5000 --227.0000;91.0000 --227.0000;91.5000 --227.0000;92.0000 --227.0000;92.5000 --227.0000;93.0000 --227.0000;93.5000 --227.0000;94.0000 --227.0000;94.5000 --227.0000;95.0000 --227.0000;95.5000 --227.0000;96.0000 --227.0000;96.5000 --227.0000;97.0000 --227.0000;97.5000 --227.0000;98.0000 --227.0000;98.5000 --227.0000;99.0000 --227.0000;99.5000 --227.0000;100.0000 --227.0000;100.5000 --227.0000;101.0000 --227.0000;101.5000 --227.0000;102.0000 --227.0000;102.5000 --227.0000;103.0000 --227.0000;103.5000 --227.0000;104.0000 --227.0000;104.5000 --227.0000;105.0000 --227.0000;105.5000 --227.0000;106.0000 --227.0000;106.5000 --227.0000;107.0000 --227.0000;107.5000 --227.0000;108.0000 --226.5000;-239.5000 --226.5000;-239.0000 --226.5000;-238.5000 --226.5000;-238.0000 --226.5000;-237.5000 --226.5000;-237.0000 --226.5000;-236.5000 --226.5000;-236.0000 --226.5000;-235.5000 --226.5000;-235.0000 --226.5000;-234.5000 --226.5000;-234.0000 --226.5000;-233.5000 --226.5000;-233.0000 --226.5000;-232.5000 --226.5000;-232.0000 --226.5000;-231.5000 --226.5000;-231.0000 --226.5000;-230.5000 --226.5000;-230.0000 --226.5000;-229.5000 --226.5000;-229.0000 --226.5000;-228.5000 --226.5000;-228.0000 --226.5000;-227.5000 --226.5000;-227.0000 --226.5000;-226.5000 --226.5000;-130.5000 --226.5000;-130.0000 --226.5000;-129.5000 --226.5000;-129.0000 --226.5000;-128.5000 --226.5000;-128.0000 --226.5000;-127.5000 --226.5000;-127.0000 --226.5000;-126.5000 --226.5000;-126.0000 --226.5000;-125.5000 --226.5000;-125.0000 --226.5000;-124.5000 --226.5000;-124.0000 --226.5000;-123.5000 --226.5000;-123.0000 --226.5000;-122.5000 --226.5000;-122.0000 --226.5000;-121.5000 --226.5000;-121.0000 --226.5000;-120.5000 --226.5000;-120.0000 --226.5000;-119.5000 --226.5000;-119.0000 --226.5000;-74.5000 --226.5000;-74.0000 --226.5000;-73.5000 --226.5000;-73.0000 --226.5000;-72.5000 --226.5000;-72.0000 --226.5000;-71.5000 --226.5000;-71.0000 --226.5000;-70.5000 --226.5000;-70.0000 --226.5000;-69.5000 --226.5000;-69.0000 --226.5000;-68.5000 --226.5000;-68.0000 --226.5000;-67.5000 --226.5000;-67.0000 --226.5000;-66.5000 --226.5000;-66.0000 --226.5000;-65.5000 --226.5000;-65.0000 --226.5000;-64.5000 --226.5000;-64.0000 --226.5000;-63.5000 --226.5000;-63.0000 --226.5000;80.5000 --226.5000;81.0000 --226.5000;81.5000 --226.5000;82.0000 --226.5000;82.5000 --226.5000;83.0000 --226.5000;83.5000 --226.5000;84.0000 --226.5000;84.5000 --226.5000;85.0000 --226.5000;85.5000 --226.5000;86.0000 --226.5000;86.5000 --226.5000;87.0000 --226.5000;87.5000 --226.5000;88.0000 --226.5000;88.5000 --226.5000;89.0000 --226.5000;89.5000 --226.5000;90.0000 --226.5000;90.5000 --226.5000;91.0000 --226.5000;91.5000 --226.5000;92.0000 --226.5000;92.5000 --226.5000;93.0000 --226.5000;93.5000 --226.5000;94.0000 --226.5000;94.5000 --226.5000;95.0000 --226.5000;95.5000 --226.5000;96.0000 --226.5000;96.5000 --226.5000;97.0000 --226.5000;97.5000 --226.5000;98.0000 --226.5000;98.5000 --226.5000;99.0000 --226.5000;99.5000 --226.5000;100.0000 --226.5000;100.5000 --226.5000;101.0000 --226.5000;101.5000 --226.5000;102.0000 --226.5000;102.5000 --226.5000;103.0000 --226.5000;103.5000 --226.5000;104.0000 --226.5000;104.5000 --226.5000;105.0000 --226.5000;105.5000 --226.5000;106.0000 --226.5000;106.5000 --226.5000;107.0000 --226.5000;107.5000 --226.5000;108.0000 --226.5000;108.5000 --226.5000;109.0000 --226.0000;-239.5000 --226.0000;-239.0000 --226.0000;-238.5000 --226.0000;-238.0000 --226.0000;-237.5000 --226.0000;-237.0000 --226.0000;-236.5000 --226.0000;-236.0000 --226.0000;-235.5000 --226.0000;-235.0000 --226.0000;-234.5000 --226.0000;-234.0000 --226.0000;-233.5000 --226.0000;-233.0000 --226.0000;-232.5000 --226.0000;-232.0000 --226.0000;-231.5000 --226.0000;-231.0000 --226.0000;-230.5000 --226.0000;-230.0000 --226.0000;-229.5000 --226.0000;-229.0000 --226.0000;-228.5000 --226.0000;-228.0000 --226.0000;-227.5000 --226.0000;-227.0000 --226.0000;-130.5000 --226.0000;-130.0000 --226.0000;-129.5000 --226.0000;-129.0000 --226.0000;-128.5000 --226.0000;-128.0000 --226.0000;-127.5000 --226.0000;-127.0000 --226.0000;-126.5000 --226.0000;-126.0000 --226.0000;-125.5000 --226.0000;-125.0000 --226.0000;-124.5000 --226.0000;-124.0000 --226.0000;-123.5000 --226.0000;-123.0000 --226.0000;-122.5000 --226.0000;-122.0000 --226.0000;-121.5000 --226.0000;-121.0000 --226.0000;-120.5000 --226.0000;-120.0000 --226.0000;-119.5000 --226.0000;-119.0000 --226.0000;-74.5000 --226.0000;-74.0000 --226.0000;-73.5000 --226.0000;-73.0000 --226.0000;-72.5000 --226.0000;-72.0000 --226.0000;-71.5000 --226.0000;-71.0000 --226.0000;-70.5000 --226.0000;-70.0000 --226.0000;-69.5000 --226.0000;-69.0000 --226.0000;-68.5000 --226.0000;-68.0000 --226.0000;-67.5000 --226.0000;-67.0000 --226.0000;-66.5000 --226.0000;-66.0000 --226.0000;-65.5000 --226.0000;-65.0000 --226.0000;-64.5000 --226.0000;-64.0000 --226.0000;-63.5000 --226.0000;-63.0000 --226.0000;-62.5000 --226.0000;81.5000 --226.0000;82.0000 --226.0000;82.5000 --226.0000;83.0000 --226.0000;83.5000 --226.0000;84.0000 --226.0000;84.5000 --226.0000;85.0000 --226.0000;85.5000 --226.0000;86.0000 --226.0000;86.5000 --226.0000;87.0000 --226.0000;87.5000 --226.0000;88.0000 --226.0000;88.5000 --226.0000;89.0000 --226.0000;89.5000 --226.0000;90.0000 --226.0000;90.5000 --226.0000;91.0000 --226.0000;91.5000 --226.0000;92.0000 --226.0000;92.5000 --226.0000;93.0000 --226.0000;93.5000 --226.0000;94.0000 --226.0000;94.5000 --226.0000;95.0000 --226.0000;95.5000 --226.0000;96.0000 --226.0000;96.5000 --226.0000;97.0000 --226.0000;97.5000 --226.0000;98.0000 --226.0000;98.5000 --226.0000;99.0000 --226.0000;99.5000 --226.0000;100.0000 --226.0000;100.5000 --226.0000;101.0000 --226.0000;101.5000 --226.0000;102.0000 --226.0000;102.5000 --226.0000;103.0000 --226.0000;103.5000 --226.0000;104.0000 --226.0000;104.5000 --226.0000;105.0000 --226.0000;105.5000 --226.0000;106.0000 --226.0000;106.5000 --226.0000;107.0000 --226.0000;107.5000 --226.0000;108.0000 --226.0000;108.5000 --226.0000;109.0000 --226.0000;109.5000 --226.0000;110.0000 --225.5000;-240.0000 --225.5000;-239.5000 --225.5000;-239.0000 --225.5000;-238.5000 --225.5000;-238.0000 --225.5000;-237.5000 --225.5000;-237.0000 --225.5000;-236.5000 --225.5000;-236.0000 --225.5000;-235.5000 --225.5000;-235.0000 --225.5000;-234.5000 --225.5000;-234.0000 --225.5000;-233.5000 --225.5000;-233.0000 --225.5000;-232.5000 --225.5000;-232.0000 --225.5000;-231.5000 --225.5000;-231.0000 --225.5000;-230.5000 --225.5000;-230.0000 --225.5000;-229.5000 --225.5000;-229.0000 --225.5000;-228.5000 --225.5000;-228.0000 --225.5000;-227.5000 --225.5000;-227.0000 --225.5000;-130.5000 --225.5000;-130.0000 --225.5000;-129.5000 --225.5000;-129.0000 --225.5000;-128.5000 --225.5000;-128.0000 --225.5000;-127.5000 --225.5000;-127.0000 --225.5000;-126.5000 --225.5000;-126.0000 --225.5000;-125.5000 --225.5000;-125.0000 --225.5000;-124.5000 --225.5000;-124.0000 --225.5000;-123.5000 --225.5000;-123.0000 --225.5000;-122.5000 --225.5000;-122.0000 --225.5000;-121.5000 --225.5000;-121.0000 --225.5000;-120.5000 --225.5000;-120.0000 --225.5000;-119.5000 --225.5000;-119.0000 --225.5000;-74.5000 --225.5000;-74.0000 --225.5000;-73.5000 --225.5000;-73.0000 --225.5000;-72.5000 --225.5000;-72.0000 --225.5000;-71.5000 --225.5000;-71.0000 --225.5000;-70.5000 --225.5000;-70.0000 --225.5000;-69.5000 --225.5000;-69.0000 --225.5000;-68.5000 --225.5000;-68.0000 --225.5000;-67.5000 --225.5000;-67.0000 --225.5000;-66.5000 --225.5000;-66.0000 --225.5000;-65.5000 --225.5000;-65.0000 --225.5000;-64.5000 --225.5000;-64.0000 --225.5000;-63.5000 --225.5000;-63.0000 --225.5000;-62.5000 --225.5000;82.5000 --225.5000;83.0000 --225.5000;83.5000 --225.5000;84.0000 --225.5000;84.5000 --225.5000;85.0000 --225.5000;85.5000 --225.5000;86.0000 --225.5000;86.5000 --225.5000;87.0000 --225.5000;87.5000 --225.5000;88.0000 --225.5000;88.5000 --225.5000;89.0000 --225.5000;89.5000 --225.5000;90.0000 --225.5000;90.5000 --225.5000;91.0000 --225.5000;91.5000 --225.5000;92.0000 --225.5000;92.5000 --225.5000;93.0000 --225.5000;93.5000 --225.5000;94.0000 --225.5000;94.5000 --225.5000;95.0000 --225.5000;95.5000 --225.5000;96.0000 --225.5000;96.5000 --225.5000;97.0000 --225.5000;97.5000 --225.5000;98.0000 --225.5000;98.5000 --225.5000;99.0000 --225.5000;99.5000 --225.5000;100.0000 --225.5000;100.5000 --225.5000;101.0000 --225.5000;101.5000 --225.5000;102.0000 --225.5000;102.5000 --225.5000;103.0000 --225.5000;103.5000 --225.5000;104.0000 --225.5000;104.5000 --225.5000;105.0000 --225.5000;105.5000 --225.5000;106.0000 --225.5000;106.5000 --225.5000;107.0000 --225.5000;107.5000 --225.5000;108.0000 --225.5000;108.5000 --225.5000;109.0000 --225.5000;109.5000 --225.5000;110.0000 --225.5000;110.5000 --225.5000;111.0000 --225.0000;-240.0000 --225.0000;-239.5000 --225.0000;-239.0000 --225.0000;-238.5000 --225.0000;-238.0000 --225.0000;-237.5000 --225.0000;-237.0000 --225.0000;-236.5000 --225.0000;-236.0000 --225.0000;-235.5000 --225.0000;-235.0000 --225.0000;-234.5000 --225.0000;-234.0000 --225.0000;-233.5000 --225.0000;-233.0000 --225.0000;-232.5000 --225.0000;-232.0000 --225.0000;-231.5000 --225.0000;-231.0000 --225.0000;-230.5000 --225.0000;-230.0000 --225.0000;-229.5000 --225.0000;-229.0000 --225.0000;-228.5000 --225.0000;-228.0000 --225.0000;-227.5000 --225.0000;-130.5000 --225.0000;-130.0000 --225.0000;-129.5000 --225.0000;-129.0000 --225.0000;-128.5000 --225.0000;-128.0000 --225.0000;-127.5000 --225.0000;-127.0000 --225.0000;-126.5000 --225.0000;-126.0000 --225.0000;-125.5000 --225.0000;-125.0000 --225.0000;-124.5000 --225.0000;-124.0000 --225.0000;-123.5000 --225.0000;-123.0000 --225.0000;-122.5000 --225.0000;-122.0000 --225.0000;-121.5000 --225.0000;-121.0000 --225.0000;-120.5000 --225.0000;-120.0000 --225.0000;-119.5000 --225.0000;-119.0000 --225.0000;-74.0000 --225.0000;-73.5000 --225.0000;-73.0000 --225.0000;-72.5000 --225.0000;-72.0000 --225.0000;-71.5000 --225.0000;-71.0000 --225.0000;-70.5000 --225.0000;-70.0000 --225.0000;-69.5000 --225.0000;-69.0000 --225.0000;-68.5000 --225.0000;-68.0000 --225.0000;-67.5000 --225.0000;-67.0000 --225.0000;-66.5000 --225.0000;-66.0000 --225.0000;-65.5000 --225.0000;-65.0000 --225.0000;-64.5000 --225.0000;-64.0000 --225.0000;-63.5000 --225.0000;-63.0000 --225.0000;-62.5000 --225.0000;83.5000 --225.0000;84.0000 --225.0000;84.5000 --225.0000;85.0000 --225.0000;85.5000 --225.0000;86.0000 --225.0000;86.5000 --225.0000;87.0000 --225.0000;87.5000 --225.0000;88.0000 --225.0000;88.5000 --225.0000;89.0000 --225.0000;89.5000 --225.0000;90.0000 --225.0000;90.5000 --225.0000;91.0000 --225.0000;91.5000 --225.0000;92.0000 --225.0000;92.5000 --225.0000;93.0000 --225.0000;93.5000 --225.0000;94.0000 --225.0000;94.5000 --225.0000;95.0000 --225.0000;95.5000 --225.0000;96.0000 --225.0000;96.5000 --225.0000;97.0000 --225.0000;97.5000 --225.0000;98.0000 --225.0000;98.5000 --225.0000;99.0000 --225.0000;99.5000 --225.0000;100.0000 --225.0000;100.5000 --225.0000;101.0000 --225.0000;101.5000 --225.0000;102.0000 --225.0000;102.5000 --225.0000;103.0000 --225.0000;103.5000 --225.0000;104.0000 --225.0000;104.5000 --225.0000;105.0000 --225.0000;105.5000 --225.0000;106.0000 --225.0000;106.5000 --225.0000;107.0000 --225.0000;107.5000 --225.0000;108.0000 --225.0000;108.5000 --225.0000;109.0000 --225.0000;109.5000 --225.0000;110.0000 --225.0000;110.5000 --225.0000;111.0000 --225.0000;111.5000 --225.0000;112.0000 --224.5000;-240.0000 --224.5000;-239.5000 --224.5000;-239.0000 --224.5000;-238.5000 --224.5000;-238.0000 --224.5000;-237.5000 --224.5000;-237.0000 --224.5000;-236.5000 --224.5000;-236.0000 --224.5000;-235.5000 --224.5000;-235.0000 --224.5000;-234.5000 --224.5000;-234.0000 --224.5000;-233.5000 --224.5000;-233.0000 --224.5000;-232.5000 --224.5000;-232.0000 --224.5000;-231.5000 --224.5000;-231.0000 --224.5000;-230.5000 --224.5000;-230.0000 --224.5000;-229.5000 --224.5000;-229.0000 --224.5000;-228.5000 --224.5000;-228.0000 --224.5000;-227.5000 --224.5000;-130.5000 --224.5000;-130.0000 --224.5000;-129.5000 --224.5000;-129.0000 --224.5000;-128.5000 --224.5000;-128.0000 --224.5000;-127.5000 --224.5000;-127.0000 --224.5000;-126.5000 --224.5000;-126.0000 --224.5000;-125.5000 --224.5000;-125.0000 --224.5000;-124.5000 --224.5000;-124.0000 --224.5000;-123.5000 --224.5000;-123.0000 --224.5000;-122.5000 --224.5000;-122.0000 --224.5000;-121.5000 --224.5000;-121.0000 --224.5000;-120.5000 --224.5000;-120.0000 --224.5000;-119.5000 --224.5000;-119.0000 --224.5000;-74.0000 --224.5000;-73.5000 --224.5000;-73.0000 --224.5000;-72.5000 --224.5000;-72.0000 --224.5000;-71.5000 --224.5000;-71.0000 --224.5000;-70.5000 --224.5000;-70.0000 --224.5000;-69.5000 --224.5000;-69.0000 --224.5000;-68.5000 --224.5000;-68.0000 --224.5000;-67.5000 --224.5000;-67.0000 --224.5000;-66.5000 --224.5000;-66.0000 --224.5000;-65.5000 --224.5000;-65.0000 --224.5000;-64.5000 --224.5000;-64.0000 --224.5000;-63.5000 --224.5000;-63.0000 --224.5000;-62.5000 --224.5000;84.5000 --224.5000;85.0000 --224.5000;85.5000 --224.5000;86.0000 --224.5000;86.5000 --224.5000;87.0000 --224.5000;87.5000 --224.5000;88.0000 --224.5000;88.5000 --224.5000;89.0000 --224.5000;89.5000 --224.5000;90.0000 --224.5000;90.5000 --224.5000;91.0000 --224.5000;91.5000 --224.5000;92.0000 --224.5000;92.5000 --224.5000;93.0000 --224.5000;93.5000 --224.5000;94.0000 --224.5000;94.5000 --224.5000;95.0000 --224.5000;95.5000 --224.5000;96.0000 --224.5000;96.5000 --224.5000;97.0000 --224.5000;97.5000 --224.5000;98.0000 --224.5000;98.5000 --224.5000;99.0000 --224.5000;99.5000 --224.5000;100.0000 --224.5000;100.5000 --224.5000;101.0000 --224.5000;101.5000 --224.5000;102.0000 --224.5000;102.5000 --224.5000;103.0000 --224.5000;103.5000 --224.5000;104.0000 --224.5000;104.5000 --224.5000;105.0000 --224.5000;105.5000 --224.5000;106.0000 --224.5000;106.5000 --224.5000;107.0000 --224.5000;107.5000 --224.5000;108.0000 --224.5000;108.5000 --224.5000;109.0000 --224.5000;109.5000 --224.5000;110.0000 --224.5000;110.5000 --224.5000;111.0000 --224.5000;111.5000 --224.5000;112.0000 --224.5000;112.5000 --224.5000;113.0000 --224.0000;-240.5000 --224.0000;-240.0000 --224.0000;-239.5000 --224.0000;-239.0000 --224.0000;-238.5000 --224.0000;-238.0000 --224.0000;-237.5000 --224.0000;-237.0000 --224.0000;-236.5000 --224.0000;-236.0000 --224.0000;-235.5000 --224.0000;-235.0000 --224.0000;-234.5000 --224.0000;-234.0000 --224.0000;-233.5000 --224.0000;-233.0000 --224.0000;-232.5000 --224.0000;-232.0000 --224.0000;-231.5000 --224.0000;-231.0000 --224.0000;-230.5000 --224.0000;-230.0000 --224.0000;-229.5000 --224.0000;-229.0000 --224.0000;-228.5000 --224.0000;-228.0000 --224.0000;-227.5000 --224.0000;-130.5000 --224.0000;-130.0000 --224.0000;-129.5000 --224.0000;-129.0000 --224.0000;-128.5000 --224.0000;-128.0000 --224.0000;-127.5000 --224.0000;-127.0000 --224.0000;-126.5000 --224.0000;-126.0000 --224.0000;-125.5000 --224.0000;-125.0000 --224.0000;-124.5000 --224.0000;-124.0000 --224.0000;-123.5000 --224.0000;-123.0000 --224.0000;-122.5000 --224.0000;-122.0000 --224.0000;-121.5000 --224.0000;-121.0000 --224.0000;-120.5000 --224.0000;-120.0000 --224.0000;-119.5000 --224.0000;-119.0000 --224.0000;-118.5000 --224.0000;-74.0000 --224.0000;-73.5000 --224.0000;-73.0000 --224.0000;-72.5000 --224.0000;-72.0000 --224.0000;-71.5000 --224.0000;-71.0000 --224.0000;-70.5000 --224.0000;-70.0000 --224.0000;-69.5000 --224.0000;-69.0000 --224.0000;-68.5000 --224.0000;-68.0000 --224.0000;-67.5000 --224.0000;-67.0000 --224.0000;-66.5000 --224.0000;-66.0000 --224.0000;-65.5000 --224.0000;-65.0000 --224.0000;-64.5000 --224.0000;-64.0000 --224.0000;-63.5000 --224.0000;-63.0000 --224.0000;-62.5000 --224.0000;85.5000 --224.0000;86.0000 --224.0000;86.5000 --224.0000;87.0000 --224.0000;87.5000 --224.0000;88.0000 --224.0000;88.5000 --224.0000;89.0000 --224.0000;89.5000 --224.0000;90.0000 --224.0000;90.5000 --224.0000;91.0000 --224.0000;91.5000 --224.0000;92.0000 --224.0000;92.5000 --224.0000;93.0000 --224.0000;93.5000 --224.0000;94.0000 --224.0000;94.5000 --224.0000;95.0000 --224.0000;95.5000 --224.0000;96.0000 --224.0000;96.5000 --224.0000;97.0000 --224.0000;97.5000 --224.0000;98.0000 --224.0000;98.5000 --224.0000;99.0000 --224.0000;99.5000 --224.0000;100.0000 --224.0000;100.5000 --224.0000;101.0000 --224.0000;101.5000 --224.0000;102.0000 --224.0000;102.5000 --224.0000;103.0000 --224.0000;103.5000 --224.0000;104.0000 --224.0000;104.5000 --224.0000;105.0000 --224.0000;105.5000 --224.0000;106.0000 --224.0000;106.5000 --224.0000;107.0000 --224.0000;107.5000 --224.0000;108.0000 --224.0000;108.5000 --224.0000;109.0000 --224.0000;109.5000 --224.0000;110.0000 --224.0000;110.5000 --224.0000;111.0000 --224.0000;111.5000 --224.0000;112.0000 --224.0000;112.5000 --224.0000;113.0000 --224.0000;113.5000 --224.0000;114.0000 --223.5000;-240.5000 --223.5000;-240.0000 --223.5000;-239.5000 --223.5000;-239.0000 --223.5000;-238.5000 --223.5000;-238.0000 --223.5000;-237.5000 --223.5000;-237.0000 --223.5000;-236.5000 --223.5000;-236.0000 --223.5000;-235.5000 --223.5000;-235.0000 --223.5000;-234.5000 --223.5000;-234.0000 --223.5000;-233.5000 --223.5000;-233.0000 --223.5000;-232.5000 --223.5000;-232.0000 --223.5000;-231.5000 --223.5000;-231.0000 --223.5000;-230.5000 --223.5000;-230.0000 --223.5000;-229.5000 --223.5000;-229.0000 --223.5000;-228.5000 --223.5000;-228.0000 --223.5000;-130.5000 --223.5000;-130.0000 --223.5000;-129.5000 --223.5000;-129.0000 --223.5000;-128.5000 --223.5000;-128.0000 --223.5000;-127.5000 --223.5000;-127.0000 --223.5000;-126.5000 --223.5000;-126.0000 --223.5000;-125.5000 --223.5000;-125.0000 --223.5000;-124.5000 --223.5000;-124.0000 --223.5000;-123.5000 --223.5000;-123.0000 --223.5000;-122.5000 --223.5000;-122.0000 --223.5000;-121.5000 --223.5000;-121.0000 --223.5000;-120.5000 --223.5000;-120.0000 --223.5000;-119.5000 --223.5000;-119.0000 --223.5000;-118.5000 --223.5000;-74.0000 --223.5000;-73.5000 --223.5000;-73.0000 --223.5000;-72.5000 --223.5000;-72.0000 --223.5000;-71.5000 --223.5000;-71.0000 --223.5000;-70.5000 --223.5000;-70.0000 --223.5000;-69.5000 --223.5000;-69.0000 --223.5000;-68.5000 --223.5000;-68.0000 --223.5000;-67.5000 --223.5000;-67.0000 --223.5000;-66.5000 --223.5000;-66.0000 --223.5000;-65.5000 --223.5000;-65.0000 --223.5000;-64.5000 --223.5000;-64.0000 --223.5000;-63.5000 --223.5000;-63.0000 --223.5000;-62.5000 --223.5000;-62.0000 --223.5000;87.0000 --223.5000;87.5000 --223.5000;88.0000 --223.5000;88.5000 --223.5000;89.0000 --223.5000;89.5000 --223.5000;90.0000 --223.5000;90.5000 --223.5000;91.0000 --223.5000;91.5000 --223.5000;92.0000 --223.5000;92.5000 --223.5000;93.0000 --223.5000;93.5000 --223.5000;94.0000 --223.5000;94.5000 --223.5000;95.0000 --223.5000;95.5000 --223.5000;96.0000 --223.5000;96.5000 --223.5000;97.0000 --223.5000;97.5000 --223.5000;98.0000 --223.5000;98.5000 --223.5000;99.0000 --223.5000;99.5000 --223.5000;100.0000 --223.5000;100.5000 --223.5000;101.0000 --223.5000;101.5000 --223.5000;102.0000 --223.5000;102.5000 --223.5000;103.0000 --223.5000;103.5000 --223.5000;104.0000 --223.5000;104.5000 --223.5000;105.0000 --223.5000;105.5000 --223.5000;106.0000 --223.5000;106.5000 --223.5000;107.0000 --223.5000;107.5000 --223.5000;108.0000 --223.5000;108.5000 --223.5000;109.0000 --223.5000;109.5000 --223.5000;110.0000 --223.5000;110.5000 --223.5000;111.0000 --223.5000;111.5000 --223.5000;112.0000 --223.5000;112.5000 --223.5000;113.0000 --223.5000;113.5000 --223.5000;114.0000 --223.5000;114.5000 --223.5000;115.0000 --223.0000;-240.5000 --223.0000;-240.0000 --223.0000;-239.5000 --223.0000;-239.0000 --223.0000;-238.5000 --223.0000;-238.0000 --223.0000;-237.5000 --223.0000;-237.0000 --223.0000;-236.5000 --223.0000;-236.0000 --223.0000;-235.5000 --223.0000;-235.0000 --223.0000;-234.5000 --223.0000;-234.0000 --223.0000;-233.5000 --223.0000;-233.0000 --223.0000;-232.5000 --223.0000;-232.0000 --223.0000;-231.5000 --223.0000;-231.0000 --223.0000;-230.5000 --223.0000;-230.0000 --223.0000;-229.5000 --223.0000;-229.0000 --223.0000;-228.5000 --223.0000;-228.0000 --223.0000;-130.5000 --223.0000;-130.0000 --223.0000;-129.5000 --223.0000;-129.0000 --223.0000;-128.5000 --223.0000;-128.0000 --223.0000;-127.5000 --223.0000;-127.0000 --223.0000;-126.5000 --223.0000;-126.0000 --223.0000;-125.5000 --223.0000;-125.0000 --223.0000;-124.5000 --223.0000;-124.0000 --223.0000;-123.5000 --223.0000;-123.0000 --223.0000;-122.5000 --223.0000;-122.0000 --223.0000;-121.5000 --223.0000;-121.0000 --223.0000;-120.5000 --223.0000;-120.0000 --223.0000;-119.5000 --223.0000;-119.0000 --223.0000;-118.5000 --223.0000;-74.0000 --223.0000;-73.5000 --223.0000;-73.0000 --223.0000;-72.5000 --223.0000;-72.0000 --223.0000;-71.5000 --223.0000;-71.0000 --223.0000;-70.5000 --223.0000;-70.0000 --223.0000;-69.5000 --223.0000;-69.0000 --223.0000;-68.5000 --223.0000;-68.0000 --223.0000;-67.5000 --223.0000;-67.0000 --223.0000;-66.5000 --223.0000;-66.0000 --223.0000;-65.5000 --223.0000;-65.0000 --223.0000;-64.5000 --223.0000;-64.0000 --223.0000;-63.5000 --223.0000;-63.0000 --223.0000;-62.5000 --223.0000;-62.0000 --223.0000;88.0000 --223.0000;88.5000 --223.0000;89.0000 --223.0000;89.5000 --223.0000;90.0000 --223.0000;90.5000 --223.0000;91.0000 --223.0000;91.5000 --223.0000;92.0000 --223.0000;92.5000 --223.0000;93.0000 --223.0000;93.5000 --223.0000;94.0000 --223.0000;94.5000 --223.0000;95.0000 --223.0000;95.5000 --223.0000;96.0000 --223.0000;96.5000 --223.0000;97.0000 --223.0000;97.5000 --223.0000;98.0000 --223.0000;98.5000 --223.0000;99.0000 --223.0000;99.5000 --223.0000;100.0000 --223.0000;100.5000 --223.0000;101.0000 --223.0000;101.5000 --223.0000;102.0000 --223.0000;102.5000 --223.0000;103.0000 --223.0000;103.5000 --223.0000;104.0000 --223.0000;104.5000 --223.0000;105.0000 --223.0000;105.5000 --223.0000;106.0000 --223.0000;106.5000 --223.0000;107.0000 --223.0000;107.5000 --223.0000;108.0000 --223.0000;108.5000 --223.0000;109.0000 --223.0000;109.5000 --223.0000;110.0000 --223.0000;110.5000 --223.0000;111.0000 --223.0000;111.5000 --223.0000;112.0000 --223.0000;112.5000 --223.0000;113.0000 --223.0000;113.5000 --223.0000;114.0000 --223.0000;114.5000 --223.0000;115.0000 --223.0000;115.5000 --223.0000;116.0000 --222.5000;-241.0000 --222.5000;-240.5000 --222.5000;-240.0000 --222.5000;-239.5000 --222.5000;-239.0000 --222.5000;-238.5000 --222.5000;-238.0000 --222.5000;-237.5000 --222.5000;-237.0000 --222.5000;-236.5000 --222.5000;-236.0000 --222.5000;-235.5000 --222.5000;-235.0000 --222.5000;-234.5000 --222.5000;-234.0000 --222.5000;-233.5000 --222.5000;-233.0000 --222.5000;-232.5000 --222.5000;-232.0000 --222.5000;-231.5000 --222.5000;-231.0000 --222.5000;-230.5000 --222.5000;-230.0000 --222.5000;-229.5000 --222.5000;-229.0000 --222.5000;-228.5000 --222.5000;-130.5000 --222.5000;-130.0000 --222.5000;-129.5000 --222.5000;-129.0000 --222.5000;-128.5000 --222.5000;-128.0000 --222.5000;-127.5000 --222.5000;-127.0000 --222.5000;-126.5000 --222.5000;-126.0000 --222.5000;-125.5000 --222.5000;-125.0000 --222.5000;-124.5000 --222.5000;-124.0000 --222.5000;-123.5000 --222.5000;-123.0000 --222.5000;-122.5000 --222.5000;-122.0000 --222.5000;-121.5000 --222.5000;-121.0000 --222.5000;-120.5000 --222.5000;-120.0000 --222.5000;-119.5000 --222.5000;-119.0000 --222.5000;-118.5000 --222.5000;-74.0000 --222.5000;-73.5000 --222.5000;-73.0000 --222.5000;-72.5000 --222.5000;-72.0000 --222.5000;-71.5000 --222.5000;-71.0000 --222.5000;-70.5000 --222.5000;-70.0000 --222.5000;-69.5000 --222.5000;-69.0000 --222.5000;-68.5000 --222.5000;-68.0000 --222.5000;-67.5000 --222.5000;-67.0000 --222.5000;-66.5000 --222.5000;-66.0000 --222.5000;-65.5000 --222.5000;-65.0000 --222.5000;-64.5000 --222.5000;-64.0000 --222.5000;-63.5000 --222.5000;-63.0000 --222.5000;-62.5000 --222.5000;-62.0000 --222.5000;89.0000 --222.5000;89.5000 --222.5000;90.0000 --222.5000;90.5000 --222.5000;91.0000 --222.5000;91.5000 --222.5000;92.0000 --222.5000;92.5000 --222.5000;93.0000 --222.5000;93.5000 --222.5000;94.0000 --222.5000;94.5000 --222.5000;95.0000 --222.5000;95.5000 --222.5000;96.0000 --222.5000;96.5000 --222.5000;97.0000 --222.5000;97.5000 --222.5000;98.0000 --222.5000;98.5000 --222.5000;99.0000 --222.5000;99.5000 --222.5000;100.0000 --222.5000;100.5000 --222.5000;101.0000 --222.5000;101.5000 --222.5000;102.0000 --222.5000;102.5000 --222.5000;103.0000 --222.5000;103.5000 --222.5000;104.0000 --222.5000;104.5000 --222.5000;105.0000 --222.5000;105.5000 --222.5000;106.0000 --222.5000;106.5000 --222.5000;107.0000 --222.5000;107.5000 --222.5000;108.0000 --222.5000;108.5000 --222.5000;109.0000 --222.5000;109.5000 --222.5000;110.0000 --222.5000;110.5000 --222.5000;111.0000 --222.5000;111.5000 --222.5000;112.0000 --222.5000;112.5000 --222.5000;113.0000 --222.5000;113.5000 --222.5000;114.0000 --222.5000;114.5000 --222.5000;115.0000 --222.5000;115.5000 --222.5000;116.0000 --222.5000;116.5000 --222.5000;117.0000 --222.5000;117.5000 --222.0000;-241.0000 --222.0000;-240.5000 --222.0000;-240.0000 --222.0000;-239.5000 --222.0000;-239.0000 --222.0000;-238.5000 --222.0000;-238.0000 --222.0000;-237.5000 --222.0000;-237.0000 --222.0000;-236.5000 --222.0000;-236.0000 --222.0000;-235.5000 --222.0000;-235.0000 --222.0000;-234.5000 --222.0000;-234.0000 --222.0000;-233.5000 --222.0000;-233.0000 --222.0000;-232.5000 --222.0000;-232.0000 --222.0000;-231.5000 --222.0000;-231.0000 --222.0000;-230.5000 --222.0000;-230.0000 --222.0000;-229.5000 --222.0000;-229.0000 --222.0000;-228.5000 --222.0000;-130.5000 --222.0000;-130.0000 --222.0000;-129.5000 --222.0000;-129.0000 --222.0000;-128.5000 --222.0000;-128.0000 --222.0000;-127.5000 --222.0000;-127.0000 --222.0000;-126.5000 --222.0000;-126.0000 --222.0000;-125.5000 --222.0000;-125.0000 --222.0000;-124.5000 --222.0000;-124.0000 --222.0000;-123.5000 --222.0000;-123.0000 --222.0000;-122.5000 --222.0000;-122.0000 --222.0000;-121.5000 --222.0000;-121.0000 --222.0000;-120.5000 --222.0000;-120.0000 --222.0000;-119.5000 --222.0000;-119.0000 --222.0000;-118.5000 --222.0000;-73.5000 --222.0000;-73.0000 --222.0000;-72.5000 --222.0000;-72.0000 --222.0000;-71.5000 --222.0000;-71.0000 --222.0000;-70.5000 --222.0000;-70.0000 --222.0000;-69.5000 --222.0000;-69.0000 --222.0000;-68.5000 --222.0000;-68.0000 --222.0000;-67.5000 --222.0000;-67.0000 --222.0000;-66.5000 --222.0000;-66.0000 --222.0000;-65.5000 --222.0000;-65.0000 --222.0000;-64.5000 --222.0000;-64.0000 --222.0000;-63.5000 --222.0000;-63.0000 --222.0000;-62.5000 --222.0000;-62.0000 --222.0000;-61.5000 --222.0000;90.0000 --222.0000;90.5000 --222.0000;91.0000 --222.0000;91.5000 --222.0000;92.0000 --222.0000;92.5000 --222.0000;93.0000 --222.0000;93.5000 --222.0000;94.0000 --222.0000;94.5000 --222.0000;95.0000 --222.0000;95.5000 --222.0000;96.0000 --222.0000;96.5000 --222.0000;97.0000 --222.0000;97.5000 --222.0000;98.0000 --222.0000;98.5000 --222.0000;99.0000 --222.0000;99.5000 --222.0000;100.0000 --222.0000;100.5000 --222.0000;101.0000 --222.0000;101.5000 --222.0000;102.0000 --222.0000;102.5000 --222.0000;103.0000 --222.0000;103.5000 --222.0000;104.0000 --222.0000;104.5000 --222.0000;105.0000 --222.0000;105.5000 --222.0000;106.0000 --222.0000;106.5000 --222.0000;107.0000 --222.0000;107.5000 --222.0000;108.0000 --222.0000;108.5000 --222.0000;109.0000 --222.0000;109.5000 --222.0000;110.0000 --222.0000;110.5000 --222.0000;111.0000 --222.0000;111.5000 --222.0000;112.0000 --222.0000;112.5000 --222.0000;113.0000 --222.0000;113.5000 --222.0000;114.0000 --222.0000;114.5000 --222.0000;115.0000 --222.0000;115.5000 --222.0000;116.0000 --222.0000;116.5000 --222.0000;117.0000 --222.0000;117.5000 --222.0000;118.0000 --222.0000;118.5000 --221.5000;-241.5000 --221.5000;-241.0000 --221.5000;-240.5000 --221.5000;-240.0000 --221.5000;-239.5000 --221.5000;-239.0000 --221.5000;-238.5000 --221.5000;-238.0000 --221.5000;-237.5000 --221.5000;-237.0000 --221.5000;-236.5000 --221.5000;-236.0000 --221.5000;-235.5000 --221.5000;-235.0000 --221.5000;-234.5000 --221.5000;-234.0000 --221.5000;-233.5000 --221.5000;-233.0000 --221.5000;-232.5000 --221.5000;-232.0000 --221.5000;-231.5000 --221.5000;-231.0000 --221.5000;-230.5000 --221.5000;-230.0000 --221.5000;-229.5000 --221.5000;-229.0000 --221.5000;-228.5000 --221.5000;-130.0000 --221.5000;-129.5000 --221.5000;-129.0000 --221.5000;-128.5000 --221.5000;-128.0000 --221.5000;-127.5000 --221.5000;-127.0000 --221.5000;-126.5000 --221.5000;-126.0000 --221.5000;-125.5000 --221.5000;-125.0000 --221.5000;-124.5000 --221.5000;-124.0000 --221.5000;-123.5000 --221.5000;-123.0000 --221.5000;-122.5000 --221.5000;-122.0000 --221.5000;-121.5000 --221.5000;-121.0000 --221.5000;-120.5000 --221.5000;-120.0000 --221.5000;-119.5000 --221.5000;-119.0000 --221.5000;-118.5000 --221.5000;-73.5000 --221.5000;-73.0000 --221.5000;-72.5000 --221.5000;-72.0000 --221.5000;-71.5000 --221.5000;-71.0000 --221.5000;-70.5000 --221.5000;-70.0000 --221.5000;-69.5000 --221.5000;-69.0000 --221.5000;-68.5000 --221.5000;-68.0000 --221.5000;-67.5000 --221.5000;-67.0000 --221.5000;-66.5000 --221.5000;-66.0000 --221.5000;-65.5000 --221.5000;-65.0000 --221.5000;-64.5000 --221.5000;-64.0000 --221.5000;-63.5000 --221.5000;-63.0000 --221.5000;-62.5000 --221.5000;-62.0000 --221.5000;-61.5000 --221.5000;91.0000 --221.5000;91.5000 --221.5000;92.0000 --221.5000;92.5000 --221.5000;93.0000 --221.5000;93.5000 --221.5000;94.0000 --221.5000;94.5000 --221.5000;95.0000 --221.5000;95.5000 --221.5000;96.0000 --221.5000;96.5000 --221.5000;97.0000 --221.5000;97.5000 --221.5000;98.0000 --221.5000;98.5000 --221.5000;99.0000 --221.5000;99.5000 --221.5000;100.0000 --221.5000;100.5000 --221.5000;101.0000 --221.5000;101.5000 --221.5000;102.0000 --221.5000;102.5000 --221.5000;103.0000 --221.5000;103.5000 --221.5000;104.0000 --221.5000;104.5000 --221.5000;105.0000 --221.5000;105.5000 --221.5000;106.0000 --221.5000;106.5000 --221.5000;107.0000 --221.5000;107.5000 --221.5000;108.0000 --221.5000;108.5000 --221.5000;109.0000 --221.5000;109.5000 --221.5000;110.0000 --221.5000;110.5000 --221.5000;111.0000 --221.5000;111.5000 --221.5000;112.0000 --221.5000;112.5000 --221.5000;113.0000 --221.5000;113.5000 --221.5000;114.0000 --221.5000;114.5000 --221.5000;115.0000 --221.5000;115.5000 --221.5000;116.0000 --221.5000;116.5000 --221.5000;117.0000 --221.5000;117.5000 --221.5000;118.0000 --221.5000;118.5000 --221.5000;119.0000 --221.5000;119.5000 --221.0000;-241.5000 --221.0000;-241.0000 --221.0000;-240.5000 --221.0000;-240.0000 --221.0000;-239.5000 --221.0000;-239.0000 --221.0000;-238.5000 --221.0000;-238.0000 --221.0000;-237.5000 --221.0000;-237.0000 --221.0000;-236.5000 --221.0000;-236.0000 --221.0000;-235.5000 --221.0000;-235.0000 --221.0000;-234.5000 --221.0000;-234.0000 --221.0000;-233.5000 --221.0000;-233.0000 --221.0000;-232.5000 --221.0000;-232.0000 --221.0000;-231.5000 --221.0000;-231.0000 --221.0000;-230.5000 --221.0000;-230.0000 --221.0000;-229.5000 --221.0000;-229.0000 --221.0000;-130.0000 --221.0000;-129.5000 --221.0000;-129.0000 --221.0000;-128.5000 --221.0000;-128.0000 --221.0000;-127.5000 --221.0000;-127.0000 --221.0000;-126.5000 --221.0000;-126.0000 --221.0000;-125.5000 --221.0000;-125.0000 --221.0000;-124.5000 --221.0000;-124.0000 --221.0000;-123.5000 --221.0000;-123.0000 --221.0000;-122.5000 --221.0000;-122.0000 --221.0000;-121.5000 --221.0000;-121.0000 --221.0000;-120.5000 --221.0000;-120.0000 --221.0000;-119.5000 --221.0000;-119.0000 --221.0000;-118.5000 --221.0000;-73.5000 --221.0000;-73.0000 --221.0000;-72.5000 --221.0000;-72.0000 --221.0000;-71.5000 --221.0000;-71.0000 --221.0000;-70.5000 --221.0000;-70.0000 --221.0000;-69.5000 --221.0000;-69.0000 --221.0000;-68.5000 --221.0000;-68.0000 --221.0000;-67.5000 --221.0000;-67.0000 --221.0000;-66.5000 --221.0000;-66.0000 --221.0000;-65.5000 --221.0000;-65.0000 --221.0000;-64.5000 --221.0000;-64.0000 --221.0000;-63.5000 --221.0000;-63.0000 --221.0000;-62.5000 --221.0000;-62.0000 --221.0000;-61.5000 --221.0000;-61.0000 --221.0000;92.0000 --221.0000;92.5000 --221.0000;93.0000 --221.0000;93.5000 --221.0000;94.0000 --221.0000;94.5000 --221.0000;95.0000 --221.0000;95.5000 --221.0000;96.0000 --221.0000;96.5000 --221.0000;97.0000 --221.0000;97.5000 --221.0000;98.0000 --221.0000;98.5000 --221.0000;99.0000 --221.0000;99.5000 --221.0000;100.0000 --221.0000;100.5000 --221.0000;101.0000 --221.0000;101.5000 --221.0000;102.0000 --221.0000;102.5000 --221.0000;103.0000 --221.0000;103.5000 --221.0000;104.0000 --221.0000;104.5000 --221.0000;105.0000 --221.0000;105.5000 --221.0000;106.0000 --221.0000;106.5000 --221.0000;107.0000 --221.0000;107.5000 --221.0000;108.0000 --221.0000;108.5000 --221.0000;109.0000 --221.0000;109.5000 --221.0000;110.0000 --221.0000;110.5000 --221.0000;111.0000 --221.0000;111.5000 --221.0000;112.0000 --221.0000;112.5000 --221.0000;113.0000 --221.0000;113.5000 --221.0000;114.0000 --221.0000;114.5000 --221.0000;115.0000 --221.0000;115.5000 --221.0000;116.0000 --221.0000;116.5000 --221.0000;117.0000 --221.0000;117.5000 --221.0000;118.0000 --221.0000;118.5000 --221.0000;119.0000 --221.0000;119.5000 --221.0000;120.0000 --221.0000;120.5000 --220.5000;-241.5000 --220.5000;-241.0000 --220.5000;-240.5000 --220.5000;-240.0000 --220.5000;-239.5000 --220.5000;-239.0000 --220.5000;-238.5000 --220.5000;-238.0000 --220.5000;-237.5000 --220.5000;-237.0000 --220.5000;-236.5000 --220.5000;-236.0000 --220.5000;-235.5000 --220.5000;-235.0000 --220.5000;-234.5000 --220.5000;-234.0000 --220.5000;-233.5000 --220.5000;-233.0000 --220.5000;-232.5000 --220.5000;-232.0000 --220.5000;-231.5000 --220.5000;-231.0000 --220.5000;-230.5000 --220.5000;-230.0000 --220.5000;-229.5000 --220.5000;-229.0000 --220.5000;-130.0000 --220.5000;-129.5000 --220.5000;-129.0000 --220.5000;-128.5000 --220.5000;-128.0000 --220.5000;-127.5000 --220.5000;-127.0000 --220.5000;-126.5000 --220.5000;-126.0000 --220.5000;-125.5000 --220.5000;-125.0000 --220.5000;-124.5000 --220.5000;-124.0000 --220.5000;-123.5000 --220.5000;-123.0000 --220.5000;-122.5000 --220.5000;-122.0000 --220.5000;-121.5000 --220.5000;-121.0000 --220.5000;-120.5000 --220.5000;-120.0000 --220.5000;-119.5000 --220.5000;-119.0000 --220.5000;-118.5000 --220.5000;-73.5000 --220.5000;-73.0000 --220.5000;-72.5000 --220.5000;-72.0000 --220.5000;-71.5000 --220.5000;-71.0000 --220.5000;-70.5000 --220.5000;-70.0000 --220.5000;-69.5000 --220.5000;-69.0000 --220.5000;-68.5000 --220.5000;-68.0000 --220.5000;-67.5000 --220.5000;-67.0000 --220.5000;-66.5000 --220.5000;-66.0000 --220.5000;-65.5000 --220.5000;-65.0000 --220.5000;-64.5000 --220.5000;-64.0000 --220.5000;-63.5000 --220.5000;-63.0000 --220.5000;-62.5000 --220.5000;-62.0000 --220.5000;-61.5000 --220.5000;-61.0000 --220.5000;93.0000 --220.5000;93.5000 --220.5000;94.0000 --220.5000;94.5000 --220.5000;95.0000 --220.5000;95.5000 --220.5000;96.0000 --220.5000;96.5000 --220.5000;97.0000 --220.5000;97.5000 --220.5000;98.0000 --220.5000;98.5000 --220.5000;99.0000 --220.5000;99.5000 --220.5000;100.0000 --220.5000;100.5000 --220.5000;101.0000 --220.5000;101.5000 --220.5000;102.0000 --220.5000;102.5000 --220.5000;103.0000 --220.5000;103.5000 --220.5000;104.0000 --220.5000;104.5000 --220.5000;105.0000 --220.5000;105.5000 --220.5000;106.0000 --220.5000;106.5000 --220.5000;107.0000 --220.5000;107.5000 --220.5000;108.0000 --220.5000;108.5000 --220.5000;109.0000 --220.5000;109.5000 --220.5000;110.0000 --220.5000;110.5000 --220.5000;111.0000 --220.5000;111.5000 --220.5000;112.0000 --220.5000;112.5000 --220.5000;113.0000 --220.5000;113.5000 --220.5000;114.0000 --220.5000;114.5000 --220.5000;115.0000 --220.5000;115.5000 --220.5000;116.0000 --220.5000;116.5000 --220.5000;117.0000 --220.5000;117.5000 --220.5000;118.0000 --220.5000;118.5000 --220.5000;119.0000 --220.5000;119.5000 --220.5000;120.0000 --220.5000;120.5000 --220.5000;121.0000 --220.5000;121.5000 --220.0000;-242.0000 --220.0000;-241.5000 --220.0000;-241.0000 --220.0000;-240.5000 --220.0000;-240.0000 --220.0000;-239.5000 --220.0000;-239.0000 --220.0000;-238.5000 --220.0000;-238.0000 --220.0000;-237.5000 --220.0000;-237.0000 --220.0000;-236.5000 --220.0000;-236.0000 --220.0000;-235.5000 --220.0000;-235.0000 --220.0000;-234.5000 --220.0000;-234.0000 --220.0000;-233.5000 --220.0000;-233.0000 --220.0000;-232.5000 --220.0000;-232.0000 --220.0000;-231.5000 --220.0000;-231.0000 --220.0000;-230.5000 --220.0000;-230.0000 --220.0000;-229.5000 --220.0000;-229.0000 --220.0000;-130.0000 --220.0000;-129.5000 --220.0000;-129.0000 --220.0000;-128.5000 --220.0000;-128.0000 --220.0000;-127.5000 --220.0000;-127.0000 --220.0000;-126.5000 --220.0000;-126.0000 --220.0000;-125.5000 --220.0000;-125.0000 --220.0000;-124.5000 --220.0000;-124.0000 --220.0000;-123.5000 --220.0000;-123.0000 --220.0000;-122.5000 --220.0000;-122.0000 --220.0000;-121.5000 --220.0000;-121.0000 --220.0000;-120.5000 --220.0000;-120.0000 --220.0000;-119.5000 --220.0000;-119.0000 --220.0000;-118.5000 --220.0000;-73.0000 --220.0000;-72.5000 --220.0000;-72.0000 --220.0000;-71.5000 --220.0000;-71.0000 --220.0000;-70.5000 --220.0000;-70.0000 --220.0000;-69.5000 --220.0000;-69.0000 --220.0000;-68.5000 --220.0000;-68.0000 --220.0000;-67.5000 --220.0000;-67.0000 --220.0000;-66.5000 --220.0000;-66.0000 --220.0000;-65.5000 --220.0000;-65.0000 --220.0000;-64.5000 --220.0000;-64.0000 --220.0000;-63.5000 --220.0000;-63.0000 --220.0000;-62.5000 --220.0000;-62.0000 --220.0000;-61.5000 --220.0000;-61.0000 --220.0000;94.0000 --220.0000;94.5000 --220.0000;95.0000 --220.0000;95.5000 --220.0000;96.0000 --220.0000;96.5000 --220.0000;97.0000 --220.0000;97.5000 --220.0000;98.0000 --220.0000;98.5000 --220.0000;99.0000 --220.0000;99.5000 --220.0000;100.0000 --220.0000;100.5000 --220.0000;101.0000 --220.0000;101.5000 --220.0000;102.0000 --220.0000;102.5000 --220.0000;103.0000 --220.0000;103.5000 --220.0000;104.0000 --220.0000;104.5000 --220.0000;105.0000 --220.0000;105.5000 --220.0000;106.0000 --220.0000;106.5000 --220.0000;107.0000 --220.0000;107.5000 --220.0000;108.0000 --220.0000;108.5000 --220.0000;109.0000 --220.0000;109.5000 --220.0000;110.0000 --220.0000;110.5000 --220.0000;111.0000 --220.0000;111.5000 --220.0000;112.0000 --220.0000;112.5000 --220.0000;113.0000 --220.0000;113.5000 --220.0000;114.0000 --220.0000;114.5000 --220.0000;115.0000 --220.0000;115.5000 --220.0000;116.0000 --220.0000;116.5000 --220.0000;117.0000 --220.0000;117.5000 --220.0000;118.0000 --220.0000;118.5000 --220.0000;119.0000 --220.0000;119.5000 --220.0000;120.0000 --220.0000;120.5000 --220.0000;121.0000 --220.0000;121.5000 --220.0000;122.0000 --220.0000;122.5000 --219.5000;-242.0000 --219.5000;-241.5000 --219.5000;-241.0000 --219.5000;-240.5000 --219.5000;-240.0000 --219.5000;-239.5000 --219.5000;-239.0000 --219.5000;-238.5000 --219.5000;-238.0000 --219.5000;-237.5000 --219.5000;-237.0000 --219.5000;-236.5000 --219.5000;-236.0000 --219.5000;-235.5000 --219.5000;-235.0000 --219.5000;-234.5000 --219.5000;-234.0000 --219.5000;-233.5000 --219.5000;-233.0000 --219.5000;-232.5000 --219.5000;-232.0000 --219.5000;-231.5000 --219.5000;-231.0000 --219.5000;-230.5000 --219.5000;-230.0000 --219.5000;-229.5000 --219.5000;-130.0000 --219.5000;-129.5000 --219.5000;-129.0000 --219.5000;-128.5000 --219.5000;-128.0000 --219.5000;-127.5000 --219.5000;-127.0000 --219.5000;-126.5000 --219.5000;-126.0000 --219.5000;-125.5000 --219.5000;-125.0000 --219.5000;-124.5000 --219.5000;-124.0000 --219.5000;-123.5000 --219.5000;-123.0000 --219.5000;-122.5000 --219.5000;-122.0000 --219.5000;-121.5000 --219.5000;-121.0000 --219.5000;-120.5000 --219.5000;-120.0000 --219.5000;-119.5000 --219.5000;-119.0000 --219.5000;-118.5000 --219.5000;-73.0000 --219.5000;-72.5000 --219.5000;-72.0000 --219.5000;-71.5000 --219.5000;-71.0000 --219.5000;-70.5000 --219.5000;-70.0000 --219.5000;-69.5000 --219.5000;-69.0000 --219.5000;-68.5000 --219.5000;-68.0000 --219.5000;-67.5000 --219.5000;-67.0000 --219.5000;-66.5000 --219.5000;-66.0000 --219.5000;-65.5000 --219.5000;-65.0000 --219.5000;-64.5000 --219.5000;-64.0000 --219.5000;-63.5000 --219.5000;-63.0000 --219.5000;-62.5000 --219.5000;-62.0000 --219.5000;-61.5000 --219.5000;-61.0000 --219.5000;-60.5000 --219.5000;95.0000 --219.5000;95.5000 --219.5000;96.0000 --219.5000;96.5000 --219.5000;97.0000 --219.5000;97.5000 --219.5000;98.0000 --219.5000;98.5000 --219.5000;99.0000 --219.5000;99.5000 --219.5000;100.0000 --219.5000;100.5000 --219.5000;101.0000 --219.5000;101.5000 --219.5000;102.0000 --219.5000;102.5000 --219.5000;103.0000 --219.5000;103.5000 --219.5000;104.0000 --219.5000;104.5000 --219.5000;105.0000 --219.5000;105.5000 --219.5000;106.0000 --219.5000;106.5000 --219.5000;107.0000 --219.5000;107.5000 --219.5000;108.0000 --219.5000;108.5000 --219.5000;109.0000 --219.5000;109.5000 --219.5000;110.0000 --219.5000;110.5000 --219.5000;111.0000 --219.5000;111.5000 --219.5000;112.0000 --219.5000;112.5000 --219.5000;113.0000 --219.5000;113.5000 --219.5000;114.0000 --219.5000;114.5000 --219.5000;115.0000 --219.5000;115.5000 --219.5000;116.0000 --219.5000;116.5000 --219.5000;117.0000 --219.5000;117.5000 --219.5000;118.0000 --219.5000;118.5000 --219.5000;119.0000 --219.5000;119.5000 --219.5000;120.0000 --219.5000;120.5000 --219.5000;121.0000 --219.5000;121.5000 --219.5000;122.0000 --219.5000;122.5000 --219.5000;123.0000 --219.5000;123.5000 --219.0000;-242.5000 --219.0000;-242.0000 --219.0000;-241.5000 --219.0000;-241.0000 --219.0000;-240.5000 --219.0000;-240.0000 --219.0000;-239.5000 --219.0000;-239.0000 --219.0000;-238.5000 --219.0000;-238.0000 --219.0000;-237.5000 --219.0000;-237.0000 --219.0000;-236.5000 --219.0000;-236.0000 --219.0000;-235.5000 --219.0000;-235.0000 --219.0000;-234.5000 --219.0000;-234.0000 --219.0000;-233.5000 --219.0000;-233.0000 --219.0000;-232.5000 --219.0000;-232.0000 --219.0000;-231.5000 --219.0000;-231.0000 --219.0000;-230.5000 --219.0000;-230.0000 --219.0000;-229.5000 --219.0000;-130.0000 --219.0000;-129.5000 --219.0000;-129.0000 --219.0000;-128.5000 --219.0000;-128.0000 --219.0000;-127.5000 --219.0000;-127.0000 --219.0000;-126.5000 --219.0000;-126.0000 --219.0000;-125.5000 --219.0000;-125.0000 --219.0000;-124.5000 --219.0000;-124.0000 --219.0000;-123.5000 --219.0000;-123.0000 --219.0000;-122.5000 --219.0000;-122.0000 --219.0000;-121.5000 --219.0000;-121.0000 --219.0000;-120.5000 --219.0000;-120.0000 --219.0000;-119.5000 --219.0000;-119.0000 --219.0000;-118.5000 --219.0000;-73.0000 --219.0000;-72.5000 --219.0000;-72.0000 --219.0000;-71.5000 --219.0000;-71.0000 --219.0000;-70.5000 --219.0000;-70.0000 --219.0000;-69.5000 --219.0000;-69.0000 --219.0000;-68.5000 --219.0000;-68.0000 --219.0000;-67.5000 --219.0000;-67.0000 --219.0000;-66.5000 --219.0000;-66.0000 --219.0000;-65.5000 --219.0000;-65.0000 --219.0000;-64.5000 --219.0000;-64.0000 --219.0000;-63.5000 --219.0000;-63.0000 --219.0000;-62.5000 --219.0000;-62.0000 --219.0000;-61.5000 --219.0000;-61.0000 --219.0000;-60.5000 --219.0000;96.5000 --219.0000;97.0000 --219.0000;97.5000 --219.0000;98.0000 --219.0000;98.5000 --219.0000;99.0000 --219.0000;99.5000 --219.0000;100.0000 --219.0000;100.5000 --219.0000;101.0000 --219.0000;101.5000 --219.0000;102.0000 --219.0000;102.5000 --219.0000;103.0000 --219.0000;103.5000 --219.0000;104.0000 --219.0000;104.5000 --219.0000;105.0000 --219.0000;105.5000 --219.0000;106.0000 --219.0000;106.5000 --219.0000;107.0000 --219.0000;107.5000 --219.0000;108.0000 --219.0000;108.5000 --219.0000;109.0000 --219.0000;109.5000 --219.0000;110.0000 --219.0000;110.5000 --219.0000;111.0000 --219.0000;111.5000 --219.0000;112.0000 --219.0000;112.5000 --219.0000;113.0000 --219.0000;113.5000 --219.0000;114.0000 --219.0000;114.5000 --219.0000;115.0000 --219.0000;115.5000 --219.0000;116.0000 --219.0000;116.5000 --219.0000;117.0000 --219.0000;117.5000 --219.0000;118.0000 --219.0000;118.5000 --219.0000;119.0000 --219.0000;119.5000 --219.0000;120.0000 --219.0000;120.5000 --219.0000;121.0000 --219.0000;121.5000 --219.0000;122.0000 --219.0000;122.5000 --219.0000;123.0000 --219.0000;123.5000 --219.0000;124.0000 --219.0000;124.5000 --218.5000;-242.5000 --218.5000;-242.0000 --218.5000;-241.5000 --218.5000;-241.0000 --218.5000;-240.5000 --218.5000;-240.0000 --218.5000;-239.5000 --218.5000;-239.0000 --218.5000;-238.5000 --218.5000;-238.0000 --218.5000;-237.5000 --218.5000;-237.0000 --218.5000;-236.5000 --218.5000;-236.0000 --218.5000;-235.5000 --218.5000;-235.0000 --218.5000;-234.5000 --218.5000;-234.0000 --218.5000;-233.5000 --218.5000;-233.0000 --218.5000;-232.5000 --218.5000;-232.0000 --218.5000;-231.5000 --218.5000;-231.0000 --218.5000;-230.5000 --218.5000;-230.0000 --218.5000;-130.0000 --218.5000;-129.5000 --218.5000;-129.0000 --218.5000;-128.5000 --218.5000;-128.0000 --218.5000;-127.5000 --218.5000;-127.0000 --218.5000;-126.5000 --218.5000;-126.0000 --218.5000;-125.5000 --218.5000;-125.0000 --218.5000;-124.5000 --218.5000;-124.0000 --218.5000;-123.5000 --218.5000;-123.0000 --218.5000;-122.5000 --218.5000;-122.0000 --218.5000;-121.5000 --218.5000;-121.0000 --218.5000;-120.5000 --218.5000;-120.0000 --218.5000;-119.5000 --218.5000;-119.0000 --218.5000;-118.5000 --218.5000;-118.0000 --218.5000;-73.0000 --218.5000;-72.5000 --218.5000;-72.0000 --218.5000;-71.5000 --218.5000;-71.0000 --218.5000;-70.5000 --218.5000;-70.0000 --218.5000;-69.5000 --218.5000;-69.0000 --218.5000;-68.5000 --218.5000;-68.0000 --218.5000;-67.5000 --218.5000;-67.0000 --218.5000;-66.5000 --218.5000;-66.0000 --218.5000;-65.5000 --218.5000;-65.0000 --218.5000;-64.5000 --218.5000;-64.0000 --218.5000;-63.5000 --218.5000;-63.0000 --218.5000;-62.5000 --218.5000;-62.0000 --218.5000;-61.5000 --218.5000;-61.0000 --218.5000;-60.5000 --218.5000;-60.0000 --218.5000;97.5000 --218.5000;98.0000 --218.5000;98.5000 --218.5000;99.0000 --218.5000;99.5000 --218.5000;100.0000 --218.5000;100.5000 --218.5000;101.0000 --218.5000;101.5000 --218.5000;102.0000 --218.5000;102.5000 --218.5000;103.0000 --218.5000;103.5000 --218.5000;104.0000 --218.5000;104.5000 --218.5000;105.0000 --218.5000;105.5000 --218.5000;106.0000 --218.5000;106.5000 --218.5000;107.0000 --218.5000;107.5000 --218.5000;108.0000 --218.5000;108.5000 --218.5000;109.0000 --218.5000;109.5000 --218.5000;110.0000 --218.5000;110.5000 --218.5000;111.0000 --218.5000;111.5000 --218.5000;112.0000 --218.5000;112.5000 --218.5000;113.0000 --218.5000;113.5000 --218.5000;114.0000 --218.5000;114.5000 --218.5000;115.0000 --218.5000;115.5000 --218.5000;116.0000 --218.5000;116.5000 --218.5000;117.0000 --218.5000;117.5000 --218.5000;118.0000 --218.5000;118.5000 --218.5000;119.0000 --218.5000;119.5000 --218.5000;120.0000 --218.5000;120.5000 --218.5000;121.0000 --218.5000;121.5000 --218.5000;122.0000 --218.5000;122.5000 --218.5000;123.0000 --218.5000;123.5000 --218.5000;124.0000 --218.5000;124.5000 --218.5000;125.0000 --218.5000;125.5000 --218.0000;-242.5000 --218.0000;-242.0000 --218.0000;-241.5000 --218.0000;-241.0000 --218.0000;-240.5000 --218.0000;-240.0000 --218.0000;-239.5000 --218.0000;-239.0000 --218.0000;-238.5000 --218.0000;-238.0000 --218.0000;-237.5000 --218.0000;-237.0000 --218.0000;-236.5000 --218.0000;-236.0000 --218.0000;-235.5000 --218.0000;-235.0000 --218.0000;-234.5000 --218.0000;-234.0000 --218.0000;-233.5000 --218.0000;-233.0000 --218.0000;-232.5000 --218.0000;-232.0000 --218.0000;-231.5000 --218.0000;-231.0000 --218.0000;-230.5000 --218.0000;-230.0000 --218.0000;-130.0000 --218.0000;-129.5000 --218.0000;-129.0000 --218.0000;-128.5000 --218.0000;-128.0000 --218.0000;-127.5000 --218.0000;-127.0000 --218.0000;-126.5000 --218.0000;-126.0000 --218.0000;-125.5000 --218.0000;-125.0000 --218.0000;-124.5000 --218.0000;-124.0000 --218.0000;-123.5000 --218.0000;-123.0000 --218.0000;-122.5000 --218.0000;-122.0000 --218.0000;-121.5000 --218.0000;-121.0000 --218.0000;-120.5000 --218.0000;-120.0000 --218.0000;-119.5000 --218.0000;-119.0000 --218.0000;-118.5000 --218.0000;-118.0000 --218.0000;-72.5000 --218.0000;-72.0000 --218.0000;-71.5000 --218.0000;-71.0000 --218.0000;-70.5000 --218.0000;-70.0000 --218.0000;-69.5000 --218.0000;-69.0000 --218.0000;-68.5000 --218.0000;-68.0000 --218.0000;-67.5000 --218.0000;-67.0000 --218.0000;-66.5000 --218.0000;-66.0000 --218.0000;-65.5000 --218.0000;-65.0000 --218.0000;-64.5000 --218.0000;-64.0000 --218.0000;-63.5000 --218.0000;-63.0000 --218.0000;-62.5000 --218.0000;-62.0000 --218.0000;-61.5000 --218.0000;-61.0000 --218.0000;-60.5000 --218.0000;-60.0000 --218.0000;98.5000 --218.0000;99.0000 --218.0000;99.5000 --218.0000;100.0000 --218.0000;100.5000 --218.0000;101.0000 --218.0000;101.5000 --218.0000;102.0000 --218.0000;102.5000 --218.0000;103.0000 --218.0000;103.5000 --218.0000;104.0000 --218.0000;104.5000 --218.0000;105.0000 --218.0000;105.5000 --218.0000;106.0000 --218.0000;106.5000 --218.0000;107.0000 --218.0000;107.5000 --218.0000;108.0000 --218.0000;108.5000 --218.0000;109.0000 --218.0000;109.5000 --218.0000;110.0000 --218.0000;110.5000 --218.0000;111.0000 --218.0000;111.5000 --218.0000;112.0000 --218.0000;112.5000 --218.0000;113.0000 --218.0000;113.5000 --218.0000;114.0000 --218.0000;114.5000 --218.0000;115.0000 --218.0000;115.5000 --218.0000;116.0000 --218.0000;116.5000 --218.0000;117.0000 --218.0000;117.5000 --218.0000;118.0000 --218.0000;118.5000 --218.0000;119.0000 --218.0000;119.5000 --218.0000;120.0000 --218.0000;120.5000 --218.0000;121.0000 --218.0000;121.5000 --218.0000;122.0000 --218.0000;122.5000 --218.0000;123.0000 --218.0000;123.5000 --218.0000;124.0000 --218.0000;124.5000 --218.0000;125.0000 --218.0000;125.5000 --218.0000;126.0000 --217.5000;-243.0000 --217.5000;-242.5000 --217.5000;-242.0000 --217.5000;-241.5000 --217.5000;-241.0000 --217.5000;-240.5000 --217.5000;-240.0000 --217.5000;-239.5000 --217.5000;-239.0000 --217.5000;-238.5000 --217.5000;-238.0000 --217.5000;-237.5000 --217.5000;-237.0000 --217.5000;-236.5000 --217.5000;-236.0000 --217.5000;-235.5000 --217.5000;-235.0000 --217.5000;-234.5000 --217.5000;-234.0000 --217.5000;-233.5000 --217.5000;-233.0000 --217.5000;-232.5000 --217.5000;-232.0000 --217.5000;-231.5000 --217.5000;-231.0000 --217.5000;-230.5000 --217.5000;-230.0000 --217.5000;-130.0000 --217.5000;-129.5000 --217.5000;-129.0000 --217.5000;-128.5000 --217.5000;-128.0000 --217.5000;-127.5000 --217.5000;-127.0000 --217.5000;-126.5000 --217.5000;-126.0000 --217.5000;-125.5000 --217.5000;-125.0000 --217.5000;-124.5000 --217.5000;-124.0000 --217.5000;-123.5000 --217.5000;-123.0000 --217.5000;-122.5000 --217.5000;-122.0000 --217.5000;-121.5000 --217.5000;-121.0000 --217.5000;-120.5000 --217.5000;-120.0000 --217.5000;-119.5000 --217.5000;-119.0000 --217.5000;-118.5000 --217.5000;-118.0000 --217.5000;-72.5000 --217.5000;-72.0000 --217.5000;-71.5000 --217.5000;-71.0000 --217.5000;-70.5000 --217.5000;-70.0000 --217.5000;-69.5000 --217.5000;-69.0000 --217.5000;-68.5000 --217.5000;-68.0000 --217.5000;-67.5000 --217.5000;-67.0000 --217.5000;-66.5000 --217.5000;-66.0000 --217.5000;-65.5000 --217.5000;-65.0000 --217.5000;-64.5000 --217.5000;-64.0000 --217.5000;-63.5000 --217.5000;-63.0000 --217.5000;-62.5000 --217.5000;-62.0000 --217.5000;-61.5000 --217.5000;-61.0000 --217.5000;-60.5000 --217.5000;-60.0000 --217.5000;-59.5000 --217.5000;99.5000 --217.5000;100.0000 --217.5000;100.5000 --217.5000;101.0000 --217.5000;101.5000 --217.5000;102.0000 --217.5000;102.5000 --217.5000;103.0000 --217.5000;103.5000 --217.5000;104.0000 --217.5000;104.5000 --217.5000;105.0000 --217.5000;105.5000 --217.5000;106.0000 --217.5000;106.5000 --217.5000;107.0000 --217.5000;107.5000 --217.5000;108.0000 --217.5000;108.5000 --217.5000;109.0000 --217.5000;109.5000 --217.5000;110.0000 --217.5000;110.5000 --217.5000;111.0000 --217.5000;111.5000 --217.5000;112.0000 --217.5000;112.5000 --217.5000;113.0000 --217.5000;113.5000 --217.5000;114.0000 --217.5000;114.5000 --217.5000;115.0000 --217.5000;115.5000 --217.5000;116.0000 --217.5000;116.5000 --217.5000;117.0000 --217.5000;117.5000 --217.5000;118.0000 --217.5000;118.5000 --217.5000;119.0000 --217.5000;119.5000 --217.5000;120.0000 --217.5000;120.5000 --217.5000;121.0000 --217.5000;121.5000 --217.5000;122.0000 --217.5000;122.5000 --217.5000;123.0000 --217.5000;123.5000 --217.5000;124.0000 --217.5000;124.5000 --217.5000;125.0000 --217.5000;125.5000 --217.5000;126.0000 --217.5000;126.5000 --217.5000;127.0000 --217.0000;-243.0000 --217.0000;-242.5000 --217.0000;-242.0000 --217.0000;-241.5000 --217.0000;-241.0000 --217.0000;-240.5000 --217.0000;-240.0000 --217.0000;-239.5000 --217.0000;-239.0000 --217.0000;-238.5000 --217.0000;-238.0000 --217.0000;-237.5000 --217.0000;-237.0000 --217.0000;-236.5000 --217.0000;-236.0000 --217.0000;-235.5000 --217.0000;-235.0000 --217.0000;-234.5000 --217.0000;-234.0000 --217.0000;-233.5000 --217.0000;-233.0000 --217.0000;-232.5000 --217.0000;-232.0000 --217.0000;-231.5000 --217.0000;-231.0000 --217.0000;-230.5000 --217.0000;-130.0000 --217.0000;-129.5000 --217.0000;-129.0000 --217.0000;-128.5000 --217.0000;-128.0000 --217.0000;-127.5000 --217.0000;-127.0000 --217.0000;-126.5000 --217.0000;-126.0000 --217.0000;-125.5000 --217.0000;-125.0000 --217.0000;-124.5000 --217.0000;-124.0000 --217.0000;-123.5000 --217.0000;-123.0000 --217.0000;-122.5000 --217.0000;-122.0000 --217.0000;-121.5000 --217.0000;-121.0000 --217.0000;-120.5000 --217.0000;-120.0000 --217.0000;-119.5000 --217.0000;-119.0000 --217.0000;-118.5000 --217.0000;-118.0000 --217.0000;-72.0000 --217.0000;-71.5000 --217.0000;-71.0000 --217.0000;-70.5000 --217.0000;-70.0000 --217.0000;-69.5000 --217.0000;-69.0000 --217.0000;-68.5000 --217.0000;-68.0000 --217.0000;-67.5000 --217.0000;-67.0000 --217.0000;-66.5000 --217.0000;-66.0000 --217.0000;-65.5000 --217.0000;-65.0000 --217.0000;-64.5000 --217.0000;-64.0000 --217.0000;-63.5000 --217.0000;-63.0000 --217.0000;-62.5000 --217.0000;-62.0000 --217.0000;-61.5000 --217.0000;-61.0000 --217.0000;-60.5000 --217.0000;-60.0000 --217.0000;-59.5000 --217.0000;100.5000 --217.0000;101.0000 --217.0000;101.5000 --217.0000;102.0000 --217.0000;102.5000 --217.0000;103.0000 --217.0000;103.5000 --217.0000;104.0000 --217.0000;104.5000 --217.0000;105.0000 --217.0000;105.5000 --217.0000;106.0000 --217.0000;106.5000 --217.0000;107.0000 --217.0000;107.5000 --217.0000;108.0000 --217.0000;108.5000 --217.0000;109.0000 --217.0000;109.5000 --217.0000;110.0000 --217.0000;110.5000 --217.0000;111.0000 --217.0000;111.5000 --217.0000;112.0000 --217.0000;112.5000 --217.0000;113.0000 --217.0000;113.5000 --217.0000;114.0000 --217.0000;114.5000 --217.0000;115.0000 --217.0000;115.5000 --217.0000;116.0000 --217.0000;116.5000 --217.0000;117.0000 --217.0000;117.5000 --217.0000;118.0000 --217.0000;118.5000 --217.0000;119.0000 --217.0000;119.5000 --217.0000;120.0000 --217.0000;120.5000 --217.0000;121.0000 --217.0000;121.5000 --217.0000;122.0000 --217.0000;122.5000 --217.0000;123.0000 --217.0000;123.5000 --217.0000;124.0000 --217.0000;124.5000 --217.0000;125.0000 --217.0000;125.5000 --217.0000;126.0000 --217.0000;126.5000 --217.0000;127.0000 --217.0000;127.5000 --216.5000;-243.0000 --216.5000;-242.5000 --216.5000;-242.0000 --216.5000;-241.5000 --216.5000;-241.0000 --216.5000;-240.5000 --216.5000;-240.0000 --216.5000;-239.5000 --216.5000;-239.0000 --216.5000;-238.5000 --216.5000;-238.0000 --216.5000;-237.5000 --216.5000;-237.0000 --216.5000;-236.5000 --216.5000;-236.0000 --216.5000;-235.5000 --216.5000;-235.0000 --216.5000;-234.5000 --216.5000;-234.0000 --216.5000;-233.5000 --216.5000;-233.0000 --216.5000;-232.5000 --216.5000;-232.0000 --216.5000;-231.5000 --216.5000;-231.0000 --216.5000;-230.5000 --216.5000;-130.0000 --216.5000;-129.5000 --216.5000;-129.0000 --216.5000;-128.5000 --216.5000;-128.0000 --216.5000;-127.5000 --216.5000;-127.0000 --216.5000;-126.5000 --216.5000;-126.0000 --216.5000;-125.5000 --216.5000;-125.0000 --216.5000;-124.5000 --216.5000;-124.0000 --216.5000;-123.5000 --216.5000;-123.0000 --216.5000;-122.5000 --216.5000;-122.0000 --216.5000;-121.5000 --216.5000;-121.0000 --216.5000;-120.5000 --216.5000;-120.0000 --216.5000;-119.5000 --216.5000;-119.0000 --216.5000;-118.5000 --216.5000;-118.0000 --216.5000;-72.0000 --216.5000;-71.5000 --216.5000;-71.0000 --216.5000;-70.5000 --216.5000;-70.0000 --216.5000;-69.5000 --216.5000;-69.0000 --216.5000;-68.5000 --216.5000;-68.0000 --216.5000;-67.5000 --216.5000;-67.0000 --216.5000;-66.5000 --216.5000;-66.0000 --216.5000;-65.5000 --216.5000;-65.0000 --216.5000;-64.5000 --216.5000;-64.0000 --216.5000;-63.5000 --216.5000;-63.0000 --216.5000;-62.5000 --216.5000;-62.0000 --216.5000;-61.5000 --216.5000;-61.0000 --216.5000;-60.5000 --216.5000;-60.0000 --216.5000;-59.5000 --216.5000;-59.0000 --216.5000;101.5000 --216.5000;102.0000 --216.5000;102.5000 --216.5000;103.0000 --216.5000;103.5000 --216.5000;104.0000 --216.5000;104.5000 --216.5000;105.0000 --216.5000;105.5000 --216.5000;106.0000 --216.5000;106.5000 --216.5000;107.0000 --216.5000;107.5000 --216.5000;108.0000 --216.5000;108.5000 --216.5000;109.0000 --216.5000;109.5000 --216.5000;110.0000 --216.5000;110.5000 --216.5000;111.0000 --216.5000;111.5000 --216.5000;112.0000 --216.5000;112.5000 --216.5000;113.0000 --216.5000;113.5000 --216.5000;114.0000 --216.5000;114.5000 --216.5000;115.0000 --216.5000;115.5000 --216.5000;116.0000 --216.5000;116.5000 --216.5000;117.0000 --216.5000;117.5000 --216.5000;118.0000 --216.5000;118.5000 --216.5000;119.0000 --216.5000;119.5000 --216.5000;120.0000 --216.5000;120.5000 --216.5000;121.0000 --216.5000;121.5000 --216.5000;122.0000 --216.5000;122.5000 --216.5000;123.0000 --216.5000;123.5000 --216.5000;124.0000 --216.5000;124.5000 --216.5000;125.0000 --216.5000;125.5000 --216.5000;126.0000 --216.5000;126.5000 --216.5000;127.0000 --216.5000;127.5000 --216.5000;128.0000 --216.0000;-243.5000 --216.0000;-243.0000 --216.0000;-242.5000 --216.0000;-242.0000 --216.0000;-241.5000 --216.0000;-241.0000 --216.0000;-240.5000 --216.0000;-240.0000 --216.0000;-239.5000 --216.0000;-239.0000 --216.0000;-238.5000 --216.0000;-238.0000 --216.0000;-237.5000 --216.0000;-237.0000 --216.0000;-236.5000 --216.0000;-236.0000 --216.0000;-235.5000 --216.0000;-235.0000 --216.0000;-234.5000 --216.0000;-234.0000 --216.0000;-233.5000 --216.0000;-233.0000 --216.0000;-232.5000 --216.0000;-232.0000 --216.0000;-231.5000 --216.0000;-231.0000 --216.0000;-130.0000 --216.0000;-129.5000 --216.0000;-129.0000 --216.0000;-128.5000 --216.0000;-128.0000 --216.0000;-127.5000 --216.0000;-127.0000 --216.0000;-126.5000 --216.0000;-126.0000 --216.0000;-125.5000 --216.0000;-125.0000 --216.0000;-124.5000 --216.0000;-124.0000 --216.0000;-123.5000 --216.0000;-123.0000 --216.0000;-122.5000 --216.0000;-122.0000 --216.0000;-121.5000 --216.0000;-121.0000 --216.0000;-120.5000 --216.0000;-120.0000 --216.0000;-119.5000 --216.0000;-119.0000 --216.0000;-118.5000 --216.0000;-118.0000 --216.0000;-72.0000 --216.0000;-71.5000 --216.0000;-71.0000 --216.0000;-70.5000 --216.0000;-70.0000 --216.0000;-69.5000 --216.0000;-69.0000 --216.0000;-68.5000 --216.0000;-68.0000 --216.0000;-67.5000 --216.0000;-67.0000 --216.0000;-66.5000 --216.0000;-66.0000 --216.0000;-65.5000 --216.0000;-65.0000 --216.0000;-64.5000 --216.0000;-64.0000 --216.0000;-63.5000 --216.0000;-63.0000 --216.0000;-62.5000 --216.0000;-62.0000 --216.0000;-61.5000 --216.0000;-61.0000 --216.0000;-60.5000 --216.0000;-60.0000 --216.0000;-59.5000 --216.0000;-59.0000 --216.0000;102.5000 --216.0000;103.0000 --216.0000;103.5000 --216.0000;104.0000 --216.0000;104.5000 --216.0000;105.0000 --216.0000;105.5000 --216.0000;106.0000 --216.0000;106.5000 --216.0000;107.0000 --216.0000;107.5000 --216.0000;108.0000 --216.0000;108.5000 --216.0000;109.0000 --216.0000;109.5000 --216.0000;110.0000 --216.0000;110.5000 --216.0000;111.0000 --216.0000;111.5000 --216.0000;112.0000 --216.0000;112.5000 --216.0000;113.0000 --216.0000;113.5000 --216.0000;114.0000 --216.0000;114.5000 --216.0000;115.0000 --216.0000;115.5000 --216.0000;116.0000 --216.0000;116.5000 --216.0000;117.0000 --216.0000;117.5000 --216.0000;118.0000 --216.0000;118.5000 --216.0000;119.0000 --216.0000;119.5000 --216.0000;120.0000 --216.0000;120.5000 --216.0000;121.0000 --216.0000;121.5000 --216.0000;122.0000 --216.0000;122.5000 --216.0000;123.0000 --216.0000;123.5000 --216.0000;124.0000 --216.0000;124.5000 --216.0000;125.0000 --216.0000;125.5000 --216.0000;126.0000 --216.0000;126.5000 --216.0000;127.0000 --216.0000;127.5000 --216.0000;128.0000 --216.0000;128.5000 --216.0000;129.0000 --215.5000;-243.5000 --215.5000;-243.0000 --215.5000;-242.5000 --215.5000;-242.0000 --215.5000;-241.5000 --215.5000;-241.0000 --215.5000;-240.5000 --215.5000;-240.0000 --215.5000;-239.5000 --215.5000;-239.0000 --215.5000;-238.5000 --215.5000;-238.0000 --215.5000;-237.5000 --215.5000;-237.0000 --215.5000;-236.5000 --215.5000;-236.0000 --215.5000;-235.5000 --215.5000;-235.0000 --215.5000;-234.5000 --215.5000;-234.0000 --215.5000;-233.5000 --215.5000;-233.0000 --215.5000;-232.5000 --215.5000;-232.0000 --215.5000;-231.5000 --215.5000;-231.0000 --215.5000;-130.0000 --215.5000;-129.5000 --215.5000;-129.0000 --215.5000;-128.5000 --215.5000;-128.0000 --215.5000;-127.5000 --215.5000;-127.0000 --215.5000;-126.5000 --215.5000;-126.0000 --215.5000;-125.5000 --215.5000;-125.0000 --215.5000;-124.5000 --215.5000;-124.0000 --215.5000;-123.5000 --215.5000;-123.0000 --215.5000;-122.5000 --215.5000;-122.0000 --215.5000;-121.5000 --215.5000;-121.0000 --215.5000;-120.5000 --215.5000;-120.0000 --215.5000;-119.5000 --215.5000;-119.0000 --215.5000;-118.5000 --215.5000;-118.0000 --215.5000;-71.5000 --215.5000;-71.0000 --215.5000;-70.5000 --215.5000;-70.0000 --215.5000;-69.5000 --215.5000;-69.0000 --215.5000;-68.5000 --215.5000;-68.0000 --215.5000;-67.5000 --215.5000;-67.0000 --215.5000;-66.5000 --215.5000;-66.0000 --215.5000;-65.5000 --215.5000;-65.0000 --215.5000;-64.5000 --215.5000;-64.0000 --215.5000;-63.5000 --215.5000;-63.0000 --215.5000;-62.5000 --215.5000;-62.0000 --215.5000;-61.5000 --215.5000;-61.0000 --215.5000;-60.5000 --215.5000;-60.0000 --215.5000;-59.5000 --215.5000;-59.0000 --215.5000;-58.5000 --215.5000;104.0000 --215.5000;104.5000 --215.5000;105.0000 --215.5000;105.5000 --215.5000;106.0000 --215.5000;106.5000 --215.5000;107.0000 --215.5000;107.5000 --215.5000;108.0000 --215.5000;108.5000 --215.5000;109.0000 --215.5000;109.5000 --215.5000;110.0000 --215.5000;110.5000 --215.5000;111.0000 --215.5000;111.5000 --215.5000;112.0000 --215.5000;112.5000 --215.5000;113.0000 --215.5000;113.5000 --215.5000;114.0000 --215.5000;114.5000 --215.5000;115.0000 --215.5000;115.5000 --215.5000;116.0000 --215.5000;116.5000 --215.5000;117.0000 --215.5000;117.5000 --215.5000;118.0000 --215.5000;118.5000 --215.5000;119.0000 --215.5000;119.5000 --215.5000;120.0000 --215.5000;120.5000 --215.5000;121.0000 --215.5000;121.5000 --215.5000;122.0000 --215.5000;122.5000 --215.5000;123.0000 --215.5000;123.5000 --215.5000;124.0000 --215.5000;124.5000 --215.5000;125.0000 --215.5000;125.5000 --215.5000;126.0000 --215.5000;126.5000 --215.5000;127.0000 --215.5000;127.5000 --215.5000;128.0000 --215.5000;128.5000 --215.5000;129.0000 --215.5000;129.5000 --215.0000;-244.0000 --215.0000;-243.5000 --215.0000;-243.0000 --215.0000;-242.5000 --215.0000;-242.0000 --215.0000;-241.5000 --215.0000;-241.0000 --215.0000;-240.5000 --215.0000;-240.0000 --215.0000;-239.5000 --215.0000;-239.0000 --215.0000;-238.5000 --215.0000;-238.0000 --215.0000;-237.5000 --215.0000;-237.0000 --215.0000;-236.5000 --215.0000;-236.0000 --215.0000;-235.5000 --215.0000;-235.0000 --215.0000;-234.5000 --215.0000;-234.0000 --215.0000;-233.5000 --215.0000;-233.0000 --215.0000;-232.5000 --215.0000;-232.0000 --215.0000;-231.5000 --215.0000;-231.0000 --215.0000;-130.0000 --215.0000;-129.5000 --215.0000;-129.0000 --215.0000;-128.5000 --215.0000;-128.0000 --215.0000;-127.5000 --215.0000;-127.0000 --215.0000;-126.5000 --215.0000;-126.0000 --215.0000;-125.5000 --215.0000;-125.0000 --215.0000;-124.5000 --215.0000;-124.0000 --215.0000;-123.5000 --215.0000;-123.0000 --215.0000;-122.5000 --215.0000;-122.0000 --215.0000;-121.5000 --215.0000;-121.0000 --215.0000;-120.5000 --215.0000;-120.0000 --215.0000;-119.5000 --215.0000;-119.0000 --215.0000;-118.5000 --215.0000;-118.0000 --215.0000;-71.5000 --215.0000;-71.0000 --215.0000;-70.5000 --215.0000;-70.0000 --215.0000;-69.5000 --215.0000;-69.0000 --215.0000;-68.5000 --215.0000;-68.0000 --215.0000;-67.5000 --215.0000;-67.0000 --215.0000;-66.5000 --215.0000;-66.0000 --215.0000;-65.5000 --215.0000;-65.0000 --215.0000;-64.5000 --215.0000;-64.0000 --215.0000;-63.5000 --215.0000;-63.0000 --215.0000;-62.5000 --215.0000;-62.0000 --215.0000;-61.5000 --215.0000;-61.0000 --215.0000;-60.5000 --215.0000;-60.0000 --215.0000;-59.5000 --215.0000;-59.0000 --215.0000;-58.5000 --215.0000;105.0000 --215.0000;105.5000 --215.0000;106.0000 --215.0000;106.5000 --215.0000;107.0000 --215.0000;107.5000 --215.0000;108.0000 --215.0000;108.5000 --215.0000;109.0000 --215.0000;109.5000 --215.0000;110.0000 --215.0000;110.5000 --215.0000;111.0000 --215.0000;111.5000 --215.0000;112.0000 --215.0000;112.5000 --215.0000;113.0000 --215.0000;113.5000 --215.0000;114.0000 --215.0000;114.5000 --215.0000;115.0000 --215.0000;115.5000 --215.0000;116.0000 --215.0000;116.5000 --215.0000;117.0000 --215.0000;117.5000 --215.0000;118.0000 --215.0000;118.5000 --215.0000;119.0000 --215.0000;119.5000 --215.0000;120.0000 --215.0000;120.5000 --215.0000;121.0000 --215.0000;121.5000 --215.0000;122.0000 --215.0000;122.5000 --215.0000;123.0000 --215.0000;123.5000 --215.0000;124.0000 --215.0000;124.5000 --215.0000;125.0000 --215.0000;125.5000 --215.0000;126.0000 --215.0000;126.5000 --215.0000;127.0000 --215.0000;127.5000 --215.0000;128.0000 --215.0000;128.5000 --215.0000;129.0000 --215.0000;129.5000 --215.0000;130.0000 --214.5000;-244.0000 --214.5000;-243.5000 --214.5000;-243.0000 --214.5000;-242.5000 --214.5000;-242.0000 --214.5000;-241.5000 --214.5000;-241.0000 --214.5000;-240.5000 --214.5000;-240.0000 --214.5000;-239.5000 --214.5000;-239.0000 --214.5000;-238.5000 --214.5000;-238.0000 --214.5000;-237.5000 --214.5000;-237.0000 --214.5000;-236.5000 --214.5000;-236.0000 --214.5000;-235.5000 --214.5000;-235.0000 --214.5000;-234.5000 --214.5000;-234.0000 --214.5000;-233.5000 --214.5000;-233.0000 --214.5000;-232.5000 --214.5000;-232.0000 --214.5000;-231.5000 --214.5000;-130.0000 --214.5000;-129.5000 --214.5000;-129.0000 --214.5000;-128.5000 --214.5000;-128.0000 --214.5000;-127.5000 --214.5000;-127.0000 --214.5000;-126.5000 --214.5000;-126.0000 --214.5000;-125.5000 --214.5000;-125.0000 --214.5000;-124.5000 --214.5000;-124.0000 --214.5000;-123.5000 --214.5000;-123.0000 --214.5000;-122.5000 --214.5000;-122.0000 --214.5000;-121.5000 --214.5000;-121.0000 --214.5000;-120.5000 --214.5000;-120.0000 --214.5000;-119.5000 --214.5000;-119.0000 --214.5000;-118.5000 --214.5000;-118.0000 --214.5000;-71.0000 --214.5000;-70.5000 --214.5000;-70.0000 --214.5000;-69.5000 --214.5000;-69.0000 --214.5000;-68.5000 --214.5000;-68.0000 --214.5000;-67.5000 --214.5000;-67.0000 --214.5000;-66.5000 --214.5000;-66.0000 --214.5000;-65.5000 --214.5000;-65.0000 --214.5000;-64.5000 --214.5000;-64.0000 --214.5000;-63.5000 --214.5000;-63.0000 --214.5000;-62.5000 --214.5000;-62.0000 --214.5000;-61.5000 --214.5000;-61.0000 --214.5000;-60.5000 --214.5000;-60.0000 --214.5000;-59.5000 --214.5000;-59.0000 --214.5000;-58.5000 --214.5000;-58.0000 --214.5000;106.0000 --214.5000;106.5000 --214.5000;107.0000 --214.5000;107.5000 --214.5000;108.0000 --214.5000;108.5000 --214.5000;109.0000 --214.5000;109.5000 --214.5000;110.0000 --214.5000;110.5000 --214.5000;111.0000 --214.5000;111.5000 --214.5000;112.0000 --214.5000;112.5000 --214.5000;113.0000 --214.5000;113.5000 --214.5000;114.0000 --214.5000;114.5000 --214.5000;115.0000 --214.5000;115.5000 --214.5000;116.0000 --214.5000;116.5000 --214.5000;117.0000 --214.5000;117.5000 --214.5000;118.0000 --214.5000;118.5000 --214.5000;119.0000 --214.5000;119.5000 --214.5000;120.0000 --214.5000;120.5000 --214.5000;121.0000 --214.5000;121.5000 --214.5000;122.0000 --214.5000;122.5000 --214.5000;123.0000 --214.5000;123.5000 --214.5000;124.0000 --214.5000;124.5000 --214.5000;125.0000 --214.5000;125.5000 --214.5000;126.0000 --214.5000;126.5000 --214.5000;127.0000 --214.5000;127.5000 --214.5000;128.0000 --214.5000;128.5000 --214.5000;129.0000 --214.5000;129.5000 --214.5000;130.0000 --214.5000;130.5000 --214.0000;-244.0000 --214.0000;-243.5000 --214.0000;-243.0000 --214.0000;-242.5000 --214.0000;-242.0000 --214.0000;-241.5000 --214.0000;-241.0000 --214.0000;-240.5000 --214.0000;-240.0000 --214.0000;-239.5000 --214.0000;-239.0000 --214.0000;-238.5000 --214.0000;-238.0000 --214.0000;-237.5000 --214.0000;-237.0000 --214.0000;-236.5000 --214.0000;-236.0000 --214.0000;-235.5000 --214.0000;-235.0000 --214.0000;-234.5000 --214.0000;-234.0000 --214.0000;-233.5000 --214.0000;-233.0000 --214.0000;-232.5000 --214.0000;-232.0000 --214.0000;-231.5000 --214.0000;-130.0000 --214.0000;-129.5000 --214.0000;-129.0000 --214.0000;-128.5000 --214.0000;-128.0000 --214.0000;-127.5000 --214.0000;-127.0000 --214.0000;-126.5000 --214.0000;-126.0000 --214.0000;-125.5000 --214.0000;-125.0000 --214.0000;-124.5000 --214.0000;-124.0000 --214.0000;-123.5000 --214.0000;-123.0000 --214.0000;-122.5000 --214.0000;-122.0000 --214.0000;-121.5000 --214.0000;-121.0000 --214.0000;-120.5000 --214.0000;-120.0000 --214.0000;-119.5000 --214.0000;-119.0000 --214.0000;-118.5000 --214.0000;-118.0000 --214.0000;-71.0000 --214.0000;-70.5000 --214.0000;-70.0000 --214.0000;-69.5000 --214.0000;-69.0000 --214.0000;-68.5000 --214.0000;-68.0000 --214.0000;-67.5000 --214.0000;-67.0000 --214.0000;-66.5000 --214.0000;-66.0000 --214.0000;-65.5000 --214.0000;-65.0000 --214.0000;-64.5000 --214.0000;-64.0000 --214.0000;-63.5000 --214.0000;-63.0000 --214.0000;-62.5000 --214.0000;-62.0000 --214.0000;-61.5000 --214.0000;-61.0000 --214.0000;-60.5000 --214.0000;-60.0000 --214.0000;-59.5000 --214.0000;-59.0000 --214.0000;-58.5000 --214.0000;-58.0000 --214.0000;107.0000 --214.0000;107.5000 --214.0000;108.0000 --214.0000;108.5000 --214.0000;109.0000 --214.0000;109.5000 --214.0000;110.0000 --214.0000;110.5000 --214.0000;111.0000 --214.0000;111.5000 --214.0000;112.0000 --214.0000;112.5000 --214.0000;113.0000 --214.0000;113.5000 --214.0000;114.0000 --214.0000;114.5000 --214.0000;115.0000 --214.0000;115.5000 --214.0000;116.0000 --214.0000;116.5000 --214.0000;117.0000 --214.0000;117.5000 --214.0000;118.0000 --214.0000;118.5000 --214.0000;119.0000 --214.0000;119.5000 --214.0000;120.0000 --214.0000;120.5000 --214.0000;121.0000 --214.0000;121.5000 --214.0000;122.0000 --214.0000;122.5000 --214.0000;123.0000 --214.0000;123.5000 --214.0000;124.0000 --214.0000;124.5000 --214.0000;125.0000 --214.0000;125.5000 --214.0000;126.0000 --214.0000;126.5000 --214.0000;127.0000 --214.0000;127.5000 --214.0000;128.0000 --214.0000;128.5000 --214.0000;129.0000 --214.0000;129.5000 --214.0000;130.0000 --214.0000;130.5000 --214.0000;131.0000 --213.5000;-244.5000 --213.5000;-244.0000 --213.5000;-243.5000 --213.5000;-243.0000 --213.5000;-242.5000 --213.5000;-242.0000 --213.5000;-241.5000 --213.5000;-241.0000 --213.5000;-240.5000 --213.5000;-240.0000 --213.5000;-239.5000 --213.5000;-239.0000 --213.5000;-238.5000 --213.5000;-238.0000 --213.5000;-237.5000 --213.5000;-237.0000 --213.5000;-236.5000 --213.5000;-236.0000 --213.5000;-235.5000 --213.5000;-235.0000 --213.5000;-234.5000 --213.5000;-234.0000 --213.5000;-233.5000 --213.5000;-233.0000 --213.5000;-232.5000 --213.5000;-232.0000 --213.5000;-231.5000 --213.5000;-130.0000 --213.5000;-129.5000 --213.5000;-129.0000 --213.5000;-128.5000 --213.5000;-128.0000 --213.5000;-127.5000 --213.5000;-127.0000 --213.5000;-126.5000 --213.5000;-126.0000 --213.5000;-125.5000 --213.5000;-125.0000 --213.5000;-124.5000 --213.5000;-124.0000 --213.5000;-123.5000 --213.5000;-123.0000 --213.5000;-122.5000 --213.5000;-122.0000 --213.5000;-121.5000 --213.5000;-121.0000 --213.5000;-120.5000 --213.5000;-120.0000 --213.5000;-119.5000 --213.5000;-119.0000 --213.5000;-118.5000 --213.5000;-118.0000 --213.5000;-70.5000 --213.5000;-70.0000 --213.5000;-69.5000 --213.5000;-69.0000 --213.5000;-68.5000 --213.5000;-68.0000 --213.5000;-67.5000 --213.5000;-67.0000 --213.5000;-66.5000 --213.5000;-66.0000 --213.5000;-65.5000 --213.5000;-65.0000 --213.5000;-64.5000 --213.5000;-64.0000 --213.5000;-63.5000 --213.5000;-63.0000 --213.5000;-62.5000 --213.5000;-62.0000 --213.5000;-61.5000 --213.5000;-61.0000 --213.5000;-60.5000 --213.5000;-60.0000 --213.5000;-59.5000 --213.5000;-59.0000 --213.5000;-58.5000 --213.5000;-58.0000 --213.5000;-57.5000 --213.5000;108.0000 --213.5000;108.5000 --213.5000;109.0000 --213.5000;109.5000 --213.5000;110.0000 --213.5000;110.5000 --213.5000;111.0000 --213.5000;111.5000 --213.5000;112.0000 --213.5000;112.5000 --213.5000;113.0000 --213.5000;113.5000 --213.5000;114.0000 --213.5000;114.5000 --213.5000;115.0000 --213.5000;115.5000 --213.5000;116.0000 --213.5000;116.5000 --213.5000;117.0000 --213.5000;117.5000 --213.5000;118.0000 --213.5000;118.5000 --213.5000;119.0000 --213.5000;119.5000 --213.5000;120.0000 --213.5000;120.5000 --213.5000;121.0000 --213.5000;121.5000 --213.5000;122.0000 --213.5000;122.5000 --213.5000;123.0000 --213.5000;123.5000 --213.5000;124.0000 --213.5000;124.5000 --213.5000;125.0000 --213.5000;125.5000 --213.5000;126.0000 --213.5000;126.5000 --213.5000;127.0000 --213.5000;127.5000 --213.5000;128.0000 --213.5000;128.5000 --213.5000;129.0000 --213.5000;129.5000 --213.5000;130.0000 --213.5000;130.5000 --213.5000;131.0000 --213.5000;131.5000 --213.0000;-244.5000 --213.0000;-244.0000 --213.0000;-243.5000 --213.0000;-243.0000 --213.0000;-242.5000 --213.0000;-242.0000 --213.0000;-241.5000 --213.0000;-241.0000 --213.0000;-240.5000 --213.0000;-240.0000 --213.0000;-239.5000 --213.0000;-239.0000 --213.0000;-238.5000 --213.0000;-238.0000 --213.0000;-237.5000 --213.0000;-237.0000 --213.0000;-236.5000 --213.0000;-236.0000 --213.0000;-235.5000 --213.0000;-235.0000 --213.0000;-234.5000 --213.0000;-234.0000 --213.0000;-233.5000 --213.0000;-233.0000 --213.0000;-232.5000 --213.0000;-232.0000 --213.0000;-130.0000 --213.0000;-129.5000 --213.0000;-129.0000 --213.0000;-128.5000 --213.0000;-128.0000 --213.0000;-127.5000 --213.0000;-127.0000 --213.0000;-126.5000 --213.0000;-126.0000 --213.0000;-125.5000 --213.0000;-125.0000 --213.0000;-124.5000 --213.0000;-124.0000 --213.0000;-123.5000 --213.0000;-123.0000 --213.0000;-122.5000 --213.0000;-122.0000 --213.0000;-121.5000 --213.0000;-121.0000 --213.0000;-120.5000 --213.0000;-120.0000 --213.0000;-119.5000 --213.0000;-119.0000 --213.0000;-118.5000 --213.0000;-118.0000 --213.0000;-70.5000 --213.0000;-70.0000 --213.0000;-69.5000 --213.0000;-69.0000 --213.0000;-68.5000 --213.0000;-68.0000 --213.0000;-67.5000 --213.0000;-67.0000 --213.0000;-66.5000 --213.0000;-66.0000 --213.0000;-65.5000 --213.0000;-65.0000 --213.0000;-64.5000 --213.0000;-64.0000 --213.0000;-63.5000 --213.0000;-63.0000 --213.0000;-62.5000 --213.0000;-62.0000 --213.0000;-61.5000 --213.0000;-61.0000 --213.0000;-60.5000 --213.0000;-60.0000 --213.0000;-59.5000 --213.0000;-59.0000 --213.0000;-58.5000 --213.0000;-58.0000 --213.0000;-57.5000 --213.0000;109.0000 --213.0000;109.5000 --213.0000;110.0000 --213.0000;110.5000 --213.0000;111.0000 --213.0000;111.5000 --213.0000;112.0000 --213.0000;112.5000 --213.0000;113.0000 --213.0000;113.5000 --213.0000;114.0000 --213.0000;114.5000 --213.0000;115.0000 --213.0000;115.5000 --213.0000;116.0000 --213.0000;116.5000 --213.0000;117.0000 --213.0000;117.5000 --213.0000;118.0000 --213.0000;118.5000 --213.0000;119.0000 --213.0000;119.5000 --213.0000;120.0000 --213.0000;120.5000 --213.0000;121.0000 --213.0000;121.5000 --213.0000;122.0000 --213.0000;122.5000 --213.0000;123.0000 --213.0000;123.5000 --213.0000;124.0000 --213.0000;124.5000 --213.0000;125.0000 --213.0000;125.5000 --213.0000;126.0000 --213.0000;126.5000 --213.0000;127.0000 --213.0000;127.5000 --213.0000;128.0000 --213.0000;128.5000 --213.0000;129.0000 --213.0000;129.5000 --213.0000;130.0000 --213.0000;130.5000 --213.0000;131.0000 --213.0000;131.5000 --213.0000;132.0000 --212.5000;-245.0000 --212.5000;-244.5000 --212.5000;-244.0000 --212.5000;-243.5000 --212.5000;-243.0000 --212.5000;-242.5000 --212.5000;-242.0000 --212.5000;-241.5000 --212.5000;-241.0000 --212.5000;-240.5000 --212.5000;-240.0000 --212.5000;-239.5000 --212.5000;-239.0000 --212.5000;-238.5000 --212.5000;-238.0000 --212.5000;-237.5000 --212.5000;-237.0000 --212.5000;-236.5000 --212.5000;-236.0000 --212.5000;-235.5000 --212.5000;-235.0000 --212.5000;-234.5000 --212.5000;-234.0000 --212.5000;-233.5000 --212.5000;-233.0000 --212.5000;-232.5000 --212.5000;-232.0000 --212.5000;-130.0000 --212.5000;-129.5000 --212.5000;-129.0000 --212.5000;-128.5000 --212.5000;-128.0000 --212.5000;-127.5000 --212.5000;-127.0000 --212.5000;-126.5000 --212.5000;-126.0000 --212.5000;-125.5000 --212.5000;-125.0000 --212.5000;-124.5000 --212.5000;-124.0000 --212.5000;-123.5000 --212.5000;-123.0000 --212.5000;-122.5000 --212.5000;-122.0000 --212.5000;-121.5000 --212.5000;-121.0000 --212.5000;-120.5000 --212.5000;-120.0000 --212.5000;-119.5000 --212.5000;-119.0000 --212.5000;-118.5000 --212.5000;-70.0000 --212.5000;-69.5000 --212.5000;-69.0000 --212.5000;-68.5000 --212.5000;-68.0000 --212.5000;-67.5000 --212.5000;-67.0000 --212.5000;-66.5000 --212.5000;-66.0000 --212.5000;-65.5000 --212.5000;-65.0000 --212.5000;-64.5000 --212.5000;-64.0000 --212.5000;-63.5000 --212.5000;-63.0000 --212.5000;-62.5000 --212.5000;-62.0000 --212.5000;-61.5000 --212.5000;-61.0000 --212.5000;-60.5000 --212.5000;-60.0000 --212.5000;-59.5000 --212.5000;-59.0000 --212.5000;-58.5000 --212.5000;-58.0000 --212.5000;-57.5000 --212.5000;-57.0000 --212.5000;110.0000 --212.5000;110.5000 --212.5000;111.0000 --212.5000;111.5000 --212.5000;112.0000 --212.5000;112.5000 --212.5000;113.0000 --212.5000;113.5000 --212.5000;114.0000 --212.5000;114.5000 --212.5000;115.0000 --212.5000;115.5000 --212.5000;116.0000 --212.5000;116.5000 --212.5000;117.0000 --212.5000;117.5000 --212.5000;118.0000 --212.5000;118.5000 --212.5000;119.0000 --212.5000;119.5000 --212.5000;120.0000 --212.5000;120.5000 --212.5000;121.0000 --212.5000;121.5000 --212.5000;122.0000 --212.5000;122.5000 --212.5000;123.0000 --212.5000;123.5000 --212.5000;124.0000 --212.5000;124.5000 --212.5000;125.0000 --212.5000;125.5000 --212.5000;126.0000 --212.5000;126.5000 --212.5000;127.0000 --212.5000;127.5000 --212.5000;128.0000 --212.5000;128.5000 --212.5000;129.0000 --212.5000;129.5000 --212.5000;130.0000 --212.5000;130.5000 --212.5000;131.0000 --212.5000;131.5000 --212.5000;132.0000 --212.0000;-245.0000 --212.0000;-244.5000 --212.0000;-244.0000 --212.0000;-243.5000 --212.0000;-243.0000 --212.0000;-242.5000 --212.0000;-242.0000 --212.0000;-241.5000 --212.0000;-241.0000 --212.0000;-240.5000 --212.0000;-240.0000 --212.0000;-239.5000 --212.0000;-239.0000 --212.0000;-238.5000 --212.0000;-238.0000 --212.0000;-237.5000 --212.0000;-237.0000 --212.0000;-236.5000 --212.0000;-236.0000 --212.0000;-235.5000 --212.0000;-235.0000 --212.0000;-234.5000 --212.0000;-234.0000 --212.0000;-233.5000 --212.0000;-233.0000 --212.0000;-232.5000 --212.0000;-130.0000 --212.0000;-129.5000 --212.0000;-129.0000 --212.0000;-128.5000 --212.0000;-128.0000 --212.0000;-127.5000 --212.0000;-127.0000 --212.0000;-126.5000 --212.0000;-126.0000 --212.0000;-125.5000 --212.0000;-125.0000 --212.0000;-124.5000 --212.0000;-124.0000 --212.0000;-123.5000 --212.0000;-123.0000 --212.0000;-122.5000 --212.0000;-122.0000 --212.0000;-121.5000 --212.0000;-121.0000 --212.0000;-120.5000 --212.0000;-120.0000 --212.0000;-119.5000 --212.0000;-119.0000 --212.0000;-118.5000 --212.0000;-70.0000 --212.0000;-69.5000 --212.0000;-69.0000 --212.0000;-68.5000 --212.0000;-68.0000 --212.0000;-67.5000 --212.0000;-67.0000 --212.0000;-66.5000 --212.0000;-66.0000 --212.0000;-65.5000 --212.0000;-65.0000 --212.0000;-64.5000 --212.0000;-64.0000 --212.0000;-63.5000 --212.0000;-63.0000 --212.0000;-62.5000 --212.0000;-62.0000 --212.0000;-61.5000 --212.0000;-61.0000 --212.0000;-60.5000 --212.0000;-60.0000 --212.0000;-59.5000 --212.0000;-59.0000 --212.0000;-58.5000 --212.0000;-58.0000 --212.0000;-57.5000 --212.0000;-57.0000 --212.0000;111.0000 --212.0000;111.5000 --212.0000;112.0000 --212.0000;112.5000 --212.0000;113.0000 --212.0000;113.5000 --212.0000;114.0000 --212.0000;114.5000 --212.0000;115.0000 --212.0000;115.5000 --212.0000;116.0000 --212.0000;116.5000 --212.0000;117.0000 --212.0000;117.5000 --212.0000;118.0000 --212.0000;118.5000 --212.0000;119.0000 --212.0000;119.5000 --212.0000;120.0000 --212.0000;120.5000 --212.0000;121.0000 --212.0000;121.5000 --212.0000;122.0000 --212.0000;122.5000 --212.0000;123.0000 --212.0000;123.5000 --212.0000;124.0000 --212.0000;124.5000 --212.0000;125.0000 --212.0000;125.5000 --212.0000;126.0000 --212.0000;126.5000 --212.0000;127.0000 --212.0000;127.5000 --212.0000;128.0000 --212.0000;128.5000 --212.0000;129.0000 --212.0000;129.5000 --212.0000;130.0000 --212.0000;130.5000 --212.0000;131.0000 --212.0000;131.5000 --212.0000;132.0000 --212.0000;132.5000 --211.5000;-245.0000 --211.5000;-244.5000 --211.5000;-244.0000 --211.5000;-243.5000 --211.5000;-243.0000 --211.5000;-242.5000 --211.5000;-242.0000 --211.5000;-241.5000 --211.5000;-241.0000 --211.5000;-240.5000 --211.5000;-240.0000 --211.5000;-239.5000 --211.5000;-239.0000 --211.5000;-238.5000 --211.5000;-238.0000 --211.5000;-237.5000 --211.5000;-237.0000 --211.5000;-236.5000 --211.5000;-236.0000 --211.5000;-235.5000 --211.5000;-235.0000 --211.5000;-234.5000 --211.5000;-234.0000 --211.5000;-233.5000 --211.5000;-233.0000 --211.5000;-232.5000 --211.5000;-130.0000 --211.5000;-129.5000 --211.5000;-129.0000 --211.5000;-128.5000 --211.5000;-128.0000 --211.5000;-127.5000 --211.5000;-127.0000 --211.5000;-126.5000 --211.5000;-126.0000 --211.5000;-125.5000 --211.5000;-125.0000 --211.5000;-124.5000 --211.5000;-124.0000 --211.5000;-123.5000 --211.5000;-123.0000 --211.5000;-122.5000 --211.5000;-122.0000 --211.5000;-121.5000 --211.5000;-121.0000 --211.5000;-120.5000 --211.5000;-120.0000 --211.5000;-119.5000 --211.5000;-119.0000 --211.5000;-118.5000 --211.5000;-69.5000 --211.5000;-69.0000 --211.5000;-68.5000 --211.5000;-68.0000 --211.5000;-67.5000 --211.5000;-67.0000 --211.5000;-66.5000 --211.5000;-66.0000 --211.5000;-65.5000 --211.5000;-65.0000 --211.5000;-64.5000 --211.5000;-64.0000 --211.5000;-63.5000 --211.5000;-63.0000 --211.5000;-62.5000 --211.5000;-62.0000 --211.5000;-61.5000 --211.5000;-61.0000 --211.5000;-60.5000 --211.5000;-60.0000 --211.5000;-59.5000 --211.5000;-59.0000 --211.5000;-58.5000 --211.5000;-58.0000 --211.5000;-57.5000 --211.5000;-57.0000 --211.5000;-56.5000 --211.5000;112.0000 --211.5000;112.5000 --211.5000;113.0000 --211.5000;113.5000 --211.5000;114.0000 --211.5000;114.5000 --211.5000;115.0000 --211.5000;115.5000 --211.5000;116.0000 --211.5000;116.5000 --211.5000;117.0000 --211.5000;117.5000 --211.5000;118.0000 --211.5000;118.5000 --211.5000;119.0000 --211.5000;119.5000 --211.5000;120.0000 --211.5000;120.5000 --211.5000;121.0000 --211.5000;121.5000 --211.5000;122.0000 --211.5000;122.5000 --211.5000;123.0000 --211.5000;123.5000 --211.5000;124.0000 --211.5000;124.5000 --211.5000;125.0000 --211.5000;125.5000 --211.5000;126.0000 --211.5000;126.5000 --211.5000;127.0000 --211.5000;127.5000 --211.5000;128.0000 --211.5000;128.5000 --211.5000;129.0000 --211.5000;129.5000 --211.5000;130.0000 --211.5000;130.5000 --211.5000;131.0000 --211.5000;131.5000 --211.5000;132.0000 --211.5000;132.5000 --211.5000;133.0000 --211.0000;-245.5000 --211.0000;-245.0000 --211.0000;-244.5000 --211.0000;-244.0000 --211.0000;-243.5000 --211.0000;-243.0000 --211.0000;-242.5000 --211.0000;-242.0000 --211.0000;-241.5000 --211.0000;-241.0000 --211.0000;-240.5000 --211.0000;-240.0000 --211.0000;-239.5000 --211.0000;-239.0000 --211.0000;-238.5000 --211.0000;-238.0000 --211.0000;-237.5000 --211.0000;-237.0000 --211.0000;-236.5000 --211.0000;-236.0000 --211.0000;-235.5000 --211.0000;-235.0000 --211.0000;-234.5000 --211.0000;-234.0000 --211.0000;-233.5000 --211.0000;-233.0000 --211.0000;-232.5000 --211.0000;-130.5000 --211.0000;-130.0000 --211.0000;-129.5000 --211.0000;-129.0000 --211.0000;-128.5000 --211.0000;-128.0000 --211.0000;-127.5000 --211.0000;-127.0000 --211.0000;-126.5000 --211.0000;-126.0000 --211.0000;-125.5000 --211.0000;-125.0000 --211.0000;-124.5000 --211.0000;-124.0000 --211.0000;-123.5000 --211.0000;-123.0000 --211.0000;-122.5000 --211.0000;-122.0000 --211.0000;-121.5000 --211.0000;-121.0000 --211.0000;-120.5000 --211.0000;-120.0000 --211.0000;-119.5000 --211.0000;-119.0000 --211.0000;-118.5000 --211.0000;-69.5000 --211.0000;-69.0000 --211.0000;-68.5000 --211.0000;-68.0000 --211.0000;-67.5000 --211.0000;-67.0000 --211.0000;-66.5000 --211.0000;-66.0000 --211.0000;-65.5000 --211.0000;-65.0000 --211.0000;-64.5000 --211.0000;-64.0000 --211.0000;-63.5000 --211.0000;-63.0000 --211.0000;-62.5000 --211.0000;-62.0000 --211.0000;-61.5000 --211.0000;-61.0000 --211.0000;-60.5000 --211.0000;-60.0000 --211.0000;-59.5000 --211.0000;-59.0000 --211.0000;-58.5000 --211.0000;-58.0000 --211.0000;-57.5000 --211.0000;-57.0000 --211.0000;-56.5000 --211.0000;113.0000 --211.0000;113.5000 --211.0000;114.0000 --211.0000;114.5000 --211.0000;115.0000 --211.0000;115.5000 --211.0000;116.0000 --211.0000;116.5000 --211.0000;117.0000 --211.0000;117.5000 --211.0000;118.0000 --211.0000;118.5000 --211.0000;119.0000 --211.0000;119.5000 --211.0000;120.0000 --211.0000;120.5000 --211.0000;121.0000 --211.0000;121.5000 --211.0000;122.0000 --211.0000;122.5000 --211.0000;123.0000 --211.0000;123.5000 --211.0000;124.0000 --211.0000;124.5000 --211.0000;125.0000 --211.0000;125.5000 --211.0000;126.0000 --211.0000;126.5000 --211.0000;127.0000 --211.0000;127.5000 --211.0000;128.0000 --211.0000;128.5000 --211.0000;129.0000 --211.0000;129.5000 --211.0000;130.0000 --211.0000;130.5000 --211.0000;131.0000 --211.0000;131.5000 --211.0000;132.0000 --211.0000;132.5000 --211.0000;133.0000 --211.0000;133.5000 --210.5000;-245.5000 --210.5000;-245.0000 --210.5000;-244.5000 --210.5000;-244.0000 --210.5000;-243.5000 --210.5000;-243.0000 --210.5000;-242.5000 --210.5000;-242.0000 --210.5000;-241.5000 --210.5000;-241.0000 --210.5000;-240.5000 --210.5000;-240.0000 --210.5000;-239.5000 --210.5000;-239.0000 --210.5000;-238.5000 --210.5000;-238.0000 --210.5000;-237.5000 --210.5000;-237.0000 --210.5000;-236.5000 --210.5000;-236.0000 --210.5000;-235.5000 --210.5000;-235.0000 --210.5000;-234.5000 --210.5000;-234.0000 --210.5000;-233.5000 --210.5000;-233.0000 --210.5000;-130.5000 --210.5000;-130.0000 --210.5000;-129.5000 --210.5000;-129.0000 --210.5000;-128.5000 --210.5000;-128.0000 --210.5000;-127.5000 --210.5000;-127.0000 --210.5000;-126.5000 --210.5000;-126.0000 --210.5000;-125.5000 --210.5000;-125.0000 --210.5000;-124.5000 --210.5000;-124.0000 --210.5000;-123.5000 --210.5000;-123.0000 --210.5000;-122.5000 --210.5000;-122.0000 --210.5000;-121.5000 --210.5000;-121.0000 --210.5000;-120.5000 --210.5000;-120.0000 --210.5000;-119.5000 --210.5000;-119.0000 --210.5000;-118.5000 --210.5000;-69.0000 --210.5000;-68.5000 --210.5000;-68.0000 --210.5000;-67.5000 --210.5000;-67.0000 --210.5000;-66.5000 --210.5000;-66.0000 --210.5000;-65.5000 --210.5000;-65.0000 --210.5000;-64.5000 --210.5000;-64.0000 --210.5000;-63.5000 --210.5000;-63.0000 --210.5000;-62.5000 --210.5000;-62.0000 --210.5000;-61.5000 --210.5000;-61.0000 --210.5000;-60.5000 --210.5000;-60.0000 --210.5000;-59.5000 --210.5000;-59.0000 --210.5000;-58.5000 --210.5000;-58.0000 --210.5000;-57.5000 --210.5000;-57.0000 --210.5000;-56.5000 --210.5000;-56.0000 --210.5000;114.0000 --210.5000;114.5000 --210.5000;115.0000 --210.5000;115.5000 --210.5000;116.0000 --210.5000;116.5000 --210.5000;117.0000 --210.5000;117.5000 --210.5000;118.0000 --210.5000;118.5000 --210.5000;119.0000 --210.5000;119.5000 --210.5000;120.0000 --210.5000;120.5000 --210.5000;121.0000 --210.5000;121.5000 --210.5000;122.0000 --210.5000;122.5000 --210.5000;123.0000 --210.5000;123.5000 --210.5000;124.0000 --210.5000;124.5000 --210.5000;125.0000 --210.5000;125.5000 --210.5000;126.0000 --210.5000;126.5000 --210.5000;127.0000 --210.5000;127.5000 --210.5000;128.0000 --210.5000;128.5000 --210.5000;129.0000 --210.5000;129.5000 --210.5000;130.0000 --210.5000;130.5000 --210.5000;131.0000 --210.5000;131.5000 --210.5000;132.0000 --210.5000;132.5000 --210.5000;133.0000 --210.5000;133.5000 --210.0000;-245.5000 --210.0000;-245.0000 --210.0000;-244.5000 --210.0000;-244.0000 --210.0000;-243.5000 --210.0000;-243.0000 --210.0000;-242.5000 --210.0000;-242.0000 --210.0000;-241.5000 --210.0000;-241.0000 --210.0000;-240.5000 --210.0000;-240.0000 --210.0000;-239.5000 --210.0000;-239.0000 --210.0000;-238.5000 --210.0000;-238.0000 --210.0000;-237.5000 --210.0000;-237.0000 --210.0000;-236.5000 --210.0000;-236.0000 --210.0000;-235.5000 --210.0000;-235.0000 --210.0000;-234.5000 --210.0000;-234.0000 --210.0000;-233.5000 --210.0000;-233.0000 --210.0000;-130.5000 --210.0000;-130.0000 --210.0000;-129.5000 --210.0000;-129.0000 --210.0000;-128.5000 --210.0000;-128.0000 --210.0000;-127.5000 --210.0000;-127.0000 --210.0000;-126.5000 --210.0000;-126.0000 --210.0000;-125.5000 --210.0000;-125.0000 --210.0000;-124.5000 --210.0000;-124.0000 --210.0000;-123.5000 --210.0000;-123.0000 --210.0000;-122.5000 --210.0000;-122.0000 --210.0000;-121.5000 --210.0000;-121.0000 --210.0000;-120.5000 --210.0000;-120.0000 --210.0000;-119.5000 --210.0000;-119.0000 --210.0000;-118.5000 --210.0000;-69.0000 --210.0000;-68.5000 --210.0000;-68.0000 --210.0000;-67.5000 --210.0000;-67.0000 --210.0000;-66.5000 --210.0000;-66.0000 --210.0000;-65.5000 --210.0000;-65.0000 --210.0000;-64.5000 --210.0000;-64.0000 --210.0000;-63.5000 --210.0000;-63.0000 --210.0000;-62.5000 --210.0000;-62.0000 --210.0000;-61.5000 --210.0000;-61.0000 --210.0000;-60.5000 --210.0000;-60.0000 --210.0000;-59.5000 --210.0000;-59.0000 --210.0000;-58.5000 --210.0000;-58.0000 --210.0000;-57.5000 --210.0000;-57.0000 --210.0000;-56.5000 --210.0000;-56.0000 --210.0000;115.0000 --210.0000;115.5000 --210.0000;116.0000 --210.0000;116.5000 --210.0000;117.0000 --210.0000;117.5000 --210.0000;118.0000 --210.0000;118.5000 --210.0000;119.0000 --210.0000;119.5000 --210.0000;120.0000 --210.0000;120.5000 --210.0000;121.0000 --210.0000;121.5000 --210.0000;122.0000 --210.0000;122.5000 --210.0000;123.0000 --210.0000;123.5000 --210.0000;124.0000 --210.0000;124.5000 --210.0000;125.0000 --210.0000;125.5000 --210.0000;126.0000 --210.0000;126.5000 --210.0000;127.0000 --210.0000;127.5000 --210.0000;128.0000 --210.0000;128.5000 --210.0000;129.0000 --210.0000;129.5000 --210.0000;130.0000 --210.0000;130.5000 --210.0000;131.0000 --210.0000;131.5000 --210.0000;132.0000 --210.0000;132.5000 --210.0000;133.0000 --210.0000;133.5000 --210.0000;134.0000 --209.5000;-246.0000 --209.5000;-245.5000 --209.5000;-245.0000 --209.5000;-244.5000 --209.5000;-244.0000 --209.5000;-243.5000 --209.5000;-243.0000 --209.5000;-242.5000 --209.5000;-242.0000 --209.5000;-241.5000 --209.5000;-241.0000 --209.5000;-240.5000 --209.5000;-240.0000 --209.5000;-239.5000 --209.5000;-239.0000 --209.5000;-238.5000 --209.5000;-238.0000 --209.5000;-237.5000 --209.5000;-237.0000 --209.5000;-236.5000 --209.5000;-236.0000 --209.5000;-235.5000 --209.5000;-235.0000 --209.5000;-234.5000 --209.5000;-234.0000 --209.5000;-233.5000 --209.5000;-233.0000 --209.5000;-130.5000 --209.5000;-130.0000 --209.5000;-129.5000 --209.5000;-129.0000 --209.5000;-128.5000 --209.5000;-128.0000 --209.5000;-127.5000 --209.5000;-127.0000 --209.5000;-126.5000 --209.5000;-126.0000 --209.5000;-125.5000 --209.5000;-125.0000 --209.5000;-124.5000 --209.5000;-124.0000 --209.5000;-123.5000 --209.5000;-123.0000 --209.5000;-122.5000 --209.5000;-122.0000 --209.5000;-121.5000 --209.5000;-121.0000 --209.5000;-120.5000 --209.5000;-120.0000 --209.5000;-119.5000 --209.5000;-119.0000 --209.5000;-118.5000 --209.5000;-68.5000 --209.5000;-68.0000 --209.5000;-67.5000 --209.5000;-67.0000 --209.5000;-66.5000 --209.5000;-66.0000 --209.5000;-65.5000 --209.5000;-65.0000 --209.5000;-64.5000 --209.5000;-64.0000 --209.5000;-63.5000 --209.5000;-63.0000 --209.5000;-62.5000 --209.5000;-62.0000 --209.5000;-61.5000 --209.5000;-61.0000 --209.5000;-60.5000 --209.5000;-60.0000 --209.5000;-59.5000 --209.5000;-59.0000 --209.5000;-58.5000 --209.5000;-58.0000 --209.5000;-57.5000 --209.5000;-57.0000 --209.5000;-56.5000 --209.5000;-56.0000 --209.5000;-55.5000 --209.5000;116.0000 --209.5000;116.5000 --209.5000;117.0000 --209.5000;117.5000 --209.5000;118.0000 --209.5000;118.5000 --209.5000;119.0000 --209.5000;119.5000 --209.5000;120.0000 --209.5000;120.5000 --209.5000;121.0000 --209.5000;121.5000 --209.5000;122.0000 --209.5000;122.5000 --209.5000;123.0000 --209.5000;123.5000 --209.5000;124.0000 --209.5000;124.5000 --209.5000;125.0000 --209.5000;125.5000 --209.5000;126.0000 --209.5000;126.5000 --209.5000;127.0000 --209.5000;127.5000 --209.5000;128.0000 --209.5000;128.5000 --209.5000;129.0000 --209.5000;129.5000 --209.5000;130.0000 --209.5000;130.5000 --209.5000;131.0000 --209.5000;131.5000 --209.5000;132.0000 --209.5000;132.5000 --209.5000;133.0000 --209.5000;133.5000 --209.5000;134.0000 --209.0000;-246.0000 --209.0000;-245.5000 --209.0000;-245.0000 --209.0000;-244.5000 --209.0000;-244.0000 --209.0000;-243.5000 --209.0000;-243.0000 --209.0000;-242.5000 --209.0000;-242.0000 --209.0000;-241.5000 --209.0000;-241.0000 --209.0000;-240.5000 --209.0000;-240.0000 --209.0000;-239.5000 --209.0000;-239.0000 --209.0000;-238.5000 --209.0000;-238.0000 --209.0000;-237.5000 --209.0000;-237.0000 --209.0000;-236.5000 --209.0000;-236.0000 --209.0000;-235.5000 --209.0000;-235.0000 --209.0000;-234.5000 --209.0000;-234.0000 --209.0000;-233.5000 --209.0000;-130.5000 --209.0000;-130.0000 --209.0000;-129.5000 --209.0000;-129.0000 --209.0000;-128.5000 --209.0000;-128.0000 --209.0000;-127.5000 --209.0000;-127.0000 --209.0000;-126.5000 --209.0000;-126.0000 --209.0000;-125.5000 --209.0000;-125.0000 --209.0000;-124.5000 --209.0000;-124.0000 --209.0000;-123.5000 --209.0000;-123.0000 --209.0000;-122.5000 --209.0000;-122.0000 --209.0000;-121.5000 --209.0000;-121.0000 --209.0000;-120.5000 --209.0000;-120.0000 --209.0000;-119.5000 --209.0000;-119.0000 --209.0000;-118.5000 --209.0000;-68.5000 --209.0000;-68.0000 --209.0000;-67.5000 --209.0000;-67.0000 --209.0000;-66.5000 --209.0000;-66.0000 --209.0000;-65.5000 --209.0000;-65.0000 --209.0000;-64.5000 --209.0000;-64.0000 --209.0000;-63.5000 --209.0000;-63.0000 --209.0000;-62.5000 --209.0000;-62.0000 --209.0000;-61.5000 --209.0000;-61.0000 --209.0000;-60.5000 --209.0000;-60.0000 --209.0000;-59.5000 --209.0000;-59.0000 --209.0000;-58.5000 --209.0000;-58.0000 --209.0000;-57.5000 --209.0000;-57.0000 --209.0000;-56.5000 --209.0000;-56.0000 --209.0000;-55.5000 --209.0000;117.0000 --209.0000;117.5000 --209.0000;118.0000 --209.0000;118.5000 --209.0000;119.0000 --209.0000;119.5000 --209.0000;120.0000 --209.0000;120.5000 --209.0000;121.0000 --209.0000;121.5000 --209.0000;122.0000 --209.0000;122.5000 --209.0000;123.0000 --209.0000;123.5000 --209.0000;124.0000 --209.0000;124.5000 --209.0000;125.0000 --209.0000;125.5000 --209.0000;126.0000 --209.0000;126.5000 --209.0000;127.0000 --209.0000;127.5000 --209.0000;128.0000 --209.0000;128.5000 --209.0000;129.0000 --209.0000;129.5000 --209.0000;130.0000 --209.0000;130.5000 --209.0000;131.0000 --209.0000;131.5000 --209.0000;132.0000 --209.0000;132.5000 --209.0000;133.0000 --209.0000;133.5000 --209.0000;134.0000 --209.0000;134.5000 --208.5000;-246.5000 --208.5000;-246.0000 --208.5000;-245.5000 --208.5000;-245.0000 --208.5000;-244.5000 --208.5000;-244.0000 --208.5000;-243.5000 --208.5000;-243.0000 --208.5000;-242.5000 --208.5000;-242.0000 --208.5000;-241.5000 --208.5000;-241.0000 --208.5000;-240.5000 --208.5000;-240.0000 --208.5000;-239.5000 --208.5000;-239.0000 --208.5000;-238.5000 --208.5000;-238.0000 --208.5000;-237.5000 --208.5000;-237.0000 --208.5000;-236.5000 --208.5000;-236.0000 --208.5000;-235.5000 --208.5000;-235.0000 --208.5000;-234.5000 --208.5000;-234.0000 --208.5000;-233.5000 --208.5000;-130.5000 --208.5000;-130.0000 --208.5000;-129.5000 --208.5000;-129.0000 --208.5000;-128.5000 --208.5000;-128.0000 --208.5000;-127.5000 --208.5000;-127.0000 --208.5000;-126.5000 --208.5000;-126.0000 --208.5000;-125.5000 --208.5000;-125.0000 --208.5000;-124.5000 --208.5000;-124.0000 --208.5000;-123.5000 --208.5000;-123.0000 --208.5000;-122.5000 --208.5000;-122.0000 --208.5000;-121.5000 --208.5000;-121.0000 --208.5000;-120.5000 --208.5000;-120.0000 --208.5000;-119.5000 --208.5000;-119.0000 --208.5000;-118.5000 --208.5000;-68.0000 --208.5000;-67.5000 --208.5000;-67.0000 --208.5000;-66.5000 --208.5000;-66.0000 --208.5000;-65.5000 --208.5000;-65.0000 --208.5000;-64.5000 --208.5000;-64.0000 --208.5000;-63.5000 --208.5000;-63.0000 --208.5000;-62.5000 --208.5000;-62.0000 --208.5000;-61.5000 --208.5000;-61.0000 --208.5000;-60.5000 --208.5000;-60.0000 --208.5000;-59.5000 --208.5000;-59.0000 --208.5000;-58.5000 --208.5000;-58.0000 --208.5000;-57.5000 --208.5000;-57.0000 --208.5000;-56.5000 --208.5000;-56.0000 --208.5000;-55.5000 --208.5000;-55.0000 --208.5000;118.0000 --208.5000;118.5000 --208.5000;119.0000 --208.5000;119.5000 --208.5000;120.0000 --208.5000;120.5000 --208.5000;121.0000 --208.5000;121.5000 --208.5000;122.0000 --208.5000;122.5000 --208.5000;123.0000 --208.5000;123.5000 --208.5000;124.0000 --208.5000;124.5000 --208.5000;125.0000 --208.5000;125.5000 --208.5000;126.0000 --208.5000;126.5000 --208.5000;127.0000 --208.5000;127.5000 --208.5000;128.0000 --208.5000;128.5000 --208.5000;129.0000 --208.5000;129.5000 --208.5000;130.0000 --208.5000;130.5000 --208.5000;131.0000 --208.5000;131.5000 --208.5000;132.0000 --208.5000;132.5000 --208.5000;133.0000 --208.5000;133.5000 --208.5000;134.0000 --208.5000;134.5000 --208.0000;-246.5000 --208.0000;-246.0000 --208.0000;-245.5000 --208.0000;-245.0000 --208.0000;-244.5000 --208.0000;-244.0000 --208.0000;-243.5000 --208.0000;-243.0000 --208.0000;-242.5000 --208.0000;-242.0000 --208.0000;-241.5000 --208.0000;-241.0000 --208.0000;-240.5000 --208.0000;-240.0000 --208.0000;-239.5000 --208.0000;-239.0000 --208.0000;-238.5000 --208.0000;-238.0000 --208.0000;-237.5000 --208.0000;-237.0000 --208.0000;-236.5000 --208.0000;-236.0000 --208.0000;-235.5000 --208.0000;-235.0000 --208.0000;-234.5000 --208.0000;-234.0000 --208.0000;-130.5000 --208.0000;-130.0000 --208.0000;-129.5000 --208.0000;-129.0000 --208.0000;-128.5000 --208.0000;-128.0000 --208.0000;-127.5000 --208.0000;-127.0000 --208.0000;-126.5000 --208.0000;-126.0000 --208.0000;-125.5000 --208.0000;-125.0000 --208.0000;-124.5000 --208.0000;-124.0000 --208.0000;-123.5000 --208.0000;-123.0000 --208.0000;-122.5000 --208.0000;-122.0000 --208.0000;-121.5000 --208.0000;-121.0000 --208.0000;-120.5000 --208.0000;-120.0000 --208.0000;-119.5000 --208.0000;-119.0000 --208.0000;-118.5000 --208.0000;-68.0000 --208.0000;-67.5000 --208.0000;-67.0000 --208.0000;-66.5000 --208.0000;-66.0000 --208.0000;-65.5000 --208.0000;-65.0000 --208.0000;-64.5000 --208.0000;-64.0000 --208.0000;-63.5000 --208.0000;-63.0000 --208.0000;-62.5000 --208.0000;-62.0000 --208.0000;-61.5000 --208.0000;-61.0000 --208.0000;-60.5000 --208.0000;-60.0000 --208.0000;-59.5000 --208.0000;-59.0000 --208.0000;-58.5000 --208.0000;-58.0000 --208.0000;-57.5000 --208.0000;-57.0000 --208.0000;-56.5000 --208.0000;-56.0000 --208.0000;-55.5000 --208.0000;-55.0000 --208.0000;119.0000 --208.0000;119.5000 --208.0000;120.0000 --208.0000;120.5000 --208.0000;121.0000 --208.0000;121.5000 --208.0000;122.0000 --208.0000;122.5000 --208.0000;123.0000 --208.0000;123.5000 --208.0000;124.0000 --208.0000;124.5000 --208.0000;125.0000 --208.0000;125.5000 --208.0000;126.0000 --208.0000;126.5000 --208.0000;127.0000 --208.0000;127.5000 --208.0000;128.0000 --208.0000;128.5000 --208.0000;129.0000 --208.0000;129.5000 --208.0000;130.0000 --208.0000;130.5000 --208.0000;131.0000 --208.0000;131.5000 --208.0000;132.0000 --208.0000;132.5000 --208.0000;133.0000 --208.0000;133.5000 --208.0000;134.0000 --208.0000;134.5000 --208.0000;135.0000 --207.5000;-246.5000 --207.5000;-246.0000 --207.5000;-245.5000 --207.5000;-245.0000 --207.5000;-244.5000 --207.5000;-244.0000 --207.5000;-243.5000 --207.5000;-243.0000 --207.5000;-242.5000 --207.5000;-242.0000 --207.5000;-241.5000 --207.5000;-241.0000 --207.5000;-240.5000 --207.5000;-240.0000 --207.5000;-239.5000 --207.5000;-239.0000 --207.5000;-238.5000 --207.5000;-238.0000 --207.5000;-237.5000 --207.5000;-237.0000 --207.5000;-236.5000 --207.5000;-236.0000 --207.5000;-235.5000 --207.5000;-235.0000 --207.5000;-234.5000 --207.5000;-234.0000 --207.5000;-130.5000 --207.5000;-130.0000 --207.5000;-129.5000 --207.5000;-129.0000 --207.5000;-128.5000 --207.5000;-128.0000 --207.5000;-127.5000 --207.5000;-127.0000 --207.5000;-126.5000 --207.5000;-126.0000 --207.5000;-125.5000 --207.5000;-125.0000 --207.5000;-124.5000 --207.5000;-124.0000 --207.5000;-123.5000 --207.5000;-123.0000 --207.5000;-122.5000 --207.5000;-122.0000 --207.5000;-121.5000 --207.5000;-121.0000 --207.5000;-120.5000 --207.5000;-120.0000 --207.5000;-119.5000 --207.5000;-119.0000 --207.5000;-67.5000 --207.5000;-67.0000 --207.5000;-66.5000 --207.5000;-66.0000 --207.5000;-65.5000 --207.5000;-65.0000 --207.5000;-64.5000 --207.5000;-64.0000 --207.5000;-63.5000 --207.5000;-63.0000 --207.5000;-62.5000 --207.5000;-62.0000 --207.5000;-61.5000 --207.5000;-61.0000 --207.5000;-60.5000 --207.5000;-60.0000 --207.5000;-59.5000 --207.5000;-59.0000 --207.5000;-58.5000 --207.5000;-58.0000 --207.5000;-57.5000 --207.5000;-57.0000 --207.5000;-56.5000 --207.5000;-56.0000 --207.5000;-55.5000 --207.5000;-55.0000 --207.5000;-54.5000 --207.5000;119.5000 --207.5000;120.0000 --207.5000;120.5000 --207.5000;121.0000 --207.5000;121.5000 --207.5000;122.0000 --207.5000;122.5000 --207.5000;123.0000 --207.5000;123.5000 --207.5000;124.0000 --207.5000;124.5000 --207.5000;125.0000 --207.5000;125.5000 --207.5000;126.0000 --207.5000;126.5000 --207.5000;127.0000 --207.5000;127.5000 --207.5000;128.0000 --207.5000;128.5000 --207.5000;129.0000 --207.5000;129.5000 --207.5000;130.0000 --207.5000;130.5000 --207.5000;131.0000 --207.5000;131.5000 --207.5000;132.0000 --207.5000;132.5000 --207.5000;133.0000 --207.5000;133.5000 --207.5000;134.0000 --207.5000;134.5000 --207.5000;135.0000 --207.0000;-247.0000 --207.0000;-246.5000 --207.0000;-246.0000 --207.0000;-245.5000 --207.0000;-245.0000 --207.0000;-244.5000 --207.0000;-244.0000 --207.0000;-243.5000 --207.0000;-243.0000 --207.0000;-242.5000 --207.0000;-242.0000 --207.0000;-241.5000 --207.0000;-241.0000 --207.0000;-240.5000 --207.0000;-240.0000 --207.0000;-239.5000 --207.0000;-239.0000 --207.0000;-238.5000 --207.0000;-238.0000 --207.0000;-237.5000 --207.0000;-237.0000 --207.0000;-236.5000 --207.0000;-236.0000 --207.0000;-235.5000 --207.0000;-235.0000 --207.0000;-234.5000 --207.0000;-234.0000 --207.0000;-130.5000 --207.0000;-130.0000 --207.0000;-129.5000 --207.0000;-129.0000 --207.0000;-128.5000 --207.0000;-128.0000 --207.0000;-127.5000 --207.0000;-127.0000 --207.0000;-126.5000 --207.0000;-126.0000 --207.0000;-125.5000 --207.0000;-125.0000 --207.0000;-124.5000 --207.0000;-124.0000 --207.0000;-123.5000 --207.0000;-123.0000 --207.0000;-122.5000 --207.0000;-122.0000 --207.0000;-121.5000 --207.0000;-121.0000 --207.0000;-120.5000 --207.0000;-120.0000 --207.0000;-119.5000 --207.0000;-119.0000 --207.0000;-67.5000 --207.0000;-67.0000 --207.0000;-66.5000 --207.0000;-66.0000 --207.0000;-65.5000 --207.0000;-65.0000 --207.0000;-64.5000 --207.0000;-64.0000 --207.0000;-63.5000 --207.0000;-63.0000 --207.0000;-62.5000 --207.0000;-62.0000 --207.0000;-61.5000 --207.0000;-61.0000 --207.0000;-60.5000 --207.0000;-60.0000 --207.0000;-59.5000 --207.0000;-59.0000 --207.0000;-58.5000 --207.0000;-58.0000 --207.0000;-57.5000 --207.0000;-57.0000 --207.0000;-56.5000 --207.0000;-56.0000 --207.0000;-55.5000 --207.0000;-55.0000 --207.0000;-54.5000 --207.0000;120.5000 --207.0000;121.0000 --207.0000;121.5000 --207.0000;122.0000 --207.0000;122.5000 --207.0000;123.0000 --207.0000;123.5000 --207.0000;124.0000 --207.0000;124.5000 --207.0000;125.0000 --207.0000;125.5000 --207.0000;126.0000 --207.0000;126.5000 --207.0000;127.0000 --207.0000;127.5000 --207.0000;128.0000 --207.0000;128.5000 --207.0000;129.0000 --207.0000;129.5000 --207.0000;130.0000 --207.0000;130.5000 --207.0000;131.0000 --207.0000;131.5000 --207.0000;132.0000 --207.0000;132.5000 --207.0000;133.0000 --207.0000;133.5000 --207.0000;134.0000 --207.0000;134.5000 --207.0000;135.0000 --207.0000;135.5000 --206.5000;-247.0000 --206.5000;-246.5000 --206.5000;-246.0000 --206.5000;-245.5000 --206.5000;-245.0000 --206.5000;-244.5000 --206.5000;-244.0000 --206.5000;-243.5000 --206.5000;-243.0000 --206.5000;-242.5000 --206.5000;-242.0000 --206.5000;-241.5000 --206.5000;-241.0000 --206.5000;-240.5000 --206.5000;-240.0000 --206.5000;-239.5000 --206.5000;-239.0000 --206.5000;-238.5000 --206.5000;-238.0000 --206.5000;-237.5000 --206.5000;-237.0000 --206.5000;-236.5000 --206.5000;-236.0000 --206.5000;-235.5000 --206.5000;-235.0000 --206.5000;-234.5000 --206.5000;-131.0000 --206.5000;-130.5000 --206.5000;-130.0000 --206.5000;-129.5000 --206.5000;-129.0000 --206.5000;-128.5000 --206.5000;-128.0000 --206.5000;-127.5000 --206.5000;-127.0000 --206.5000;-126.5000 --206.5000;-126.0000 --206.5000;-125.5000 --206.5000;-125.0000 --206.5000;-124.5000 --206.5000;-124.0000 --206.5000;-123.5000 --206.5000;-123.0000 --206.5000;-122.5000 --206.5000;-122.0000 --206.5000;-121.5000 --206.5000;-121.0000 --206.5000;-120.5000 --206.5000;-120.0000 --206.5000;-119.5000 --206.5000;-119.0000 --206.5000;-67.0000 --206.5000;-66.5000 --206.5000;-66.0000 --206.5000;-65.5000 --206.5000;-65.0000 --206.5000;-64.5000 --206.5000;-64.0000 --206.5000;-63.5000 --206.5000;-63.0000 --206.5000;-62.5000 --206.5000;-62.0000 --206.5000;-61.5000 --206.5000;-61.0000 --206.5000;-60.5000 --206.5000;-60.0000 --206.5000;-59.5000 --206.5000;-59.0000 --206.5000;-58.5000 --206.5000;-58.0000 --206.5000;-57.5000 --206.5000;-57.0000 --206.5000;-56.5000 --206.5000;-56.0000 --206.5000;-55.5000 --206.5000;-55.0000 --206.5000;-54.5000 --206.5000;-54.0000 --206.5000;121.0000 --206.5000;121.5000 --206.5000;122.0000 --206.5000;122.5000 --206.5000;123.0000 --206.5000;123.5000 --206.5000;124.0000 --206.5000;124.5000 --206.5000;125.0000 --206.5000;125.5000 --206.5000;126.0000 --206.5000;126.5000 --206.5000;127.0000 --206.5000;127.5000 --206.5000;128.0000 --206.5000;128.5000 --206.5000;129.0000 --206.5000;129.5000 --206.5000;130.0000 --206.5000;130.5000 --206.5000;131.0000 --206.5000;131.5000 --206.5000;132.0000 --206.5000;132.5000 --206.5000;133.0000 --206.5000;133.5000 --206.5000;134.0000 --206.5000;134.5000 --206.5000;135.0000 --206.5000;135.5000 --206.0000;-247.5000 --206.0000;-247.0000 --206.0000;-246.5000 --206.0000;-246.0000 --206.0000;-245.5000 --206.0000;-245.0000 --206.0000;-244.5000 --206.0000;-244.0000 --206.0000;-243.5000 --206.0000;-243.0000 --206.0000;-242.5000 --206.0000;-242.0000 --206.0000;-241.5000 --206.0000;-241.0000 --206.0000;-240.5000 --206.0000;-240.0000 --206.0000;-239.5000 --206.0000;-239.0000 --206.0000;-238.5000 --206.0000;-238.0000 --206.0000;-237.5000 --206.0000;-237.0000 --206.0000;-236.5000 --206.0000;-236.0000 --206.0000;-235.5000 --206.0000;-235.0000 --206.0000;-234.5000 --206.0000;-131.0000 --206.0000;-130.5000 --206.0000;-130.0000 --206.0000;-129.5000 --206.0000;-129.0000 --206.0000;-128.5000 --206.0000;-128.0000 --206.0000;-127.5000 --206.0000;-127.0000 --206.0000;-126.5000 --206.0000;-126.0000 --206.0000;-125.5000 --206.0000;-125.0000 --206.0000;-124.5000 --206.0000;-124.0000 --206.0000;-123.5000 --206.0000;-123.0000 --206.0000;-122.5000 --206.0000;-122.0000 --206.0000;-121.5000 --206.0000;-121.0000 --206.0000;-120.5000 --206.0000;-120.0000 --206.0000;-119.5000 --206.0000;-119.0000 --206.0000;-67.0000 --206.0000;-66.5000 --206.0000;-66.0000 --206.0000;-65.5000 --206.0000;-65.0000 --206.0000;-64.5000 --206.0000;-64.0000 --206.0000;-63.5000 --206.0000;-63.0000 --206.0000;-62.5000 --206.0000;-62.0000 --206.0000;-61.5000 --206.0000;-61.0000 --206.0000;-60.5000 --206.0000;-60.0000 --206.0000;-59.5000 --206.0000;-59.0000 --206.0000;-58.5000 --206.0000;-58.0000 --206.0000;-57.5000 --206.0000;-57.0000 --206.0000;-56.5000 --206.0000;-56.0000 --206.0000;-55.5000 --206.0000;-55.0000 --206.0000;-54.5000 --206.0000;-54.0000 --206.0000;121.5000 --206.0000;122.0000 --206.0000;122.5000 --206.0000;123.0000 --206.0000;123.5000 --206.0000;124.0000 --206.0000;124.5000 --206.0000;125.0000 --206.0000;125.5000 --206.0000;126.0000 --206.0000;126.5000 --206.0000;127.0000 --206.0000;127.5000 --206.0000;128.0000 --206.0000;128.5000 --206.0000;129.0000 --206.0000;129.5000 --206.0000;130.0000 --206.0000;130.5000 --206.0000;131.0000 --206.0000;131.5000 --206.0000;132.0000 --206.0000;132.5000 --206.0000;133.0000 --206.0000;133.5000 --206.0000;134.0000 --206.0000;134.5000 --206.0000;135.0000 --206.0000;135.5000 --205.5000;-247.5000 --205.5000;-247.0000 --205.5000;-246.5000 --205.5000;-246.0000 --205.5000;-245.5000 --205.5000;-245.0000 --205.5000;-244.5000 --205.5000;-244.0000 --205.5000;-243.5000 --205.5000;-243.0000 --205.5000;-242.5000 --205.5000;-242.0000 --205.5000;-241.5000 --205.5000;-241.0000 --205.5000;-240.5000 --205.5000;-240.0000 --205.5000;-239.5000 --205.5000;-239.0000 --205.5000;-238.5000 --205.5000;-238.0000 --205.5000;-237.5000 --205.5000;-237.0000 --205.5000;-236.5000 --205.5000;-236.0000 --205.5000;-235.5000 --205.5000;-235.0000 --205.5000;-234.5000 --205.5000;-131.0000 --205.5000;-130.5000 --205.5000;-130.0000 --205.5000;-129.5000 --205.5000;-129.0000 --205.5000;-128.5000 --205.5000;-128.0000 --205.5000;-127.5000 --205.5000;-127.0000 --205.5000;-126.5000 --205.5000;-126.0000 --205.5000;-125.5000 --205.5000;-125.0000 --205.5000;-124.5000 --205.5000;-124.0000 --205.5000;-123.5000 --205.5000;-123.0000 --205.5000;-122.5000 --205.5000;-122.0000 --205.5000;-121.5000 --205.5000;-121.0000 --205.5000;-120.5000 --205.5000;-120.0000 --205.5000;-119.5000 --205.5000;-119.0000 --205.5000;-66.5000 --205.5000;-66.0000 --205.5000;-65.5000 --205.5000;-65.0000 --205.5000;-64.5000 --205.5000;-64.0000 --205.5000;-63.5000 --205.5000;-63.0000 --205.5000;-62.5000 --205.5000;-62.0000 --205.5000;-61.5000 --205.5000;-61.0000 --205.5000;-60.5000 --205.5000;-60.0000 --205.5000;-59.5000 --205.5000;-59.0000 --205.5000;-58.5000 --205.5000;-58.0000 --205.5000;-57.5000 --205.5000;-57.0000 --205.5000;-56.5000 --205.5000;-56.0000 --205.5000;-55.5000 --205.5000;-55.0000 --205.5000;-54.5000 --205.5000;-54.0000 --205.5000;-53.5000 --205.5000;122.0000 --205.5000;122.5000 --205.5000;123.0000 --205.5000;123.5000 --205.5000;124.0000 --205.5000;124.5000 --205.5000;125.0000 --205.5000;125.5000 --205.5000;126.0000 --205.5000;126.5000 --205.5000;127.0000 --205.5000;127.5000 --205.5000;128.0000 --205.5000;128.5000 --205.5000;129.0000 --205.5000;129.5000 --205.5000;130.0000 --205.5000;130.5000 --205.5000;131.0000 --205.5000;131.5000 --205.5000;132.0000 --205.5000;132.5000 --205.5000;133.0000 --205.5000;133.5000 --205.5000;134.0000 --205.5000;134.5000 --205.5000;135.0000 --205.5000;135.5000 --205.5000;136.0000 --205.0000;-247.5000 --205.0000;-247.0000 --205.0000;-246.5000 --205.0000;-246.0000 --205.0000;-245.5000 --205.0000;-245.0000 --205.0000;-244.5000 --205.0000;-244.0000 --205.0000;-243.5000 --205.0000;-243.0000 --205.0000;-242.5000 --205.0000;-242.0000 --205.0000;-241.5000 --205.0000;-241.0000 --205.0000;-240.5000 --205.0000;-240.0000 --205.0000;-239.5000 --205.0000;-239.0000 --205.0000;-238.5000 --205.0000;-238.0000 --205.0000;-237.5000 --205.0000;-237.0000 --205.0000;-236.5000 --205.0000;-236.0000 --205.0000;-235.5000 --205.0000;-235.0000 --205.0000;-131.0000 --205.0000;-130.5000 --205.0000;-130.0000 --205.0000;-129.5000 --205.0000;-129.0000 --205.0000;-128.5000 --205.0000;-128.0000 --205.0000;-127.5000 --205.0000;-127.0000 --205.0000;-126.5000 --205.0000;-126.0000 --205.0000;-125.5000 --205.0000;-125.0000 --205.0000;-124.5000 --205.0000;-124.0000 --205.0000;-123.5000 --205.0000;-123.0000 --205.0000;-122.5000 --205.0000;-122.0000 --205.0000;-121.5000 --205.0000;-121.0000 --205.0000;-120.5000 --205.0000;-120.0000 --205.0000;-119.5000 --205.0000;-119.0000 --205.0000;-66.5000 --205.0000;-66.0000 --205.0000;-65.5000 --205.0000;-65.0000 --205.0000;-64.5000 --205.0000;-64.0000 --205.0000;-63.5000 --205.0000;-63.0000 --205.0000;-62.5000 --205.0000;-62.0000 --205.0000;-61.5000 --205.0000;-61.0000 --205.0000;-60.5000 --205.0000;-60.0000 --205.0000;-59.5000 --205.0000;-59.0000 --205.0000;-58.5000 --205.0000;-58.0000 --205.0000;-57.5000 --205.0000;-57.0000 --205.0000;-56.5000 --205.0000;-56.0000 --205.0000;-55.5000 --205.0000;-55.0000 --205.0000;-54.5000 --205.0000;-54.0000 --205.0000;-53.5000 --205.0000;122.5000 --205.0000;123.0000 --205.0000;123.5000 --205.0000;124.0000 --205.0000;124.5000 --205.0000;125.0000 --205.0000;125.5000 --205.0000;126.0000 --205.0000;126.5000 --205.0000;127.0000 --205.0000;127.5000 --205.0000;128.0000 --205.0000;128.5000 --205.0000;129.0000 --205.0000;129.5000 --205.0000;130.0000 --205.0000;130.5000 --205.0000;131.0000 --205.0000;131.5000 --205.0000;132.0000 --205.0000;132.5000 --205.0000;133.0000 --205.0000;133.5000 --205.0000;134.0000 --205.0000;134.5000 --205.0000;135.0000 --205.0000;135.5000 --205.0000;136.0000 --204.5000;-248.0000 --204.5000;-247.5000 --204.5000;-247.0000 --204.5000;-246.5000 --204.5000;-246.0000 --204.5000;-245.5000 --204.5000;-245.0000 --204.5000;-244.5000 --204.5000;-244.0000 --204.5000;-243.5000 --204.5000;-243.0000 --204.5000;-242.5000 --204.5000;-242.0000 --204.5000;-241.5000 --204.5000;-241.0000 --204.5000;-240.5000 --204.5000;-240.0000 --204.5000;-239.5000 --204.5000;-239.0000 --204.5000;-238.5000 --204.5000;-238.0000 --204.5000;-237.5000 --204.5000;-237.0000 --204.5000;-236.5000 --204.5000;-236.0000 --204.5000;-235.5000 --204.5000;-235.0000 --204.5000;-131.0000 --204.5000;-130.5000 --204.5000;-130.0000 --204.5000;-129.5000 --204.5000;-129.0000 --204.5000;-128.5000 --204.5000;-128.0000 --204.5000;-127.5000 --204.5000;-127.0000 --204.5000;-126.5000 --204.5000;-126.0000 --204.5000;-125.5000 --204.5000;-125.0000 --204.5000;-124.5000 --204.5000;-124.0000 --204.5000;-123.5000 --204.5000;-123.0000 --204.5000;-122.5000 --204.5000;-122.0000 --204.5000;-121.5000 --204.5000;-121.0000 --204.5000;-120.5000 --204.5000;-120.0000 --204.5000;-119.5000 --204.5000;-119.0000 --204.5000;-66.0000 --204.5000;-65.5000 --204.5000;-65.0000 --204.5000;-64.5000 --204.5000;-64.0000 --204.5000;-63.5000 --204.5000;-63.0000 --204.5000;-62.5000 --204.5000;-62.0000 --204.5000;-61.5000 --204.5000;-61.0000 --204.5000;-60.5000 --204.5000;-60.0000 --204.5000;-59.5000 --204.5000;-59.0000 --204.5000;-58.5000 --204.5000;-58.0000 --204.5000;-57.5000 --204.5000;-57.0000 --204.5000;-56.5000 --204.5000;-56.0000 --204.5000;-55.5000 --204.5000;-55.0000 --204.5000;-54.5000 --204.5000;-54.0000 --204.5000;-53.5000 --204.5000;123.0000 --204.5000;123.5000 --204.5000;124.0000 --204.5000;124.5000 --204.5000;125.0000 --204.5000;125.5000 --204.5000;126.0000 --204.5000;126.5000 --204.5000;127.0000 --204.5000;127.5000 --204.5000;128.0000 --204.5000;128.5000 --204.5000;129.0000 --204.5000;129.5000 --204.5000;130.0000 --204.5000;130.5000 --204.5000;131.0000 --204.5000;131.5000 --204.5000;132.0000 --204.5000;132.5000 --204.5000;133.0000 --204.5000;133.5000 --204.5000;134.0000 --204.5000;134.5000 --204.5000;135.0000 --204.5000;135.5000 --204.5000;136.0000 --204.0000;-248.0000 --204.0000;-247.5000 --204.0000;-247.0000 --204.0000;-246.5000 --204.0000;-246.0000 --204.0000;-245.5000 --204.0000;-245.0000 --204.0000;-244.5000 --204.0000;-244.0000 --204.0000;-243.5000 --204.0000;-243.0000 --204.0000;-242.5000 --204.0000;-242.0000 --204.0000;-241.5000 --204.0000;-241.0000 --204.0000;-240.5000 --204.0000;-240.0000 --204.0000;-239.5000 --204.0000;-239.0000 --204.0000;-238.5000 --204.0000;-238.0000 --204.0000;-237.5000 --204.0000;-237.0000 --204.0000;-236.5000 --204.0000;-236.0000 --204.0000;-235.5000 --204.0000;-131.0000 --204.0000;-130.5000 --204.0000;-130.0000 --204.0000;-129.5000 --204.0000;-129.0000 --204.0000;-128.5000 --204.0000;-128.0000 --204.0000;-127.5000 --204.0000;-127.0000 --204.0000;-126.5000 --204.0000;-126.0000 --204.0000;-125.5000 --204.0000;-125.0000 --204.0000;-124.5000 --204.0000;-124.0000 --204.0000;-123.5000 --204.0000;-123.0000 --204.0000;-122.5000 --204.0000;-122.0000 --204.0000;-121.5000 --204.0000;-121.0000 --204.0000;-120.5000 --204.0000;-120.0000 --204.0000;-119.5000 --204.0000;-119.0000 --204.0000;-65.5000 --204.0000;-65.0000 --204.0000;-64.5000 --204.0000;-64.0000 --204.0000;-63.5000 --204.0000;-63.0000 --204.0000;-62.5000 --204.0000;-62.0000 --204.0000;-61.5000 --204.0000;-61.0000 --204.0000;-60.5000 --204.0000;-60.0000 --204.0000;-59.5000 --204.0000;-59.0000 --204.0000;-58.5000 --204.0000;-58.0000 --204.0000;-57.5000 --204.0000;-57.0000 --204.0000;-56.5000 --204.0000;-56.0000 --204.0000;-55.5000 --204.0000;-55.0000 --204.0000;-54.5000 --204.0000;-54.0000 --204.0000;-53.5000 --204.0000;-53.0000 --204.0000;123.5000 --204.0000;124.0000 --204.0000;124.5000 --204.0000;125.0000 --204.0000;125.5000 --204.0000;126.0000 --204.0000;126.5000 --204.0000;127.0000 --204.0000;127.5000 --204.0000;128.0000 --204.0000;128.5000 --204.0000;129.0000 --204.0000;129.5000 --204.0000;130.0000 --204.0000;130.5000 --204.0000;131.0000 --204.0000;131.5000 --204.0000;132.0000 --204.0000;132.5000 --204.0000;133.0000 --204.0000;133.5000 --204.0000;134.0000 --204.0000;134.5000 --204.0000;135.0000 --204.0000;135.5000 --204.0000;136.0000 --204.0000;136.5000 --203.5000;-248.0000 --203.5000;-247.5000 --203.5000;-247.0000 --203.5000;-246.5000 --203.5000;-246.0000 --203.5000;-245.5000 --203.5000;-245.0000 --203.5000;-244.5000 --203.5000;-244.0000 --203.5000;-243.5000 --203.5000;-243.0000 --203.5000;-242.5000 --203.5000;-242.0000 --203.5000;-241.5000 --203.5000;-241.0000 --203.5000;-240.5000 --203.5000;-240.0000 --203.5000;-239.5000 --203.5000;-239.0000 --203.5000;-238.5000 --203.5000;-238.0000 --203.5000;-237.5000 --203.5000;-237.0000 --203.5000;-236.5000 --203.5000;-236.0000 --203.5000;-235.5000 --203.5000;-131.0000 --203.5000;-130.5000 --203.5000;-130.0000 --203.5000;-129.5000 --203.5000;-129.0000 --203.5000;-128.5000 --203.5000;-128.0000 --203.5000;-127.5000 --203.5000;-127.0000 --203.5000;-126.5000 --203.5000;-126.0000 --203.5000;-125.5000 --203.5000;-125.0000 --203.5000;-124.5000 --203.5000;-124.0000 --203.5000;-123.5000 --203.5000;-123.0000 --203.5000;-122.5000 --203.5000;-122.0000 --203.5000;-121.5000 --203.5000;-121.0000 --203.5000;-120.5000 --203.5000;-120.0000 --203.5000;-119.5000 --203.5000;-65.5000 --203.5000;-65.0000 --203.5000;-64.5000 --203.5000;-64.0000 --203.5000;-63.5000 --203.5000;-63.0000 --203.5000;-62.5000 --203.5000;-62.0000 --203.5000;-61.5000 --203.5000;-61.0000 --203.5000;-60.5000 --203.5000;-60.0000 --203.5000;-59.5000 --203.5000;-59.0000 --203.5000;-58.5000 --203.5000;-58.0000 --203.5000;-57.5000 --203.5000;-57.0000 --203.5000;-56.5000 --203.5000;-56.0000 --203.5000;-55.5000 --203.5000;-55.0000 --203.5000;-54.5000 --203.5000;-54.0000 --203.5000;-53.5000 --203.5000;-53.0000 --203.5000;123.5000 --203.5000;124.0000 --203.5000;124.5000 --203.5000;125.0000 --203.5000;125.5000 --203.5000;126.0000 --203.5000;126.5000 --203.5000;127.0000 --203.5000;127.5000 --203.5000;128.0000 --203.5000;128.5000 --203.5000;129.0000 --203.5000;129.5000 --203.5000;130.0000 --203.5000;130.5000 --203.5000;131.0000 --203.5000;131.5000 --203.5000;132.0000 --203.5000;132.5000 --203.5000;133.0000 --203.5000;133.5000 --203.5000;134.0000 --203.5000;134.5000 --203.5000;135.0000 --203.5000;135.5000 --203.5000;136.0000 --203.5000;136.5000 --203.0000;-248.5000 --203.0000;-248.0000 --203.0000;-247.5000 --203.0000;-247.0000 --203.0000;-246.5000 --203.0000;-246.0000 --203.0000;-245.5000 --203.0000;-245.0000 --203.0000;-244.5000 --203.0000;-244.0000 --203.0000;-243.5000 --203.0000;-243.0000 --203.0000;-242.5000 --203.0000;-242.0000 --203.0000;-241.5000 --203.0000;-241.0000 --203.0000;-240.5000 --203.0000;-240.0000 --203.0000;-239.5000 --203.0000;-239.0000 --203.0000;-238.5000 --203.0000;-238.0000 --203.0000;-237.5000 --203.0000;-237.0000 --203.0000;-236.5000 --203.0000;-236.0000 --203.0000;-235.5000 --203.0000;-131.0000 --203.0000;-130.5000 --203.0000;-130.0000 --203.0000;-129.5000 --203.0000;-129.0000 --203.0000;-128.5000 --203.0000;-128.0000 --203.0000;-127.5000 --203.0000;-127.0000 --203.0000;-126.5000 --203.0000;-126.0000 --203.0000;-125.5000 --203.0000;-125.0000 --203.0000;-124.5000 --203.0000;-124.0000 --203.0000;-123.5000 --203.0000;-123.0000 --203.0000;-122.5000 --203.0000;-122.0000 --203.0000;-121.5000 --203.0000;-121.0000 --203.0000;-120.5000 --203.0000;-120.0000 --203.0000;-119.5000 --203.0000;-65.0000 --203.0000;-64.5000 --203.0000;-64.0000 --203.0000;-63.5000 --203.0000;-63.0000 --203.0000;-62.5000 --203.0000;-62.0000 --203.0000;-61.5000 --203.0000;-61.0000 --203.0000;-60.5000 --203.0000;-60.0000 --203.0000;-59.5000 --203.0000;-59.0000 --203.0000;-58.5000 --203.0000;-58.0000 --203.0000;-57.5000 --203.0000;-57.0000 --203.0000;-56.5000 --203.0000;-56.0000 --203.0000;-55.5000 --203.0000;-55.0000 --203.0000;-54.5000 --203.0000;-54.0000 --203.0000;-53.5000 --203.0000;-53.0000 --203.0000;-52.5000 --203.0000;124.0000 --203.0000;124.5000 --203.0000;125.0000 --203.0000;125.5000 --203.0000;126.0000 --203.0000;126.5000 --203.0000;127.0000 --203.0000;127.5000 --203.0000;128.0000 --203.0000;128.5000 --203.0000;129.0000 --203.0000;129.5000 --203.0000;130.0000 --203.0000;130.5000 --203.0000;131.0000 --203.0000;131.5000 --203.0000;132.0000 --203.0000;132.5000 --203.0000;133.0000 --203.0000;133.5000 --203.0000;134.0000 --203.0000;134.5000 --203.0000;135.0000 --203.0000;135.5000 --203.0000;136.0000 --203.0000;136.5000 --202.5000;-248.5000 --202.5000;-248.0000 --202.5000;-247.5000 --202.5000;-247.0000 --202.5000;-246.5000 --202.5000;-246.0000 --202.5000;-245.5000 --202.5000;-245.0000 --202.5000;-244.5000 --202.5000;-244.0000 --202.5000;-243.5000 --202.5000;-243.0000 --202.5000;-242.5000 --202.5000;-242.0000 --202.5000;-241.5000 --202.5000;-241.0000 --202.5000;-240.5000 --202.5000;-240.0000 --202.5000;-239.5000 --202.5000;-239.0000 --202.5000;-238.5000 --202.5000;-238.0000 --202.5000;-237.5000 --202.5000;-237.0000 --202.5000;-236.5000 --202.5000;-236.0000 --202.5000;-131.5000 --202.5000;-131.0000 --202.5000;-130.5000 --202.5000;-130.0000 --202.5000;-129.5000 --202.5000;-129.0000 --202.5000;-128.5000 --202.5000;-128.0000 --202.5000;-127.5000 --202.5000;-127.0000 --202.5000;-126.5000 --202.5000;-126.0000 --202.5000;-125.5000 --202.5000;-125.0000 --202.5000;-124.5000 --202.5000;-124.0000 --202.5000;-123.5000 --202.5000;-123.0000 --202.5000;-122.5000 --202.5000;-122.0000 --202.5000;-121.5000 --202.5000;-121.0000 --202.5000;-120.5000 --202.5000;-120.0000 --202.5000;-119.5000 --202.5000;-65.0000 --202.5000;-64.5000 --202.5000;-64.0000 --202.5000;-63.5000 --202.5000;-63.0000 --202.5000;-62.5000 --202.5000;-62.0000 --202.5000;-61.5000 --202.5000;-61.0000 --202.5000;-60.5000 --202.5000;-60.0000 --202.5000;-59.5000 --202.5000;-59.0000 --202.5000;-58.5000 --202.5000;-58.0000 --202.5000;-57.5000 --202.5000;-57.0000 --202.5000;-56.5000 --202.5000;-56.0000 --202.5000;-55.5000 --202.5000;-55.0000 --202.5000;-54.5000 --202.5000;-54.0000 --202.5000;-53.5000 --202.5000;-53.0000 --202.5000;-52.5000 --202.5000;124.0000 --202.5000;124.5000 --202.5000;125.0000 --202.5000;125.5000 --202.5000;126.0000 --202.5000;126.5000 --202.5000;127.0000 --202.5000;127.5000 --202.5000;128.0000 --202.5000;128.5000 --202.5000;129.0000 --202.5000;129.5000 --202.5000;130.0000 --202.5000;130.5000 --202.5000;131.0000 --202.5000;131.5000 --202.5000;132.0000 --202.5000;132.5000 --202.5000;133.0000 --202.5000;133.5000 --202.5000;134.0000 --202.5000;134.5000 --202.5000;135.0000 --202.5000;135.5000 --202.5000;136.0000 --202.5000;136.5000 --202.5000;137.0000 --202.0000;-249.0000 --202.0000;-248.5000 --202.0000;-248.0000 --202.0000;-247.5000 --202.0000;-247.0000 --202.0000;-246.5000 --202.0000;-246.0000 --202.0000;-245.5000 --202.0000;-245.0000 --202.0000;-244.5000 --202.0000;-244.0000 --202.0000;-243.5000 --202.0000;-243.0000 --202.0000;-242.5000 --202.0000;-242.0000 --202.0000;-241.5000 --202.0000;-241.0000 --202.0000;-240.5000 --202.0000;-240.0000 --202.0000;-239.5000 --202.0000;-239.0000 --202.0000;-238.5000 --202.0000;-238.0000 --202.0000;-237.5000 --202.0000;-237.0000 --202.0000;-236.5000 --202.0000;-236.0000 --202.0000;-131.5000 --202.0000;-131.0000 --202.0000;-130.5000 --202.0000;-130.0000 --202.0000;-129.5000 --202.0000;-129.0000 --202.0000;-128.5000 --202.0000;-128.0000 --202.0000;-127.5000 --202.0000;-127.0000 --202.0000;-126.5000 --202.0000;-126.0000 --202.0000;-125.5000 --202.0000;-125.0000 --202.0000;-124.5000 --202.0000;-124.0000 --202.0000;-123.5000 --202.0000;-123.0000 --202.0000;-122.5000 --202.0000;-122.0000 --202.0000;-121.5000 --202.0000;-121.0000 --202.0000;-120.5000 --202.0000;-120.0000 --202.0000;-119.5000 --202.0000;-64.5000 --202.0000;-64.0000 --202.0000;-63.5000 --202.0000;-63.0000 --202.0000;-62.5000 --202.0000;-62.0000 --202.0000;-61.5000 --202.0000;-61.0000 --202.0000;-60.5000 --202.0000;-60.0000 --202.0000;-59.5000 --202.0000;-59.0000 --202.0000;-58.5000 --202.0000;-58.0000 --202.0000;-57.5000 --202.0000;-57.0000 --202.0000;-56.5000 --202.0000;-56.0000 --202.0000;-55.5000 --202.0000;-55.0000 --202.0000;-54.5000 --202.0000;-54.0000 --202.0000;-53.5000 --202.0000;-53.0000 --202.0000;-52.5000 --202.0000;124.5000 --202.0000;125.0000 --202.0000;125.5000 --202.0000;126.0000 --202.0000;126.5000 --202.0000;127.0000 --202.0000;127.5000 --202.0000;128.0000 --202.0000;128.5000 --202.0000;129.0000 --202.0000;129.5000 --202.0000;130.0000 --202.0000;130.5000 --202.0000;131.0000 --202.0000;131.5000 --202.0000;132.0000 --202.0000;132.5000 --202.0000;133.0000 --202.0000;133.5000 --202.0000;134.0000 --202.0000;134.5000 --202.0000;135.0000 --202.0000;135.5000 --202.0000;136.0000 --202.0000;136.5000 --202.0000;137.0000 --201.5000;-249.0000 --201.5000;-248.5000 --201.5000;-248.0000 --201.5000;-247.5000 --201.5000;-247.0000 --201.5000;-246.5000 --201.5000;-246.0000 --201.5000;-245.5000 --201.5000;-245.0000 --201.5000;-244.5000 --201.5000;-244.0000 --201.5000;-243.5000 --201.5000;-243.0000 --201.5000;-242.5000 --201.5000;-242.0000 --201.5000;-241.5000 --201.5000;-241.0000 --201.5000;-240.5000 --201.5000;-240.0000 --201.5000;-239.5000 --201.5000;-239.0000 --201.5000;-238.5000 --201.5000;-238.0000 --201.5000;-237.5000 --201.5000;-237.0000 --201.5000;-236.5000 --201.5000;-131.5000 --201.5000;-131.0000 --201.5000;-130.5000 --201.5000;-130.0000 --201.5000;-129.5000 --201.5000;-129.0000 --201.5000;-128.5000 --201.5000;-128.0000 --201.5000;-127.5000 --201.5000;-127.0000 --201.5000;-126.5000 --201.5000;-126.0000 --201.5000;-125.5000 --201.5000;-125.0000 --201.5000;-124.5000 --201.5000;-124.0000 --201.5000;-123.5000 --201.5000;-123.0000 --201.5000;-122.5000 --201.5000;-122.0000 --201.5000;-121.5000 --201.5000;-121.0000 --201.5000;-120.5000 --201.5000;-120.0000 --201.5000;-119.5000 --201.5000;-64.5000 --201.5000;-64.0000 --201.5000;-63.5000 --201.5000;-63.0000 --201.5000;-62.5000 --201.5000;-62.0000 --201.5000;-61.5000 --201.5000;-61.0000 --201.5000;-60.5000 --201.5000;-60.0000 --201.5000;-59.5000 --201.5000;-59.0000 --201.5000;-58.5000 --201.5000;-58.0000 --201.5000;-57.5000 --201.5000;-57.0000 --201.5000;-56.5000 --201.5000;-56.0000 --201.5000;-55.5000 --201.5000;-55.0000 --201.5000;-54.5000 --201.5000;-54.0000 --201.5000;-53.5000 --201.5000;-53.0000 --201.5000;-52.5000 --201.5000;-52.0000 --201.5000;124.5000 --201.5000;125.0000 --201.5000;125.5000 --201.5000;126.0000 --201.5000;126.5000 --201.5000;127.0000 --201.5000;127.5000 --201.5000;128.0000 --201.5000;128.5000 --201.5000;129.0000 --201.5000;129.5000 --201.5000;130.0000 --201.5000;130.5000 --201.5000;131.0000 --201.5000;131.5000 --201.5000;132.0000 --201.5000;132.5000 --201.5000;133.0000 --201.5000;133.5000 --201.5000;134.0000 --201.5000;134.5000 --201.5000;135.0000 --201.5000;135.5000 --201.5000;136.0000 --201.5000;136.5000 --201.5000;137.0000 --201.0000;-249.0000 --201.0000;-248.5000 --201.0000;-248.0000 --201.0000;-247.5000 --201.0000;-247.0000 --201.0000;-246.5000 --201.0000;-246.0000 --201.0000;-245.5000 --201.0000;-245.0000 --201.0000;-244.5000 --201.0000;-244.0000 --201.0000;-243.5000 --201.0000;-243.0000 --201.0000;-242.5000 --201.0000;-242.0000 --201.0000;-241.5000 --201.0000;-241.0000 --201.0000;-240.5000 --201.0000;-240.0000 --201.0000;-239.5000 --201.0000;-239.0000 --201.0000;-238.5000 --201.0000;-238.0000 --201.0000;-237.5000 --201.0000;-237.0000 --201.0000;-236.5000 --201.0000;-131.5000 --201.0000;-131.0000 --201.0000;-130.5000 --201.0000;-130.0000 --201.0000;-129.5000 --201.0000;-129.0000 --201.0000;-128.5000 --201.0000;-128.0000 --201.0000;-127.5000 --201.0000;-127.0000 --201.0000;-126.5000 --201.0000;-126.0000 --201.0000;-125.5000 --201.0000;-125.0000 --201.0000;-124.5000 --201.0000;-124.0000 --201.0000;-123.5000 --201.0000;-123.0000 --201.0000;-122.5000 --201.0000;-122.0000 --201.0000;-121.5000 --201.0000;-121.0000 --201.0000;-120.5000 --201.0000;-120.0000 --201.0000;-119.5000 --201.0000;-64.5000 --201.0000;-64.0000 --201.0000;-63.5000 --201.0000;-63.0000 --201.0000;-62.5000 --201.0000;-62.0000 --201.0000;-61.5000 --201.0000;-61.0000 --201.0000;-60.5000 --201.0000;-60.0000 --201.0000;-59.5000 --201.0000;-59.0000 --201.0000;-58.5000 --201.0000;-58.0000 --201.0000;-57.5000 --201.0000;-57.0000 --201.0000;-56.5000 --201.0000;-56.0000 --201.0000;-55.5000 --201.0000;-55.0000 --201.0000;-54.5000 --201.0000;-54.0000 --201.0000;-53.5000 --201.0000;-53.0000 --201.0000;-52.5000 --201.0000;-52.0000 --201.0000;124.5000 --201.0000;125.0000 --201.0000;125.5000 --201.0000;126.0000 --201.0000;126.5000 --201.0000;127.0000 --201.0000;127.5000 --201.0000;128.0000 --201.0000;128.5000 --201.0000;129.0000 --201.0000;129.5000 --201.0000;130.0000 --201.0000;130.5000 --201.0000;131.0000 --201.0000;131.5000 --201.0000;132.0000 --201.0000;132.5000 --201.0000;133.0000 --201.0000;133.5000 --201.0000;134.0000 --201.0000;134.5000 --201.0000;135.0000 --201.0000;135.5000 --201.0000;136.0000 --201.0000;136.5000 --201.0000;137.0000 --200.5000;-249.5000 --200.5000;-249.0000 --200.5000;-248.5000 --200.5000;-248.0000 --200.5000;-247.5000 --200.5000;-247.0000 --200.5000;-246.5000 --200.5000;-246.0000 --200.5000;-245.5000 --200.5000;-245.0000 --200.5000;-244.5000 --200.5000;-244.0000 --200.5000;-243.5000 --200.5000;-243.0000 --200.5000;-242.5000 --200.5000;-242.0000 --200.5000;-241.5000 --200.5000;-241.0000 --200.5000;-240.5000 --200.5000;-240.0000 --200.5000;-239.5000 --200.5000;-239.0000 --200.5000;-238.5000 --200.5000;-238.0000 --200.5000;-237.5000 --200.5000;-237.0000 --200.5000;-236.5000 --200.5000;-131.5000 --200.5000;-131.0000 --200.5000;-130.5000 --200.5000;-130.0000 --200.5000;-129.5000 --200.5000;-129.0000 --200.5000;-128.5000 --200.5000;-128.0000 --200.5000;-127.5000 --200.5000;-127.0000 --200.5000;-126.5000 --200.5000;-126.0000 --200.5000;-125.5000 --200.5000;-125.0000 --200.5000;-124.5000 --200.5000;-124.0000 --200.5000;-123.5000 --200.5000;-123.0000 --200.5000;-122.5000 --200.5000;-122.0000 --200.5000;-121.5000 --200.5000;-121.0000 --200.5000;-120.5000 --200.5000;-120.0000 --200.5000;-64.0000 --200.5000;-63.5000 --200.5000;-63.0000 --200.5000;-62.5000 --200.5000;-62.0000 --200.5000;-61.5000 --200.5000;-61.0000 --200.5000;-60.5000 --200.5000;-60.0000 --200.5000;-59.5000 --200.5000;-59.0000 --200.5000;-58.5000 --200.5000;-58.0000 --200.5000;-57.5000 --200.5000;-57.0000 --200.5000;-56.5000 --200.5000;-56.0000 --200.5000;-55.5000 --200.5000;-55.0000 --200.5000;-54.5000 --200.5000;-54.0000 --200.5000;-53.5000 --200.5000;-53.0000 --200.5000;-52.5000 --200.5000;-52.0000 --200.5000;125.0000 --200.5000;125.5000 --200.5000;126.0000 --200.5000;126.5000 --200.5000;127.0000 --200.5000;127.5000 --200.5000;128.0000 --200.5000;128.5000 --200.5000;129.0000 --200.5000;129.5000 --200.5000;130.0000 --200.5000;130.5000 --200.5000;131.0000 --200.5000;131.5000 --200.5000;132.0000 --200.5000;132.5000 --200.5000;133.0000 --200.5000;133.5000 --200.5000;134.0000 --200.5000;134.5000 --200.5000;135.0000 --200.5000;135.5000 --200.5000;136.0000 --200.5000;136.5000 --200.5000;137.0000 --200.5000;137.5000 --200.0000;-249.5000 --200.0000;-249.0000 --200.0000;-248.5000 --200.0000;-248.0000 --200.0000;-247.5000 --200.0000;-247.0000 --200.0000;-246.5000 --200.0000;-246.0000 --200.0000;-245.5000 --200.0000;-245.0000 --200.0000;-244.5000 --200.0000;-244.0000 --200.0000;-243.5000 --200.0000;-243.0000 --200.0000;-242.5000 --200.0000;-242.0000 --200.0000;-241.5000 --200.0000;-241.0000 --200.0000;-240.5000 --200.0000;-240.0000 --200.0000;-239.5000 --200.0000;-239.0000 --200.0000;-238.5000 --200.0000;-238.0000 --200.0000;-237.5000 --200.0000;-237.0000 --200.0000;-131.5000 --200.0000;-131.0000 --200.0000;-130.5000 --200.0000;-130.0000 --200.0000;-129.5000 --200.0000;-129.0000 --200.0000;-128.5000 --200.0000;-128.0000 --200.0000;-127.5000 --200.0000;-127.0000 --200.0000;-126.5000 --200.0000;-126.0000 --200.0000;-125.5000 --200.0000;-125.0000 --200.0000;-124.5000 --200.0000;-124.0000 --200.0000;-123.5000 --200.0000;-123.0000 --200.0000;-122.5000 --200.0000;-122.0000 --200.0000;-121.5000 --200.0000;-121.0000 --200.0000;-120.5000 --200.0000;-120.0000 --200.0000;-64.0000 --200.0000;-63.5000 --200.0000;-63.0000 --200.0000;-62.5000 --200.0000;-62.0000 --200.0000;-61.5000 --200.0000;-61.0000 --200.0000;-60.5000 --200.0000;-60.0000 --200.0000;-59.5000 --200.0000;-59.0000 --200.0000;-58.5000 --200.0000;-58.0000 --200.0000;-57.5000 --200.0000;-57.0000 --200.0000;-56.5000 --200.0000;-56.0000 --200.0000;-55.5000 --200.0000;-55.0000 --200.0000;-54.5000 --200.0000;-54.0000 --200.0000;-53.5000 --200.0000;-53.0000 --200.0000;-52.5000 --200.0000;-52.0000 --200.0000;-51.5000 --200.0000;125.0000 --200.0000;125.5000 --200.0000;126.0000 --200.0000;126.5000 --200.0000;127.0000 --200.0000;127.5000 --200.0000;128.0000 --200.0000;128.5000 --200.0000;129.0000 --200.0000;129.5000 --200.0000;130.0000 --200.0000;130.5000 --200.0000;131.0000 --200.0000;131.5000 --200.0000;132.0000 --200.0000;132.5000 --200.0000;133.0000 --200.0000;133.5000 --200.0000;134.0000 --200.0000;134.5000 --200.0000;135.0000 --200.0000;135.5000 --200.0000;136.0000 --200.0000;136.5000 --200.0000;137.0000 --200.0000;137.5000 --199.5000;-250.0000 --199.5000;-249.5000 --199.5000;-249.0000 --199.5000;-248.5000 --199.5000;-248.0000 --199.5000;-247.5000 --199.5000;-247.0000 --199.5000;-246.5000 --199.5000;-246.0000 --199.5000;-245.5000 --199.5000;-245.0000 --199.5000;-244.5000 --199.5000;-244.0000 --199.5000;-243.5000 --199.5000;-243.0000 --199.5000;-242.5000 --199.5000;-242.0000 --199.5000;-241.5000 --199.5000;-241.0000 --199.5000;-240.5000 --199.5000;-240.0000 --199.5000;-239.5000 --199.5000;-239.0000 --199.5000;-238.5000 --199.5000;-238.0000 --199.5000;-237.5000 --199.5000;-237.0000 --199.5000;-131.5000 --199.5000;-131.0000 --199.5000;-130.5000 --199.5000;-130.0000 --199.5000;-129.5000 --199.5000;-129.0000 --199.5000;-128.5000 --199.5000;-128.0000 --199.5000;-127.5000 --199.5000;-127.0000 --199.5000;-126.5000 --199.5000;-126.0000 --199.5000;-125.5000 --199.5000;-125.0000 --199.5000;-124.5000 --199.5000;-124.0000 --199.5000;-123.5000 --199.5000;-123.0000 --199.5000;-122.5000 --199.5000;-122.0000 --199.5000;-121.5000 --199.5000;-121.0000 --199.5000;-120.5000 --199.5000;-120.0000 --199.5000;-63.5000 --199.5000;-63.0000 --199.5000;-62.5000 --199.5000;-62.0000 --199.5000;-61.5000 --199.5000;-61.0000 --199.5000;-60.5000 --199.5000;-60.0000 --199.5000;-59.5000 --199.5000;-59.0000 --199.5000;-58.5000 --199.5000;-58.0000 --199.5000;-57.5000 --199.5000;-57.0000 --199.5000;-56.5000 --199.5000;-56.0000 --199.5000;-55.5000 --199.5000;-55.0000 --199.5000;-54.5000 --199.5000;-54.0000 --199.5000;-53.5000 --199.5000;-53.0000 --199.5000;-52.5000 --199.5000;-52.0000 --199.5000;-51.5000 --199.5000;125.0000 --199.5000;125.5000 --199.5000;126.0000 --199.5000;126.5000 --199.5000;127.0000 --199.5000;127.5000 --199.5000;128.0000 --199.5000;128.5000 --199.5000;129.0000 --199.5000;129.5000 --199.5000;130.0000 --199.5000;130.5000 --199.5000;131.0000 --199.5000;131.5000 --199.5000;132.0000 --199.5000;132.5000 --199.5000;133.0000 --199.5000;133.5000 --199.5000;134.0000 --199.5000;134.5000 --199.5000;135.0000 --199.5000;135.5000 --199.5000;136.0000 --199.5000;136.5000 --199.5000;137.0000 --199.5000;137.5000 --199.0000;-250.0000 --199.0000;-249.5000 --199.0000;-249.0000 --199.0000;-248.5000 --199.0000;-248.0000 --199.0000;-247.5000 --199.0000;-247.0000 --199.0000;-246.5000 --199.0000;-246.0000 --199.0000;-245.5000 --199.0000;-245.0000 --199.0000;-244.5000 --199.0000;-244.0000 --199.0000;-243.5000 --199.0000;-243.0000 --199.0000;-242.5000 --199.0000;-242.0000 --199.0000;-241.5000 --199.0000;-241.0000 --199.0000;-240.5000 --199.0000;-240.0000 --199.0000;-239.5000 --199.0000;-239.0000 --199.0000;-238.5000 --199.0000;-238.0000 --199.0000;-237.5000 --199.0000;-237.0000 --199.0000;-132.0000 --199.0000;-131.5000 --199.0000;-131.0000 --199.0000;-130.5000 --199.0000;-130.0000 --199.0000;-129.5000 --199.0000;-129.0000 --199.0000;-128.5000 --199.0000;-128.0000 --199.0000;-127.5000 --199.0000;-127.0000 --199.0000;-126.5000 --199.0000;-126.0000 --199.0000;-125.5000 --199.0000;-125.0000 --199.0000;-124.5000 --199.0000;-124.0000 --199.0000;-123.5000 --199.0000;-123.0000 --199.0000;-122.5000 --199.0000;-122.0000 --199.0000;-121.5000 --199.0000;-121.0000 --199.0000;-120.5000 --199.0000;-120.0000 --199.0000;-63.5000 --199.0000;-63.0000 --199.0000;-62.5000 --199.0000;-62.0000 --199.0000;-61.5000 --199.0000;-61.0000 --199.0000;-60.5000 --199.0000;-60.0000 --199.0000;-59.5000 --199.0000;-59.0000 --199.0000;-58.5000 --199.0000;-58.0000 --199.0000;-57.5000 --199.0000;-57.0000 --199.0000;-56.5000 --199.0000;-56.0000 --199.0000;-55.5000 --199.0000;-55.0000 --199.0000;-54.5000 --199.0000;-54.0000 --199.0000;-53.5000 --199.0000;-53.0000 --199.0000;-52.5000 --199.0000;-52.0000 --199.0000;-51.5000 --199.0000;125.0000 --199.0000;125.5000 --199.0000;126.0000 --199.0000;126.5000 --199.0000;127.0000 --199.0000;127.5000 --199.0000;128.0000 --199.0000;128.5000 --199.0000;129.0000 --199.0000;129.5000 --199.0000;130.0000 --199.0000;130.5000 --199.0000;131.0000 --199.0000;131.5000 --199.0000;132.0000 --199.0000;132.5000 --199.0000;133.0000 --199.0000;133.5000 --199.0000;134.0000 --199.0000;134.5000 --199.0000;135.0000 --199.0000;135.5000 --199.0000;136.0000 --199.0000;136.5000 --199.0000;137.0000 --199.0000;137.5000 --198.5000;-250.0000 --198.5000;-249.5000 --198.5000;-249.0000 --198.5000;-248.5000 --198.5000;-248.0000 --198.5000;-247.5000 --198.5000;-247.0000 --198.5000;-246.5000 --198.5000;-246.0000 --198.5000;-245.5000 --198.5000;-245.0000 --198.5000;-244.5000 --198.5000;-244.0000 --198.5000;-243.5000 --198.5000;-243.0000 --198.5000;-242.5000 --198.5000;-242.0000 --198.5000;-241.5000 --198.5000;-241.0000 --198.5000;-240.5000 --198.5000;-240.0000 --198.5000;-239.5000 --198.5000;-239.0000 --198.5000;-238.5000 --198.5000;-238.0000 --198.5000;-237.5000 --198.5000;-132.0000 --198.5000;-131.5000 --198.5000;-131.0000 --198.5000;-130.5000 --198.5000;-130.0000 --198.5000;-129.5000 --198.5000;-129.0000 --198.5000;-128.5000 --198.5000;-128.0000 --198.5000;-127.5000 --198.5000;-127.0000 --198.5000;-126.5000 --198.5000;-126.0000 --198.5000;-125.5000 --198.5000;-125.0000 --198.5000;-124.5000 --198.5000;-124.0000 --198.5000;-123.5000 --198.5000;-123.0000 --198.5000;-122.5000 --198.5000;-122.0000 --198.5000;-121.5000 --198.5000;-121.0000 --198.5000;-120.5000 --198.5000;-120.0000 --198.5000;-63.0000 --198.5000;-62.5000 --198.5000;-62.0000 --198.5000;-61.5000 --198.5000;-61.0000 --198.5000;-60.5000 --198.5000;-60.0000 --198.5000;-59.5000 --198.5000;-59.0000 --198.5000;-58.5000 --198.5000;-58.0000 --198.5000;-57.5000 --198.5000;-57.0000 --198.5000;-56.5000 --198.5000;-56.0000 --198.5000;-55.5000 --198.5000;-55.0000 --198.5000;-54.5000 --198.5000;-54.0000 --198.5000;-53.5000 --198.5000;-53.0000 --198.5000;-52.5000 --198.5000;-52.0000 --198.5000;-51.5000 --198.5000;-51.0000 --198.5000;125.0000 --198.5000;125.5000 --198.5000;126.0000 --198.5000;126.5000 --198.5000;127.0000 --198.5000;127.5000 --198.5000;128.0000 --198.5000;128.5000 --198.5000;129.0000 --198.5000;129.5000 --198.5000;130.0000 --198.5000;130.5000 --198.5000;131.0000 --198.5000;131.5000 --198.5000;132.0000 --198.5000;132.5000 --198.5000;133.0000 --198.5000;133.5000 --198.5000;134.0000 --198.5000;134.5000 --198.5000;135.0000 --198.5000;135.5000 --198.5000;136.0000 --198.5000;136.5000 --198.5000;137.0000 --198.5000;137.5000 --198.0000;-250.5000 --198.0000;-250.0000 --198.0000;-249.5000 --198.0000;-249.0000 --198.0000;-248.5000 --198.0000;-248.0000 --198.0000;-247.5000 --198.0000;-247.0000 --198.0000;-246.5000 --198.0000;-246.0000 --198.0000;-245.5000 --198.0000;-245.0000 --198.0000;-244.5000 --198.0000;-244.0000 --198.0000;-243.5000 --198.0000;-243.0000 --198.0000;-242.5000 --198.0000;-242.0000 --198.0000;-241.5000 --198.0000;-241.0000 --198.0000;-240.5000 --198.0000;-240.0000 --198.0000;-239.5000 --198.0000;-239.0000 --198.0000;-238.5000 --198.0000;-238.0000 --198.0000;-237.5000 --198.0000;-132.0000 --198.0000;-131.5000 --198.0000;-131.0000 --198.0000;-130.5000 --198.0000;-130.0000 --198.0000;-129.5000 --198.0000;-129.0000 --198.0000;-128.5000 --198.0000;-128.0000 --198.0000;-127.5000 --198.0000;-127.0000 --198.0000;-126.5000 --198.0000;-126.0000 --198.0000;-125.5000 --198.0000;-125.0000 --198.0000;-124.5000 --198.0000;-124.0000 --198.0000;-123.5000 --198.0000;-123.0000 --198.0000;-122.5000 --198.0000;-122.0000 --198.0000;-121.5000 --198.0000;-121.0000 --198.0000;-120.5000 --198.0000;-120.0000 --198.0000;-63.0000 --198.0000;-62.5000 --198.0000;-62.0000 --198.0000;-61.5000 --198.0000;-61.0000 --198.0000;-60.5000 --198.0000;-60.0000 --198.0000;-59.5000 --198.0000;-59.0000 --198.0000;-58.5000 --198.0000;-58.0000 --198.0000;-57.5000 --198.0000;-57.0000 --198.0000;-56.5000 --198.0000;-56.0000 --198.0000;-55.5000 --198.0000;-55.0000 --198.0000;-54.5000 --198.0000;-54.0000 --198.0000;-53.5000 --198.0000;-53.0000 --198.0000;-52.5000 --198.0000;-52.0000 --198.0000;-51.5000 --198.0000;-51.0000 --198.0000;125.5000 --198.0000;126.0000 --198.0000;126.5000 --198.0000;127.0000 --198.0000;127.5000 --198.0000;128.0000 --198.0000;128.5000 --198.0000;129.0000 --198.0000;129.5000 --198.0000;130.0000 --198.0000;130.5000 --198.0000;131.0000 --198.0000;131.5000 --198.0000;132.0000 --198.0000;132.5000 --198.0000;133.0000 --198.0000;133.5000 --198.0000;134.0000 --198.0000;134.5000 --198.0000;135.0000 --198.0000;135.5000 --198.0000;136.0000 --198.0000;136.5000 --198.0000;137.0000 --198.0000;137.5000 --197.5000;-250.5000 --197.5000;-250.0000 --197.5000;-249.5000 --197.5000;-249.0000 --197.5000;-248.5000 --197.5000;-248.0000 --197.5000;-247.5000 --197.5000;-247.0000 --197.5000;-246.5000 --197.5000;-246.0000 --197.5000;-245.5000 --197.5000;-245.0000 --197.5000;-244.5000 --197.5000;-244.0000 --197.5000;-243.5000 --197.5000;-243.0000 --197.5000;-242.5000 --197.5000;-242.0000 --197.5000;-241.5000 --197.5000;-241.0000 --197.5000;-240.5000 --197.5000;-240.0000 --197.5000;-239.5000 --197.5000;-239.0000 --197.5000;-238.5000 --197.5000;-238.0000 --197.5000;-132.0000 --197.5000;-131.5000 --197.5000;-131.0000 --197.5000;-130.5000 --197.5000;-130.0000 --197.5000;-129.5000 --197.5000;-129.0000 --197.5000;-128.5000 --197.5000;-128.0000 --197.5000;-127.5000 --197.5000;-127.0000 --197.5000;-126.5000 --197.5000;-126.0000 --197.5000;-125.5000 --197.5000;-125.0000 --197.5000;-124.5000 --197.5000;-124.0000 --197.5000;-123.5000 --197.5000;-123.0000 --197.5000;-122.5000 --197.5000;-122.0000 --197.5000;-121.5000 --197.5000;-121.0000 --197.5000;-120.5000 --197.5000;-63.0000 --197.5000;-62.5000 --197.5000;-62.0000 --197.5000;-61.5000 --197.5000;-61.0000 --197.5000;-60.5000 --197.5000;-60.0000 --197.5000;-59.5000 --197.5000;-59.0000 --197.5000;-58.5000 --197.5000;-58.0000 --197.5000;-57.5000 --197.5000;-57.0000 --197.5000;-56.5000 --197.5000;-56.0000 --197.5000;-55.5000 --197.5000;-55.0000 --197.5000;-54.5000 --197.5000;-54.0000 --197.5000;-53.5000 --197.5000;-53.0000 --197.5000;-52.5000 --197.5000;-52.0000 --197.5000;-51.5000 --197.5000;-51.0000 --197.5000;125.5000 --197.5000;126.0000 --197.5000;126.5000 --197.5000;127.0000 --197.5000;127.5000 --197.5000;128.0000 --197.5000;128.5000 --197.5000;129.0000 --197.5000;129.5000 --197.5000;130.0000 --197.5000;130.5000 --197.5000;131.0000 --197.5000;131.5000 --197.5000;132.0000 --197.5000;132.5000 --197.5000;133.0000 --197.5000;133.5000 --197.5000;134.0000 --197.5000;134.5000 --197.5000;135.0000 --197.5000;135.5000 --197.5000;136.0000 --197.5000;136.5000 --197.5000;137.0000 --197.5000;137.5000 --197.0000;-250.5000 --197.0000;-250.0000 --197.0000;-249.5000 --197.0000;-249.0000 --197.0000;-248.5000 --197.0000;-248.0000 --197.0000;-247.5000 --197.0000;-247.0000 --197.0000;-246.5000 --197.0000;-246.0000 --197.0000;-245.5000 --197.0000;-245.0000 --197.0000;-244.5000 --197.0000;-244.0000 --197.0000;-243.5000 --197.0000;-243.0000 --197.0000;-242.5000 --197.0000;-242.0000 --197.0000;-241.5000 --197.0000;-241.0000 --197.0000;-240.5000 --197.0000;-240.0000 --197.0000;-239.5000 --197.0000;-239.0000 --197.0000;-238.5000 --197.0000;-238.0000 --197.0000;-132.0000 --197.0000;-131.5000 --197.0000;-131.0000 --197.0000;-130.5000 --197.0000;-130.0000 --197.0000;-129.5000 --197.0000;-129.0000 --197.0000;-128.5000 --197.0000;-128.0000 --197.0000;-127.5000 --197.0000;-127.0000 --197.0000;-126.5000 --197.0000;-126.0000 --197.0000;-125.5000 --197.0000;-125.0000 --197.0000;-124.5000 --197.0000;-124.0000 --197.0000;-123.5000 --197.0000;-123.0000 --197.0000;-122.5000 --197.0000;-122.0000 --197.0000;-121.5000 --197.0000;-121.0000 --197.0000;-120.5000 --197.0000;-62.5000 --197.0000;-62.0000 --197.0000;-61.5000 --197.0000;-61.0000 --197.0000;-60.5000 --197.0000;-60.0000 --197.0000;-59.5000 --197.0000;-59.0000 --197.0000;-58.5000 --197.0000;-58.0000 --197.0000;-57.5000 --197.0000;-57.0000 --197.0000;-56.5000 --197.0000;-56.0000 --197.0000;-55.5000 --197.0000;-55.0000 --197.0000;-54.5000 --197.0000;-54.0000 --197.0000;-53.5000 --197.0000;-53.0000 --197.0000;-52.5000 --197.0000;-52.0000 --197.0000;-51.5000 --197.0000;-51.0000 --197.0000;125.5000 --197.0000;126.0000 --197.0000;126.5000 --197.0000;127.0000 --197.0000;127.5000 --197.0000;128.0000 --197.0000;128.5000 --197.0000;129.0000 --197.0000;129.5000 --197.0000;130.0000 --197.0000;130.5000 --197.0000;131.0000 --197.0000;131.5000 --197.0000;132.0000 --197.0000;132.5000 --197.0000;133.0000 --197.0000;133.5000 --197.0000;134.0000 --197.0000;134.5000 --197.0000;135.0000 --197.0000;135.5000 --197.0000;136.0000 --197.0000;136.5000 --197.0000;137.0000 --197.0000;137.5000 --196.5000;-251.0000 --196.5000;-250.5000 --196.5000;-250.0000 --196.5000;-249.5000 --196.5000;-249.0000 --196.5000;-248.5000 --196.5000;-248.0000 --196.5000;-247.5000 --196.5000;-247.0000 --196.5000;-246.5000 --196.5000;-246.0000 --196.5000;-245.5000 --196.5000;-245.0000 --196.5000;-244.5000 --196.5000;-244.0000 --196.5000;-243.5000 --196.5000;-243.0000 --196.5000;-242.5000 --196.5000;-242.0000 --196.5000;-241.5000 --196.5000;-241.0000 --196.5000;-240.5000 --196.5000;-240.0000 --196.5000;-239.5000 --196.5000;-239.0000 --196.5000;-238.5000 --196.5000;-238.0000 --196.5000;-132.0000 --196.5000;-131.5000 --196.5000;-131.0000 --196.5000;-130.5000 --196.5000;-130.0000 --196.5000;-129.5000 --196.5000;-129.0000 --196.5000;-128.5000 --196.5000;-128.0000 --196.5000;-127.5000 --196.5000;-127.0000 --196.5000;-126.5000 --196.5000;-126.0000 --196.5000;-125.5000 --196.5000;-125.0000 --196.5000;-124.5000 --196.5000;-124.0000 --196.5000;-123.5000 --196.5000;-123.0000 --196.5000;-122.5000 --196.5000;-122.0000 --196.5000;-121.5000 --196.5000;-121.0000 --196.5000;-120.5000 --196.5000;-62.5000 --196.5000;-62.0000 --196.5000;-61.5000 --196.5000;-61.0000 --196.5000;-60.5000 --196.5000;-60.0000 --196.5000;-59.5000 --196.5000;-59.0000 --196.5000;-58.5000 --196.5000;-58.0000 --196.5000;-57.5000 --196.5000;-57.0000 --196.5000;-56.5000 --196.5000;-56.0000 --196.5000;-55.5000 --196.5000;-55.0000 --196.5000;-54.5000 --196.5000;-54.0000 --196.5000;-53.5000 --196.5000;-53.0000 --196.5000;-52.5000 --196.5000;-52.0000 --196.5000;-51.5000 --196.5000;-51.0000 --196.5000;-50.5000 --196.5000;125.5000 --196.5000;126.0000 --196.5000;126.5000 --196.5000;127.0000 --196.5000;127.5000 --196.5000;128.0000 --196.5000;128.5000 --196.5000;129.0000 --196.5000;129.5000 --196.5000;130.0000 --196.5000;130.5000 --196.5000;131.0000 --196.5000;131.5000 --196.5000;132.0000 --196.5000;132.5000 --196.5000;133.0000 --196.5000;133.5000 --196.5000;134.0000 --196.5000;134.5000 --196.5000;135.0000 --196.5000;135.5000 --196.5000;136.0000 --196.5000;136.5000 --196.5000;137.0000 --196.5000;137.5000 --196.5000;138.0000 --196.0000;-251.0000 --196.0000;-250.5000 --196.0000;-250.0000 --196.0000;-249.5000 --196.0000;-249.0000 --196.0000;-248.5000 --196.0000;-248.0000 --196.0000;-247.5000 --196.0000;-247.0000 --196.0000;-246.5000 --196.0000;-246.0000 --196.0000;-245.5000 --196.0000;-245.0000 --196.0000;-244.5000 --196.0000;-244.0000 --196.0000;-243.5000 --196.0000;-243.0000 --196.0000;-242.5000 --196.0000;-242.0000 --196.0000;-241.5000 --196.0000;-241.0000 --196.0000;-240.5000 --196.0000;-240.0000 --196.0000;-239.5000 --196.0000;-239.0000 --196.0000;-238.5000 --196.0000;-132.0000 --196.0000;-131.5000 --196.0000;-131.0000 --196.0000;-130.5000 --196.0000;-130.0000 --196.0000;-129.5000 --196.0000;-129.0000 --196.0000;-128.5000 --196.0000;-128.0000 --196.0000;-127.5000 --196.0000;-127.0000 --196.0000;-126.5000 --196.0000;-126.0000 --196.0000;-125.5000 --196.0000;-125.0000 --196.0000;-124.5000 --196.0000;-124.0000 --196.0000;-123.5000 --196.0000;-123.0000 --196.0000;-122.5000 --196.0000;-122.0000 --196.0000;-121.5000 --196.0000;-121.0000 --196.0000;-120.5000 --196.0000;-62.5000 --196.0000;-62.0000 --196.0000;-61.5000 --196.0000;-61.0000 --196.0000;-60.5000 --196.0000;-60.0000 --196.0000;-59.5000 --196.0000;-59.0000 --196.0000;-58.5000 --196.0000;-58.0000 --196.0000;-57.5000 --196.0000;-57.0000 --196.0000;-56.5000 --196.0000;-56.0000 --196.0000;-55.5000 --196.0000;-55.0000 --196.0000;-54.5000 --196.0000;-54.0000 --196.0000;-53.5000 --196.0000;-53.0000 --196.0000;-52.5000 --196.0000;-52.0000 --196.0000;-51.5000 --196.0000;-51.0000 --196.0000;-50.5000 --196.0000;125.5000 --196.0000;126.0000 --196.0000;126.5000 --196.0000;127.0000 --196.0000;127.5000 --196.0000;128.0000 --196.0000;128.5000 --196.0000;129.0000 --196.0000;129.5000 --196.0000;130.0000 --196.0000;130.5000 --196.0000;131.0000 --196.0000;131.5000 --196.0000;132.0000 --196.0000;132.5000 --196.0000;133.0000 --196.0000;133.5000 --196.0000;134.0000 --196.0000;134.5000 --196.0000;135.0000 --196.0000;135.5000 --196.0000;136.0000 --196.0000;136.5000 --196.0000;137.0000 --196.0000;137.5000 --196.0000;138.0000 --195.5000;-251.5000 --195.5000;-251.0000 --195.5000;-250.5000 --195.5000;-250.0000 --195.5000;-249.5000 --195.5000;-249.0000 --195.5000;-248.5000 --195.5000;-248.0000 --195.5000;-247.5000 --195.5000;-247.0000 --195.5000;-246.5000 --195.5000;-246.0000 --195.5000;-245.5000 --195.5000;-245.0000 --195.5000;-244.5000 --195.5000;-244.0000 --195.5000;-243.5000 --195.5000;-243.0000 --195.5000;-242.5000 --195.5000;-242.0000 --195.5000;-241.5000 --195.5000;-241.0000 --195.5000;-240.5000 --195.5000;-240.0000 --195.5000;-239.5000 --195.5000;-239.0000 --195.5000;-238.5000 --195.5000;-132.5000 --195.5000;-132.0000 --195.5000;-131.5000 --195.5000;-131.0000 --195.5000;-130.5000 --195.5000;-130.0000 --195.5000;-129.5000 --195.5000;-129.0000 --195.5000;-128.5000 --195.5000;-128.0000 --195.5000;-127.5000 --195.5000;-127.0000 --195.5000;-126.5000 --195.5000;-126.0000 --195.5000;-125.5000 --195.5000;-125.0000 --195.5000;-124.5000 --195.5000;-124.0000 --195.5000;-123.5000 --195.5000;-123.0000 --195.5000;-122.5000 --195.5000;-122.0000 --195.5000;-121.5000 --195.5000;-121.0000 --195.5000;-120.5000 --195.5000;-62.5000 --195.5000;-62.0000 --195.5000;-61.5000 --195.5000;-61.0000 --195.5000;-60.5000 --195.5000;-60.0000 --195.5000;-59.5000 --195.5000;-59.0000 --195.5000;-58.5000 --195.5000;-58.0000 --195.5000;-57.5000 --195.5000;-57.0000 --195.5000;-56.5000 --195.5000;-56.0000 --195.5000;-55.5000 --195.5000;-55.0000 --195.5000;-54.5000 --195.5000;-54.0000 --195.5000;-53.5000 --195.5000;-53.0000 --195.5000;-52.5000 --195.5000;-52.0000 --195.5000;-51.5000 --195.5000;-51.0000 --195.5000;-50.5000 --195.5000;125.5000 --195.5000;126.0000 --195.5000;126.5000 --195.5000;127.0000 --195.5000;127.5000 --195.5000;128.0000 --195.5000;128.5000 --195.5000;129.0000 --195.5000;129.5000 --195.5000;130.0000 --195.5000;130.5000 --195.5000;131.0000 --195.5000;131.5000 --195.5000;132.0000 --195.5000;132.5000 --195.5000;133.0000 --195.5000;133.5000 --195.5000;134.0000 --195.5000;134.5000 --195.5000;135.0000 --195.5000;135.5000 --195.5000;136.0000 --195.5000;136.5000 --195.5000;137.0000 --195.5000;137.5000 --195.5000;138.0000 --195.0000;-251.5000 --195.0000;-251.0000 --195.0000;-250.5000 --195.0000;-250.0000 --195.0000;-249.5000 --195.0000;-249.0000 --195.0000;-248.5000 --195.0000;-248.0000 --195.0000;-247.5000 --195.0000;-247.0000 --195.0000;-246.5000 --195.0000;-246.0000 --195.0000;-245.5000 --195.0000;-245.0000 --195.0000;-244.5000 --195.0000;-244.0000 --195.0000;-243.5000 --195.0000;-243.0000 --195.0000;-242.5000 --195.0000;-242.0000 --195.0000;-241.5000 --195.0000;-241.0000 --195.0000;-240.5000 --195.0000;-240.0000 --195.0000;-239.5000 --195.0000;-239.0000 --195.0000;-132.5000 --195.0000;-132.0000 --195.0000;-131.5000 --195.0000;-131.0000 --195.0000;-130.5000 --195.0000;-130.0000 --195.0000;-129.5000 --195.0000;-129.0000 --195.0000;-128.5000 --195.0000;-128.0000 --195.0000;-127.5000 --195.0000;-127.0000 --195.0000;-126.5000 --195.0000;-126.0000 --195.0000;-125.5000 --195.0000;-125.0000 --195.0000;-124.5000 --195.0000;-124.0000 --195.0000;-123.5000 --195.0000;-123.0000 --195.0000;-122.5000 --195.0000;-122.0000 --195.0000;-121.5000 --195.0000;-121.0000 --195.0000;-120.5000 --195.0000;-62.0000 --195.0000;-61.5000 --195.0000;-61.0000 --195.0000;-60.5000 --195.0000;-60.0000 --195.0000;-59.5000 --195.0000;-59.0000 --195.0000;-58.5000 --195.0000;-58.0000 --195.0000;-57.5000 --195.0000;-57.0000 --195.0000;-56.5000 --195.0000;-56.0000 --195.0000;-55.5000 --195.0000;-55.0000 --195.0000;-54.5000 --195.0000;-54.0000 --195.0000;-53.5000 --195.0000;-53.0000 --195.0000;-52.5000 --195.0000;-52.0000 --195.0000;-51.5000 --195.0000;-51.0000 --195.0000;-50.5000 --195.0000;125.5000 --195.0000;126.0000 --195.0000;126.5000 --195.0000;127.0000 --195.0000;127.5000 --195.0000;128.0000 --195.0000;128.5000 --195.0000;129.0000 --195.0000;129.5000 --195.0000;130.0000 --195.0000;130.5000 --195.0000;131.0000 --195.0000;131.5000 --195.0000;132.0000 --195.0000;132.5000 --195.0000;133.0000 --195.0000;133.5000 --195.0000;134.0000 --195.0000;134.5000 --195.0000;135.0000 --195.0000;135.5000 --195.0000;136.0000 --195.0000;136.5000 --195.0000;137.0000 --195.0000;137.5000 --195.0000;138.0000 --194.5000;-251.5000 --194.5000;-251.0000 --194.5000;-250.5000 --194.5000;-250.0000 --194.5000;-249.5000 --194.5000;-249.0000 --194.5000;-248.5000 --194.5000;-248.0000 --194.5000;-247.5000 --194.5000;-247.0000 --194.5000;-246.5000 --194.5000;-246.0000 --194.5000;-245.5000 --194.5000;-245.0000 --194.5000;-244.5000 --194.5000;-244.0000 --194.5000;-243.5000 --194.5000;-243.0000 --194.5000;-242.5000 --194.5000;-242.0000 --194.5000;-241.5000 --194.5000;-241.0000 --194.5000;-240.5000 --194.5000;-240.0000 --194.5000;-239.5000 --194.5000;-239.0000 --194.5000;-132.5000 --194.5000;-132.0000 --194.5000;-131.5000 --194.5000;-131.0000 --194.5000;-130.5000 --194.5000;-130.0000 --194.5000;-129.5000 --194.5000;-129.0000 --194.5000;-128.5000 --194.5000;-128.0000 --194.5000;-127.5000 --194.5000;-127.0000 --194.5000;-126.5000 --194.5000;-126.0000 --194.5000;-125.5000 --194.5000;-125.0000 --194.5000;-124.5000 --194.5000;-124.0000 --194.5000;-123.5000 --194.5000;-123.0000 --194.5000;-122.5000 --194.5000;-122.0000 --194.5000;-121.5000 --194.5000;-121.0000 --194.5000;-62.0000 --194.5000;-61.5000 --194.5000;-61.0000 --194.5000;-60.5000 --194.5000;-60.0000 --194.5000;-59.5000 --194.5000;-59.0000 --194.5000;-58.5000 --194.5000;-58.0000 --194.5000;-57.5000 --194.5000;-57.0000 --194.5000;-56.5000 --194.5000;-56.0000 --194.5000;-55.5000 --194.5000;-55.0000 --194.5000;-54.5000 --194.5000;-54.0000 --194.5000;-53.5000 --194.5000;-53.0000 --194.5000;-52.5000 --194.5000;-52.0000 --194.5000;-51.5000 --194.5000;-51.0000 --194.5000;-50.5000 --194.5000;125.5000 --194.5000;126.0000 --194.5000;126.5000 --194.5000;127.0000 --194.5000;127.5000 --194.5000;128.0000 --194.5000;128.5000 --194.5000;129.0000 --194.5000;129.5000 --194.5000;130.0000 --194.5000;130.5000 --194.5000;131.0000 --194.5000;131.5000 --194.5000;132.0000 --194.5000;132.5000 --194.5000;133.0000 --194.5000;133.5000 --194.5000;134.0000 --194.5000;134.5000 --194.5000;135.0000 --194.5000;135.5000 --194.5000;136.0000 --194.5000;136.5000 --194.5000;137.0000 --194.5000;137.5000 --194.5000;138.0000 --194.0000;-252.0000 --194.0000;-251.5000 --194.0000;-251.0000 --194.0000;-250.5000 --194.0000;-250.0000 --194.0000;-249.5000 --194.0000;-249.0000 --194.0000;-248.5000 --194.0000;-248.0000 --194.0000;-247.5000 --194.0000;-247.0000 --194.0000;-246.5000 --194.0000;-246.0000 --194.0000;-245.5000 --194.0000;-245.0000 --194.0000;-244.5000 --194.0000;-244.0000 --194.0000;-243.5000 --194.0000;-243.0000 --194.0000;-242.5000 --194.0000;-242.0000 --194.0000;-241.5000 --194.0000;-241.0000 --194.0000;-240.5000 --194.0000;-240.0000 --194.0000;-239.5000 --194.0000;-239.0000 --194.0000;-132.5000 --194.0000;-132.0000 --194.0000;-131.5000 --194.0000;-131.0000 --194.0000;-130.5000 --194.0000;-130.0000 --194.0000;-129.5000 --194.0000;-129.0000 --194.0000;-128.5000 --194.0000;-128.0000 --194.0000;-127.5000 --194.0000;-127.0000 --194.0000;-126.5000 --194.0000;-126.0000 --194.0000;-125.5000 --194.0000;-125.0000 --194.0000;-124.5000 --194.0000;-124.0000 --194.0000;-123.5000 --194.0000;-123.0000 --194.0000;-122.5000 --194.0000;-122.0000 --194.0000;-121.5000 --194.0000;-121.0000 --194.0000;-62.0000 --194.0000;-61.5000 --194.0000;-61.0000 --194.0000;-60.5000 --194.0000;-60.0000 --194.0000;-59.5000 --194.0000;-59.0000 --194.0000;-58.5000 --194.0000;-58.0000 --194.0000;-57.5000 --194.0000;-57.0000 --194.0000;-56.5000 --194.0000;-56.0000 --194.0000;-55.5000 --194.0000;-55.0000 --194.0000;-54.5000 --194.0000;-54.0000 --194.0000;-53.5000 --194.0000;-53.0000 --194.0000;-52.5000 --194.0000;-52.0000 --194.0000;-51.5000 --194.0000;-51.0000 --194.0000;-50.5000 --194.0000;-50.0000 --194.0000;125.0000 --194.0000;125.5000 --194.0000;126.0000 --194.0000;126.5000 --194.0000;127.0000 --194.0000;127.5000 --194.0000;128.0000 --194.0000;128.5000 --194.0000;129.0000 --194.0000;129.5000 --194.0000;130.0000 --194.0000;130.5000 --194.0000;131.0000 --194.0000;131.5000 --194.0000;132.0000 --194.0000;132.5000 --194.0000;133.0000 --194.0000;133.5000 --194.0000;134.0000 --194.0000;134.5000 --194.0000;135.0000 --194.0000;135.5000 --194.0000;136.0000 --194.0000;136.5000 --194.0000;137.0000 --194.0000;137.5000 --194.0000;138.0000 --193.5000;-252.0000 --193.5000;-251.5000 --193.5000;-251.0000 --193.5000;-250.5000 --193.5000;-250.0000 --193.5000;-249.5000 --193.5000;-249.0000 --193.5000;-248.5000 --193.5000;-248.0000 --193.5000;-247.5000 --193.5000;-247.0000 --193.5000;-246.5000 --193.5000;-246.0000 --193.5000;-245.5000 --193.5000;-245.0000 --193.5000;-244.5000 --193.5000;-244.0000 --193.5000;-243.5000 --193.5000;-243.0000 --193.5000;-242.5000 --193.5000;-242.0000 --193.5000;-241.5000 --193.5000;-241.0000 --193.5000;-240.5000 --193.5000;-240.0000 --193.5000;-239.5000 --193.5000;-132.5000 --193.5000;-132.0000 --193.5000;-131.5000 --193.5000;-131.0000 --193.5000;-130.5000 --193.5000;-130.0000 --193.5000;-129.5000 --193.5000;-129.0000 --193.5000;-128.5000 --193.5000;-128.0000 --193.5000;-127.5000 --193.5000;-127.0000 --193.5000;-126.5000 --193.5000;-126.0000 --193.5000;-125.5000 --193.5000;-125.0000 --193.5000;-124.5000 --193.5000;-124.0000 --193.5000;-123.5000 --193.5000;-123.0000 --193.5000;-122.5000 --193.5000;-122.0000 --193.5000;-121.5000 --193.5000;-121.0000 --193.5000;-62.0000 --193.5000;-61.5000 --193.5000;-61.0000 --193.5000;-60.5000 --193.5000;-60.0000 --193.5000;-59.5000 --193.5000;-59.0000 --193.5000;-58.5000 --193.5000;-58.0000 --193.5000;-57.5000 --193.5000;-57.0000 --193.5000;-56.5000 --193.5000;-56.0000 --193.5000;-55.5000 --193.5000;-55.0000 --193.5000;-54.5000 --193.5000;-54.0000 --193.5000;-53.5000 --193.5000;-53.0000 --193.5000;-52.5000 --193.5000;-52.0000 --193.5000;-51.5000 --193.5000;-51.0000 --193.5000;-50.5000 --193.5000;-50.0000 --193.5000;125.0000 --193.5000;125.5000 --193.5000;126.0000 --193.5000;126.5000 --193.5000;127.0000 --193.5000;127.5000 --193.5000;128.0000 --193.5000;128.5000 --193.5000;129.0000 --193.5000;129.5000 --193.5000;130.0000 --193.5000;130.5000 --193.5000;131.0000 --193.5000;131.5000 --193.5000;132.0000 --193.5000;132.5000 --193.5000;133.0000 --193.5000;133.5000 --193.5000;134.0000 --193.5000;134.5000 --193.5000;135.0000 --193.5000;135.5000 --193.5000;136.0000 --193.5000;136.5000 --193.5000;137.0000 --193.5000;137.5000 --193.5000;138.0000 --193.0000;-252.5000 --193.0000;-252.0000 --193.0000;-251.5000 --193.0000;-251.0000 --193.0000;-250.5000 --193.0000;-250.0000 --193.0000;-249.5000 --193.0000;-249.0000 --193.0000;-248.5000 --193.0000;-248.0000 --193.0000;-247.5000 --193.0000;-247.0000 --193.0000;-246.5000 --193.0000;-246.0000 --193.0000;-245.5000 --193.0000;-245.0000 --193.0000;-244.5000 --193.0000;-244.0000 --193.0000;-243.5000 --193.0000;-243.0000 --193.0000;-242.5000 --193.0000;-242.0000 --193.0000;-241.5000 --193.0000;-241.0000 --193.0000;-240.5000 --193.0000;-240.0000 --193.0000;-239.5000 --193.0000;-132.5000 --193.0000;-132.0000 --193.0000;-131.5000 --193.0000;-131.0000 --193.0000;-130.5000 --193.0000;-130.0000 --193.0000;-129.5000 --193.0000;-129.0000 --193.0000;-128.5000 --193.0000;-128.0000 --193.0000;-127.5000 --193.0000;-127.0000 --193.0000;-126.5000 --193.0000;-126.0000 --193.0000;-125.5000 --193.0000;-125.0000 --193.0000;-124.5000 --193.0000;-124.0000 --193.0000;-123.5000 --193.0000;-123.0000 --193.0000;-122.5000 --193.0000;-122.0000 --193.0000;-121.5000 --193.0000;-121.0000 --193.0000;-62.0000 --193.0000;-61.5000 --193.0000;-61.0000 --193.0000;-60.5000 --193.0000;-60.0000 --193.0000;-59.5000 --193.0000;-59.0000 --193.0000;-58.5000 --193.0000;-58.0000 --193.0000;-57.5000 --193.0000;-57.0000 --193.0000;-56.5000 --193.0000;-56.0000 --193.0000;-55.5000 --193.0000;-55.0000 --193.0000;-54.5000 --193.0000;-54.0000 --193.0000;-53.5000 --193.0000;-53.0000 --193.0000;-52.5000 --193.0000;-52.0000 --193.0000;-51.5000 --193.0000;-51.0000 --193.0000;-50.5000 --193.0000;-50.0000 --193.0000;125.0000 --193.0000;125.5000 --193.0000;126.0000 --193.0000;126.5000 --193.0000;127.0000 --193.0000;127.5000 --193.0000;128.0000 --193.0000;128.5000 --193.0000;129.0000 --193.0000;129.5000 --193.0000;130.0000 --193.0000;130.5000 --193.0000;131.0000 --193.0000;131.5000 --193.0000;132.0000 --193.0000;132.5000 --193.0000;133.0000 --193.0000;133.5000 --193.0000;134.0000 --193.0000;134.5000 --193.0000;135.0000 --193.0000;135.5000 --193.0000;136.0000 --193.0000;136.5000 --193.0000;137.0000 --193.0000;137.5000 --193.0000;138.0000 --192.5000;-252.5000 --192.5000;-252.0000 --192.5000;-251.5000 --192.5000;-251.0000 --192.5000;-250.5000 --192.5000;-250.0000 --192.5000;-249.5000 --192.5000;-249.0000 --192.5000;-248.5000 --192.5000;-248.0000 --192.5000;-247.5000 --192.5000;-247.0000 --192.5000;-246.5000 --192.5000;-246.0000 --192.5000;-245.5000 --192.5000;-245.0000 --192.5000;-244.5000 --192.5000;-244.0000 --192.5000;-243.5000 --192.5000;-243.0000 --192.5000;-242.5000 --192.5000;-242.0000 --192.5000;-241.5000 --192.5000;-241.0000 --192.5000;-240.5000 --192.5000;-240.0000 --192.5000;-239.5000 --192.5000;-132.5000 --192.5000;-132.0000 --192.5000;-131.5000 --192.5000;-131.0000 --192.5000;-130.5000 --192.5000;-130.0000 --192.5000;-129.5000 --192.5000;-129.0000 --192.5000;-128.5000 --192.5000;-128.0000 --192.5000;-127.5000 --192.5000;-127.0000 --192.5000;-126.5000 --192.5000;-126.0000 --192.5000;-125.5000 --192.5000;-125.0000 --192.5000;-124.5000 --192.5000;-124.0000 --192.5000;-123.5000 --192.5000;-123.0000 --192.5000;-122.5000 --192.5000;-122.0000 --192.5000;-121.5000 --192.5000;-121.0000 --192.5000;-61.5000 --192.5000;-61.0000 --192.5000;-60.5000 --192.5000;-60.0000 --192.5000;-59.5000 --192.5000;-59.0000 --192.5000;-58.5000 --192.5000;-58.0000 --192.5000;-57.5000 --192.5000;-57.0000 --192.5000;-56.5000 --192.5000;-56.0000 --192.5000;-55.5000 --192.5000;-55.0000 --192.5000;-54.5000 --192.5000;-54.0000 --192.5000;-53.5000 --192.5000;-53.0000 --192.5000;-52.5000 --192.5000;-52.0000 --192.5000;-51.5000 --192.5000;-51.0000 --192.5000;-50.5000 --192.5000;-50.0000 --192.5000;125.0000 --192.5000;125.5000 --192.5000;126.0000 --192.5000;126.5000 --192.5000;127.0000 --192.5000;127.5000 --192.5000;128.0000 --192.5000;128.5000 --192.5000;129.0000 --192.5000;129.5000 --192.5000;130.0000 --192.5000;130.5000 --192.5000;131.0000 --192.5000;131.5000 --192.5000;132.0000 --192.5000;132.5000 --192.5000;133.0000 --192.5000;133.5000 --192.5000;134.0000 --192.5000;134.5000 --192.5000;135.0000 --192.5000;135.5000 --192.5000;136.0000 --192.5000;136.5000 --192.5000;137.0000 --192.5000;137.5000 --192.0000;-252.5000 --192.0000;-252.0000 --192.0000;-251.5000 --192.0000;-251.0000 --192.0000;-250.5000 --192.0000;-250.0000 --192.0000;-249.5000 --192.0000;-249.0000 --192.0000;-248.5000 --192.0000;-248.0000 --192.0000;-247.5000 --192.0000;-247.0000 --192.0000;-246.5000 --192.0000;-246.0000 --192.0000;-245.5000 --192.0000;-245.0000 --192.0000;-244.5000 --192.0000;-244.0000 --192.0000;-243.5000 --192.0000;-243.0000 --192.0000;-242.5000 --192.0000;-242.0000 --192.0000;-241.5000 --192.0000;-241.0000 --192.0000;-240.5000 --192.0000;-240.0000 --192.0000;-133.0000 --192.0000;-132.5000 --192.0000;-132.0000 --192.0000;-131.5000 --192.0000;-131.0000 --192.0000;-130.5000 --192.0000;-130.0000 --192.0000;-129.5000 --192.0000;-129.0000 --192.0000;-128.5000 --192.0000;-128.0000 --192.0000;-127.5000 --192.0000;-127.0000 --192.0000;-126.5000 --192.0000;-126.0000 --192.0000;-125.5000 --192.0000;-125.0000 --192.0000;-124.5000 --192.0000;-124.0000 --192.0000;-123.5000 --192.0000;-123.0000 --192.0000;-122.5000 --192.0000;-122.0000 --192.0000;-121.5000 --192.0000;-121.0000 --192.0000;-61.5000 --192.0000;-61.0000 --192.0000;-60.5000 --192.0000;-60.0000 --192.0000;-59.5000 --192.0000;-59.0000 --192.0000;-58.5000 --192.0000;-58.0000 --192.0000;-57.5000 --192.0000;-57.0000 --192.0000;-56.5000 --192.0000;-56.0000 --192.0000;-55.5000 --192.0000;-55.0000 --192.0000;-54.5000 --192.0000;-54.0000 --192.0000;-53.5000 --192.0000;-53.0000 --192.0000;-52.5000 --192.0000;-52.0000 --192.0000;-51.5000 --192.0000;-51.0000 --192.0000;-50.5000 --192.0000;-50.0000 --192.0000;124.5000 --192.0000;125.0000 --192.0000;125.5000 --192.0000;126.0000 --192.0000;126.5000 --192.0000;127.0000 --192.0000;127.5000 --192.0000;128.0000 --192.0000;128.5000 --192.0000;129.0000 --192.0000;129.5000 --192.0000;130.0000 --192.0000;130.5000 --192.0000;131.0000 --192.0000;131.5000 --192.0000;132.0000 --192.0000;132.5000 --192.0000;133.0000 --192.0000;133.5000 --192.0000;134.0000 --192.0000;134.5000 --192.0000;135.0000 --192.0000;135.5000 --192.0000;136.0000 --192.0000;136.5000 --192.0000;137.0000 --192.0000;137.5000 --191.5000;-253.0000 --191.5000;-252.5000 --191.5000;-252.0000 --191.5000;-251.5000 --191.5000;-251.0000 --191.5000;-250.5000 --191.5000;-250.0000 --191.5000;-249.5000 --191.5000;-249.0000 --191.5000;-248.5000 --191.5000;-248.0000 --191.5000;-247.5000 --191.5000;-247.0000 --191.5000;-246.5000 --191.5000;-246.0000 --191.5000;-245.5000 --191.5000;-245.0000 --191.5000;-244.5000 --191.5000;-244.0000 --191.5000;-243.5000 --191.5000;-243.0000 --191.5000;-242.5000 --191.5000;-242.0000 --191.5000;-241.5000 --191.5000;-241.0000 --191.5000;-240.5000 --191.5000;-240.0000 --191.5000;-133.0000 --191.5000;-132.5000 --191.5000;-132.0000 --191.5000;-131.5000 --191.5000;-131.0000 --191.5000;-130.5000 --191.5000;-130.0000 --191.5000;-129.5000 --191.5000;-129.0000 --191.5000;-128.5000 --191.5000;-128.0000 --191.5000;-127.5000 --191.5000;-127.0000 --191.5000;-126.5000 --191.5000;-126.0000 --191.5000;-125.5000 --191.5000;-125.0000 --191.5000;-124.5000 --191.5000;-124.0000 --191.5000;-123.5000 --191.5000;-123.0000 --191.5000;-122.5000 --191.5000;-122.0000 --191.5000;-121.5000 --191.5000;-61.5000 --191.5000;-61.0000 --191.5000;-60.5000 --191.5000;-60.0000 --191.5000;-59.5000 --191.5000;-59.0000 --191.5000;-58.5000 --191.5000;-58.0000 --191.5000;-57.5000 --191.5000;-57.0000 --191.5000;-56.5000 --191.5000;-56.0000 --191.5000;-55.5000 --191.5000;-55.0000 --191.5000;-54.5000 --191.5000;-54.0000 --191.5000;-53.5000 --191.5000;-53.0000 --191.5000;-52.5000 --191.5000;-52.0000 --191.5000;-51.5000 --191.5000;-51.0000 --191.5000;-50.5000 --191.5000;-50.0000 --191.5000;124.5000 --191.5000;125.0000 --191.5000;125.5000 --191.5000;126.0000 --191.5000;126.5000 --191.5000;127.0000 --191.5000;127.5000 --191.5000;128.0000 --191.5000;128.5000 --191.5000;129.0000 --191.5000;129.5000 --191.5000;130.0000 --191.5000;130.5000 --191.5000;131.0000 --191.5000;131.5000 --191.5000;132.0000 --191.5000;132.5000 --191.5000;133.0000 --191.5000;133.5000 --191.5000;134.0000 --191.5000;134.5000 --191.5000;135.0000 --191.5000;135.5000 --191.5000;136.0000 --191.5000;136.5000 --191.5000;137.0000 --191.5000;137.5000 --191.0000;-253.0000 --191.0000;-252.5000 --191.0000;-252.0000 --191.0000;-251.5000 --191.0000;-251.0000 --191.0000;-250.5000 --191.0000;-250.0000 --191.0000;-249.5000 --191.0000;-249.0000 --191.0000;-248.5000 --191.0000;-248.0000 --191.0000;-247.5000 --191.0000;-247.0000 --191.0000;-246.5000 --191.0000;-246.0000 --191.0000;-245.5000 --191.0000;-245.0000 --191.0000;-244.5000 --191.0000;-244.0000 --191.0000;-243.5000 --191.0000;-243.0000 --191.0000;-242.5000 --191.0000;-242.0000 --191.0000;-241.5000 --191.0000;-241.0000 --191.0000;-240.5000 --191.0000;-133.0000 --191.0000;-132.5000 --191.0000;-132.0000 --191.0000;-131.5000 --191.0000;-131.0000 --191.0000;-130.5000 --191.0000;-130.0000 --191.0000;-129.5000 --191.0000;-129.0000 --191.0000;-128.5000 --191.0000;-128.0000 --191.0000;-127.5000 --191.0000;-127.0000 --191.0000;-126.5000 --191.0000;-126.0000 --191.0000;-125.5000 --191.0000;-125.0000 --191.0000;-124.5000 --191.0000;-124.0000 --191.0000;-123.5000 --191.0000;-123.0000 --191.0000;-122.5000 --191.0000;-122.0000 --191.0000;-121.5000 --191.0000;-61.5000 --191.0000;-61.0000 --191.0000;-60.5000 --191.0000;-60.0000 --191.0000;-59.5000 --191.0000;-59.0000 --191.0000;-58.5000 --191.0000;-58.0000 --191.0000;-57.5000 --191.0000;-57.0000 --191.0000;-56.5000 --191.0000;-56.0000 --191.0000;-55.5000 --191.0000;-55.0000 --191.0000;-54.5000 --191.0000;-54.0000 --191.0000;-53.5000 --191.0000;-53.0000 --191.0000;-52.5000 --191.0000;-52.0000 --191.0000;-51.5000 --191.0000;-51.0000 --191.0000;-50.5000 --191.0000;-50.0000 --191.0000;124.5000 --191.0000;125.0000 --191.0000;125.5000 --191.0000;126.0000 --191.0000;126.5000 --191.0000;127.0000 --191.0000;127.5000 --191.0000;128.0000 --191.0000;128.5000 --191.0000;129.0000 --191.0000;129.5000 --191.0000;130.0000 --191.0000;130.5000 --191.0000;131.0000 --191.0000;131.5000 --191.0000;132.0000 --191.0000;132.5000 --191.0000;133.0000 --191.0000;133.5000 --191.0000;134.0000 --191.0000;134.5000 --191.0000;135.0000 --191.0000;135.5000 --191.0000;136.0000 --191.0000;136.5000 --191.0000;137.0000 --191.0000;137.5000 --190.5000;-253.0000 --190.5000;-252.5000 --190.5000;-252.0000 --190.5000;-251.5000 --190.5000;-251.0000 --190.5000;-250.5000 --190.5000;-250.0000 --190.5000;-249.5000 --190.5000;-249.0000 --190.5000;-248.5000 --190.5000;-248.0000 --190.5000;-247.5000 --190.5000;-247.0000 --190.5000;-246.5000 --190.5000;-246.0000 --190.5000;-245.5000 --190.5000;-245.0000 --190.5000;-244.5000 --190.5000;-244.0000 --190.5000;-243.5000 --190.5000;-243.0000 --190.5000;-242.5000 --190.5000;-242.0000 --190.5000;-241.5000 --190.5000;-241.0000 --190.5000;-240.5000 --190.5000;-133.0000 --190.5000;-132.5000 --190.5000;-132.0000 --190.5000;-131.5000 --190.5000;-131.0000 --190.5000;-130.5000 --190.5000;-130.0000 --190.5000;-129.5000 --190.5000;-129.0000 --190.5000;-128.5000 --190.5000;-128.0000 --190.5000;-127.5000 --190.5000;-127.0000 --190.5000;-126.5000 --190.5000;-126.0000 --190.5000;-125.5000 --190.5000;-125.0000 --190.5000;-124.5000 --190.5000;-124.0000 --190.5000;-123.5000 --190.5000;-123.0000 --190.5000;-122.5000 --190.5000;-122.0000 --190.5000;-121.5000 --190.5000;-61.5000 --190.5000;-61.0000 --190.5000;-60.5000 --190.5000;-60.0000 --190.5000;-59.5000 --190.5000;-59.0000 --190.5000;-58.5000 --190.5000;-58.0000 --190.5000;-57.5000 --190.5000;-57.0000 --190.5000;-56.5000 --190.5000;-56.0000 --190.5000;-55.5000 --190.5000;-55.0000 --190.5000;-54.5000 --190.5000;-54.0000 --190.5000;-53.5000 --190.5000;-53.0000 --190.5000;-52.5000 --190.5000;-52.0000 --190.5000;-51.5000 --190.5000;-51.0000 --190.5000;-50.5000 --190.5000;-50.0000 --190.5000;124.0000 --190.5000;124.5000 --190.5000;125.0000 --190.5000;125.5000 --190.5000;126.0000 --190.5000;126.5000 --190.5000;127.0000 --190.5000;127.5000 --190.5000;128.0000 --190.5000;128.5000 --190.5000;129.0000 --190.5000;129.5000 --190.5000;130.0000 --190.5000;130.5000 --190.5000;131.0000 --190.5000;131.5000 --190.5000;132.0000 --190.5000;132.5000 --190.5000;133.0000 --190.5000;133.5000 --190.5000;134.0000 --190.5000;134.5000 --190.5000;135.0000 --190.5000;135.5000 --190.5000;136.0000 --190.5000;136.5000 --190.5000;137.0000 --190.5000;137.5000 --190.0000;-253.5000 --190.0000;-253.0000 --190.0000;-252.5000 --190.0000;-252.0000 --190.0000;-251.5000 --190.0000;-251.0000 --190.0000;-250.5000 --190.0000;-250.0000 --190.0000;-249.5000 --190.0000;-249.0000 --190.0000;-248.5000 --190.0000;-248.0000 --190.0000;-247.5000 --190.0000;-247.0000 --190.0000;-246.5000 --190.0000;-246.0000 --190.0000;-245.5000 --190.0000;-245.0000 --190.0000;-244.5000 --190.0000;-244.0000 --190.0000;-243.5000 --190.0000;-243.0000 --190.0000;-242.5000 --190.0000;-242.0000 --190.0000;-241.5000 --190.0000;-241.0000 --190.0000;-240.5000 --190.0000;-133.0000 --190.0000;-132.5000 --190.0000;-132.0000 --190.0000;-131.5000 --190.0000;-131.0000 --190.0000;-130.5000 --190.0000;-130.0000 --190.0000;-129.5000 --190.0000;-129.0000 --190.0000;-128.5000 --190.0000;-128.0000 --190.0000;-127.5000 --190.0000;-127.0000 --190.0000;-126.5000 --190.0000;-126.0000 --190.0000;-125.5000 --190.0000;-125.0000 --190.0000;-124.5000 --190.0000;-124.0000 --190.0000;-123.5000 --190.0000;-123.0000 --190.0000;-122.5000 --190.0000;-122.0000 --190.0000;-121.5000 --190.0000;-61.5000 --190.0000;-61.0000 --190.0000;-60.5000 --190.0000;-60.0000 --190.0000;-59.5000 --190.0000;-59.0000 --190.0000;-58.5000 --190.0000;-58.0000 --190.0000;-57.5000 --190.0000;-57.0000 --190.0000;-56.5000 --190.0000;-56.0000 --190.0000;-55.5000 --190.0000;-55.0000 --190.0000;-54.5000 --190.0000;-54.0000 --190.0000;-53.5000 --190.0000;-53.0000 --190.0000;-52.5000 --190.0000;-52.0000 --190.0000;-51.5000 --190.0000;-51.0000 --190.0000;-50.5000 --190.0000;-50.0000 --190.0000;-49.5000 --190.0000;124.0000 --190.0000;124.5000 --190.0000;125.0000 --190.0000;125.5000 --190.0000;126.0000 --190.0000;126.5000 --190.0000;127.0000 --190.0000;127.5000 --190.0000;128.0000 --190.0000;128.5000 --190.0000;129.0000 --190.0000;129.5000 --190.0000;130.0000 --190.0000;130.5000 --190.0000;131.0000 --190.0000;131.5000 --190.0000;132.0000 --190.0000;132.5000 --190.0000;133.0000 --190.0000;133.5000 --190.0000;134.0000 --190.0000;134.5000 --190.0000;135.0000 --190.0000;135.5000 --190.0000;136.0000 --190.0000;136.5000 --190.0000;137.0000 --190.0000;137.5000 --189.5000;-253.5000 --189.5000;-253.0000 --189.5000;-252.5000 --189.5000;-252.0000 --189.5000;-251.5000 --189.5000;-251.0000 --189.5000;-250.5000 --189.5000;-250.0000 --189.5000;-249.5000 --189.5000;-249.0000 --189.5000;-248.5000 --189.5000;-248.0000 --189.5000;-247.5000 --189.5000;-247.0000 --189.5000;-246.5000 --189.5000;-246.0000 --189.5000;-245.5000 --189.5000;-245.0000 --189.5000;-244.5000 --189.5000;-244.0000 --189.5000;-243.5000 --189.5000;-243.0000 --189.5000;-242.5000 --189.5000;-242.0000 --189.5000;-241.5000 --189.5000;-241.0000 --189.5000;-133.0000 --189.5000;-132.5000 --189.5000;-132.0000 --189.5000;-131.5000 --189.5000;-131.0000 --189.5000;-130.5000 --189.5000;-130.0000 --189.5000;-129.5000 --189.5000;-129.0000 --189.5000;-128.5000 --189.5000;-128.0000 --189.5000;-127.5000 --189.5000;-127.0000 --189.5000;-126.5000 --189.5000;-126.0000 --189.5000;-125.5000 --189.5000;-125.0000 --189.5000;-124.5000 --189.5000;-124.0000 --189.5000;-123.5000 --189.5000;-123.0000 --189.5000;-122.5000 --189.5000;-122.0000 --189.5000;-121.5000 --189.5000;-61.5000 --189.5000;-61.0000 --189.5000;-60.5000 --189.5000;-60.0000 --189.5000;-59.5000 --189.5000;-59.0000 --189.5000;-58.5000 --189.5000;-58.0000 --189.5000;-57.5000 --189.5000;-57.0000 --189.5000;-56.5000 --189.5000;-56.0000 --189.5000;-55.5000 --189.5000;-55.0000 --189.5000;-54.5000 --189.5000;-54.0000 --189.5000;-53.5000 --189.5000;-53.0000 --189.5000;-52.5000 --189.5000;-52.0000 --189.5000;-51.5000 --189.5000;-51.0000 --189.5000;-50.5000 --189.5000;-50.0000 --189.5000;-49.5000 --189.5000;123.5000 --189.5000;124.0000 --189.5000;124.5000 --189.5000;125.0000 --189.5000;125.5000 --189.5000;126.0000 --189.5000;126.5000 --189.5000;127.0000 --189.5000;127.5000 --189.5000;128.0000 --189.5000;128.5000 --189.5000;129.0000 --189.5000;129.5000 --189.5000;130.0000 --189.5000;130.5000 --189.5000;131.0000 --189.5000;131.5000 --189.5000;132.0000 --189.5000;132.5000 --189.5000;133.0000 --189.5000;133.5000 --189.5000;134.0000 --189.5000;134.5000 --189.5000;135.0000 --189.5000;135.5000 --189.5000;136.0000 --189.5000;136.5000 --189.5000;137.0000 --189.0000;-254.0000 --189.0000;-253.5000 --189.0000;-253.0000 --189.0000;-252.5000 --189.0000;-252.0000 --189.0000;-251.5000 --189.0000;-251.0000 --189.0000;-250.5000 --189.0000;-250.0000 --189.0000;-249.5000 --189.0000;-249.0000 --189.0000;-248.5000 --189.0000;-248.0000 --189.0000;-247.5000 --189.0000;-247.0000 --189.0000;-246.5000 --189.0000;-246.0000 --189.0000;-245.5000 --189.0000;-245.0000 --189.0000;-244.5000 --189.0000;-244.0000 --189.0000;-243.5000 --189.0000;-243.0000 --189.0000;-242.5000 --189.0000;-242.0000 --189.0000;-241.5000 --189.0000;-241.0000 --189.0000;-133.0000 --189.0000;-132.5000 --189.0000;-132.0000 --189.0000;-131.5000 --189.0000;-131.0000 --189.0000;-130.5000 --189.0000;-130.0000 --189.0000;-129.5000 --189.0000;-129.0000 --189.0000;-128.5000 --189.0000;-128.0000 --189.0000;-127.5000 --189.0000;-127.0000 --189.0000;-126.5000 --189.0000;-126.0000 --189.0000;-125.5000 --189.0000;-125.0000 --189.0000;-124.5000 --189.0000;-124.0000 --189.0000;-123.5000 --189.0000;-123.0000 --189.0000;-122.5000 --189.0000;-122.0000 --189.0000;-121.5000 --189.0000;-61.5000 --189.0000;-61.0000 --189.0000;-60.5000 --189.0000;-60.0000 --189.0000;-59.5000 --189.0000;-59.0000 --189.0000;-58.5000 --189.0000;-58.0000 --189.0000;-57.5000 --189.0000;-57.0000 --189.0000;-56.5000 --189.0000;-56.0000 --189.0000;-55.5000 --189.0000;-55.0000 --189.0000;-54.5000 --189.0000;-54.0000 --189.0000;-53.5000 --189.0000;-53.0000 --189.0000;-52.5000 --189.0000;-52.0000 --189.0000;-51.5000 --189.0000;-51.0000 --189.0000;-50.5000 --189.0000;-50.0000 --189.0000;-49.5000 --189.0000;123.5000 --189.0000;124.0000 --189.0000;124.5000 --189.0000;125.0000 --189.0000;125.5000 --189.0000;126.0000 --189.0000;126.5000 --189.0000;127.0000 --189.0000;127.5000 --189.0000;128.0000 --189.0000;128.5000 --189.0000;129.0000 --189.0000;129.5000 --189.0000;130.0000 --189.0000;130.5000 --189.0000;131.0000 --189.0000;131.5000 --189.0000;132.0000 --189.0000;132.5000 --189.0000;133.0000 --189.0000;133.5000 --189.0000;134.0000 --189.0000;134.5000 --189.0000;135.0000 --189.0000;135.5000 --189.0000;136.0000 --189.0000;136.5000 --189.0000;137.0000 --188.5000;-254.0000 --188.5000;-253.5000 --188.5000;-253.0000 --188.5000;-252.5000 --188.5000;-252.0000 --188.5000;-251.5000 --188.5000;-251.0000 --188.5000;-250.5000 --188.5000;-250.0000 --188.5000;-249.5000 --188.5000;-249.0000 --188.5000;-248.5000 --188.5000;-248.0000 --188.5000;-247.5000 --188.5000;-247.0000 --188.5000;-246.5000 --188.5000;-246.0000 --188.5000;-245.5000 --188.5000;-245.0000 --188.5000;-244.5000 --188.5000;-244.0000 --188.5000;-243.5000 --188.5000;-243.0000 --188.5000;-242.5000 --188.5000;-242.0000 --188.5000;-241.5000 --188.5000;-241.0000 --188.5000;-133.0000 --188.5000;-132.5000 --188.5000;-132.0000 --188.5000;-131.5000 --188.5000;-131.0000 --188.5000;-130.5000 --188.5000;-130.0000 --188.5000;-129.5000 --188.5000;-129.0000 --188.5000;-128.5000 --188.5000;-128.0000 --188.5000;-127.5000 --188.5000;-127.0000 --188.5000;-126.5000 --188.5000;-126.0000 --188.5000;-125.5000 --188.5000;-125.0000 --188.5000;-124.5000 --188.5000;-124.0000 --188.5000;-123.5000 --188.5000;-123.0000 --188.5000;-122.5000 --188.5000;-122.0000 --188.5000;-121.5000 --188.5000;-61.5000 --188.5000;-61.0000 --188.5000;-60.5000 --188.5000;-60.0000 --188.5000;-59.5000 --188.5000;-59.0000 --188.5000;-58.5000 --188.5000;-58.0000 --188.5000;-57.5000 --188.5000;-57.0000 --188.5000;-56.5000 --188.5000;-56.0000 --188.5000;-55.5000 --188.5000;-55.0000 --188.5000;-54.5000 --188.5000;-54.0000 --188.5000;-53.5000 --188.5000;-53.0000 --188.5000;-52.5000 --188.5000;-52.0000 --188.5000;-51.5000 --188.5000;-51.0000 --188.5000;-50.5000 --188.5000;-50.0000 --188.5000;-49.5000 --188.5000;123.0000 --188.5000;123.5000 --188.5000;124.0000 --188.5000;124.5000 --188.5000;125.0000 --188.5000;125.5000 --188.5000;126.0000 --188.5000;126.5000 --188.5000;127.0000 --188.5000;127.5000 --188.5000;128.0000 --188.5000;128.5000 --188.5000;129.0000 --188.5000;129.5000 --188.5000;130.0000 --188.5000;130.5000 --188.5000;131.0000 --188.5000;131.5000 --188.5000;132.0000 --188.5000;132.5000 --188.5000;133.0000 --188.5000;133.5000 --188.5000;134.0000 --188.5000;134.5000 --188.5000;135.0000 --188.5000;135.5000 --188.5000;136.0000 --188.5000;136.5000 --188.5000;137.0000 --188.0000;-254.0000 --188.0000;-253.5000 --188.0000;-253.0000 --188.0000;-252.5000 --188.0000;-252.0000 --188.0000;-251.5000 --188.0000;-251.0000 --188.0000;-250.5000 --188.0000;-250.0000 --188.0000;-249.5000 --188.0000;-249.0000 --188.0000;-248.5000 --188.0000;-248.0000 --188.0000;-247.5000 --188.0000;-247.0000 --188.0000;-246.5000 --188.0000;-246.0000 --188.0000;-245.5000 --188.0000;-245.0000 --188.0000;-244.5000 --188.0000;-244.0000 --188.0000;-243.5000 --188.0000;-243.0000 --188.0000;-242.5000 --188.0000;-242.0000 --188.0000;-241.5000 --188.0000;-133.0000 --188.0000;-132.5000 --188.0000;-132.0000 --188.0000;-131.5000 --188.0000;-131.0000 --188.0000;-130.5000 --188.0000;-130.0000 --188.0000;-129.5000 --188.0000;-129.0000 --188.0000;-128.5000 --188.0000;-128.0000 --188.0000;-127.5000 --188.0000;-127.0000 --188.0000;-126.5000 --188.0000;-126.0000 --188.0000;-125.5000 --188.0000;-125.0000 --188.0000;-124.5000 --188.0000;-124.0000 --188.0000;-123.5000 --188.0000;-123.0000 --188.0000;-122.5000 --188.0000;-122.0000 --188.0000;-121.5000 --188.0000;-61.5000 --188.0000;-61.0000 --188.0000;-60.5000 --188.0000;-60.0000 --188.0000;-59.5000 --188.0000;-59.0000 --188.0000;-58.5000 --188.0000;-58.0000 --188.0000;-57.5000 --188.0000;-57.0000 --188.0000;-56.5000 --188.0000;-56.0000 --188.0000;-55.5000 --188.0000;-55.0000 --188.0000;-54.5000 --188.0000;-54.0000 --188.0000;-53.5000 --188.0000;-53.0000 --188.0000;-52.5000 --188.0000;-52.0000 --188.0000;-51.5000 --188.0000;-51.0000 --188.0000;-50.5000 --188.0000;-50.0000 --188.0000;-49.5000 --188.0000;122.5000 --188.0000;123.0000 --188.0000;123.5000 --188.0000;124.0000 --188.0000;124.5000 --188.0000;125.0000 --188.0000;125.5000 --188.0000;126.0000 --188.0000;126.5000 --188.0000;127.0000 --188.0000;127.5000 --188.0000;128.0000 --188.0000;128.5000 --188.0000;129.0000 --188.0000;129.5000 --188.0000;130.0000 --188.0000;130.5000 --188.0000;131.0000 --188.0000;131.5000 --188.0000;132.0000 --188.0000;132.5000 --188.0000;133.0000 --188.0000;133.5000 --188.0000;134.0000 --188.0000;134.5000 --188.0000;135.0000 --188.0000;135.5000 --188.0000;136.0000 --188.0000;136.5000 --188.0000;137.0000 --187.5000;-254.5000 --187.5000;-254.0000 --187.5000;-253.5000 --187.5000;-253.0000 --187.5000;-252.5000 --187.5000;-252.0000 --187.5000;-251.5000 --187.5000;-251.0000 --187.5000;-250.5000 --187.5000;-250.0000 --187.5000;-249.5000 --187.5000;-249.0000 --187.5000;-248.5000 --187.5000;-248.0000 --187.5000;-247.5000 --187.5000;-247.0000 --187.5000;-246.5000 --187.5000;-246.0000 --187.5000;-245.5000 --187.5000;-245.0000 --187.5000;-244.5000 --187.5000;-244.0000 --187.5000;-243.5000 --187.5000;-243.0000 --187.5000;-242.5000 --187.5000;-242.0000 --187.5000;-241.5000 --187.5000;-133.0000 --187.5000;-132.5000 --187.5000;-132.0000 --187.5000;-131.5000 --187.5000;-131.0000 --187.5000;-130.5000 --187.5000;-130.0000 --187.5000;-129.5000 --187.5000;-129.0000 --187.5000;-128.5000 --187.5000;-128.0000 --187.5000;-127.5000 --187.5000;-127.0000 --187.5000;-126.5000 --187.5000;-126.0000 --187.5000;-125.5000 --187.5000;-125.0000 --187.5000;-124.5000 --187.5000;-124.0000 --187.5000;-123.5000 --187.5000;-123.0000 --187.5000;-122.5000 --187.5000;-122.0000 --187.5000;-121.5000 --187.5000;-61.5000 --187.5000;-61.0000 --187.5000;-60.5000 --187.5000;-60.0000 --187.5000;-59.5000 --187.5000;-59.0000 --187.5000;-58.5000 --187.5000;-58.0000 --187.5000;-57.5000 --187.5000;-57.0000 --187.5000;-56.5000 --187.5000;-56.0000 --187.5000;-55.5000 --187.5000;-55.0000 --187.5000;-54.5000 --187.5000;-54.0000 --187.5000;-53.5000 --187.5000;-53.0000 --187.5000;-52.5000 --187.5000;-52.0000 --187.5000;-51.5000 --187.5000;-51.0000 --187.5000;-50.5000 --187.5000;-50.0000 --187.5000;-49.5000 --187.5000;122.5000 --187.5000;123.0000 --187.5000;123.5000 --187.5000;124.0000 --187.5000;124.5000 --187.5000;125.0000 --187.5000;125.5000 --187.5000;126.0000 --187.5000;126.5000 --187.5000;127.0000 --187.5000;127.5000 --187.5000;128.0000 --187.5000;128.5000 --187.5000;129.0000 --187.5000;129.5000 --187.5000;130.0000 --187.5000;130.5000 --187.5000;131.0000 --187.5000;131.5000 --187.5000;132.0000 --187.5000;132.5000 --187.5000;133.0000 --187.5000;133.5000 --187.5000;134.0000 --187.5000;134.5000 --187.5000;135.0000 --187.5000;135.5000 --187.5000;136.0000 --187.5000;136.5000 --187.0000;-254.5000 --187.0000;-254.0000 --187.0000;-253.5000 --187.0000;-253.0000 --187.0000;-252.5000 --187.0000;-252.0000 --187.0000;-251.5000 --187.0000;-251.0000 --187.0000;-250.5000 --187.0000;-250.0000 --187.0000;-249.5000 --187.0000;-249.0000 --187.0000;-248.5000 --187.0000;-248.0000 --187.0000;-247.5000 --187.0000;-247.0000 --187.0000;-246.5000 --187.0000;-246.0000 --187.0000;-245.5000 --187.0000;-245.0000 --187.0000;-244.5000 --187.0000;-244.0000 --187.0000;-243.5000 --187.0000;-243.0000 --187.0000;-242.5000 --187.0000;-242.0000 --187.0000;-133.0000 --187.0000;-132.5000 --187.0000;-132.0000 --187.0000;-131.5000 --187.0000;-131.0000 --187.0000;-130.5000 --187.0000;-130.0000 --187.0000;-129.5000 --187.0000;-129.0000 --187.0000;-128.5000 --187.0000;-128.0000 --187.0000;-127.5000 --187.0000;-127.0000 --187.0000;-126.5000 --187.0000;-126.0000 --187.0000;-125.5000 --187.0000;-125.0000 --187.0000;-124.5000 --187.0000;-124.0000 --187.0000;-123.5000 --187.0000;-123.0000 --187.0000;-122.5000 --187.0000;-122.0000 --187.0000;-121.5000 --187.0000;-61.5000 --187.0000;-61.0000 --187.0000;-60.5000 --187.0000;-60.0000 --187.0000;-59.5000 --187.0000;-59.0000 --187.0000;-58.5000 --187.0000;-58.0000 --187.0000;-57.5000 --187.0000;-57.0000 --187.0000;-56.5000 --187.0000;-56.0000 --187.0000;-55.5000 --187.0000;-55.0000 --187.0000;-54.5000 --187.0000;-54.0000 --187.0000;-53.5000 --187.0000;-53.0000 --187.0000;-52.5000 --187.0000;-52.0000 --187.0000;-51.5000 --187.0000;-51.0000 --187.0000;-50.5000 --187.0000;-50.0000 --187.0000;-49.5000 --187.0000;122.0000 --187.0000;122.5000 --187.0000;123.0000 --187.0000;123.5000 --187.0000;124.0000 --187.0000;124.5000 --187.0000;125.0000 --187.0000;125.5000 --187.0000;126.0000 --187.0000;126.5000 --187.0000;127.0000 --187.0000;127.5000 --187.0000;128.0000 --187.0000;128.5000 --187.0000;129.0000 --187.0000;129.5000 --187.0000;130.0000 --187.0000;130.5000 --187.0000;131.0000 --187.0000;131.5000 --187.0000;132.0000 --187.0000;132.5000 --187.0000;133.0000 --187.0000;133.5000 --187.0000;134.0000 --187.0000;134.5000 --187.0000;135.0000 --187.0000;135.5000 --187.0000;136.0000 --187.0000;136.5000 --186.5000;-255.0000 --186.5000;-254.5000 --186.5000;-254.0000 --186.5000;-253.5000 --186.5000;-253.0000 --186.5000;-252.5000 --186.5000;-252.0000 --186.5000;-251.5000 --186.5000;-251.0000 --186.5000;-250.5000 --186.5000;-250.0000 --186.5000;-249.5000 --186.5000;-249.0000 --186.5000;-248.5000 --186.5000;-248.0000 --186.5000;-247.5000 --186.5000;-247.0000 --186.5000;-246.5000 --186.5000;-246.0000 --186.5000;-245.5000 --186.5000;-245.0000 --186.5000;-244.5000 --186.5000;-244.0000 --186.5000;-243.5000 --186.5000;-243.0000 --186.5000;-242.5000 --186.5000;-242.0000 --186.5000;-133.0000 --186.5000;-132.5000 --186.5000;-132.0000 --186.5000;-131.5000 --186.5000;-131.0000 --186.5000;-130.5000 --186.5000;-130.0000 --186.5000;-129.5000 --186.5000;-129.0000 --186.5000;-128.5000 --186.5000;-128.0000 --186.5000;-127.5000 --186.5000;-127.0000 --186.5000;-126.5000 --186.5000;-126.0000 --186.5000;-125.5000 --186.5000;-125.0000 --186.5000;-124.5000 --186.5000;-124.0000 --186.5000;-123.5000 --186.5000;-123.0000 --186.5000;-122.5000 --186.5000;-122.0000 --186.5000;-121.5000 --186.5000;-61.5000 --186.5000;-61.0000 --186.5000;-60.5000 --186.5000;-60.0000 --186.5000;-59.5000 --186.5000;-59.0000 --186.5000;-58.5000 --186.5000;-58.0000 --186.5000;-57.5000 --186.5000;-57.0000 --186.5000;-56.5000 --186.5000;-56.0000 --186.5000;-55.5000 --186.5000;-55.0000 --186.5000;-54.5000 --186.5000;-54.0000 --186.5000;-53.5000 --186.5000;-53.0000 --186.5000;-52.5000 --186.5000;-52.0000 --186.5000;-51.5000 --186.5000;-51.0000 --186.5000;-50.5000 --186.5000;-50.0000 --186.5000;-49.5000 --186.5000;121.5000 --186.5000;122.0000 --186.5000;122.5000 --186.5000;123.0000 --186.5000;123.5000 --186.5000;124.0000 --186.5000;124.5000 --186.5000;125.0000 --186.5000;125.5000 --186.5000;126.0000 --186.5000;126.5000 --186.5000;127.0000 --186.5000;127.5000 --186.5000;128.0000 --186.5000;128.5000 --186.5000;129.0000 --186.5000;129.5000 --186.5000;130.0000 --186.5000;130.5000 --186.5000;131.0000 --186.5000;131.5000 --186.5000;132.0000 --186.5000;132.5000 --186.5000;133.0000 --186.5000;133.5000 --186.5000;134.0000 --186.5000;134.5000 --186.5000;135.0000 --186.5000;135.5000 --186.5000;136.0000 --186.5000;136.5000 --186.0000;-255.0000 --186.0000;-254.5000 --186.0000;-254.0000 --186.0000;-253.5000 --186.0000;-253.0000 --186.0000;-252.5000 --186.0000;-252.0000 --186.0000;-251.5000 --186.0000;-251.0000 --186.0000;-250.5000 --186.0000;-250.0000 --186.0000;-249.5000 --186.0000;-249.0000 --186.0000;-248.5000 --186.0000;-248.0000 --186.0000;-247.5000 --186.0000;-247.0000 --186.0000;-246.5000 --186.0000;-246.0000 --186.0000;-245.5000 --186.0000;-245.0000 --186.0000;-244.5000 --186.0000;-244.0000 --186.0000;-243.5000 --186.0000;-243.0000 --186.0000;-242.5000 --186.0000;-242.0000 --186.0000;-133.0000 --186.0000;-132.5000 --186.0000;-132.0000 --186.0000;-131.5000 --186.0000;-131.0000 --186.0000;-130.5000 --186.0000;-130.0000 --186.0000;-129.5000 --186.0000;-129.0000 --186.0000;-128.5000 --186.0000;-128.0000 --186.0000;-127.5000 --186.0000;-127.0000 --186.0000;-126.5000 --186.0000;-126.0000 --186.0000;-125.5000 --186.0000;-125.0000 --186.0000;-124.5000 --186.0000;-124.0000 --186.0000;-123.5000 --186.0000;-123.0000 --186.0000;-122.5000 --186.0000;-122.0000 --186.0000;-121.5000 --186.0000;-61.5000 --186.0000;-61.0000 --186.0000;-60.5000 --186.0000;-60.0000 --186.0000;-59.5000 --186.0000;-59.0000 --186.0000;-58.5000 --186.0000;-58.0000 --186.0000;-57.5000 --186.0000;-57.0000 --186.0000;-56.5000 --186.0000;-56.0000 --186.0000;-55.5000 --186.0000;-55.0000 --186.0000;-54.5000 --186.0000;-54.0000 --186.0000;-53.5000 --186.0000;-53.0000 --186.0000;-52.5000 --186.0000;-52.0000 --186.0000;-51.5000 --186.0000;-51.0000 --186.0000;-50.5000 --186.0000;-50.0000 --186.0000;-49.5000 --186.0000;121.0000 --186.0000;121.5000 --186.0000;122.0000 --186.0000;122.5000 --186.0000;123.0000 --186.0000;123.5000 --186.0000;124.0000 --186.0000;124.5000 --186.0000;125.0000 --186.0000;125.5000 --186.0000;126.0000 --186.0000;126.5000 --186.0000;127.0000 --186.0000;127.5000 --186.0000;128.0000 --186.0000;128.5000 --186.0000;129.0000 --186.0000;129.5000 --186.0000;130.0000 --186.0000;130.5000 --186.0000;131.0000 --186.0000;131.5000 --186.0000;132.0000 --186.0000;132.5000 --186.0000;133.0000 --186.0000;133.5000 --186.0000;134.0000 --186.0000;134.5000 --186.0000;135.0000 --186.0000;135.5000 --186.0000;136.0000 --185.5000;-255.0000 --185.5000;-254.5000 --185.5000;-254.0000 --185.5000;-253.5000 --185.5000;-253.0000 --185.5000;-252.5000 --185.5000;-252.0000 --185.5000;-251.5000 --185.5000;-251.0000 --185.5000;-250.5000 --185.5000;-250.0000 --185.5000;-249.5000 --185.5000;-249.0000 --185.5000;-248.5000 --185.5000;-248.0000 --185.5000;-247.5000 --185.5000;-247.0000 --185.5000;-246.5000 --185.5000;-246.0000 --185.5000;-245.5000 --185.5000;-245.0000 --185.5000;-244.5000 --185.5000;-244.0000 --185.5000;-243.5000 --185.5000;-243.0000 --185.5000;-242.5000 --185.5000;-133.0000 --185.5000;-132.5000 --185.5000;-132.0000 --185.5000;-131.5000 --185.5000;-131.0000 --185.5000;-130.5000 --185.5000;-130.0000 --185.5000;-129.5000 --185.5000;-129.0000 --185.5000;-128.5000 --185.5000;-128.0000 --185.5000;-127.5000 --185.5000;-127.0000 --185.5000;-126.5000 --185.5000;-126.0000 --185.5000;-125.5000 --185.5000;-125.0000 --185.5000;-124.5000 --185.5000;-124.0000 --185.5000;-123.5000 --185.5000;-123.0000 --185.5000;-122.5000 --185.5000;-122.0000 --185.5000;-121.5000 --185.5000;-61.5000 --185.5000;-61.0000 --185.5000;-60.5000 --185.5000;-60.0000 --185.5000;-59.5000 --185.5000;-59.0000 --185.5000;-58.5000 --185.5000;-58.0000 --185.5000;-57.5000 --185.5000;-57.0000 --185.5000;-56.5000 --185.5000;-56.0000 --185.5000;-55.5000 --185.5000;-55.0000 --185.5000;-54.5000 --185.5000;-54.0000 --185.5000;-53.5000 --185.5000;-53.0000 --185.5000;-52.5000 --185.5000;-52.0000 --185.5000;-51.5000 --185.5000;-51.0000 --185.5000;-50.5000 --185.5000;-50.0000 --185.5000;-49.5000 --185.5000;120.5000 --185.5000;121.0000 --185.5000;121.5000 --185.5000;122.0000 --185.5000;122.5000 --185.5000;123.0000 --185.5000;123.5000 --185.5000;124.0000 --185.5000;124.5000 --185.5000;125.0000 --185.5000;125.5000 --185.5000;126.0000 --185.5000;126.5000 --185.5000;127.0000 --185.5000;127.5000 --185.5000;128.0000 --185.5000;128.5000 --185.5000;129.0000 --185.5000;129.5000 --185.5000;130.0000 --185.5000;130.5000 --185.5000;131.0000 --185.5000;131.5000 --185.5000;132.0000 --185.5000;132.5000 --185.5000;133.0000 --185.5000;133.5000 --185.5000;134.0000 --185.5000;134.5000 --185.5000;135.0000 --185.5000;135.5000 --185.5000;136.0000 --185.0000;-255.5000 --185.0000;-255.0000 --185.0000;-254.5000 --185.0000;-254.0000 --185.0000;-253.5000 --185.0000;-253.0000 --185.0000;-252.5000 --185.0000;-252.0000 --185.0000;-251.5000 --185.0000;-251.0000 --185.0000;-250.5000 --185.0000;-250.0000 --185.0000;-249.5000 --185.0000;-249.0000 --185.0000;-248.5000 --185.0000;-248.0000 --185.0000;-247.5000 --185.0000;-247.0000 --185.0000;-246.5000 --185.0000;-246.0000 --185.0000;-245.5000 --185.0000;-245.0000 --185.0000;-244.5000 --185.0000;-244.0000 --185.0000;-243.5000 --185.0000;-243.0000 --185.0000;-242.5000 --185.0000;-133.0000 --185.0000;-132.5000 --185.0000;-132.0000 --185.0000;-131.5000 --185.0000;-131.0000 --185.0000;-130.5000 --185.0000;-130.0000 --185.0000;-129.5000 --185.0000;-129.0000 --185.0000;-128.5000 --185.0000;-128.0000 --185.0000;-127.5000 --185.0000;-127.0000 --185.0000;-126.5000 --185.0000;-126.0000 --185.0000;-125.5000 --185.0000;-125.0000 --185.0000;-124.5000 --185.0000;-124.0000 --185.0000;-123.5000 --185.0000;-123.0000 --185.0000;-122.5000 --185.0000;-122.0000 --185.0000;-121.5000 --185.0000;-61.5000 --185.0000;-61.0000 --185.0000;-60.5000 --185.0000;-60.0000 --185.0000;-59.5000 --185.0000;-59.0000 --185.0000;-58.5000 --185.0000;-58.0000 --185.0000;-57.5000 --185.0000;-57.0000 --185.0000;-56.5000 --185.0000;-56.0000 --185.0000;-55.5000 --185.0000;-55.0000 --185.0000;-54.5000 --185.0000;-54.0000 --185.0000;-53.5000 --185.0000;-53.0000 --185.0000;-52.5000 --185.0000;-52.0000 --185.0000;-51.5000 --185.0000;-51.0000 --185.0000;-50.5000 --185.0000;-50.0000 --185.0000;120.0000 --185.0000;120.5000 --185.0000;121.0000 --185.0000;121.5000 --185.0000;122.0000 --185.0000;122.5000 --185.0000;123.0000 --185.0000;123.5000 --185.0000;124.0000 --185.0000;124.5000 --185.0000;125.0000 --185.0000;125.5000 --185.0000;126.0000 --185.0000;126.5000 --185.0000;127.0000 --185.0000;127.5000 --185.0000;128.0000 --185.0000;128.5000 --185.0000;129.0000 --185.0000;129.5000 --185.0000;130.0000 --185.0000;130.5000 --185.0000;131.0000 --185.0000;131.5000 --185.0000;132.0000 --185.0000;132.5000 --185.0000;133.0000 --185.0000;133.5000 --185.0000;134.0000 --185.0000;134.5000 --185.0000;135.0000 --185.0000;135.5000 --184.5000;-255.5000 --184.5000;-255.0000 --184.5000;-254.5000 --184.5000;-254.0000 --184.5000;-253.5000 --184.5000;-253.0000 --184.5000;-252.5000 --184.5000;-252.0000 --184.5000;-251.5000 --184.5000;-251.0000 --184.5000;-250.5000 --184.5000;-250.0000 --184.5000;-249.5000 --184.5000;-249.0000 --184.5000;-248.5000 --184.5000;-248.0000 --184.5000;-247.5000 --184.5000;-247.0000 --184.5000;-246.5000 --184.5000;-246.0000 --184.5000;-245.5000 --184.5000;-245.0000 --184.5000;-244.5000 --184.5000;-244.0000 --184.5000;-243.5000 --184.5000;-243.0000 --184.5000;-242.5000 --184.5000;-133.0000 --184.5000;-132.5000 --184.5000;-132.0000 --184.5000;-131.5000 --184.5000;-131.0000 --184.5000;-130.5000 --184.5000;-130.0000 --184.5000;-129.5000 --184.5000;-129.0000 --184.5000;-128.5000 --184.5000;-128.0000 --184.5000;-127.5000 --184.5000;-127.0000 --184.5000;-126.5000 --184.5000;-126.0000 --184.5000;-125.5000 --184.5000;-125.0000 --184.5000;-124.5000 --184.5000;-124.0000 --184.5000;-123.5000 --184.5000;-123.0000 --184.5000;-122.5000 --184.5000;-122.0000 --184.5000;-121.5000 --184.5000;-61.5000 --184.5000;-61.0000 --184.5000;-60.5000 --184.5000;-60.0000 --184.5000;-59.5000 --184.5000;-59.0000 --184.5000;-58.5000 --184.5000;-58.0000 --184.5000;-57.5000 --184.5000;-57.0000 --184.5000;-56.5000 --184.5000;-56.0000 --184.5000;-55.5000 --184.5000;-55.0000 --184.5000;-54.5000 --184.5000;-54.0000 --184.5000;-53.5000 --184.5000;-53.0000 --184.5000;-52.5000 --184.5000;-52.0000 --184.5000;-51.5000 --184.5000;-51.0000 --184.5000;-50.5000 --184.5000;-50.0000 --184.5000;119.5000 --184.5000;120.0000 --184.5000;120.5000 --184.5000;121.0000 --184.5000;121.5000 --184.5000;122.0000 --184.5000;122.5000 --184.5000;123.0000 --184.5000;123.5000 --184.5000;124.0000 --184.5000;124.5000 --184.5000;125.0000 --184.5000;125.5000 --184.5000;126.0000 --184.5000;126.5000 --184.5000;127.0000 --184.5000;127.5000 --184.5000;128.0000 --184.5000;128.5000 --184.5000;129.0000 --184.5000;129.5000 --184.5000;130.0000 --184.5000;130.5000 --184.5000;131.0000 --184.5000;131.5000 --184.5000;132.0000 --184.5000;132.5000 --184.5000;133.0000 --184.5000;133.5000 --184.5000;134.0000 --184.5000;134.5000 --184.5000;135.0000 --184.5000;135.5000 --184.0000;-255.5000 --184.0000;-255.0000 --184.0000;-254.5000 --184.0000;-254.0000 --184.0000;-253.5000 --184.0000;-253.0000 --184.0000;-252.5000 --184.0000;-252.0000 --184.0000;-251.5000 --184.0000;-251.0000 --184.0000;-250.5000 --184.0000;-250.0000 --184.0000;-249.5000 --184.0000;-249.0000 --184.0000;-248.5000 --184.0000;-248.0000 --184.0000;-247.5000 --184.0000;-247.0000 --184.0000;-246.5000 --184.0000;-246.0000 --184.0000;-245.5000 --184.0000;-245.0000 --184.0000;-244.5000 --184.0000;-244.0000 --184.0000;-243.5000 --184.0000;-243.0000 --184.0000;-133.0000 --184.0000;-132.5000 --184.0000;-132.0000 --184.0000;-131.5000 --184.0000;-131.0000 --184.0000;-130.5000 --184.0000;-130.0000 --184.0000;-129.5000 --184.0000;-129.0000 --184.0000;-128.5000 --184.0000;-128.0000 --184.0000;-127.5000 --184.0000;-127.0000 --184.0000;-126.5000 --184.0000;-126.0000 --184.0000;-125.5000 --184.0000;-125.0000 --184.0000;-124.5000 --184.0000;-124.0000 --184.0000;-123.5000 --184.0000;-123.0000 --184.0000;-122.5000 --184.0000;-122.0000 --184.0000;-121.5000 --184.0000;-61.5000 --184.0000;-61.0000 --184.0000;-60.5000 --184.0000;-60.0000 --184.0000;-59.5000 --184.0000;-59.0000 --184.0000;-58.5000 --184.0000;-58.0000 --184.0000;-57.5000 --184.0000;-57.0000 --184.0000;-56.5000 --184.0000;-56.0000 --184.0000;-55.5000 --184.0000;-55.0000 --184.0000;-54.5000 --184.0000;-54.0000 --184.0000;-53.5000 --184.0000;-53.0000 --184.0000;-52.5000 --184.0000;-52.0000 --184.0000;-51.5000 --184.0000;-51.0000 --184.0000;-50.5000 --184.0000;-50.0000 --184.0000;119.0000 --184.0000;119.5000 --184.0000;120.0000 --184.0000;120.5000 --184.0000;121.0000 --184.0000;121.5000 --184.0000;122.0000 --184.0000;122.5000 --184.0000;123.0000 --184.0000;123.5000 --184.0000;124.0000 --184.0000;124.5000 --184.0000;125.0000 --184.0000;125.5000 --184.0000;126.0000 --184.0000;126.5000 --184.0000;127.0000 --184.0000;127.5000 --184.0000;128.0000 --184.0000;128.5000 --184.0000;129.0000 --184.0000;129.5000 --184.0000;130.0000 --184.0000;130.5000 --184.0000;131.0000 --184.0000;131.5000 --184.0000;132.0000 --184.0000;132.5000 --184.0000;133.0000 --184.0000;133.5000 --184.0000;134.0000 --184.0000;134.5000 --184.0000;135.0000 --183.5000;-256.0000 --183.5000;-255.5000 --183.5000;-255.0000 --183.5000;-254.5000 --183.5000;-254.0000 --183.5000;-253.5000 --183.5000;-253.0000 --183.5000;-252.5000 --183.5000;-252.0000 --183.5000;-251.5000 --183.5000;-251.0000 --183.5000;-250.5000 --183.5000;-250.0000 --183.5000;-249.5000 --183.5000;-249.0000 --183.5000;-248.5000 --183.5000;-248.0000 --183.5000;-247.5000 --183.5000;-247.0000 --183.5000;-246.5000 --183.5000;-246.0000 --183.5000;-245.5000 --183.5000;-245.0000 --183.5000;-244.5000 --183.5000;-244.0000 --183.5000;-243.5000 --183.5000;-243.0000 --183.5000;-133.0000 --183.5000;-132.5000 --183.5000;-132.0000 --183.5000;-131.5000 --183.5000;-131.0000 --183.5000;-130.5000 --183.5000;-130.0000 --183.5000;-129.5000 --183.5000;-129.0000 --183.5000;-128.5000 --183.5000;-128.0000 --183.5000;-127.5000 --183.5000;-127.0000 --183.5000;-126.5000 --183.5000;-126.0000 --183.5000;-125.5000 --183.5000;-125.0000 --183.5000;-124.5000 --183.5000;-124.0000 --183.5000;-123.5000 --183.5000;-123.0000 --183.5000;-122.5000 --183.5000;-122.0000 --183.5000;-121.5000 --183.5000;-62.0000 --183.5000;-61.5000 --183.5000;-61.0000 --183.5000;-60.5000 --183.5000;-60.0000 --183.5000;-59.5000 --183.5000;-59.0000 --183.5000;-58.5000 --183.5000;-58.0000 --183.5000;-57.5000 --183.5000;-57.0000 --183.5000;-56.5000 --183.5000;-56.0000 --183.5000;-55.5000 --183.5000;-55.0000 --183.5000;-54.5000 --183.5000;-54.0000 --183.5000;-53.5000 --183.5000;-53.0000 --183.5000;-52.5000 --183.5000;-52.0000 --183.5000;-51.5000 --183.5000;-51.0000 --183.5000;-50.5000 --183.5000;-50.0000 --183.5000;118.5000 --183.5000;119.0000 --183.5000;119.5000 --183.5000;120.0000 --183.5000;120.5000 --183.5000;121.0000 --183.5000;121.5000 --183.5000;122.0000 --183.5000;122.5000 --183.5000;123.0000 --183.5000;123.5000 --183.5000;124.0000 --183.5000;124.5000 --183.5000;125.0000 --183.5000;125.5000 --183.5000;126.0000 --183.5000;126.5000 --183.5000;127.0000 --183.5000;127.5000 --183.5000;128.0000 --183.5000;128.5000 --183.5000;129.0000 --183.5000;129.5000 --183.5000;130.0000 --183.5000;130.5000 --183.5000;131.0000 --183.5000;131.5000 --183.5000;132.0000 --183.5000;132.5000 --183.5000;133.0000 --183.5000;133.5000 --183.5000;134.0000 --183.5000;134.5000 --183.5000;135.0000 --183.0000;-256.0000 --183.0000;-255.5000 --183.0000;-255.0000 --183.0000;-254.5000 --183.0000;-254.0000 --183.0000;-253.5000 --183.0000;-253.0000 --183.0000;-252.5000 --183.0000;-252.0000 --183.0000;-251.5000 --183.0000;-251.0000 --183.0000;-250.5000 --183.0000;-250.0000 --183.0000;-249.5000 --183.0000;-249.0000 --183.0000;-248.5000 --183.0000;-248.0000 --183.0000;-247.5000 --183.0000;-247.0000 --183.0000;-246.5000 --183.0000;-246.0000 --183.0000;-245.5000 --183.0000;-245.0000 --183.0000;-244.5000 --183.0000;-244.0000 --183.0000;-243.5000 --183.0000;-133.0000 --183.0000;-132.5000 --183.0000;-132.0000 --183.0000;-131.5000 --183.0000;-131.0000 --183.0000;-130.5000 --183.0000;-130.0000 --183.0000;-129.5000 --183.0000;-129.0000 --183.0000;-128.5000 --183.0000;-128.0000 --183.0000;-127.5000 --183.0000;-127.0000 --183.0000;-126.5000 --183.0000;-126.0000 --183.0000;-125.5000 --183.0000;-125.0000 --183.0000;-124.5000 --183.0000;-124.0000 --183.0000;-123.5000 --183.0000;-123.0000 --183.0000;-122.5000 --183.0000;-122.0000 --183.0000;-121.5000 --183.0000;-62.0000 --183.0000;-61.5000 --183.0000;-61.0000 --183.0000;-60.5000 --183.0000;-60.0000 --183.0000;-59.5000 --183.0000;-59.0000 --183.0000;-58.5000 --183.0000;-58.0000 --183.0000;-57.5000 --183.0000;-57.0000 --183.0000;-56.5000 --183.0000;-56.0000 --183.0000;-55.5000 --183.0000;-55.0000 --183.0000;-54.5000 --183.0000;-54.0000 --183.0000;-53.5000 --183.0000;-53.0000 --183.0000;-52.5000 --183.0000;-52.0000 --183.0000;-51.5000 --183.0000;-51.0000 --183.0000;-50.5000 --183.0000;-50.0000 --183.0000;118.0000 --183.0000;118.5000 --183.0000;119.0000 --183.0000;119.5000 --183.0000;120.0000 --183.0000;120.5000 --183.0000;121.0000 --183.0000;121.5000 --183.0000;122.0000 --183.0000;122.5000 --183.0000;123.0000 --183.0000;123.5000 --183.0000;124.0000 --183.0000;124.5000 --183.0000;125.0000 --183.0000;125.5000 --183.0000;126.0000 --183.0000;126.5000 --183.0000;127.0000 --183.0000;127.5000 --183.0000;128.0000 --183.0000;128.5000 --183.0000;129.0000 --183.0000;129.5000 --183.0000;130.0000 --183.0000;130.5000 --183.0000;131.0000 --183.0000;131.5000 --183.0000;132.0000 --183.0000;132.5000 --183.0000;133.0000 --183.0000;133.5000 --183.0000;134.0000 --183.0000;134.5000 --182.5000;-256.5000 --182.5000;-256.0000 --182.5000;-255.5000 --182.5000;-255.0000 --182.5000;-254.5000 --182.5000;-254.0000 --182.5000;-253.5000 --182.5000;-253.0000 --182.5000;-252.5000 --182.5000;-252.0000 --182.5000;-251.5000 --182.5000;-251.0000 --182.5000;-250.5000 --182.5000;-250.0000 --182.5000;-249.5000 --182.5000;-249.0000 --182.5000;-248.5000 --182.5000;-248.0000 --182.5000;-247.5000 --182.5000;-247.0000 --182.5000;-246.5000 --182.5000;-246.0000 --182.5000;-245.5000 --182.5000;-245.0000 --182.5000;-244.5000 --182.5000;-244.0000 --182.5000;-243.5000 --182.5000;-133.0000 --182.5000;-132.5000 --182.5000;-132.0000 --182.5000;-131.5000 --182.5000;-131.0000 --182.5000;-130.5000 --182.5000;-130.0000 --182.5000;-129.5000 --182.5000;-129.0000 --182.5000;-128.5000 --182.5000;-128.0000 --182.5000;-127.5000 --182.5000;-127.0000 --182.5000;-126.5000 --182.5000;-126.0000 --182.5000;-125.5000 --182.5000;-125.0000 --182.5000;-124.5000 --182.5000;-124.0000 --182.5000;-123.5000 --182.5000;-123.0000 --182.5000;-122.5000 --182.5000;-122.0000 --182.5000;-121.5000 --182.5000;-62.0000 --182.5000;-61.5000 --182.5000;-61.0000 --182.5000;-60.5000 --182.5000;-60.0000 --182.5000;-59.5000 --182.5000;-59.0000 --182.5000;-58.5000 --182.5000;-58.0000 --182.5000;-57.5000 --182.5000;-57.0000 --182.5000;-56.5000 --182.5000;-56.0000 --182.5000;-55.5000 --182.5000;-55.0000 --182.5000;-54.5000 --182.5000;-54.0000 --182.5000;-53.5000 --182.5000;-53.0000 --182.5000;-52.5000 --182.5000;-52.0000 --182.5000;-51.5000 --182.5000;-51.0000 --182.5000;-50.5000 --182.5000;-50.0000 --182.5000;117.5000 --182.5000;118.0000 --182.5000;118.5000 --182.5000;119.0000 --182.5000;119.5000 --182.5000;120.0000 --182.5000;120.5000 --182.5000;121.0000 --182.5000;121.5000 --182.5000;122.0000 --182.5000;122.5000 --182.5000;123.0000 --182.5000;123.5000 --182.5000;124.0000 --182.5000;124.5000 --182.5000;125.0000 --182.5000;125.5000 --182.5000;126.0000 --182.5000;126.5000 --182.5000;127.0000 --182.5000;127.5000 --182.5000;128.0000 --182.5000;128.5000 --182.5000;129.0000 --182.5000;129.5000 --182.5000;130.0000 --182.5000;130.5000 --182.5000;131.0000 --182.5000;131.5000 --182.5000;132.0000 --182.5000;132.5000 --182.5000;133.0000 --182.5000;133.5000 --182.5000;134.0000 --182.5000;134.5000 --182.0000;-256.5000 --182.0000;-256.0000 --182.0000;-255.5000 --182.0000;-255.0000 --182.0000;-254.5000 --182.0000;-254.0000 --182.0000;-253.5000 --182.0000;-253.0000 --182.0000;-252.5000 --182.0000;-252.0000 --182.0000;-251.5000 --182.0000;-251.0000 --182.0000;-250.5000 --182.0000;-250.0000 --182.0000;-249.5000 --182.0000;-249.0000 --182.0000;-248.5000 --182.0000;-248.0000 --182.0000;-247.5000 --182.0000;-247.0000 --182.0000;-246.5000 --182.0000;-246.0000 --182.0000;-245.5000 --182.0000;-245.0000 --182.0000;-244.5000 --182.0000;-244.0000 --182.0000;-243.5000 --182.0000;-133.0000 --182.0000;-132.5000 --182.0000;-132.0000 --182.0000;-131.5000 --182.0000;-131.0000 --182.0000;-130.5000 --182.0000;-130.0000 --182.0000;-129.5000 --182.0000;-129.0000 --182.0000;-128.5000 --182.0000;-128.0000 --182.0000;-127.5000 --182.0000;-127.0000 --182.0000;-126.5000 --182.0000;-126.0000 --182.0000;-125.5000 --182.0000;-125.0000 --182.0000;-124.5000 --182.0000;-124.0000 --182.0000;-123.5000 --182.0000;-123.0000 --182.0000;-122.5000 --182.0000;-122.0000 --182.0000;-121.5000 --182.0000;-121.0000 --182.0000;-62.0000 --182.0000;-61.5000 --182.0000;-61.0000 --182.0000;-60.5000 --182.0000;-60.0000 --182.0000;-59.5000 --182.0000;-59.0000 --182.0000;-58.5000 --182.0000;-58.0000 --182.0000;-57.5000 --182.0000;-57.0000 --182.0000;-56.5000 --182.0000;-56.0000 --182.0000;-55.5000 --182.0000;-55.0000 --182.0000;-54.5000 --182.0000;-54.0000 --182.0000;-53.5000 --182.0000;-53.0000 --182.0000;-52.5000 --182.0000;-52.0000 --182.0000;-51.5000 --182.0000;-51.0000 --182.0000;-50.5000 --182.0000;-50.0000 --182.0000;117.0000 --182.0000;117.5000 --182.0000;118.0000 --182.0000;118.5000 --182.0000;119.0000 --182.0000;119.5000 --182.0000;120.0000 --182.0000;120.5000 --182.0000;121.0000 --182.0000;121.5000 --182.0000;122.0000 --182.0000;122.5000 --182.0000;123.0000 --182.0000;123.5000 --182.0000;124.0000 --182.0000;124.5000 --182.0000;125.0000 --182.0000;125.5000 --182.0000;126.0000 --182.0000;126.5000 --182.0000;127.0000 --182.0000;127.5000 --182.0000;128.0000 --182.0000;128.5000 --182.0000;129.0000 --182.0000;129.5000 --182.0000;130.0000 --182.0000;130.5000 --182.0000;131.0000 --182.0000;131.5000 --182.0000;132.0000 --182.0000;132.5000 --182.0000;133.0000 --182.0000;133.5000 --182.0000;134.0000 --181.5000;-256.5000 --181.5000;-256.0000 --181.5000;-255.5000 --181.5000;-255.0000 --181.5000;-254.5000 --181.5000;-254.0000 --181.5000;-253.5000 --181.5000;-253.0000 --181.5000;-252.5000 --181.5000;-252.0000 --181.5000;-251.5000 --181.5000;-251.0000 --181.5000;-250.5000 --181.5000;-250.0000 --181.5000;-249.5000 --181.5000;-249.0000 --181.5000;-248.5000 --181.5000;-248.0000 --181.5000;-247.5000 --181.5000;-247.0000 --181.5000;-246.5000 --181.5000;-246.0000 --181.5000;-245.5000 --181.5000;-245.0000 --181.5000;-244.5000 --181.5000;-244.0000 --181.5000;-133.0000 --181.5000;-132.5000 --181.5000;-132.0000 --181.5000;-131.5000 --181.5000;-131.0000 --181.5000;-130.5000 --181.5000;-130.0000 --181.5000;-129.5000 --181.5000;-129.0000 --181.5000;-128.5000 --181.5000;-128.0000 --181.5000;-127.5000 --181.5000;-127.0000 --181.5000;-126.5000 --181.5000;-126.0000 --181.5000;-125.5000 --181.5000;-125.0000 --181.5000;-124.5000 --181.5000;-124.0000 --181.5000;-123.5000 --181.5000;-123.0000 --181.5000;-122.5000 --181.5000;-122.0000 --181.5000;-121.5000 --181.5000;-121.0000 --181.5000;-62.0000 --181.5000;-61.5000 --181.5000;-61.0000 --181.5000;-60.5000 --181.5000;-60.0000 --181.5000;-59.5000 --181.5000;-59.0000 --181.5000;-58.5000 --181.5000;-58.0000 --181.5000;-57.5000 --181.5000;-57.0000 --181.5000;-56.5000 --181.5000;-56.0000 --181.5000;-55.5000 --181.5000;-55.0000 --181.5000;-54.5000 --181.5000;-54.0000 --181.5000;-53.5000 --181.5000;-53.0000 --181.5000;-52.5000 --181.5000;-52.0000 --181.5000;-51.5000 --181.5000;-51.0000 --181.5000;-50.5000 --181.5000;-50.0000 --181.5000;116.5000 --181.5000;117.0000 --181.5000;117.5000 --181.5000;118.0000 --181.5000;118.5000 --181.5000;119.0000 --181.5000;119.5000 --181.5000;120.0000 --181.5000;120.5000 --181.5000;121.0000 --181.5000;121.5000 --181.5000;122.0000 --181.5000;122.5000 --181.5000;123.0000 --181.5000;123.5000 --181.5000;124.0000 --181.5000;124.5000 --181.5000;125.0000 --181.5000;125.5000 --181.5000;126.0000 --181.5000;126.5000 --181.5000;127.0000 --181.5000;127.5000 --181.5000;128.0000 --181.5000;128.5000 --181.5000;129.0000 --181.5000;129.5000 --181.5000;130.0000 --181.5000;130.5000 --181.5000;131.0000 --181.5000;131.5000 --181.5000;132.0000 --181.5000;132.5000 --181.5000;133.0000 --181.5000;133.5000 --181.0000;-257.0000 --181.0000;-256.5000 --181.0000;-256.0000 --181.0000;-255.5000 --181.0000;-255.0000 --181.0000;-254.5000 --181.0000;-254.0000 --181.0000;-253.5000 --181.0000;-253.0000 --181.0000;-252.5000 --181.0000;-252.0000 --181.0000;-251.5000 --181.0000;-251.0000 --181.0000;-250.5000 --181.0000;-250.0000 --181.0000;-249.5000 --181.0000;-249.0000 --181.0000;-248.5000 --181.0000;-248.0000 --181.0000;-247.5000 --181.0000;-247.0000 --181.0000;-246.5000 --181.0000;-246.0000 --181.0000;-245.5000 --181.0000;-245.0000 --181.0000;-244.5000 --181.0000;-244.0000 --181.0000;-133.0000 --181.0000;-132.5000 --181.0000;-132.0000 --181.0000;-131.5000 --181.0000;-131.0000 --181.0000;-130.5000 --181.0000;-130.0000 --181.0000;-129.5000 --181.0000;-129.0000 --181.0000;-128.5000 --181.0000;-128.0000 --181.0000;-127.5000 --181.0000;-127.0000 --181.0000;-126.5000 --181.0000;-126.0000 --181.0000;-125.5000 --181.0000;-125.0000 --181.0000;-124.5000 --181.0000;-124.0000 --181.0000;-123.5000 --181.0000;-123.0000 --181.0000;-122.5000 --181.0000;-122.0000 --181.0000;-121.5000 --181.0000;-121.0000 --181.0000;-62.5000 --181.0000;-62.0000 --181.0000;-61.5000 --181.0000;-61.0000 --181.0000;-60.5000 --181.0000;-60.0000 --181.0000;-59.5000 --181.0000;-59.0000 --181.0000;-58.5000 --181.0000;-58.0000 --181.0000;-57.5000 --181.0000;-57.0000 --181.0000;-56.5000 --181.0000;-56.0000 --181.0000;-55.5000 --181.0000;-55.0000 --181.0000;-54.5000 --181.0000;-54.0000 --181.0000;-53.5000 --181.0000;-53.0000 --181.0000;-52.5000 --181.0000;-52.0000 --181.0000;-51.5000 --181.0000;-51.0000 --181.0000;-50.5000 --181.0000;115.5000 --181.0000;116.0000 --181.0000;116.5000 --181.0000;117.0000 --181.0000;117.5000 --181.0000;118.0000 --181.0000;118.5000 --181.0000;119.0000 --181.0000;119.5000 --181.0000;120.0000 --181.0000;120.5000 --181.0000;121.0000 --181.0000;121.5000 --181.0000;122.0000 --181.0000;122.5000 --181.0000;123.0000 --181.0000;123.5000 --181.0000;124.0000 --181.0000;124.5000 --181.0000;125.0000 --181.0000;125.5000 --181.0000;126.0000 --181.0000;126.5000 --181.0000;127.0000 --181.0000;127.5000 --181.0000;128.0000 --181.0000;128.5000 --181.0000;129.0000 --181.0000;129.5000 --181.0000;130.0000 --181.0000;130.5000 --181.0000;131.0000 --181.0000;131.5000 --181.0000;132.0000 --181.0000;132.5000 --181.0000;133.0000 --180.5000;-257.0000 --180.5000;-256.5000 --180.5000;-256.0000 --180.5000;-255.5000 --180.5000;-255.0000 --180.5000;-254.5000 --180.5000;-254.0000 --180.5000;-253.5000 --180.5000;-253.0000 --180.5000;-252.5000 --180.5000;-252.0000 --180.5000;-251.5000 --180.5000;-251.0000 --180.5000;-250.5000 --180.5000;-250.0000 --180.5000;-249.5000 --180.5000;-249.0000 --180.5000;-248.5000 --180.5000;-248.0000 --180.5000;-247.5000 --180.5000;-247.0000 --180.5000;-246.5000 --180.5000;-246.0000 --180.5000;-245.5000 --180.5000;-245.0000 --180.5000;-244.5000 --180.5000;-244.0000 --180.5000;-133.0000 --180.5000;-132.5000 --180.5000;-132.0000 --180.5000;-131.5000 --180.5000;-131.0000 --180.5000;-130.5000 --180.5000;-130.0000 --180.5000;-129.5000 --180.5000;-129.0000 --180.5000;-128.5000 --180.5000;-128.0000 --180.5000;-127.5000 --180.5000;-127.0000 --180.5000;-126.5000 --180.5000;-126.0000 --180.5000;-125.5000 --180.5000;-125.0000 --180.5000;-124.5000 --180.5000;-124.0000 --180.5000;-123.5000 --180.5000;-123.0000 --180.5000;-122.5000 --180.5000;-122.0000 --180.5000;-121.5000 --180.5000;-121.0000 --180.5000;-62.5000 --180.5000;-62.0000 --180.5000;-61.5000 --180.5000;-61.0000 --180.5000;-60.5000 --180.5000;-60.0000 --180.5000;-59.5000 --180.5000;-59.0000 --180.5000;-58.5000 --180.5000;-58.0000 --180.5000;-57.5000 --180.5000;-57.0000 --180.5000;-56.5000 --180.5000;-56.0000 --180.5000;-55.5000 --180.5000;-55.0000 --180.5000;-54.5000 --180.5000;-54.0000 --180.5000;-53.5000 --180.5000;-53.0000 --180.5000;-52.5000 --180.5000;-52.0000 --180.5000;-51.5000 --180.5000;-51.0000 --180.5000;-50.5000 --180.5000;115.0000 --180.5000;115.5000 --180.5000;116.0000 --180.5000;116.5000 --180.5000;117.0000 --180.5000;117.5000 --180.5000;118.0000 --180.5000;118.5000 --180.5000;119.0000 --180.5000;119.5000 --180.5000;120.0000 --180.5000;120.5000 --180.5000;121.0000 --180.5000;121.5000 --180.5000;122.0000 --180.5000;122.5000 --180.5000;123.0000 --180.5000;123.5000 --180.5000;124.0000 --180.5000;124.5000 --180.5000;125.0000 --180.5000;125.5000 --180.5000;126.0000 --180.5000;126.5000 --180.5000;127.0000 --180.5000;127.5000 --180.5000;128.0000 --180.5000;128.5000 --180.5000;129.0000 --180.5000;129.5000 --180.5000;130.0000 --180.5000;130.5000 --180.5000;131.0000 --180.5000;131.5000 --180.5000;132.0000 --180.5000;132.5000 --180.5000;133.0000 --180.0000;-257.5000 --180.0000;-257.0000 --180.0000;-256.5000 --180.0000;-256.0000 --180.0000;-255.5000 --180.0000;-255.0000 --180.0000;-254.5000 --180.0000;-254.0000 --180.0000;-253.5000 --180.0000;-253.0000 --180.0000;-252.5000 --180.0000;-252.0000 --180.0000;-251.5000 --180.0000;-251.0000 --180.0000;-250.5000 --180.0000;-250.0000 --180.0000;-249.5000 --180.0000;-249.0000 --180.0000;-248.5000 --180.0000;-248.0000 --180.0000;-247.5000 --180.0000;-247.0000 --180.0000;-246.5000 --180.0000;-246.0000 --180.0000;-245.5000 --180.0000;-245.0000 --180.0000;-244.5000 --180.0000;-133.0000 --180.0000;-132.5000 --180.0000;-132.0000 --180.0000;-131.5000 --180.0000;-131.0000 --180.0000;-130.5000 --180.0000;-130.0000 --180.0000;-129.5000 --180.0000;-129.0000 --180.0000;-128.5000 --180.0000;-128.0000 --180.0000;-127.5000 --180.0000;-127.0000 --180.0000;-126.5000 --180.0000;-126.0000 --180.0000;-125.5000 --180.0000;-125.0000 --180.0000;-124.5000 --180.0000;-124.0000 --180.0000;-123.5000 --180.0000;-123.0000 --180.0000;-122.5000 --180.0000;-122.0000 --180.0000;-121.5000 --180.0000;-121.0000 --180.0000;-62.5000 --180.0000;-62.0000 --180.0000;-61.5000 --180.0000;-61.0000 --180.0000;-60.5000 --180.0000;-60.0000 --180.0000;-59.5000 --180.0000;-59.0000 --180.0000;-58.5000 --180.0000;-58.0000 --180.0000;-57.5000 --180.0000;-57.0000 --180.0000;-56.5000 --180.0000;-56.0000 --180.0000;-55.5000 --180.0000;-55.0000 --180.0000;-54.5000 --180.0000;-54.0000 --180.0000;-53.5000 --180.0000;-53.0000 --180.0000;-52.5000 --180.0000;-52.0000 --180.0000;-51.5000 --180.0000;-51.0000 --180.0000;-50.5000 --180.0000;114.5000 --180.0000;115.0000 --180.0000;115.5000 --180.0000;116.0000 --180.0000;116.5000 --180.0000;117.0000 --180.0000;117.5000 --180.0000;118.0000 --180.0000;118.5000 --180.0000;119.0000 --180.0000;119.5000 --180.0000;120.0000 --180.0000;120.5000 --180.0000;121.0000 --180.0000;121.5000 --180.0000;122.0000 --180.0000;122.5000 --180.0000;123.0000 --180.0000;123.5000 --180.0000;124.0000 --180.0000;124.5000 --180.0000;125.0000 --180.0000;125.5000 --180.0000;126.0000 --180.0000;126.5000 --180.0000;127.0000 --180.0000;127.5000 --180.0000;128.0000 --180.0000;128.5000 --180.0000;129.0000 --180.0000;129.5000 --180.0000;130.0000 --180.0000;130.5000 --180.0000;131.0000 --180.0000;131.5000 --180.0000;132.0000 --180.0000;132.5000 --179.5000;-257.5000 --179.5000;-257.0000 --179.5000;-256.5000 --179.5000;-256.0000 --179.5000;-255.5000 --179.5000;-255.0000 --179.5000;-254.5000 --179.5000;-254.0000 --179.5000;-253.5000 --179.5000;-253.0000 --179.5000;-252.5000 --179.5000;-252.0000 --179.5000;-251.5000 --179.5000;-251.0000 --179.5000;-250.5000 --179.5000;-250.0000 --179.5000;-249.5000 --179.5000;-249.0000 --179.5000;-248.5000 --179.5000;-248.0000 --179.5000;-247.5000 --179.5000;-247.0000 --179.5000;-246.5000 --179.5000;-246.0000 --179.5000;-245.5000 --179.5000;-245.0000 --179.5000;-244.5000 --179.5000;-132.5000 --179.5000;-132.0000 --179.5000;-131.5000 --179.5000;-131.0000 --179.5000;-130.5000 --179.5000;-130.0000 --179.5000;-129.5000 --179.5000;-129.0000 --179.5000;-128.5000 --179.5000;-128.0000 --179.5000;-127.5000 --179.5000;-127.0000 --179.5000;-126.5000 --179.5000;-126.0000 --179.5000;-125.5000 --179.5000;-125.0000 --179.5000;-124.5000 --179.5000;-124.0000 --179.5000;-123.5000 --179.5000;-123.0000 --179.5000;-122.5000 --179.5000;-122.0000 --179.5000;-121.5000 --179.5000;-121.0000 --179.5000;-120.5000 --179.5000;-62.5000 --179.5000;-62.0000 --179.5000;-61.5000 --179.5000;-61.0000 --179.5000;-60.5000 --179.5000;-60.0000 --179.5000;-59.5000 --179.5000;-59.0000 --179.5000;-58.5000 --179.5000;-58.0000 --179.5000;-57.5000 --179.5000;-57.0000 --179.5000;-56.5000 --179.5000;-56.0000 --179.5000;-55.5000 --179.5000;-55.0000 --179.5000;-54.5000 --179.5000;-54.0000 --179.5000;-53.5000 --179.5000;-53.0000 --179.5000;-52.5000 --179.5000;-52.0000 --179.5000;-51.5000 --179.5000;-51.0000 --179.5000;-50.5000 --179.5000;114.0000 --179.5000;114.5000 --179.5000;115.0000 --179.5000;115.5000 --179.5000;116.0000 --179.5000;116.5000 --179.5000;117.0000 --179.5000;117.5000 --179.5000;118.0000 --179.5000;118.5000 --179.5000;119.0000 --179.5000;119.5000 --179.5000;120.0000 --179.5000;120.5000 --179.5000;121.0000 --179.5000;121.5000 --179.5000;122.0000 --179.5000;122.5000 --179.5000;123.0000 --179.5000;123.5000 --179.5000;124.0000 --179.5000;124.5000 --179.5000;125.0000 --179.5000;125.5000 --179.5000;126.0000 --179.5000;126.5000 --179.5000;127.0000 --179.5000;127.5000 --179.5000;128.0000 --179.5000;128.5000 --179.5000;129.0000 --179.5000;129.5000 --179.5000;130.0000 --179.5000;130.5000 --179.5000;131.0000 --179.5000;131.5000 --179.5000;132.0000 --179.0000;-257.5000 --179.0000;-257.0000 --179.0000;-256.5000 --179.0000;-256.0000 --179.0000;-255.5000 --179.0000;-255.0000 --179.0000;-254.5000 --179.0000;-254.0000 --179.0000;-253.5000 --179.0000;-253.0000 --179.0000;-252.5000 --179.0000;-252.0000 --179.0000;-251.5000 --179.0000;-251.0000 --179.0000;-250.5000 --179.0000;-250.0000 --179.0000;-249.5000 --179.0000;-249.0000 --179.0000;-248.5000 --179.0000;-248.0000 --179.0000;-247.5000 --179.0000;-247.0000 --179.0000;-246.5000 --179.0000;-246.0000 --179.0000;-245.5000 --179.0000;-245.0000 --179.0000;-132.5000 --179.0000;-132.0000 --179.0000;-131.5000 --179.0000;-131.0000 --179.0000;-130.5000 --179.0000;-130.0000 --179.0000;-129.5000 --179.0000;-129.0000 --179.0000;-128.5000 --179.0000;-128.0000 --179.0000;-127.5000 --179.0000;-127.0000 --179.0000;-126.5000 --179.0000;-126.0000 --179.0000;-125.5000 --179.0000;-125.0000 --179.0000;-124.5000 --179.0000;-124.0000 --179.0000;-123.5000 --179.0000;-123.0000 --179.0000;-122.5000 --179.0000;-122.0000 --179.0000;-121.5000 --179.0000;-121.0000 --179.0000;-120.5000 --179.0000;-63.0000 --179.0000;-62.5000 --179.0000;-62.0000 --179.0000;-61.5000 --179.0000;-61.0000 --179.0000;-60.5000 --179.0000;-60.0000 --179.0000;-59.5000 --179.0000;-59.0000 --179.0000;-58.5000 --179.0000;-58.0000 --179.0000;-57.5000 --179.0000;-57.0000 --179.0000;-56.5000 --179.0000;-56.0000 --179.0000;-55.5000 --179.0000;-55.0000 --179.0000;-54.5000 --179.0000;-54.0000 --179.0000;-53.5000 --179.0000;-53.0000 --179.0000;-52.5000 --179.0000;-52.0000 --179.0000;-51.5000 --179.0000;-51.0000 --179.0000;-50.5000 --179.0000;113.5000 --179.0000;114.0000 --179.0000;114.5000 --179.0000;115.0000 --179.0000;115.5000 --179.0000;116.0000 --179.0000;116.5000 --179.0000;117.0000 --179.0000;117.5000 --179.0000;118.0000 --179.0000;118.5000 --179.0000;119.0000 --179.0000;119.5000 --179.0000;120.0000 --179.0000;120.5000 --179.0000;121.0000 --179.0000;121.5000 --179.0000;122.0000 --179.0000;122.5000 --179.0000;123.0000 --179.0000;123.5000 --179.0000;124.0000 --179.0000;124.5000 --179.0000;125.0000 --179.0000;125.5000 --179.0000;126.0000 --179.0000;126.5000 --179.0000;127.0000 --179.0000;127.5000 --179.0000;128.0000 --179.0000;128.5000 --179.0000;129.0000 --179.0000;129.5000 --179.0000;130.0000 --179.0000;130.5000 --179.0000;131.0000 --179.0000;131.5000 --178.5000;-258.0000 --178.5000;-257.5000 --178.5000;-257.0000 --178.5000;-256.5000 --178.5000;-256.0000 --178.5000;-255.5000 --178.5000;-255.0000 --178.5000;-254.5000 --178.5000;-254.0000 --178.5000;-253.5000 --178.5000;-253.0000 --178.5000;-252.5000 --178.5000;-252.0000 --178.5000;-251.5000 --178.5000;-251.0000 --178.5000;-250.5000 --178.5000;-250.0000 --178.5000;-249.5000 --178.5000;-249.0000 --178.5000;-248.5000 --178.5000;-248.0000 --178.5000;-247.5000 --178.5000;-247.0000 --178.5000;-246.5000 --178.5000;-246.0000 --178.5000;-245.5000 --178.5000;-245.0000 --178.5000;-132.5000 --178.5000;-132.0000 --178.5000;-131.5000 --178.5000;-131.0000 --178.5000;-130.5000 --178.5000;-130.0000 --178.5000;-129.5000 --178.5000;-129.0000 --178.5000;-128.5000 --178.5000;-128.0000 --178.5000;-127.5000 --178.5000;-127.0000 --178.5000;-126.5000 --178.5000;-126.0000 --178.5000;-125.5000 --178.5000;-125.0000 --178.5000;-124.5000 --178.5000;-124.0000 --178.5000;-123.5000 --178.5000;-123.0000 --178.5000;-122.5000 --178.5000;-122.0000 --178.5000;-121.5000 --178.5000;-121.0000 --178.5000;-120.5000 --178.5000;-63.0000 --178.5000;-62.5000 --178.5000;-62.0000 --178.5000;-61.5000 --178.5000;-61.0000 --178.5000;-60.5000 --178.5000;-60.0000 --178.5000;-59.5000 --178.5000;-59.0000 --178.5000;-58.5000 --178.5000;-58.0000 --178.5000;-57.5000 --178.5000;-57.0000 --178.5000;-56.5000 --178.5000;-56.0000 --178.5000;-55.5000 --178.5000;-55.0000 --178.5000;-54.5000 --178.5000;-54.0000 --178.5000;-53.5000 --178.5000;-53.0000 --178.5000;-52.5000 --178.5000;-52.0000 --178.5000;-51.5000 --178.5000;-51.0000 --178.5000;113.0000 --178.5000;113.5000 --178.5000;114.0000 --178.5000;114.5000 --178.5000;115.0000 --178.5000;115.5000 --178.5000;116.0000 --178.5000;116.5000 --178.5000;117.0000 --178.5000;117.5000 --178.5000;118.0000 --178.5000;118.5000 --178.5000;119.0000 --178.5000;119.5000 --178.5000;120.0000 --178.5000;120.5000 --178.5000;121.0000 --178.5000;121.5000 --178.5000;122.0000 --178.5000;122.5000 --178.5000;123.0000 --178.5000;123.5000 --178.5000;124.0000 --178.5000;124.5000 --178.5000;125.0000 --178.5000;125.5000 --178.5000;126.0000 --178.5000;126.5000 --178.5000;127.0000 --178.5000;127.5000 --178.5000;128.0000 --178.5000;128.5000 --178.5000;129.0000 --178.5000;129.5000 --178.5000;130.0000 --178.5000;130.5000 --178.5000;131.0000 --178.0000;-258.0000 --178.0000;-257.5000 --178.0000;-257.0000 --178.0000;-256.5000 --178.0000;-256.0000 --178.0000;-255.5000 --178.0000;-255.0000 --178.0000;-254.5000 --178.0000;-254.0000 --178.0000;-253.5000 --178.0000;-253.0000 --178.0000;-252.5000 --178.0000;-252.0000 --178.0000;-251.5000 --178.0000;-251.0000 --178.0000;-250.5000 --178.0000;-250.0000 --178.0000;-249.5000 --178.0000;-249.0000 --178.0000;-248.5000 --178.0000;-248.0000 --178.0000;-247.5000 --178.0000;-247.0000 --178.0000;-246.5000 --178.0000;-246.0000 --178.0000;-245.5000 --178.0000;-245.0000 --178.0000;-132.5000 --178.0000;-132.0000 --178.0000;-131.5000 --178.0000;-131.0000 --178.0000;-130.5000 --178.0000;-130.0000 --178.0000;-129.5000 --178.0000;-129.0000 --178.0000;-128.5000 --178.0000;-128.0000 --178.0000;-127.5000 --178.0000;-127.0000 --178.0000;-126.5000 --178.0000;-126.0000 --178.0000;-125.5000 --178.0000;-125.0000 --178.0000;-124.5000 --178.0000;-124.0000 --178.0000;-123.5000 --178.0000;-123.0000 --178.0000;-122.5000 --178.0000;-122.0000 --178.0000;-121.5000 --178.0000;-121.0000 --178.0000;-120.5000 --178.0000;-63.0000 --178.0000;-62.5000 --178.0000;-62.0000 --178.0000;-61.5000 --178.0000;-61.0000 --178.0000;-60.5000 --178.0000;-60.0000 --178.0000;-59.5000 --178.0000;-59.0000 --178.0000;-58.5000 --178.0000;-58.0000 --178.0000;-57.5000 --178.0000;-57.0000 --178.0000;-56.5000 --178.0000;-56.0000 --178.0000;-55.5000 --178.0000;-55.0000 --178.0000;-54.5000 --178.0000;-54.0000 --178.0000;-53.5000 --178.0000;-53.0000 --178.0000;-52.5000 --178.0000;-52.0000 --178.0000;-51.5000 --178.0000;-51.0000 --178.0000;112.5000 --178.0000;113.0000 --178.0000;113.5000 --178.0000;114.0000 --178.0000;114.5000 --178.0000;115.0000 --178.0000;115.5000 --178.0000;116.0000 --178.0000;116.5000 --178.0000;117.0000 --178.0000;117.5000 --178.0000;118.0000 --178.0000;118.5000 --178.0000;119.0000 --178.0000;119.5000 --178.0000;120.0000 --178.0000;120.5000 --178.0000;121.0000 --178.0000;121.5000 --178.0000;122.0000 --178.0000;122.5000 --178.0000;123.0000 --178.0000;123.5000 --178.0000;124.0000 --178.0000;124.5000 --178.0000;125.0000 --178.0000;125.5000 --178.0000;126.0000 --178.0000;126.5000 --178.0000;127.0000 --178.0000;127.5000 --178.0000;128.0000 --178.0000;128.5000 --178.0000;129.0000 --178.0000;129.5000 --178.0000;130.0000 --178.0000;130.5000 --177.5000;-258.0000 --177.5000;-257.5000 --177.5000;-257.0000 --177.5000;-256.5000 --177.5000;-256.0000 --177.5000;-255.5000 --177.5000;-255.0000 --177.5000;-254.5000 --177.5000;-254.0000 --177.5000;-253.5000 --177.5000;-253.0000 --177.5000;-252.5000 --177.5000;-252.0000 --177.5000;-251.5000 --177.5000;-251.0000 --177.5000;-250.5000 --177.5000;-250.0000 --177.5000;-249.5000 --177.5000;-249.0000 --177.5000;-248.5000 --177.5000;-248.0000 --177.5000;-247.5000 --177.5000;-247.0000 --177.5000;-246.5000 --177.5000;-246.0000 --177.5000;-245.5000 --177.5000;-132.5000 --177.5000;-132.0000 --177.5000;-131.5000 --177.5000;-131.0000 --177.5000;-130.5000 --177.5000;-130.0000 --177.5000;-129.5000 --177.5000;-129.0000 --177.5000;-128.5000 --177.5000;-128.0000 --177.5000;-127.5000 --177.5000;-127.0000 --177.5000;-126.5000 --177.5000;-126.0000 --177.5000;-125.5000 --177.5000;-125.0000 --177.5000;-124.5000 --177.5000;-124.0000 --177.5000;-123.5000 --177.5000;-123.0000 --177.5000;-122.5000 --177.5000;-122.0000 --177.5000;-121.5000 --177.5000;-121.0000 --177.5000;-120.5000 --177.5000;-120.0000 --177.5000;-63.5000 --177.5000;-63.0000 --177.5000;-62.5000 --177.5000;-62.0000 --177.5000;-61.5000 --177.5000;-61.0000 --177.5000;-60.5000 --177.5000;-60.0000 --177.5000;-59.5000 --177.5000;-59.0000 --177.5000;-58.5000 --177.5000;-58.0000 --177.5000;-57.5000 --177.5000;-57.0000 --177.5000;-56.5000 --177.5000;-56.0000 --177.5000;-55.5000 --177.5000;-55.0000 --177.5000;-54.5000 --177.5000;-54.0000 --177.5000;-53.5000 --177.5000;-53.0000 --177.5000;-52.5000 --177.5000;-52.0000 --177.5000;-51.5000 --177.5000;-51.0000 --177.5000;112.0000 --177.5000;112.5000 --177.5000;113.0000 --177.5000;113.5000 --177.5000;114.0000 --177.5000;114.5000 --177.5000;115.0000 --177.5000;115.5000 --177.5000;116.0000 --177.5000;116.5000 --177.5000;117.0000 --177.5000;117.5000 --177.5000;118.0000 --177.5000;118.5000 --177.5000;119.0000 --177.5000;119.5000 --177.5000;120.0000 --177.5000;120.5000 --177.5000;121.0000 --177.5000;121.5000 --177.5000;122.0000 --177.5000;122.5000 --177.5000;123.0000 --177.5000;123.5000 --177.5000;124.0000 --177.5000;124.5000 --177.5000;125.0000 --177.5000;125.5000 --177.5000;126.0000 --177.5000;126.5000 --177.5000;127.0000 --177.5000;127.5000 --177.5000;128.0000 --177.5000;128.5000 --177.5000;129.0000 --177.5000;129.5000 --177.5000;130.0000 --177.0000;-258.5000 --177.0000;-258.0000 --177.0000;-257.5000 --177.0000;-257.0000 --177.0000;-256.5000 --177.0000;-256.0000 --177.0000;-255.5000 --177.0000;-255.0000 --177.0000;-254.5000 --177.0000;-254.0000 --177.0000;-253.5000 --177.0000;-253.0000 --177.0000;-252.5000 --177.0000;-252.0000 --177.0000;-251.5000 --177.0000;-251.0000 --177.0000;-250.5000 --177.0000;-250.0000 --177.0000;-249.5000 --177.0000;-249.0000 --177.0000;-248.5000 --177.0000;-248.0000 --177.0000;-247.5000 --177.0000;-247.0000 --177.0000;-246.5000 --177.0000;-246.0000 --177.0000;-245.5000 --177.0000;-132.0000 --177.0000;-131.5000 --177.0000;-131.0000 --177.0000;-130.5000 --177.0000;-130.0000 --177.0000;-129.5000 --177.0000;-129.0000 --177.0000;-128.5000 --177.0000;-128.0000 --177.0000;-127.5000 --177.0000;-127.0000 --177.0000;-126.5000 --177.0000;-126.0000 --177.0000;-125.5000 --177.0000;-125.0000 --177.0000;-124.5000 --177.0000;-124.0000 --177.0000;-123.5000 --177.0000;-123.0000 --177.0000;-122.5000 --177.0000;-122.0000 --177.0000;-121.5000 --177.0000;-121.0000 --177.0000;-120.5000 --177.0000;-120.0000 --177.0000;-63.5000 --177.0000;-63.0000 --177.0000;-62.5000 --177.0000;-62.0000 --177.0000;-61.5000 --177.0000;-61.0000 --177.0000;-60.5000 --177.0000;-60.0000 --177.0000;-59.5000 --177.0000;-59.0000 --177.0000;-58.5000 --177.0000;-58.0000 --177.0000;-57.5000 --177.0000;-57.0000 --177.0000;-56.5000 --177.0000;-56.0000 --177.0000;-55.5000 --177.0000;-55.0000 --177.0000;-54.5000 --177.0000;-54.0000 --177.0000;-53.5000 --177.0000;-53.0000 --177.0000;-52.5000 --177.0000;-52.0000 --177.0000;-51.5000 --177.0000;-51.0000 --177.0000;111.0000 --177.0000;111.5000 --177.0000;112.0000 --177.0000;112.5000 --177.0000;113.0000 --177.0000;113.5000 --177.0000;114.0000 --177.0000;114.5000 --177.0000;115.0000 --177.0000;115.5000 --177.0000;116.0000 --177.0000;116.5000 --177.0000;117.0000 --177.0000;117.5000 --177.0000;118.0000 --177.0000;118.5000 --177.0000;119.0000 --177.0000;119.5000 --177.0000;120.0000 --177.0000;120.5000 --177.0000;121.0000 --177.0000;121.5000 --177.0000;122.0000 --177.0000;122.5000 --177.0000;123.0000 --177.0000;123.5000 --177.0000;124.0000 --177.0000;124.5000 --177.0000;125.0000 --177.0000;125.5000 --177.0000;126.0000 --177.0000;126.5000 --177.0000;127.0000 --177.0000;127.5000 --177.0000;128.0000 --177.0000;128.5000 --177.0000;129.0000 --177.0000;129.5000 --176.5000;-258.5000 --176.5000;-258.0000 --176.5000;-257.5000 --176.5000;-257.0000 --176.5000;-256.5000 --176.5000;-256.0000 --176.5000;-255.5000 --176.5000;-255.0000 --176.5000;-254.5000 --176.5000;-254.0000 --176.5000;-253.5000 --176.5000;-253.0000 --176.5000;-252.5000 --176.5000;-252.0000 --176.5000;-251.5000 --176.5000;-251.0000 --176.5000;-250.5000 --176.5000;-250.0000 --176.5000;-249.5000 --176.5000;-249.0000 --176.5000;-248.5000 --176.5000;-248.0000 --176.5000;-247.5000 --176.5000;-247.0000 --176.5000;-246.5000 --176.5000;-246.0000 --176.5000;-132.0000 --176.5000;-131.5000 --176.5000;-131.0000 --176.5000;-130.5000 --176.5000;-130.0000 --176.5000;-129.5000 --176.5000;-129.0000 --176.5000;-128.5000 --176.5000;-128.0000 --176.5000;-127.5000 --176.5000;-127.0000 --176.5000;-126.5000 --176.5000;-126.0000 --176.5000;-125.5000 --176.5000;-125.0000 --176.5000;-124.5000 --176.5000;-124.0000 --176.5000;-123.5000 --176.5000;-123.0000 --176.5000;-122.5000 --176.5000;-122.0000 --176.5000;-121.5000 --176.5000;-121.0000 --176.5000;-120.5000 --176.5000;-120.0000 --176.5000;-119.5000 --176.5000;-64.0000 --176.5000;-63.5000 --176.5000;-63.0000 --176.5000;-62.5000 --176.5000;-62.0000 --176.5000;-61.5000 --176.5000;-61.0000 --176.5000;-60.5000 --176.5000;-60.0000 --176.5000;-59.5000 --176.5000;-59.0000 --176.5000;-58.5000 --176.5000;-58.0000 --176.5000;-57.5000 --176.5000;-57.0000 --176.5000;-56.5000 --176.5000;-56.0000 --176.5000;-55.5000 --176.5000;-55.0000 --176.5000;-54.5000 --176.5000;-54.0000 --176.5000;-53.5000 --176.5000;-53.0000 --176.5000;-52.5000 --176.5000;-52.0000 --176.5000;-51.5000 --176.5000;110.5000 --176.5000;111.0000 --176.5000;111.5000 --176.5000;112.0000 --176.5000;112.5000 --176.5000;113.0000 --176.5000;113.5000 --176.5000;114.0000 --176.5000;114.5000 --176.5000;115.0000 --176.5000;115.5000 --176.5000;116.0000 --176.5000;116.5000 --176.5000;117.0000 --176.5000;117.5000 --176.5000;118.0000 --176.5000;118.5000 --176.5000;119.0000 --176.5000;119.5000 --176.5000;120.0000 --176.5000;120.5000 --176.5000;121.0000 --176.5000;121.5000 --176.5000;122.0000 --176.5000;122.5000 --176.5000;123.0000 --176.5000;123.5000 --176.5000;124.0000 --176.5000;124.5000 --176.5000;125.0000 --176.5000;125.5000 --176.5000;126.0000 --176.5000;126.5000 --176.5000;127.0000 --176.5000;127.5000 --176.5000;128.0000 --176.5000;128.5000 --176.5000;129.0000 --176.0000;-259.0000 --176.0000;-258.5000 --176.0000;-258.0000 --176.0000;-257.5000 --176.0000;-257.0000 --176.0000;-256.5000 --176.0000;-256.0000 --176.0000;-255.5000 --176.0000;-255.0000 --176.0000;-254.5000 --176.0000;-254.0000 --176.0000;-253.5000 --176.0000;-253.0000 --176.0000;-252.5000 --176.0000;-252.0000 --176.0000;-251.5000 --176.0000;-251.0000 --176.0000;-250.5000 --176.0000;-250.0000 --176.0000;-249.5000 --176.0000;-249.0000 --176.0000;-248.5000 --176.0000;-248.0000 --176.0000;-247.5000 --176.0000;-247.0000 --176.0000;-246.5000 --176.0000;-246.0000 --176.0000;-132.0000 --176.0000;-131.5000 --176.0000;-131.0000 --176.0000;-130.5000 --176.0000;-130.0000 --176.0000;-129.5000 --176.0000;-129.0000 --176.0000;-128.5000 --176.0000;-128.0000 --176.0000;-127.5000 --176.0000;-127.0000 --176.0000;-126.5000 --176.0000;-126.0000 --176.0000;-125.5000 --176.0000;-125.0000 --176.0000;-124.5000 --176.0000;-124.0000 --176.0000;-123.5000 --176.0000;-123.0000 --176.0000;-122.5000 --176.0000;-122.0000 --176.0000;-121.5000 --176.0000;-121.0000 --176.0000;-120.5000 --176.0000;-120.0000 --176.0000;-119.5000 --176.0000;-64.0000 --176.0000;-63.5000 --176.0000;-63.0000 --176.0000;-62.5000 --176.0000;-62.0000 --176.0000;-61.5000 --176.0000;-61.0000 --176.0000;-60.5000 --176.0000;-60.0000 --176.0000;-59.5000 --176.0000;-59.0000 --176.0000;-58.5000 --176.0000;-58.0000 --176.0000;-57.5000 --176.0000;-57.0000 --176.0000;-56.5000 --176.0000;-56.0000 --176.0000;-55.5000 --176.0000;-55.0000 --176.0000;-54.5000 --176.0000;-54.0000 --176.0000;-53.5000 --176.0000;-53.0000 --176.0000;-52.5000 --176.0000;-52.0000 --176.0000;-51.5000 --176.0000;110.0000 --176.0000;110.5000 --176.0000;111.0000 --176.0000;111.5000 --176.0000;112.0000 --176.0000;112.5000 --176.0000;113.0000 --176.0000;113.5000 --176.0000;114.0000 --176.0000;114.5000 --176.0000;115.0000 --176.0000;115.5000 --176.0000;116.0000 --176.0000;116.5000 --176.0000;117.0000 --176.0000;117.5000 --176.0000;118.0000 --176.0000;118.5000 --176.0000;119.0000 --176.0000;119.5000 --176.0000;120.0000 --176.0000;120.5000 --176.0000;121.0000 --176.0000;121.5000 --176.0000;122.0000 --176.0000;122.5000 --176.0000;123.0000 --176.0000;123.5000 --176.0000;124.0000 --176.0000;124.5000 --176.0000;125.0000 --176.0000;125.5000 --176.0000;126.0000 --176.0000;126.5000 --176.0000;127.0000 --176.0000;127.5000 --176.0000;128.0000 --176.0000;128.5000 --175.5000;-259.0000 --175.5000;-258.5000 --175.5000;-258.0000 --175.5000;-257.5000 --175.5000;-257.0000 --175.5000;-256.5000 --175.5000;-256.0000 --175.5000;-255.5000 --175.5000;-255.0000 --175.5000;-254.5000 --175.5000;-254.0000 --175.5000;-253.5000 --175.5000;-253.0000 --175.5000;-252.5000 --175.5000;-252.0000 --175.5000;-251.5000 --175.5000;-251.0000 --175.5000;-250.5000 --175.5000;-250.0000 --175.5000;-249.5000 --175.5000;-249.0000 --175.5000;-248.5000 --175.5000;-248.0000 --175.5000;-247.5000 --175.5000;-247.0000 --175.5000;-246.5000 --175.5000;-246.0000 --175.5000;-132.0000 --175.5000;-131.5000 --175.5000;-131.0000 --175.5000;-130.5000 --175.5000;-130.0000 --175.5000;-129.5000 --175.5000;-129.0000 --175.5000;-128.5000 --175.5000;-128.0000 --175.5000;-127.5000 --175.5000;-127.0000 --175.5000;-126.5000 --175.5000;-126.0000 --175.5000;-125.5000 --175.5000;-125.0000 --175.5000;-124.5000 --175.5000;-124.0000 --175.5000;-123.5000 --175.5000;-123.0000 --175.5000;-122.5000 --175.5000;-122.0000 --175.5000;-121.5000 --175.5000;-121.0000 --175.5000;-120.5000 --175.5000;-120.0000 --175.5000;-119.5000 --175.5000;-64.5000 --175.5000;-64.0000 --175.5000;-63.5000 --175.5000;-63.0000 --175.5000;-62.5000 --175.5000;-62.0000 --175.5000;-61.5000 --175.5000;-61.0000 --175.5000;-60.5000 --175.5000;-60.0000 --175.5000;-59.5000 --175.5000;-59.0000 --175.5000;-58.5000 --175.5000;-58.0000 --175.5000;-57.5000 --175.5000;-57.0000 --175.5000;-56.5000 --175.5000;-56.0000 --175.5000;-55.5000 --175.5000;-55.0000 --175.5000;-54.5000 --175.5000;-54.0000 --175.5000;-53.5000 --175.5000;-53.0000 --175.5000;-52.5000 --175.5000;-52.0000 --175.5000;-51.5000 --175.5000;109.5000 --175.5000;110.0000 --175.5000;110.5000 --175.5000;111.0000 --175.5000;111.5000 --175.5000;112.0000 --175.5000;112.5000 --175.5000;113.0000 --175.5000;113.5000 --175.5000;114.0000 --175.5000;114.5000 --175.5000;115.0000 --175.5000;115.5000 --175.5000;116.0000 --175.5000;116.5000 --175.5000;117.0000 --175.5000;117.5000 --175.5000;118.0000 --175.5000;118.5000 --175.5000;119.0000 --175.5000;119.5000 --175.5000;120.0000 --175.5000;120.5000 --175.5000;121.0000 --175.5000;121.5000 --175.5000;122.0000 --175.5000;122.5000 --175.5000;123.0000 --175.5000;123.5000 --175.5000;124.0000 --175.5000;124.5000 --175.5000;125.0000 --175.5000;125.5000 --175.5000;126.0000 --175.5000;126.5000 --175.5000;127.0000 --175.5000;127.5000 --175.5000;128.0000 --175.0000;-259.0000 --175.0000;-258.5000 --175.0000;-258.0000 --175.0000;-257.5000 --175.0000;-257.0000 --175.0000;-256.5000 --175.0000;-256.0000 --175.0000;-255.5000 --175.0000;-255.0000 --175.0000;-254.5000 --175.0000;-254.0000 --175.0000;-253.5000 --175.0000;-253.0000 --175.0000;-252.5000 --175.0000;-252.0000 --175.0000;-251.5000 --175.0000;-251.0000 --175.0000;-250.5000 --175.0000;-250.0000 --175.0000;-249.5000 --175.0000;-249.0000 --175.0000;-248.5000 --175.0000;-248.0000 --175.0000;-247.5000 --175.0000;-247.0000 --175.0000;-246.5000 --175.0000;-131.5000 --175.0000;-131.0000 --175.0000;-130.5000 --175.0000;-130.0000 --175.0000;-129.5000 --175.0000;-129.0000 --175.0000;-128.5000 --175.0000;-128.0000 --175.0000;-127.5000 --175.0000;-127.0000 --175.0000;-126.5000 --175.0000;-126.0000 --175.0000;-125.5000 --175.0000;-125.0000 --175.0000;-124.5000 --175.0000;-124.0000 --175.0000;-123.5000 --175.0000;-123.0000 --175.0000;-122.5000 --175.0000;-122.0000 --175.0000;-121.5000 --175.0000;-121.0000 --175.0000;-120.5000 --175.0000;-120.0000 --175.0000;-119.5000 --175.0000;-119.0000 --175.0000;-64.5000 --175.0000;-64.0000 --175.0000;-63.5000 --175.0000;-63.0000 --175.0000;-62.5000 --175.0000;-62.0000 --175.0000;-61.5000 --175.0000;-61.0000 --175.0000;-60.5000 --175.0000;-60.0000 --175.0000;-59.5000 --175.0000;-59.0000 --175.0000;-58.5000 --175.0000;-58.0000 --175.0000;-57.5000 --175.0000;-57.0000 --175.0000;-56.5000 --175.0000;-56.0000 --175.0000;-55.5000 --175.0000;-55.0000 --175.0000;-54.5000 --175.0000;-54.0000 --175.0000;-53.5000 --175.0000;-53.0000 --175.0000;-52.5000 --175.0000;-52.0000 --175.0000;109.0000 --175.0000;109.5000 --175.0000;110.0000 --175.0000;110.5000 --175.0000;111.0000 --175.0000;111.5000 --175.0000;112.0000 --175.0000;112.5000 --175.0000;113.0000 --175.0000;113.5000 --175.0000;114.0000 --175.0000;114.5000 --175.0000;115.0000 --175.0000;115.5000 --175.0000;116.0000 --175.0000;116.5000 --175.0000;117.0000 --175.0000;117.5000 --175.0000;118.0000 --175.0000;118.5000 --175.0000;119.0000 --175.0000;119.5000 --175.0000;120.0000 --175.0000;120.5000 --175.0000;121.0000 --175.0000;121.5000 --175.0000;122.0000 --175.0000;122.5000 --175.0000;123.0000 --175.0000;123.5000 --175.0000;124.0000 --175.0000;124.5000 --175.0000;125.0000 --175.0000;125.5000 --175.0000;126.0000 --175.0000;126.5000 --175.0000;127.0000 --175.0000;127.5000 --174.5000;-259.5000 --174.5000;-259.0000 --174.5000;-258.5000 --174.5000;-258.0000 --174.5000;-257.5000 --174.5000;-257.0000 --174.5000;-256.5000 --174.5000;-256.0000 --174.5000;-255.5000 --174.5000;-255.0000 --174.5000;-254.5000 --174.5000;-254.0000 --174.5000;-253.5000 --174.5000;-253.0000 --174.5000;-252.5000 --174.5000;-252.0000 --174.5000;-251.5000 --174.5000;-251.0000 --174.5000;-250.5000 --174.5000;-250.0000 --174.5000;-249.5000 --174.5000;-249.0000 --174.5000;-248.5000 --174.5000;-248.0000 --174.5000;-247.5000 --174.5000;-247.0000 --174.5000;-246.5000 --174.5000;-131.5000 --174.5000;-131.0000 --174.5000;-130.5000 --174.5000;-130.0000 --174.5000;-129.5000 --174.5000;-129.0000 --174.5000;-128.5000 --174.5000;-128.0000 --174.5000;-127.5000 --174.5000;-127.0000 --174.5000;-126.5000 --174.5000;-126.0000 --174.5000;-125.5000 --174.5000;-125.0000 --174.5000;-124.5000 --174.5000;-124.0000 --174.5000;-123.5000 --174.5000;-123.0000 --174.5000;-122.5000 --174.5000;-122.0000 --174.5000;-121.5000 --174.5000;-121.0000 --174.5000;-120.5000 --174.5000;-120.0000 --174.5000;-119.5000 --174.5000;-119.0000 --174.5000;-65.0000 --174.5000;-64.5000 --174.5000;-64.0000 --174.5000;-63.5000 --174.5000;-63.0000 --174.5000;-62.5000 --174.5000;-62.0000 --174.5000;-61.5000 --174.5000;-61.0000 --174.5000;-60.5000 --174.5000;-60.0000 --174.5000;-59.5000 --174.5000;-59.0000 --174.5000;-58.5000 --174.5000;-58.0000 --174.5000;-57.5000 --174.5000;-57.0000 --174.5000;-56.5000 --174.5000;-56.0000 --174.5000;-55.5000 --174.5000;-55.0000 --174.5000;-54.5000 --174.5000;-54.0000 --174.5000;-53.5000 --174.5000;-53.0000 --174.5000;-52.5000 --174.5000;-52.0000 --174.5000;108.5000 --174.5000;109.0000 --174.5000;109.5000 --174.5000;110.0000 --174.5000;110.5000 --174.5000;111.0000 --174.5000;111.5000 --174.5000;112.0000 --174.5000;112.5000 --174.5000;113.0000 --174.5000;113.5000 --174.5000;114.0000 --174.5000;114.5000 --174.5000;115.0000 --174.5000;115.5000 --174.5000;116.0000 --174.5000;116.5000 --174.5000;117.0000 --174.5000;117.5000 --174.5000;118.0000 --174.5000;118.5000 --174.5000;119.0000 --174.5000;119.5000 --174.5000;120.0000 --174.5000;120.5000 --174.5000;121.0000 --174.5000;121.5000 --174.5000;122.0000 --174.5000;122.5000 --174.5000;123.0000 --174.5000;123.5000 --174.5000;124.0000 --174.5000;124.5000 --174.5000;125.0000 --174.5000;125.5000 --174.5000;126.0000 --174.5000;126.5000 --174.5000;127.0000 --174.0000;-259.5000 --174.0000;-259.0000 --174.0000;-258.5000 --174.0000;-258.0000 --174.0000;-257.5000 --174.0000;-257.0000 --174.0000;-256.5000 --174.0000;-256.0000 --174.0000;-255.5000 --174.0000;-255.0000 --174.0000;-254.5000 --174.0000;-254.0000 --174.0000;-253.5000 --174.0000;-253.0000 --174.0000;-252.5000 --174.0000;-252.0000 --174.0000;-251.5000 --174.0000;-251.0000 --174.0000;-250.5000 --174.0000;-250.0000 --174.0000;-249.5000 --174.0000;-249.0000 --174.0000;-248.5000 --174.0000;-248.0000 --174.0000;-247.5000 --174.0000;-247.0000 --174.0000;-131.5000 --174.0000;-131.0000 --174.0000;-130.5000 --174.0000;-130.0000 --174.0000;-129.5000 --174.0000;-129.0000 --174.0000;-128.5000 --174.0000;-128.0000 --174.0000;-127.5000 --174.0000;-127.0000 --174.0000;-126.5000 --174.0000;-126.0000 --174.0000;-125.5000 --174.0000;-125.0000 --174.0000;-124.5000 --174.0000;-124.0000 --174.0000;-123.5000 --174.0000;-123.0000 --174.0000;-122.5000 --174.0000;-122.0000 --174.0000;-121.5000 --174.0000;-121.0000 --174.0000;-120.5000 --174.0000;-120.0000 --174.0000;-119.5000 --174.0000;-119.0000 --174.0000;-118.5000 --174.0000;-65.0000 --174.0000;-64.5000 --174.0000;-64.0000 --174.0000;-63.5000 --174.0000;-63.0000 --174.0000;-62.5000 --174.0000;-62.0000 --174.0000;-61.5000 --174.0000;-61.0000 --174.0000;-60.5000 --174.0000;-60.0000 --174.0000;-59.5000 --174.0000;-59.0000 --174.0000;-58.5000 --174.0000;-58.0000 --174.0000;-57.5000 --174.0000;-57.0000 --174.0000;-56.5000 --174.0000;-56.0000 --174.0000;-55.5000 --174.0000;-55.0000 --174.0000;-54.5000 --174.0000;-54.0000 --174.0000;-53.5000 --174.0000;-53.0000 --174.0000;-52.5000 --174.0000;-52.0000 --174.0000;108.0000 --174.0000;108.5000 --174.0000;109.0000 --174.0000;109.5000 --174.0000;110.0000 --174.0000;110.5000 --174.0000;111.0000 --174.0000;111.5000 --174.0000;112.0000 --174.0000;112.5000 --174.0000;113.0000 --174.0000;113.5000 --174.0000;114.0000 --174.0000;114.5000 --174.0000;115.0000 --174.0000;115.5000 --174.0000;116.0000 --174.0000;116.5000 --174.0000;117.0000 --174.0000;117.5000 --174.0000;118.0000 --174.0000;118.5000 --174.0000;119.0000 --174.0000;119.5000 --174.0000;120.0000 --174.0000;120.5000 --174.0000;121.0000 --174.0000;121.5000 --174.0000;122.0000 --174.0000;122.5000 --174.0000;123.0000 --174.0000;123.5000 --174.0000;124.0000 --174.0000;124.5000 --174.0000;125.0000 --174.0000;125.5000 --174.0000;126.0000 --174.0000;126.5000 --173.5000;-260.0000 --173.5000;-259.5000 --173.5000;-259.0000 --173.5000;-258.5000 --173.5000;-258.0000 --173.5000;-257.5000 --173.5000;-257.0000 --173.5000;-256.5000 --173.5000;-256.0000 --173.5000;-255.5000 --173.5000;-255.0000 --173.5000;-254.5000 --173.5000;-254.0000 --173.5000;-253.5000 --173.5000;-253.0000 --173.5000;-252.5000 --173.5000;-252.0000 --173.5000;-251.5000 --173.5000;-251.0000 --173.5000;-250.5000 --173.5000;-250.0000 --173.5000;-249.5000 --173.5000;-249.0000 --173.5000;-248.5000 --173.5000;-248.0000 --173.5000;-247.5000 --173.5000;-247.0000 --173.5000;-131.0000 --173.5000;-130.5000 --173.5000;-130.0000 --173.5000;-129.5000 --173.5000;-129.0000 --173.5000;-128.5000 --173.5000;-128.0000 --173.5000;-127.5000 --173.5000;-127.0000 --173.5000;-126.5000 --173.5000;-126.0000 --173.5000;-125.5000 --173.5000;-125.0000 --173.5000;-124.5000 --173.5000;-124.0000 --173.5000;-123.5000 --173.5000;-123.0000 --173.5000;-122.5000 --173.5000;-122.0000 --173.5000;-121.5000 --173.5000;-121.0000 --173.5000;-120.5000 --173.5000;-120.0000 --173.5000;-119.5000 --173.5000;-119.0000 --173.5000;-118.5000 --173.5000;-118.0000 --173.5000;-65.5000 --173.5000;-65.0000 --173.5000;-64.5000 --173.5000;-64.0000 --173.5000;-63.5000 --173.5000;-63.0000 --173.5000;-62.5000 --173.5000;-62.0000 --173.5000;-61.5000 --173.5000;-61.0000 --173.5000;-60.5000 --173.5000;-60.0000 --173.5000;-59.5000 --173.5000;-59.0000 --173.5000;-58.5000 --173.5000;-58.0000 --173.5000;-57.5000 --173.5000;-57.0000 --173.5000;-56.5000 --173.5000;-56.0000 --173.5000;-55.5000 --173.5000;-55.0000 --173.5000;-54.5000 --173.5000;-54.0000 --173.5000;-53.5000 --173.5000;-53.0000 --173.5000;-52.5000 --173.5000;107.5000 --173.5000;108.0000 --173.5000;108.5000 --173.5000;109.0000 --173.5000;109.5000 --173.5000;110.0000 --173.5000;110.5000 --173.5000;111.0000 --173.5000;111.5000 --173.5000;112.0000 --173.5000;112.5000 --173.5000;113.0000 --173.5000;113.5000 --173.5000;114.0000 --173.5000;114.5000 --173.5000;115.0000 --173.5000;115.5000 --173.5000;116.0000 --173.5000;116.5000 --173.5000;117.0000 --173.5000;117.5000 --173.5000;118.0000 --173.5000;118.5000 --173.5000;119.0000 --173.5000;119.5000 --173.5000;120.0000 --173.5000;120.5000 --173.5000;121.0000 --173.5000;121.5000 --173.5000;122.0000 --173.5000;122.5000 --173.5000;123.0000 --173.5000;123.5000 --173.5000;124.0000 --173.5000;124.5000 --173.5000;125.0000 --173.5000;125.5000 --173.5000;126.0000 --173.0000;-260.0000 --173.0000;-259.5000 --173.0000;-259.0000 --173.0000;-258.5000 --173.0000;-258.0000 --173.0000;-257.5000 --173.0000;-257.0000 --173.0000;-256.5000 --173.0000;-256.0000 --173.0000;-255.5000 --173.0000;-255.0000 --173.0000;-254.5000 --173.0000;-254.0000 --173.0000;-253.5000 --173.0000;-253.0000 --173.0000;-252.5000 --173.0000;-252.0000 --173.0000;-251.5000 --173.0000;-251.0000 --173.0000;-250.5000 --173.0000;-250.0000 --173.0000;-249.5000 --173.0000;-249.0000 --173.0000;-248.5000 --173.0000;-248.0000 --173.0000;-247.5000 --173.0000;-247.0000 --173.0000;-131.0000 --173.0000;-130.5000 --173.0000;-130.0000 --173.0000;-129.5000 --173.0000;-129.0000 --173.0000;-128.5000 --173.0000;-128.0000 --173.0000;-127.5000 --173.0000;-127.0000 --173.0000;-126.5000 --173.0000;-126.0000 --173.0000;-125.5000 --173.0000;-125.0000 --173.0000;-124.5000 --173.0000;-124.0000 --173.0000;-123.5000 --173.0000;-123.0000 --173.0000;-122.5000 --173.0000;-122.0000 --173.0000;-121.5000 --173.0000;-121.0000 --173.0000;-120.5000 --173.0000;-120.0000 --173.0000;-119.5000 --173.0000;-119.0000 --173.0000;-118.5000 --173.0000;-118.0000 --173.0000;-65.5000 --173.0000;-65.0000 --173.0000;-64.5000 --173.0000;-64.0000 --173.0000;-63.5000 --173.0000;-63.0000 --173.0000;-62.5000 --173.0000;-62.0000 --173.0000;-61.5000 --173.0000;-61.0000 --173.0000;-60.5000 --173.0000;-60.0000 --173.0000;-59.5000 --173.0000;-59.0000 --173.0000;-58.5000 --173.0000;-58.0000 --173.0000;-57.5000 --173.0000;-57.0000 --173.0000;-56.5000 --173.0000;-56.0000 --173.0000;-55.5000 --173.0000;-55.0000 --173.0000;-54.5000 --173.0000;-54.0000 --173.0000;-53.5000 --173.0000;-53.0000 --173.0000;-52.5000 --173.0000;106.5000 --173.0000;107.0000 --173.0000;107.5000 --173.0000;108.0000 --173.0000;108.5000 --173.0000;109.0000 --173.0000;109.5000 --173.0000;110.0000 --173.0000;110.5000 --173.0000;111.0000 --173.0000;111.5000 --173.0000;112.0000 --173.0000;112.5000 --173.0000;113.0000 --173.0000;113.5000 --173.0000;114.0000 --173.0000;114.5000 --173.0000;115.0000 --173.0000;115.5000 --173.0000;116.0000 --173.0000;116.5000 --173.0000;117.0000 --173.0000;117.5000 --173.0000;118.0000 --173.0000;118.5000 --173.0000;119.0000 --173.0000;119.5000 --173.0000;120.0000 --173.0000;120.5000 --173.0000;121.0000 --173.0000;121.5000 --173.0000;122.0000 --173.0000;122.5000 --173.0000;123.0000 --173.0000;123.5000 --173.0000;124.0000 --173.0000;124.5000 --173.0000;125.0000 --173.0000;125.5000 --172.5000;-260.0000 --172.5000;-259.5000 --172.5000;-259.0000 --172.5000;-258.5000 --172.5000;-258.0000 --172.5000;-257.5000 --172.5000;-257.0000 --172.5000;-256.5000 --172.5000;-256.0000 --172.5000;-255.5000 --172.5000;-255.0000 --172.5000;-254.5000 --172.5000;-254.0000 --172.5000;-253.5000 --172.5000;-253.0000 --172.5000;-252.5000 --172.5000;-252.0000 --172.5000;-251.5000 --172.5000;-251.0000 --172.5000;-250.5000 --172.5000;-250.0000 --172.5000;-249.5000 --172.5000;-249.0000 --172.5000;-248.5000 --172.5000;-248.0000 --172.5000;-247.5000 --172.5000;-131.0000 --172.5000;-130.5000 --172.5000;-130.0000 --172.5000;-129.5000 --172.5000;-129.0000 --172.5000;-128.5000 --172.5000;-128.0000 --172.5000;-127.5000 --172.5000;-127.0000 --172.5000;-126.5000 --172.5000;-126.0000 --172.5000;-125.5000 --172.5000;-125.0000 --172.5000;-124.5000 --172.5000;-124.0000 --172.5000;-123.5000 --172.5000;-123.0000 --172.5000;-122.5000 --172.5000;-122.0000 --172.5000;-121.5000 --172.5000;-121.0000 --172.5000;-120.5000 --172.5000;-120.0000 --172.5000;-119.5000 --172.5000;-119.0000 --172.5000;-118.5000 --172.5000;-118.0000 --172.5000;-117.5000 --172.5000;-66.0000 --172.5000;-65.5000 --172.5000;-65.0000 --172.5000;-64.5000 --172.5000;-64.0000 --172.5000;-63.5000 --172.5000;-63.0000 --172.5000;-62.5000 --172.5000;-62.0000 --172.5000;-61.5000 --172.5000;-61.0000 --172.5000;-60.5000 --172.5000;-60.0000 --172.5000;-59.5000 --172.5000;-59.0000 --172.5000;-58.5000 --172.5000;-58.0000 --172.5000;-57.5000 --172.5000;-57.0000 --172.5000;-56.5000 --172.5000;-56.0000 --172.5000;-55.5000 --172.5000;-55.0000 --172.5000;-54.5000 --172.5000;-54.0000 --172.5000;-53.5000 --172.5000;-53.0000 --172.5000;-52.5000 --172.5000;106.0000 --172.5000;106.5000 --172.5000;107.0000 --172.5000;107.5000 --172.5000;108.0000 --172.5000;108.5000 --172.5000;109.0000 --172.5000;109.5000 --172.5000;110.0000 --172.5000;110.5000 --172.5000;111.0000 --172.5000;111.5000 --172.5000;112.0000 --172.5000;112.5000 --172.5000;113.0000 --172.5000;113.5000 --172.5000;114.0000 --172.5000;114.5000 --172.5000;115.0000 --172.5000;115.5000 --172.5000;116.0000 --172.5000;116.5000 --172.5000;117.0000 --172.5000;117.5000 --172.5000;118.0000 --172.5000;118.5000 --172.5000;119.0000 --172.5000;119.5000 --172.5000;120.0000 --172.5000;120.5000 --172.5000;121.0000 --172.5000;121.5000 --172.5000;122.0000 --172.5000;122.5000 --172.5000;123.0000 --172.5000;123.5000 --172.5000;124.0000 --172.5000;124.5000 --172.5000;125.0000 --172.0000;-260.5000 --172.0000;-260.0000 --172.0000;-259.5000 --172.0000;-259.0000 --172.0000;-258.5000 --172.0000;-258.0000 --172.0000;-257.5000 --172.0000;-257.0000 --172.0000;-256.5000 --172.0000;-256.0000 --172.0000;-255.5000 --172.0000;-255.0000 --172.0000;-254.5000 --172.0000;-254.0000 --172.0000;-253.5000 --172.0000;-253.0000 --172.0000;-252.5000 --172.0000;-252.0000 --172.0000;-251.5000 --172.0000;-251.0000 --172.0000;-250.5000 --172.0000;-250.0000 --172.0000;-249.5000 --172.0000;-249.0000 --172.0000;-248.5000 --172.0000;-248.0000 --172.0000;-247.5000 --172.0000;-130.5000 --172.0000;-130.0000 --172.0000;-129.5000 --172.0000;-129.0000 --172.0000;-128.5000 --172.0000;-128.0000 --172.0000;-127.5000 --172.0000;-127.0000 --172.0000;-126.5000 --172.0000;-126.0000 --172.0000;-125.5000 --172.0000;-125.0000 --172.0000;-124.5000 --172.0000;-124.0000 --172.0000;-123.5000 --172.0000;-123.0000 --172.0000;-122.5000 --172.0000;-122.0000 --172.0000;-121.5000 --172.0000;-121.0000 --172.0000;-120.5000 --172.0000;-120.0000 --172.0000;-119.5000 --172.0000;-119.0000 --172.0000;-118.5000 --172.0000;-118.0000 --172.0000;-117.5000 --172.0000;-66.0000 --172.0000;-65.5000 --172.0000;-65.0000 --172.0000;-64.5000 --172.0000;-64.0000 --172.0000;-63.5000 --172.0000;-63.0000 --172.0000;-62.5000 --172.0000;-62.0000 --172.0000;-61.5000 --172.0000;-61.0000 --172.0000;-60.5000 --172.0000;-60.0000 --172.0000;-59.5000 --172.0000;-59.0000 --172.0000;-58.5000 --172.0000;-58.0000 --172.0000;-57.5000 --172.0000;-57.0000 --172.0000;-56.5000 --172.0000;-56.0000 --172.0000;-55.5000 --172.0000;-55.0000 --172.0000;-54.5000 --172.0000;-54.0000 --172.0000;-53.5000 --172.0000;-53.0000 --172.0000;105.5000 --172.0000;106.0000 --172.0000;106.5000 --172.0000;107.0000 --172.0000;107.5000 --172.0000;108.0000 --172.0000;108.5000 --172.0000;109.0000 --172.0000;109.5000 --172.0000;110.0000 --172.0000;110.5000 --172.0000;111.0000 --172.0000;111.5000 --172.0000;112.0000 --172.0000;112.5000 --172.0000;113.0000 --172.0000;113.5000 --172.0000;114.0000 --172.0000;114.5000 --172.0000;115.0000 --172.0000;115.5000 --172.0000;116.0000 --172.0000;116.5000 --172.0000;117.0000 --172.0000;117.5000 --172.0000;118.0000 --172.0000;118.5000 --172.0000;119.0000 --172.0000;119.5000 --172.0000;120.0000 --172.0000;120.5000 --172.0000;121.0000 --172.0000;121.5000 --172.0000;122.0000 --172.0000;122.5000 --172.0000;123.0000 --172.0000;123.5000 --172.0000;124.0000 --172.0000;124.5000 --171.5000;-260.5000 --171.5000;-260.0000 --171.5000;-259.5000 --171.5000;-259.0000 --171.5000;-258.5000 --171.5000;-258.0000 --171.5000;-257.5000 --171.5000;-257.0000 --171.5000;-256.5000 --171.5000;-256.0000 --171.5000;-255.5000 --171.5000;-255.0000 --171.5000;-254.5000 --171.5000;-254.0000 --171.5000;-253.5000 --171.5000;-253.0000 --171.5000;-252.5000 --171.5000;-252.0000 --171.5000;-251.5000 --171.5000;-251.0000 --171.5000;-250.5000 --171.5000;-250.0000 --171.5000;-249.5000 --171.5000;-249.0000 --171.5000;-248.5000 --171.5000;-248.0000 --171.5000;-130.5000 --171.5000;-130.0000 --171.5000;-129.5000 --171.5000;-129.0000 --171.5000;-128.5000 --171.5000;-128.0000 --171.5000;-127.5000 --171.5000;-127.0000 --171.5000;-126.5000 --171.5000;-126.0000 --171.5000;-125.5000 --171.5000;-125.0000 --171.5000;-124.5000 --171.5000;-124.0000 --171.5000;-123.5000 --171.5000;-123.0000 --171.5000;-122.5000 --171.5000;-122.0000 --171.5000;-121.5000 --171.5000;-121.0000 --171.5000;-120.5000 --171.5000;-120.0000 --171.5000;-119.5000 --171.5000;-119.0000 --171.5000;-118.5000 --171.5000;-118.0000 --171.5000;-117.5000 --171.5000;-117.0000 --171.5000;-66.5000 --171.5000;-66.0000 --171.5000;-65.5000 --171.5000;-65.0000 --171.5000;-64.5000 --171.5000;-64.0000 --171.5000;-63.5000 --171.5000;-63.0000 --171.5000;-62.5000 --171.5000;-62.0000 --171.5000;-61.5000 --171.5000;-61.0000 --171.5000;-60.5000 --171.5000;-60.0000 --171.5000;-59.5000 --171.5000;-59.0000 --171.5000;-58.5000 --171.5000;-58.0000 --171.5000;-57.5000 --171.5000;-57.0000 --171.5000;-56.5000 --171.5000;-56.0000 --171.5000;-55.5000 --171.5000;-55.0000 --171.5000;-54.5000 --171.5000;-54.0000 --171.5000;-53.5000 --171.5000;-53.0000 --171.5000;105.0000 --171.5000;105.5000 --171.5000;106.0000 --171.5000;106.5000 --171.5000;107.0000 --171.5000;107.5000 --171.5000;108.0000 --171.5000;108.5000 --171.5000;109.0000 --171.5000;109.5000 --171.5000;110.0000 --171.5000;110.5000 --171.5000;111.0000 --171.5000;111.5000 --171.5000;112.0000 --171.5000;112.5000 --171.5000;113.0000 --171.5000;113.5000 --171.5000;114.0000 --171.5000;114.5000 --171.5000;115.0000 --171.5000;115.5000 --171.5000;116.0000 --171.5000;116.5000 --171.5000;117.0000 --171.5000;117.5000 --171.5000;118.0000 --171.5000;118.5000 --171.5000;119.0000 --171.5000;119.5000 --171.5000;120.0000 --171.5000;120.5000 --171.5000;121.0000 --171.5000;121.5000 --171.5000;122.0000 --171.5000;122.5000 --171.5000;123.0000 --171.5000;123.5000 --171.0000;-260.5000 --171.0000;-260.0000 --171.0000;-259.5000 --171.0000;-259.0000 --171.0000;-258.5000 --171.0000;-258.0000 --171.0000;-257.5000 --171.0000;-257.0000 --171.0000;-256.5000 --171.0000;-256.0000 --171.0000;-255.5000 --171.0000;-255.0000 --171.0000;-254.5000 --171.0000;-254.0000 --171.0000;-253.5000 --171.0000;-253.0000 --171.0000;-252.5000 --171.0000;-252.0000 --171.0000;-251.5000 --171.0000;-251.0000 --171.0000;-250.5000 --171.0000;-250.0000 --171.0000;-249.5000 --171.0000;-249.0000 --171.0000;-248.5000 --171.0000;-248.0000 --171.0000;-130.0000 --171.0000;-129.5000 --171.0000;-129.0000 --171.0000;-128.5000 --171.0000;-128.0000 --171.0000;-127.5000 --171.0000;-127.0000 --171.0000;-126.5000 --171.0000;-126.0000 --171.0000;-125.5000 --171.0000;-125.0000 --171.0000;-124.5000 --171.0000;-124.0000 --171.0000;-123.5000 --171.0000;-123.0000 --171.0000;-122.5000 --171.0000;-122.0000 --171.0000;-121.5000 --171.0000;-121.0000 --171.0000;-120.5000 --171.0000;-120.0000 --171.0000;-119.5000 --171.0000;-119.0000 --171.0000;-118.5000 --171.0000;-118.0000 --171.0000;-117.5000 --171.0000;-117.0000 --171.0000;-116.5000 --171.0000;-67.0000 --171.0000;-66.5000 --171.0000;-66.0000 --171.0000;-65.5000 --171.0000;-65.0000 --171.0000;-64.5000 --171.0000;-64.0000 --171.0000;-63.5000 --171.0000;-63.0000 --171.0000;-62.5000 --171.0000;-62.0000 --171.0000;-61.5000 --171.0000;-61.0000 --171.0000;-60.5000 --171.0000;-60.0000 --171.0000;-59.5000 --171.0000;-59.0000 --171.0000;-58.5000 --171.0000;-58.0000 --171.0000;-57.5000 --171.0000;-57.0000 --171.0000;-56.5000 --171.0000;-56.0000 --171.0000;-55.5000 --171.0000;-55.0000 --171.0000;-54.5000 --171.0000;-54.0000 --171.0000;-53.5000 --171.0000;104.5000 --171.0000;105.0000 --171.0000;105.5000 --171.0000;106.0000 --171.0000;106.5000 --171.0000;107.0000 --171.0000;107.5000 --171.0000;108.0000 --171.0000;108.5000 --171.0000;109.0000 --171.0000;109.5000 --171.0000;110.0000 --171.0000;110.5000 --171.0000;111.0000 --171.0000;111.5000 --171.0000;112.0000 --171.0000;112.5000 --171.0000;113.0000 --171.0000;113.5000 --171.0000;114.0000 --171.0000;114.5000 --171.0000;115.0000 --171.0000;115.5000 --171.0000;116.0000 --171.0000;116.5000 --171.0000;117.0000 --171.0000;117.5000 --171.0000;118.0000 --171.0000;118.5000 --171.0000;119.0000 --171.0000;119.5000 --171.0000;120.0000 --171.0000;120.5000 --171.0000;121.0000 --171.0000;121.5000 --171.0000;122.0000 --171.0000;122.5000 --171.0000;123.0000 --170.5000;-261.0000 --170.5000;-260.5000 --170.5000;-260.0000 --170.5000;-259.5000 --170.5000;-259.0000 --170.5000;-258.5000 --170.5000;-258.0000 --170.5000;-257.5000 --170.5000;-257.0000 --170.5000;-256.5000 --170.5000;-256.0000 --170.5000;-255.5000 --170.5000;-255.0000 --170.5000;-254.5000 --170.5000;-254.0000 --170.5000;-253.5000 --170.5000;-253.0000 --170.5000;-252.5000 --170.5000;-252.0000 --170.5000;-251.5000 --170.5000;-251.0000 --170.5000;-250.5000 --170.5000;-250.0000 --170.5000;-249.5000 --170.5000;-249.0000 --170.5000;-248.5000 --170.5000;-248.0000 --170.5000;-130.0000 --170.5000;-129.5000 --170.5000;-129.0000 --170.5000;-128.5000 --170.5000;-128.0000 --170.5000;-127.5000 --170.5000;-127.0000 --170.5000;-126.5000 --170.5000;-126.0000 --170.5000;-125.5000 --170.5000;-125.0000 --170.5000;-124.5000 --170.5000;-124.0000 --170.5000;-123.5000 --170.5000;-123.0000 --170.5000;-122.5000 --170.5000;-122.0000 --170.5000;-121.5000 --170.5000;-121.0000 --170.5000;-120.5000 --170.5000;-120.0000 --170.5000;-119.5000 --170.5000;-119.0000 --170.5000;-118.5000 --170.5000;-118.0000 --170.5000;-117.5000 --170.5000;-117.0000 --170.5000;-116.5000 --170.5000;-116.0000 --170.5000;-67.0000 --170.5000;-66.5000 --170.5000;-66.0000 --170.5000;-65.5000 --170.5000;-65.0000 --170.5000;-64.5000 --170.5000;-64.0000 --170.5000;-63.5000 --170.5000;-63.0000 --170.5000;-62.5000 --170.5000;-62.0000 --170.5000;-61.5000 --170.5000;-61.0000 --170.5000;-60.5000 --170.5000;-60.0000 --170.5000;-59.5000 --170.5000;-59.0000 --170.5000;-58.5000 --170.5000;-58.0000 --170.5000;-57.5000 --170.5000;-57.0000 --170.5000;-56.5000 --170.5000;-56.0000 --170.5000;-55.5000 --170.5000;-55.0000 --170.5000;-54.5000 --170.5000;-54.0000 --170.5000;-53.5000 --170.5000;104.0000 --170.5000;104.5000 --170.5000;105.0000 --170.5000;105.5000 --170.5000;106.0000 --170.5000;106.5000 --170.5000;107.0000 --170.5000;107.5000 --170.5000;108.0000 --170.5000;108.5000 --170.5000;109.0000 --170.5000;109.5000 --170.5000;110.0000 --170.5000;110.5000 --170.5000;111.0000 --170.5000;111.5000 --170.5000;112.0000 --170.5000;112.5000 --170.5000;113.0000 --170.5000;113.5000 --170.5000;114.0000 --170.5000;114.5000 --170.5000;115.0000 --170.5000;115.5000 --170.5000;116.0000 --170.5000;116.5000 --170.5000;117.0000 --170.5000;117.5000 --170.5000;118.0000 --170.5000;118.5000 --170.5000;119.0000 --170.5000;119.5000 --170.5000;120.0000 --170.5000;120.5000 --170.5000;121.0000 --170.5000;121.5000 --170.5000;122.0000 --170.5000;122.5000 --170.0000;-261.0000 --170.0000;-260.5000 --170.0000;-260.0000 --170.0000;-259.5000 --170.0000;-259.0000 --170.0000;-258.5000 --170.0000;-258.0000 --170.0000;-257.5000 --170.0000;-257.0000 --170.0000;-256.5000 --170.0000;-256.0000 --170.0000;-255.5000 --170.0000;-255.0000 --170.0000;-254.5000 --170.0000;-254.0000 --170.0000;-253.5000 --170.0000;-253.0000 --170.0000;-252.5000 --170.0000;-252.0000 --170.0000;-251.5000 --170.0000;-251.0000 --170.0000;-250.5000 --170.0000;-250.0000 --170.0000;-249.5000 --170.0000;-249.0000 --170.0000;-248.5000 --170.0000;-129.5000 --170.0000;-129.0000 --170.0000;-128.5000 --170.0000;-128.0000 --170.0000;-127.5000 --170.0000;-127.0000 --170.0000;-126.5000 --170.0000;-126.0000 --170.0000;-125.5000 --170.0000;-125.0000 --170.0000;-124.5000 --170.0000;-124.0000 --170.0000;-123.5000 --170.0000;-123.0000 --170.0000;-122.5000 --170.0000;-122.0000 --170.0000;-121.5000 --170.0000;-121.0000 --170.0000;-120.5000 --170.0000;-120.0000 --170.0000;-119.5000 --170.0000;-119.0000 --170.0000;-118.5000 --170.0000;-118.0000 --170.0000;-117.5000 --170.0000;-117.0000 --170.0000;-116.5000 --170.0000;-116.0000 --170.0000;-67.5000 --170.0000;-67.0000 --170.0000;-66.5000 --170.0000;-66.0000 --170.0000;-65.5000 --170.0000;-65.0000 --170.0000;-64.5000 --170.0000;-64.0000 --170.0000;-63.5000 --170.0000;-63.0000 --170.0000;-62.5000 --170.0000;-62.0000 --170.0000;-61.5000 --170.0000;-61.0000 --170.0000;-60.5000 --170.0000;-60.0000 --170.0000;-59.5000 --170.0000;-59.0000 --170.0000;-58.5000 --170.0000;-58.0000 --170.0000;-57.5000 --170.0000;-57.0000 --170.0000;-56.5000 --170.0000;-56.0000 --170.0000;-55.5000 --170.0000;-55.0000 --170.0000;-54.5000 --170.0000;-54.0000 --170.0000;103.5000 --170.0000;104.0000 --170.0000;104.5000 --170.0000;105.0000 --170.0000;105.5000 --170.0000;106.0000 --170.0000;106.5000 --170.0000;107.0000 --170.0000;107.5000 --170.0000;108.0000 --170.0000;108.5000 --170.0000;109.0000 --170.0000;109.5000 --170.0000;110.0000 --170.0000;110.5000 --170.0000;111.0000 --170.0000;111.5000 --170.0000;112.0000 --170.0000;112.5000 --170.0000;113.0000 --170.0000;113.5000 --170.0000;114.0000 --170.0000;114.5000 --170.0000;115.0000 --170.0000;115.5000 --170.0000;116.0000 --170.0000;116.5000 --170.0000;117.0000 --170.0000;117.5000 --170.0000;118.0000 --170.0000;118.5000 --170.0000;119.0000 --170.0000;119.5000 --170.0000;120.0000 --170.0000;120.5000 --170.0000;121.0000 --170.0000;121.5000 --170.0000;122.0000 --169.5000;-261.5000 --169.5000;-261.0000 --169.5000;-260.5000 --169.5000;-260.0000 --169.5000;-259.5000 --169.5000;-259.0000 --169.5000;-258.5000 --169.5000;-258.0000 --169.5000;-257.5000 --169.5000;-257.0000 --169.5000;-256.5000 --169.5000;-256.0000 --169.5000;-255.5000 --169.5000;-255.0000 --169.5000;-254.5000 --169.5000;-254.0000 --169.5000;-253.5000 --169.5000;-253.0000 --169.5000;-252.5000 --169.5000;-252.0000 --169.5000;-251.5000 --169.5000;-251.0000 --169.5000;-250.5000 --169.5000;-250.0000 --169.5000;-249.5000 --169.5000;-249.0000 --169.5000;-248.5000 --169.5000;-129.5000 --169.5000;-129.0000 --169.5000;-128.5000 --169.5000;-128.0000 --169.5000;-127.5000 --169.5000;-127.0000 --169.5000;-126.5000 --169.5000;-126.0000 --169.5000;-125.5000 --169.5000;-125.0000 --169.5000;-124.5000 --169.5000;-124.0000 --169.5000;-123.5000 --169.5000;-123.0000 --169.5000;-122.5000 --169.5000;-122.0000 --169.5000;-121.5000 --169.5000;-121.0000 --169.5000;-120.5000 --169.5000;-120.0000 --169.5000;-119.5000 --169.5000;-119.0000 --169.5000;-118.5000 --169.5000;-118.0000 --169.5000;-117.5000 --169.5000;-117.0000 --169.5000;-116.5000 --169.5000;-116.0000 --169.5000;-115.5000 --169.5000;-68.0000 --169.5000;-67.5000 --169.5000;-67.0000 --169.5000;-66.5000 --169.5000;-66.0000 --169.5000;-65.5000 --169.5000;-65.0000 --169.5000;-64.5000 --169.5000;-64.0000 --169.5000;-63.5000 --169.5000;-63.0000 --169.5000;-62.5000 --169.5000;-62.0000 --169.5000;-61.5000 --169.5000;-61.0000 --169.5000;-60.5000 --169.5000;-60.0000 --169.5000;-59.5000 --169.5000;-59.0000 --169.5000;-58.5000 --169.5000;-58.0000 --169.5000;-57.5000 --169.5000;-57.0000 --169.5000;-56.5000 --169.5000;-56.0000 --169.5000;-55.5000 --169.5000;-55.0000 --169.5000;-54.5000 --169.5000;-54.0000 --169.5000;103.0000 --169.5000;103.5000 --169.5000;104.0000 --169.5000;104.5000 --169.5000;105.0000 --169.5000;105.5000 --169.5000;106.0000 --169.5000;106.5000 --169.5000;107.0000 --169.5000;107.5000 --169.5000;108.0000 --169.5000;108.5000 --169.5000;109.0000 --169.5000;109.5000 --169.5000;110.0000 --169.5000;110.5000 --169.5000;111.0000 --169.5000;111.5000 --169.5000;112.0000 --169.5000;112.5000 --169.5000;113.0000 --169.5000;113.5000 --169.5000;114.0000 --169.5000;114.5000 --169.5000;115.0000 --169.5000;115.5000 --169.5000;116.0000 --169.5000;116.5000 --169.5000;117.0000 --169.5000;117.5000 --169.5000;118.0000 --169.5000;118.5000 --169.5000;119.0000 --169.5000;119.5000 --169.5000;120.0000 --169.5000;120.5000 --169.5000;121.0000 --169.5000;121.5000 --169.0000;-261.5000 --169.0000;-261.0000 --169.0000;-260.5000 --169.0000;-260.0000 --169.0000;-259.5000 --169.0000;-259.0000 --169.0000;-258.5000 --169.0000;-258.0000 --169.0000;-257.5000 --169.0000;-257.0000 --169.0000;-256.5000 --169.0000;-256.0000 --169.0000;-255.5000 --169.0000;-255.0000 --169.0000;-254.5000 --169.0000;-254.0000 --169.0000;-253.5000 --169.0000;-253.0000 --169.0000;-252.5000 --169.0000;-252.0000 --169.0000;-251.5000 --169.0000;-251.0000 --169.0000;-250.5000 --169.0000;-250.0000 --169.0000;-249.5000 --169.0000;-249.0000 --169.0000;-248.5000 --169.0000;-129.0000 --169.0000;-128.5000 --169.0000;-128.0000 --169.0000;-127.5000 --169.0000;-127.0000 --169.0000;-126.5000 --169.0000;-126.0000 --169.0000;-125.5000 --169.0000;-125.0000 --169.0000;-124.5000 --169.0000;-124.0000 --169.0000;-123.5000 --169.0000;-123.0000 --169.0000;-122.5000 --169.0000;-122.0000 --169.0000;-121.5000 --169.0000;-121.0000 --169.0000;-120.5000 --169.0000;-120.0000 --169.0000;-119.5000 --169.0000;-119.0000 --169.0000;-118.5000 --169.0000;-118.0000 --169.0000;-117.5000 --169.0000;-117.0000 --169.0000;-116.5000 --169.0000;-116.0000 --169.0000;-115.5000 --169.0000;-115.0000 --169.0000;-68.5000 --169.0000;-68.0000 --169.0000;-67.5000 --169.0000;-67.0000 --169.0000;-66.5000 --169.0000;-66.0000 --169.0000;-65.5000 --169.0000;-65.0000 --169.0000;-64.5000 --169.0000;-64.0000 --169.0000;-63.5000 --169.0000;-63.0000 --169.0000;-62.5000 --169.0000;-62.0000 --169.0000;-61.5000 --169.0000;-61.0000 --169.0000;-60.5000 --169.0000;-60.0000 --169.0000;-59.5000 --169.0000;-59.0000 --169.0000;-58.5000 --169.0000;-58.0000 --169.0000;-57.5000 --169.0000;-57.0000 --169.0000;-56.5000 --169.0000;-56.0000 --169.0000;-55.5000 --169.0000;-55.0000 --169.0000;-54.5000 --169.0000;102.5000 --169.0000;103.0000 --169.0000;103.5000 --169.0000;104.0000 --169.0000;104.5000 --169.0000;105.0000 --169.0000;105.5000 --169.0000;106.0000 --169.0000;106.5000 --169.0000;107.0000 --169.0000;107.5000 --169.0000;108.0000 --169.0000;108.5000 --169.0000;109.0000 --169.0000;109.5000 --169.0000;110.0000 --169.0000;110.5000 --169.0000;111.0000 --169.0000;111.5000 --169.0000;112.0000 --169.0000;112.5000 --169.0000;113.0000 --169.0000;113.5000 --169.0000;114.0000 --169.0000;114.5000 --169.0000;115.0000 --169.0000;115.5000 --169.0000;116.0000 --169.0000;116.5000 --169.0000;117.0000 --169.0000;117.5000 --169.0000;118.0000 --169.0000;118.5000 --169.0000;119.0000 --169.0000;119.5000 --169.0000;120.0000 --169.0000;120.5000 --169.0000;121.0000 --168.5000;-261.5000 --168.5000;-261.0000 --168.5000;-260.5000 --168.5000;-260.0000 --168.5000;-259.5000 --168.5000;-259.0000 --168.5000;-258.5000 --168.5000;-258.0000 --168.5000;-257.5000 --168.5000;-257.0000 --168.5000;-256.5000 --168.5000;-256.0000 --168.5000;-255.5000 --168.5000;-255.0000 --168.5000;-254.5000 --168.5000;-254.0000 --168.5000;-253.5000 --168.5000;-253.0000 --168.5000;-252.5000 --168.5000;-252.0000 --168.5000;-251.5000 --168.5000;-251.0000 --168.5000;-250.5000 --168.5000;-250.0000 --168.5000;-249.5000 --168.5000;-249.0000 --168.5000;-129.0000 --168.5000;-128.5000 --168.5000;-128.0000 --168.5000;-127.5000 --168.5000;-127.0000 --168.5000;-126.5000 --168.5000;-126.0000 --168.5000;-125.5000 --168.5000;-125.0000 --168.5000;-124.5000 --168.5000;-124.0000 --168.5000;-123.5000 --168.5000;-123.0000 --168.5000;-122.5000 --168.5000;-122.0000 --168.5000;-121.5000 --168.5000;-121.0000 --168.5000;-120.5000 --168.5000;-120.0000 --168.5000;-119.5000 --168.5000;-119.0000 --168.5000;-118.5000 --168.5000;-118.0000 --168.5000;-117.5000 --168.5000;-117.0000 --168.5000;-116.5000 --168.5000;-116.0000 --168.5000;-115.5000 --168.5000;-115.0000 --168.5000;-114.5000 --168.5000;-69.0000 --168.5000;-68.5000 --168.5000;-68.0000 --168.5000;-67.5000 --168.5000;-67.0000 --168.5000;-66.5000 --168.5000;-66.0000 --168.5000;-65.5000 --168.5000;-65.0000 --168.5000;-64.5000 --168.5000;-64.0000 --168.5000;-63.5000 --168.5000;-63.0000 --168.5000;-62.5000 --168.5000;-62.0000 --168.5000;-61.5000 --168.5000;-61.0000 --168.5000;-60.5000 --168.5000;-60.0000 --168.5000;-59.5000 --168.5000;-59.0000 --168.5000;-58.5000 --168.5000;-58.0000 --168.5000;-57.5000 --168.5000;-57.0000 --168.5000;-56.5000 --168.5000;-56.0000 --168.5000;-55.5000 --168.5000;-55.0000 --168.5000;-54.5000 --168.5000;101.5000 --168.5000;102.0000 --168.5000;102.5000 --168.5000;103.0000 --168.5000;103.5000 --168.5000;104.0000 --168.5000;104.5000 --168.5000;105.0000 --168.5000;105.5000 --168.5000;106.0000 --168.5000;106.5000 --168.5000;107.0000 --168.5000;107.5000 --168.5000;108.0000 --168.5000;108.5000 --168.5000;109.0000 --168.5000;109.5000 --168.5000;110.0000 --168.5000;110.5000 --168.5000;111.0000 --168.5000;111.5000 --168.5000;112.0000 --168.5000;112.5000 --168.5000;113.0000 --168.5000;113.5000 --168.5000;114.0000 --168.5000;114.5000 --168.5000;115.0000 --168.5000;115.5000 --168.5000;116.0000 --168.5000;116.5000 --168.5000;117.0000 --168.5000;117.5000 --168.5000;118.0000 --168.5000;118.5000 --168.5000;119.0000 --168.5000;119.5000 --168.5000;120.0000 --168.5000;120.5000 --168.0000;-262.0000 --168.0000;-261.5000 --168.0000;-261.0000 --168.0000;-260.5000 --168.0000;-260.0000 --168.0000;-259.5000 --168.0000;-259.0000 --168.0000;-258.5000 --168.0000;-258.0000 --168.0000;-257.5000 --168.0000;-257.0000 --168.0000;-256.5000 --168.0000;-256.0000 --168.0000;-255.5000 --168.0000;-255.0000 --168.0000;-254.5000 --168.0000;-254.0000 --168.0000;-253.5000 --168.0000;-253.0000 --168.0000;-252.5000 --168.0000;-252.0000 --168.0000;-251.5000 --168.0000;-251.0000 --168.0000;-250.5000 --168.0000;-250.0000 --168.0000;-249.5000 --168.0000;-249.0000 --168.0000;-128.5000 --168.0000;-128.0000 --168.0000;-127.5000 --168.0000;-127.0000 --168.0000;-126.5000 --168.0000;-126.0000 --168.0000;-125.5000 --168.0000;-125.0000 --168.0000;-124.5000 --168.0000;-124.0000 --168.0000;-123.5000 --168.0000;-123.0000 --168.0000;-122.5000 --168.0000;-122.0000 --168.0000;-121.5000 --168.0000;-121.0000 --168.0000;-120.5000 --168.0000;-120.0000 --168.0000;-119.5000 --168.0000;-119.0000 --168.0000;-118.5000 --168.0000;-118.0000 --168.0000;-117.5000 --168.0000;-117.0000 --168.0000;-116.5000 --168.0000;-116.0000 --168.0000;-115.5000 --168.0000;-115.0000 --168.0000;-114.5000 --168.0000;-114.0000 --168.0000;-69.5000 --168.0000;-69.0000 --168.0000;-68.5000 --168.0000;-68.0000 --168.0000;-67.5000 --168.0000;-67.0000 --168.0000;-66.5000 --168.0000;-66.0000 --168.0000;-65.5000 --168.0000;-65.0000 --168.0000;-64.5000 --168.0000;-64.0000 --168.0000;-63.5000 --168.0000;-63.0000 --168.0000;-62.5000 --168.0000;-62.0000 --168.0000;-61.5000 --168.0000;-61.0000 --168.0000;-60.5000 --168.0000;-60.0000 --168.0000;-59.5000 --168.0000;-59.0000 --168.0000;-58.5000 --168.0000;-58.0000 --168.0000;-57.5000 --168.0000;-57.0000 --168.0000;-56.5000 --168.0000;-56.0000 --168.0000;-55.5000 --168.0000;-55.0000 --168.0000;101.0000 --168.0000;101.5000 --168.0000;102.0000 --168.0000;102.5000 --168.0000;103.0000 --168.0000;103.5000 --168.0000;104.0000 --168.0000;104.5000 --168.0000;105.0000 --168.0000;105.5000 --168.0000;106.0000 --168.0000;106.5000 --168.0000;107.0000 --168.0000;107.5000 --168.0000;108.0000 --168.0000;108.5000 --168.0000;109.0000 --168.0000;109.5000 --168.0000;110.0000 --168.0000;110.5000 --168.0000;111.0000 --168.0000;111.5000 --168.0000;112.0000 --168.0000;112.5000 --168.0000;113.0000 --168.0000;113.5000 --168.0000;114.0000 --168.0000;114.5000 --168.0000;115.0000 --168.0000;115.5000 --168.0000;116.0000 --168.0000;116.5000 --168.0000;117.0000 --168.0000;117.5000 --168.0000;118.0000 --168.0000;118.5000 --168.0000;119.0000 --168.0000;119.5000 --168.0000;120.0000 --167.5000;-262.0000 --167.5000;-261.5000 --167.5000;-261.0000 --167.5000;-260.5000 --167.5000;-260.0000 --167.5000;-259.5000 --167.5000;-259.0000 --167.5000;-258.5000 --167.5000;-258.0000 --167.5000;-257.5000 --167.5000;-257.0000 --167.5000;-256.5000 --167.5000;-256.0000 --167.5000;-255.5000 --167.5000;-255.0000 --167.5000;-254.5000 --167.5000;-254.0000 --167.5000;-253.5000 --167.5000;-253.0000 --167.5000;-252.5000 --167.5000;-252.0000 --167.5000;-251.5000 --167.5000;-251.0000 --167.5000;-250.5000 --167.5000;-250.0000 --167.5000;-249.5000 --167.5000;-128.5000 --167.5000;-128.0000 --167.5000;-127.5000 --167.5000;-127.0000 --167.5000;-126.5000 --167.5000;-126.0000 --167.5000;-125.5000 --167.5000;-125.0000 --167.5000;-124.5000 --167.5000;-124.0000 --167.5000;-123.5000 --167.5000;-123.0000 --167.5000;-122.5000 --167.5000;-122.0000 --167.5000;-121.5000 --167.5000;-121.0000 --167.5000;-120.5000 --167.5000;-120.0000 --167.5000;-119.5000 --167.5000;-119.0000 --167.5000;-118.5000 --167.5000;-118.0000 --167.5000;-117.5000 --167.5000;-117.0000 --167.5000;-116.5000 --167.5000;-116.0000 --167.5000;-115.5000 --167.5000;-115.0000 --167.5000;-114.5000 --167.5000;-114.0000 --167.5000;-113.5000 --167.5000;-70.0000 --167.5000;-69.5000 --167.5000;-69.0000 --167.5000;-68.5000 --167.5000;-68.0000 --167.5000;-67.5000 --167.5000;-67.0000 --167.5000;-66.5000 --167.5000;-66.0000 --167.5000;-65.5000 --167.5000;-65.0000 --167.5000;-64.5000 --167.5000;-64.0000 --167.5000;-63.5000 --167.5000;-63.0000 --167.5000;-62.5000 --167.5000;-62.0000 --167.5000;-61.5000 --167.5000;-61.0000 --167.5000;-60.5000 --167.5000;-60.0000 --167.5000;-59.5000 --167.5000;-59.0000 --167.5000;-58.5000 --167.5000;-58.0000 --167.5000;-57.5000 --167.5000;-57.0000 --167.5000;-56.5000 --167.5000;-56.0000 --167.5000;-55.5000 --167.5000;-55.0000 --167.5000;100.5000 --167.5000;101.0000 --167.5000;101.5000 --167.5000;102.0000 --167.5000;102.5000 --167.5000;103.0000 --167.5000;103.5000 --167.5000;104.0000 --167.5000;104.5000 --167.5000;105.0000 --167.5000;105.5000 --167.5000;106.0000 --167.5000;106.5000 --167.5000;107.0000 --167.5000;107.5000 --167.5000;108.0000 --167.5000;108.5000 --167.5000;109.0000 --167.5000;109.5000 --167.5000;110.0000 --167.5000;110.5000 --167.5000;111.0000 --167.5000;111.5000 --167.5000;112.0000 --167.5000;112.5000 --167.5000;113.0000 --167.5000;113.5000 --167.5000;114.0000 --167.5000;114.5000 --167.5000;115.0000 --167.5000;115.5000 --167.5000;116.0000 --167.5000;116.5000 --167.5000;117.0000 --167.5000;117.5000 --167.5000;118.0000 --167.5000;118.5000 --167.5000;119.0000 --167.5000;119.5000 --167.0000;-262.5000 --167.0000;-262.0000 --167.0000;-261.5000 --167.0000;-261.0000 --167.0000;-260.5000 --167.0000;-260.0000 --167.0000;-259.5000 --167.0000;-259.0000 --167.0000;-258.5000 --167.0000;-258.0000 --167.0000;-257.5000 --167.0000;-257.0000 --167.0000;-256.5000 --167.0000;-256.0000 --167.0000;-255.5000 --167.0000;-255.0000 --167.0000;-254.5000 --167.0000;-254.0000 --167.0000;-253.5000 --167.0000;-253.0000 --167.0000;-252.5000 --167.0000;-252.0000 --167.0000;-251.5000 --167.0000;-251.0000 --167.0000;-250.5000 --167.0000;-250.0000 --167.0000;-249.5000 --167.0000;-128.0000 --167.0000;-127.5000 --167.0000;-127.0000 --167.0000;-126.5000 --167.0000;-126.0000 --167.0000;-125.5000 --167.0000;-125.0000 --167.0000;-124.5000 --167.0000;-124.0000 --167.0000;-123.5000 --167.0000;-123.0000 --167.0000;-122.5000 --167.0000;-122.0000 --167.0000;-121.5000 --167.0000;-121.0000 --167.0000;-120.5000 --167.0000;-120.0000 --167.0000;-119.5000 --167.0000;-119.0000 --167.0000;-118.5000 --167.0000;-118.0000 --167.0000;-117.5000 --167.0000;-117.0000 --167.0000;-116.5000 --167.0000;-116.0000 --167.0000;-115.5000 --167.0000;-115.0000 --167.0000;-114.5000 --167.0000;-114.0000 --167.0000;-113.5000 --167.0000;-113.0000 --167.0000;-70.5000 --167.0000;-70.0000 --167.0000;-69.5000 --167.0000;-69.0000 --167.0000;-68.5000 --167.0000;-68.0000 --167.0000;-67.5000 --167.0000;-67.0000 --167.0000;-66.5000 --167.0000;-66.0000 --167.0000;-65.5000 --167.0000;-65.0000 --167.0000;-64.5000 --167.0000;-64.0000 --167.0000;-63.5000 --167.0000;-63.0000 --167.0000;-62.5000 --167.0000;-62.0000 --167.0000;-61.5000 --167.0000;-61.0000 --167.0000;-60.5000 --167.0000;-60.0000 --167.0000;-59.5000 --167.0000;-59.0000 --167.0000;-58.5000 --167.0000;-58.0000 --167.0000;-57.5000 --167.0000;-57.0000 --167.0000;-56.5000 --167.0000;-56.0000 --167.0000;-55.5000 --167.0000;100.0000 --167.0000;100.5000 --167.0000;101.0000 --167.0000;101.5000 --167.0000;102.0000 --167.0000;102.5000 --167.0000;103.0000 --167.0000;103.5000 --167.0000;104.0000 --167.0000;104.5000 --167.0000;105.0000 --167.0000;105.5000 --167.0000;106.0000 --167.0000;106.5000 --167.0000;107.0000 --167.0000;107.5000 --167.0000;108.0000 --167.0000;108.5000 --167.0000;109.0000 --167.0000;109.5000 --167.0000;110.0000 --167.0000;110.5000 --167.0000;111.0000 --167.0000;111.5000 --167.0000;112.0000 --167.0000;112.5000 --167.0000;113.0000 --167.0000;113.5000 --167.0000;114.0000 --167.0000;114.5000 --167.0000;115.0000 --167.0000;115.5000 --167.0000;116.0000 --167.0000;116.5000 --167.0000;117.0000 --167.0000;117.5000 --167.0000;118.0000 --167.0000;118.5000 --167.0000;119.0000 --166.5000;-262.5000 --166.5000;-262.0000 --166.5000;-261.5000 --166.5000;-261.0000 --166.5000;-260.5000 --166.5000;-260.0000 --166.5000;-259.5000 --166.5000;-259.0000 --166.5000;-258.5000 --166.5000;-258.0000 --166.5000;-257.5000 --166.5000;-257.0000 --166.5000;-256.5000 --166.5000;-256.0000 --166.5000;-255.5000 --166.5000;-255.0000 --166.5000;-254.5000 --166.5000;-254.0000 --166.5000;-253.5000 --166.5000;-253.0000 --166.5000;-252.5000 --166.5000;-252.0000 --166.5000;-251.5000 --166.5000;-251.0000 --166.5000;-250.5000 --166.5000;-250.0000 --166.5000;-249.5000 --166.5000;-128.0000 --166.5000;-127.5000 --166.5000;-127.0000 --166.5000;-126.5000 --166.5000;-126.0000 --166.5000;-125.5000 --166.5000;-125.0000 --166.5000;-124.5000 --166.5000;-124.0000 --166.5000;-123.5000 --166.5000;-123.0000 --166.5000;-122.5000 --166.5000;-122.0000 --166.5000;-121.5000 --166.5000;-121.0000 --166.5000;-120.5000 --166.5000;-120.0000 --166.5000;-119.5000 --166.5000;-119.0000 --166.5000;-118.5000 --166.5000;-118.0000 --166.5000;-117.5000 --166.5000;-117.0000 --166.5000;-116.5000 --166.5000;-116.0000 --166.5000;-115.5000 --166.5000;-115.0000 --166.5000;-114.5000 --166.5000;-114.0000 --166.5000;-113.5000 --166.5000;-113.0000 --166.5000;-112.5000 --166.5000;-71.0000 --166.5000;-70.5000 --166.5000;-70.0000 --166.5000;-69.5000 --166.5000;-69.0000 --166.5000;-68.5000 --166.5000;-68.0000 --166.5000;-67.5000 --166.5000;-67.0000 --166.5000;-66.5000 --166.5000;-66.0000 --166.5000;-65.5000 --166.5000;-65.0000 --166.5000;-64.5000 --166.5000;-64.0000 --166.5000;-63.5000 --166.5000;-63.0000 --166.5000;-62.5000 --166.5000;-62.0000 --166.5000;-61.5000 --166.5000;-61.0000 --166.5000;-60.5000 --166.5000;-60.0000 --166.5000;-59.5000 --166.5000;-59.0000 --166.5000;-58.5000 --166.5000;-58.0000 --166.5000;-57.5000 --166.5000;-57.0000 --166.5000;-56.5000 --166.5000;-56.0000 --166.5000;-55.5000 --166.5000;99.5000 --166.5000;100.0000 --166.5000;100.5000 --166.5000;101.0000 --166.5000;101.5000 --166.5000;102.0000 --166.5000;102.5000 --166.5000;103.0000 --166.5000;103.5000 --166.5000;104.0000 --166.5000;104.5000 --166.5000;105.0000 --166.5000;105.5000 --166.5000;106.0000 --166.5000;106.5000 --166.5000;107.0000 --166.5000;107.5000 --166.5000;108.0000 --166.5000;108.5000 --166.5000;109.0000 --166.5000;109.5000 --166.5000;110.0000 --166.5000;110.5000 --166.5000;111.0000 --166.5000;111.5000 --166.5000;112.0000 --166.5000;112.5000 --166.5000;113.0000 --166.5000;113.5000 --166.5000;114.0000 --166.5000;114.5000 --166.5000;115.0000 --166.5000;115.5000 --166.5000;116.0000 --166.5000;116.5000 --166.5000;117.0000 --166.5000;117.5000 --166.5000;118.0000 --166.0000;-262.5000 --166.0000;-262.0000 --166.0000;-261.5000 --166.0000;-261.0000 --166.0000;-260.5000 --166.0000;-260.0000 --166.0000;-259.5000 --166.0000;-259.0000 --166.0000;-258.5000 --166.0000;-258.0000 --166.0000;-257.5000 --166.0000;-257.0000 --166.0000;-256.5000 --166.0000;-256.0000 --166.0000;-255.5000 --166.0000;-255.0000 --166.0000;-254.5000 --166.0000;-254.0000 --166.0000;-253.5000 --166.0000;-253.0000 --166.0000;-252.5000 --166.0000;-252.0000 --166.0000;-251.5000 --166.0000;-251.0000 --166.0000;-250.5000 --166.0000;-250.0000 --166.0000;-127.5000 --166.0000;-127.0000 --166.0000;-126.5000 --166.0000;-126.0000 --166.0000;-125.5000 --166.0000;-125.0000 --166.0000;-124.5000 --166.0000;-124.0000 --166.0000;-123.5000 --166.0000;-123.0000 --166.0000;-122.5000 --166.0000;-122.0000 --166.0000;-121.5000 --166.0000;-121.0000 --166.0000;-120.5000 --166.0000;-120.0000 --166.0000;-119.5000 --166.0000;-119.0000 --166.0000;-118.5000 --166.0000;-118.0000 --166.0000;-117.5000 --166.0000;-117.0000 --166.0000;-116.5000 --166.0000;-116.0000 --166.0000;-115.5000 --166.0000;-115.0000 --166.0000;-114.5000 --166.0000;-114.0000 --166.0000;-113.5000 --166.0000;-113.0000 --166.0000;-112.5000 --166.0000;-112.0000 --166.0000;-71.5000 --166.0000;-71.0000 --166.0000;-70.5000 --166.0000;-70.0000 --166.0000;-69.5000 --166.0000;-69.0000 --166.0000;-68.5000 --166.0000;-68.0000 --166.0000;-67.5000 --166.0000;-67.0000 --166.0000;-66.5000 --166.0000;-66.0000 --166.0000;-65.5000 --166.0000;-65.0000 --166.0000;-64.5000 --166.0000;-64.0000 --166.0000;-63.5000 --166.0000;-63.0000 --166.0000;-62.5000 --166.0000;-62.0000 --166.0000;-61.5000 --166.0000;-61.0000 --166.0000;-60.5000 --166.0000;-60.0000 --166.0000;-59.5000 --166.0000;-59.0000 --166.0000;-58.5000 --166.0000;-58.0000 --166.0000;-57.5000 --166.0000;-57.0000 --166.0000;-56.5000 --166.0000;-56.0000 --166.0000;99.0000 --166.0000;99.5000 --166.0000;100.0000 --166.0000;100.5000 --166.0000;101.0000 --166.0000;101.5000 --166.0000;102.0000 --166.0000;102.5000 --166.0000;103.0000 --166.0000;103.5000 --166.0000;104.0000 --166.0000;104.5000 --166.0000;105.0000 --166.0000;105.5000 --166.0000;106.0000 --166.0000;106.5000 --166.0000;107.0000 --166.0000;107.5000 --166.0000;108.0000 --166.0000;108.5000 --166.0000;109.0000 --166.0000;109.5000 --166.0000;110.0000 --166.0000;110.5000 --166.0000;111.0000 --166.0000;111.5000 --166.0000;112.0000 --166.0000;112.5000 --166.0000;113.0000 --166.0000;113.5000 --166.0000;114.0000 --166.0000;114.5000 --166.0000;115.0000 --166.0000;115.5000 --166.0000;116.0000 --166.0000;116.5000 --166.0000;117.0000 --166.0000;117.5000 --165.5000;-263.0000 --165.5000;-262.5000 --165.5000;-262.0000 --165.5000;-261.5000 --165.5000;-261.0000 --165.5000;-260.5000 --165.5000;-260.0000 --165.5000;-259.5000 --165.5000;-259.0000 --165.5000;-258.5000 --165.5000;-258.0000 --165.5000;-257.5000 --165.5000;-257.0000 --165.5000;-256.5000 --165.5000;-256.0000 --165.5000;-255.5000 --165.5000;-255.0000 --165.5000;-254.5000 --165.5000;-254.0000 --165.5000;-253.5000 --165.5000;-253.0000 --165.5000;-252.5000 --165.5000;-252.0000 --165.5000;-251.5000 --165.5000;-251.0000 --165.5000;-250.5000 --165.5000;-250.0000 --165.5000;-127.0000 --165.5000;-126.5000 --165.5000;-126.0000 --165.5000;-125.5000 --165.5000;-125.0000 --165.5000;-124.5000 --165.5000;-124.0000 --165.5000;-123.5000 --165.5000;-123.0000 --165.5000;-122.5000 --165.5000;-122.0000 --165.5000;-121.5000 --165.5000;-121.0000 --165.5000;-120.5000 --165.5000;-120.0000 --165.5000;-119.5000 --165.5000;-119.0000 --165.5000;-118.5000 --165.5000;-118.0000 --165.5000;-117.5000 --165.5000;-117.0000 --165.5000;-116.5000 --165.5000;-116.0000 --165.5000;-115.5000 --165.5000;-115.0000 --165.5000;-114.5000 --165.5000;-114.0000 --165.5000;-113.5000 --165.5000;-113.0000 --165.5000;-112.5000 --165.5000;-112.0000 --165.5000;-111.5000 --165.5000;-72.0000 --165.5000;-71.5000 --165.5000;-71.0000 --165.5000;-70.5000 --165.5000;-70.0000 --165.5000;-69.5000 --165.5000;-69.0000 --165.5000;-68.5000 --165.5000;-68.0000 --165.5000;-67.5000 --165.5000;-67.0000 --165.5000;-66.5000 --165.5000;-66.0000 --165.5000;-65.5000 --165.5000;-65.0000 --165.5000;-64.5000 --165.5000;-64.0000 --165.5000;-63.5000 --165.5000;-63.0000 --165.5000;-62.5000 --165.5000;-62.0000 --165.5000;-61.5000 --165.5000;-61.0000 --165.5000;-60.5000 --165.5000;-60.0000 --165.5000;-59.5000 --165.5000;-59.0000 --165.5000;-58.5000 --165.5000;-58.0000 --165.5000;-57.5000 --165.5000;-57.0000 --165.5000;-56.5000 --165.5000;98.5000 --165.5000;99.0000 --165.5000;99.5000 --165.5000;100.0000 --165.5000;100.5000 --165.5000;101.0000 --165.5000;101.5000 --165.5000;102.0000 --165.5000;102.5000 --165.5000;103.0000 --165.5000;103.5000 --165.5000;104.0000 --165.5000;104.5000 --165.5000;105.0000 --165.5000;105.5000 --165.5000;106.0000 --165.5000;106.5000 --165.5000;107.0000 --165.5000;107.5000 --165.5000;108.0000 --165.5000;108.5000 --165.5000;109.0000 --165.5000;109.5000 --165.5000;110.0000 --165.5000;110.5000 --165.5000;111.0000 --165.5000;111.5000 --165.5000;112.0000 --165.5000;112.5000 --165.5000;113.0000 --165.5000;113.5000 --165.5000;114.0000 --165.5000;114.5000 --165.5000;115.0000 --165.5000;115.5000 --165.5000;116.0000 --165.5000;116.5000 --165.5000;117.0000 --165.0000;-263.0000 --165.0000;-262.5000 --165.0000;-262.0000 --165.0000;-261.5000 --165.0000;-261.0000 --165.0000;-260.5000 --165.0000;-260.0000 --165.0000;-259.5000 --165.0000;-259.0000 --165.0000;-258.5000 --165.0000;-258.0000 --165.0000;-257.5000 --165.0000;-257.0000 --165.0000;-256.5000 --165.0000;-256.0000 --165.0000;-255.5000 --165.0000;-255.0000 --165.0000;-254.5000 --165.0000;-254.0000 --165.0000;-253.5000 --165.0000;-253.0000 --165.0000;-252.5000 --165.0000;-252.0000 --165.0000;-251.5000 --165.0000;-251.0000 --165.0000;-250.5000 --165.0000;-127.0000 --165.0000;-126.5000 --165.0000;-126.0000 --165.0000;-125.5000 --165.0000;-125.0000 --165.0000;-124.5000 --165.0000;-124.0000 --165.0000;-123.5000 --165.0000;-123.0000 --165.0000;-122.5000 --165.0000;-122.0000 --165.0000;-121.5000 --165.0000;-121.0000 --165.0000;-120.5000 --165.0000;-120.0000 --165.0000;-119.5000 --165.0000;-119.0000 --165.0000;-118.5000 --165.0000;-118.0000 --165.0000;-117.5000 --165.0000;-117.0000 --165.0000;-116.5000 --165.0000;-116.0000 --165.0000;-115.5000 --165.0000;-115.0000 --165.0000;-114.5000 --165.0000;-114.0000 --165.0000;-113.5000 --165.0000;-113.0000 --165.0000;-112.5000 --165.0000;-112.0000 --165.0000;-111.5000 --165.0000;-111.0000 --165.0000;-72.5000 --165.0000;-72.0000 --165.0000;-71.5000 --165.0000;-71.0000 --165.0000;-70.5000 --165.0000;-70.0000 --165.0000;-69.5000 --165.0000;-69.0000 --165.0000;-68.5000 --165.0000;-68.0000 --165.0000;-67.5000 --165.0000;-67.0000 --165.0000;-66.5000 --165.0000;-66.0000 --165.0000;-65.5000 --165.0000;-65.0000 --165.0000;-64.5000 --165.0000;-64.0000 --165.0000;-63.5000 --165.0000;-63.0000 --165.0000;-62.5000 --165.0000;-62.0000 --165.0000;-61.5000 --165.0000;-61.0000 --165.0000;-60.5000 --165.0000;-60.0000 --165.0000;-59.5000 --165.0000;-59.0000 --165.0000;-58.5000 --165.0000;-58.0000 --165.0000;-57.5000 --165.0000;-57.0000 --165.0000;-56.5000 --165.0000;98.0000 --165.0000;98.5000 --165.0000;99.0000 --165.0000;99.5000 --165.0000;100.0000 --165.0000;100.5000 --165.0000;101.0000 --165.0000;101.5000 --165.0000;102.0000 --165.0000;102.5000 --165.0000;103.0000 --165.0000;103.5000 --165.0000;104.0000 --165.0000;104.5000 --165.0000;105.0000 --165.0000;105.5000 --165.0000;106.0000 --165.0000;106.5000 --165.0000;107.0000 --165.0000;107.5000 --165.0000;108.0000 --165.0000;108.5000 --165.0000;109.0000 --165.0000;109.5000 --165.0000;110.0000 --165.0000;110.5000 --165.0000;111.0000 --165.0000;111.5000 --165.0000;112.0000 --165.0000;112.5000 --165.0000;113.0000 --165.0000;113.5000 --165.0000;114.0000 --165.0000;114.5000 --165.0000;115.0000 --165.0000;115.5000 --165.0000;116.0000 --165.0000;116.5000 --164.5000;-263.0000 --164.5000;-262.5000 --164.5000;-262.0000 --164.5000;-261.5000 --164.5000;-261.0000 --164.5000;-260.5000 --164.5000;-260.0000 --164.5000;-259.5000 --164.5000;-259.0000 --164.5000;-258.5000 --164.5000;-258.0000 --164.5000;-257.5000 --164.5000;-257.0000 --164.5000;-256.5000 --164.5000;-256.0000 --164.5000;-255.5000 --164.5000;-255.0000 --164.5000;-254.5000 --164.5000;-254.0000 --164.5000;-253.5000 --164.5000;-253.0000 --164.5000;-252.5000 --164.5000;-252.0000 --164.5000;-251.5000 --164.5000;-251.0000 --164.5000;-250.5000 --164.5000;-126.5000 --164.5000;-126.0000 --164.5000;-125.5000 --164.5000;-125.0000 --164.5000;-124.5000 --164.5000;-124.0000 --164.5000;-123.5000 --164.5000;-123.0000 --164.5000;-122.5000 --164.5000;-122.0000 --164.5000;-121.5000 --164.5000;-121.0000 --164.5000;-120.5000 --164.5000;-120.0000 --164.5000;-119.5000 --164.5000;-119.0000 --164.5000;-118.5000 --164.5000;-118.0000 --164.5000;-117.5000 --164.5000;-117.0000 --164.5000;-116.5000 --164.5000;-116.0000 --164.5000;-115.5000 --164.5000;-115.0000 --164.5000;-114.5000 --164.5000;-114.0000 --164.5000;-113.5000 --164.5000;-113.0000 --164.5000;-112.5000 --164.5000;-112.0000 --164.5000;-111.5000 --164.5000;-111.0000 --164.5000;-110.5000 --164.5000;-73.0000 --164.5000;-72.5000 --164.5000;-72.0000 --164.5000;-71.5000 --164.5000;-71.0000 --164.5000;-70.5000 --164.5000;-70.0000 --164.5000;-69.5000 --164.5000;-69.0000 --164.5000;-68.5000 --164.5000;-68.0000 --164.5000;-67.5000 --164.5000;-67.0000 --164.5000;-66.5000 --164.5000;-66.0000 --164.5000;-65.5000 --164.5000;-65.0000 --164.5000;-64.5000 --164.5000;-64.0000 --164.5000;-63.5000 --164.5000;-63.0000 --164.5000;-62.5000 --164.5000;-62.0000 --164.5000;-61.5000 --164.5000;-61.0000 --164.5000;-60.5000 --164.5000;-60.0000 --164.5000;-59.5000 --164.5000;-59.0000 --164.5000;-58.5000 --164.5000;-58.0000 --164.5000;-57.5000 --164.5000;-57.0000 --164.5000;97.5000 --164.5000;98.0000 --164.5000;98.5000 --164.5000;99.0000 --164.5000;99.5000 --164.5000;100.0000 --164.5000;100.5000 --164.5000;101.0000 --164.5000;101.5000 --164.5000;102.0000 --164.5000;102.5000 --164.5000;103.0000 --164.5000;103.5000 --164.5000;104.0000 --164.5000;104.5000 --164.5000;105.0000 --164.5000;105.5000 --164.5000;106.0000 --164.5000;106.5000 --164.5000;107.0000 --164.5000;107.5000 --164.5000;108.0000 --164.5000;108.5000 --164.5000;109.0000 --164.5000;109.5000 --164.5000;110.0000 --164.5000;110.5000 --164.5000;111.0000 --164.5000;111.5000 --164.5000;112.0000 --164.5000;112.5000 --164.5000;113.0000 --164.5000;113.5000 --164.5000;114.0000 --164.5000;114.5000 --164.5000;115.0000 --164.5000;115.5000 --164.5000;116.0000 --164.0000;-263.5000 --164.0000;-263.0000 --164.0000;-262.5000 --164.0000;-262.0000 --164.0000;-261.5000 --164.0000;-261.0000 --164.0000;-260.5000 --164.0000;-260.0000 --164.0000;-259.5000 --164.0000;-259.0000 --164.0000;-258.5000 --164.0000;-258.0000 --164.0000;-257.5000 --164.0000;-257.0000 --164.0000;-256.5000 --164.0000;-256.0000 --164.0000;-255.5000 --164.0000;-255.0000 --164.0000;-254.5000 --164.0000;-254.0000 --164.0000;-253.5000 --164.0000;-253.0000 --164.0000;-252.5000 --164.0000;-252.0000 --164.0000;-251.5000 --164.0000;-251.0000 --164.0000;-250.5000 --164.0000;-126.0000 --164.0000;-125.5000 --164.0000;-125.0000 --164.0000;-124.5000 --164.0000;-124.0000 --164.0000;-123.5000 --164.0000;-123.0000 --164.0000;-122.5000 --164.0000;-122.0000 --164.0000;-121.5000 --164.0000;-121.0000 --164.0000;-120.5000 --164.0000;-120.0000 --164.0000;-119.5000 --164.0000;-119.0000 --164.0000;-118.5000 --164.0000;-118.0000 --164.0000;-117.5000 --164.0000;-117.0000 --164.0000;-116.5000 --164.0000;-116.0000 --164.0000;-115.5000 --164.0000;-115.0000 --164.0000;-114.5000 --164.0000;-114.0000 --164.0000;-113.5000 --164.0000;-113.0000 --164.0000;-112.5000 --164.0000;-112.0000 --164.0000;-111.5000 --164.0000;-111.0000 --164.0000;-110.5000 --164.0000;-110.0000 --164.0000;-109.5000 --164.0000;-74.0000 --164.0000;-73.5000 --164.0000;-73.0000 --164.0000;-72.5000 --164.0000;-72.0000 --164.0000;-71.5000 --164.0000;-71.0000 --164.0000;-70.5000 --164.0000;-70.0000 --164.0000;-69.5000 --164.0000;-69.0000 --164.0000;-68.5000 --164.0000;-68.0000 --164.0000;-67.5000 --164.0000;-67.0000 --164.0000;-66.5000 --164.0000;-66.0000 --164.0000;-65.5000 --164.0000;-65.0000 --164.0000;-64.5000 --164.0000;-64.0000 --164.0000;-63.5000 --164.0000;-63.0000 --164.0000;-62.5000 --164.0000;-62.0000 --164.0000;-61.5000 --164.0000;-61.0000 --164.0000;-60.5000 --164.0000;-60.0000 --164.0000;-59.5000 --164.0000;-59.0000 --164.0000;-58.5000 --164.0000;-58.0000 --164.0000;-57.5000 --164.0000;97.0000 --164.0000;97.5000 --164.0000;98.0000 --164.0000;98.5000 --164.0000;99.0000 --164.0000;99.5000 --164.0000;100.0000 --164.0000;100.5000 --164.0000;101.0000 --164.0000;101.5000 --164.0000;102.0000 --164.0000;102.5000 --164.0000;103.0000 --164.0000;103.5000 --164.0000;104.0000 --164.0000;104.5000 --164.0000;105.0000 --164.0000;105.5000 --164.0000;106.0000 --164.0000;106.5000 --164.0000;107.0000 --164.0000;107.5000 --164.0000;108.0000 --164.0000;108.5000 --164.0000;109.0000 --164.0000;109.5000 --164.0000;110.0000 --164.0000;110.5000 --164.0000;111.0000 --164.0000;111.5000 --164.0000;112.0000 --164.0000;112.5000 --164.0000;113.0000 --164.0000;113.5000 --164.0000;114.0000 --164.0000;114.5000 --164.0000;115.0000 --164.0000;115.5000 --163.5000;-263.5000 --163.5000;-263.0000 --163.5000;-262.5000 --163.5000;-262.0000 --163.5000;-261.5000 --163.5000;-261.0000 --163.5000;-260.5000 --163.5000;-260.0000 --163.5000;-259.5000 --163.5000;-259.0000 --163.5000;-258.5000 --163.5000;-258.0000 --163.5000;-257.5000 --163.5000;-257.0000 --163.5000;-256.5000 --163.5000;-256.0000 --163.5000;-255.5000 --163.5000;-255.0000 --163.5000;-254.5000 --163.5000;-254.0000 --163.5000;-253.5000 --163.5000;-253.0000 --163.5000;-252.5000 --163.5000;-252.0000 --163.5000;-251.5000 --163.5000;-251.0000 --163.5000;-126.0000 --163.5000;-125.5000 --163.5000;-125.0000 --163.5000;-124.5000 --163.5000;-124.0000 --163.5000;-123.5000 --163.5000;-123.0000 --163.5000;-122.5000 --163.5000;-122.0000 --163.5000;-121.5000 --163.5000;-121.0000 --163.5000;-120.5000 --163.5000;-120.0000 --163.5000;-119.5000 --163.5000;-119.0000 --163.5000;-118.5000 --163.5000;-118.0000 --163.5000;-117.5000 --163.5000;-117.0000 --163.5000;-116.5000 --163.5000;-116.0000 --163.5000;-115.5000 --163.5000;-115.0000 --163.5000;-114.5000 --163.5000;-114.0000 --163.5000;-113.5000 --163.5000;-113.0000 --163.5000;-112.5000 --163.5000;-112.0000 --163.5000;-111.5000 --163.5000;-111.0000 --163.5000;-110.5000 --163.5000;-110.0000 --163.5000;-109.5000 --163.5000;-109.0000 --163.5000;-74.5000 --163.5000;-74.0000 --163.5000;-73.5000 --163.5000;-73.0000 --163.5000;-72.5000 --163.5000;-72.0000 --163.5000;-71.5000 --163.5000;-71.0000 --163.5000;-70.5000 --163.5000;-70.0000 --163.5000;-69.5000 --163.5000;-69.0000 --163.5000;-68.5000 --163.5000;-68.0000 --163.5000;-67.5000 --163.5000;-67.0000 --163.5000;-66.5000 --163.5000;-66.0000 --163.5000;-65.5000 --163.5000;-65.0000 --163.5000;-64.5000 --163.5000;-64.0000 --163.5000;-63.5000 --163.5000;-63.0000 --163.5000;-62.5000 --163.5000;-62.0000 --163.5000;-61.5000 --163.5000;-61.0000 --163.5000;-60.5000 --163.5000;-60.0000 --163.5000;-59.5000 --163.5000;-59.0000 --163.5000;-58.5000 --163.5000;-58.0000 --163.5000;-57.5000 --163.5000;96.0000 --163.5000;96.5000 --163.5000;97.0000 --163.5000;97.5000 --163.5000;98.0000 --163.5000;98.5000 --163.5000;99.0000 --163.5000;99.5000 --163.5000;100.0000 --163.5000;100.5000 --163.5000;101.0000 --163.5000;101.5000 --163.5000;102.0000 --163.5000;102.5000 --163.5000;103.0000 --163.5000;103.5000 --163.5000;104.0000 --163.5000;104.5000 --163.5000;105.0000 --163.5000;105.5000 --163.5000;106.0000 --163.5000;106.5000 --163.5000;107.0000 --163.5000;107.5000 --163.5000;108.0000 --163.5000;108.5000 --163.5000;109.0000 --163.5000;109.5000 --163.5000;110.0000 --163.5000;110.5000 --163.5000;111.0000 --163.5000;111.5000 --163.5000;112.0000 --163.5000;112.5000 --163.5000;113.0000 --163.5000;113.5000 --163.5000;114.0000 --163.5000;114.5000 --163.5000;115.0000 --163.0000;-264.0000 --163.0000;-263.5000 --163.0000;-263.0000 --163.0000;-262.5000 --163.0000;-262.0000 --163.0000;-261.5000 --163.0000;-261.0000 --163.0000;-260.5000 --163.0000;-260.0000 --163.0000;-259.5000 --163.0000;-259.0000 --163.0000;-258.5000 --163.0000;-258.0000 --163.0000;-257.5000 --163.0000;-257.0000 --163.0000;-256.5000 --163.0000;-256.0000 --163.0000;-255.5000 --163.0000;-255.0000 --163.0000;-254.5000 --163.0000;-254.0000 --163.0000;-253.5000 --163.0000;-253.0000 --163.0000;-252.5000 --163.0000;-252.0000 --163.0000;-251.5000 --163.0000;-251.0000 --163.0000;-125.5000 --163.0000;-125.0000 --163.0000;-124.5000 --163.0000;-124.0000 --163.0000;-123.5000 --163.0000;-123.0000 --163.0000;-122.5000 --163.0000;-122.0000 --163.0000;-121.5000 --163.0000;-121.0000 --163.0000;-120.5000 --163.0000;-120.0000 --163.0000;-119.5000 --163.0000;-119.0000 --163.0000;-118.5000 --163.0000;-118.0000 --163.0000;-117.5000 --163.0000;-117.0000 --163.0000;-116.5000 --163.0000;-116.0000 --163.0000;-115.5000 --163.0000;-115.0000 --163.0000;-114.5000 --163.0000;-114.0000 --163.0000;-113.5000 --163.0000;-113.0000 --163.0000;-112.5000 --163.0000;-112.0000 --163.0000;-111.5000 --163.0000;-111.0000 --163.0000;-110.5000 --163.0000;-110.0000 --163.0000;-109.5000 --163.0000;-109.0000 --163.0000;-108.5000 --163.0000;-108.0000 --163.0000;-75.5000 --163.0000;-75.0000 --163.0000;-74.5000 --163.0000;-74.0000 --163.0000;-73.5000 --163.0000;-73.0000 --163.0000;-72.5000 --163.0000;-72.0000 --163.0000;-71.5000 --163.0000;-71.0000 --163.0000;-70.5000 --163.0000;-70.0000 --163.0000;-69.5000 --163.0000;-69.0000 --163.0000;-68.5000 --163.0000;-68.0000 --163.0000;-67.5000 --163.0000;-67.0000 --163.0000;-66.5000 --163.0000;-66.0000 --163.0000;-65.5000 --163.0000;-65.0000 --163.0000;-64.5000 --163.0000;-64.0000 --163.0000;-63.5000 --163.0000;-63.0000 --163.0000;-62.5000 --163.0000;-62.0000 --163.0000;-61.5000 --163.0000;-61.0000 --163.0000;-60.5000 --163.0000;-60.0000 --163.0000;-59.5000 --163.0000;-59.0000 --163.0000;-58.5000 --163.0000;-58.0000 --163.0000;95.5000 --163.0000;96.0000 --163.0000;96.5000 --163.0000;97.0000 --163.0000;97.5000 --163.0000;98.0000 --163.0000;98.5000 --163.0000;99.0000 --163.0000;99.5000 --163.0000;100.0000 --163.0000;100.5000 --163.0000;101.0000 --163.0000;101.5000 --163.0000;102.0000 --163.0000;102.5000 --163.0000;103.0000 --163.0000;103.5000 --163.0000;104.0000 --163.0000;104.5000 --163.0000;105.0000 --163.0000;105.5000 --163.0000;106.0000 --163.0000;106.5000 --163.0000;107.0000 --163.0000;107.5000 --163.0000;108.0000 --163.0000;108.5000 --163.0000;109.0000 --163.0000;109.5000 --163.0000;110.0000 --163.0000;110.5000 --163.0000;111.0000 --163.0000;111.5000 --163.0000;112.0000 --163.0000;112.5000 --163.0000;113.0000 --163.0000;113.5000 --163.0000;114.0000 --163.0000;114.5000 --162.5000;-264.0000 --162.5000;-263.5000 --162.5000;-263.0000 --162.5000;-262.5000 --162.5000;-262.0000 --162.5000;-261.5000 --162.5000;-261.0000 --162.5000;-260.5000 --162.5000;-260.0000 --162.5000;-259.5000 --162.5000;-259.0000 --162.5000;-258.5000 --162.5000;-258.0000 --162.5000;-257.5000 --162.5000;-257.0000 --162.5000;-256.5000 --162.5000;-256.0000 --162.5000;-255.5000 --162.5000;-255.0000 --162.5000;-254.5000 --162.5000;-254.0000 --162.5000;-253.5000 --162.5000;-253.0000 --162.5000;-252.5000 --162.5000;-252.0000 --162.5000;-251.5000 --162.5000;-251.0000 --162.5000;-125.0000 --162.5000;-124.5000 --162.5000;-124.0000 --162.5000;-123.5000 --162.5000;-123.0000 --162.5000;-122.5000 --162.5000;-122.0000 --162.5000;-121.5000 --162.5000;-121.0000 --162.5000;-120.5000 --162.5000;-120.0000 --162.5000;-119.5000 --162.5000;-119.0000 --162.5000;-118.5000 --162.5000;-118.0000 --162.5000;-117.5000 --162.5000;-117.0000 --162.5000;-116.5000 --162.5000;-116.0000 --162.5000;-115.5000 --162.5000;-115.0000 --162.5000;-114.5000 --162.5000;-114.0000 --162.5000;-113.5000 --162.5000;-113.0000 --162.5000;-112.5000 --162.5000;-112.0000 --162.5000;-111.5000 --162.5000;-111.0000 --162.5000;-110.5000 --162.5000;-110.0000 --162.5000;-109.5000 --162.5000;-109.0000 --162.5000;-108.5000 --162.5000;-108.0000 --162.5000;-107.5000 --162.5000;-76.0000 --162.5000;-75.5000 --162.5000;-75.0000 --162.5000;-74.5000 --162.5000;-74.0000 --162.5000;-73.5000 --162.5000;-73.0000 --162.5000;-72.5000 --162.5000;-72.0000 --162.5000;-71.5000 --162.5000;-71.0000 --162.5000;-70.5000 --162.5000;-70.0000 --162.5000;-69.5000 --162.5000;-69.0000 --162.5000;-68.5000 --162.5000;-68.0000 --162.5000;-67.5000 --162.5000;-67.0000 --162.5000;-66.5000 --162.5000;-66.0000 --162.5000;-65.5000 --162.5000;-65.0000 --162.5000;-64.5000 --162.5000;-64.0000 --162.5000;-63.5000 --162.5000;-63.0000 --162.5000;-62.5000 --162.5000;-62.0000 --162.5000;-61.5000 --162.5000;-61.0000 --162.5000;-60.5000 --162.5000;-60.0000 --162.5000;-59.5000 --162.5000;-59.0000 --162.5000;-58.5000 --162.5000;95.0000 --162.5000;95.5000 --162.5000;96.0000 --162.5000;96.5000 --162.5000;97.0000 --162.5000;97.5000 --162.5000;98.0000 --162.5000;98.5000 --162.5000;99.0000 --162.5000;99.5000 --162.5000;100.0000 --162.5000;100.5000 --162.5000;101.0000 --162.5000;101.5000 --162.5000;102.0000 --162.5000;102.5000 --162.5000;103.0000 --162.5000;103.5000 --162.5000;104.0000 --162.5000;104.5000 --162.5000;105.0000 --162.5000;105.5000 --162.5000;106.0000 --162.5000;106.5000 --162.5000;107.0000 --162.5000;107.5000 --162.5000;108.0000 --162.5000;108.5000 --162.5000;109.0000 --162.5000;109.5000 --162.5000;110.0000 --162.5000;110.5000 --162.5000;111.0000 --162.5000;111.5000 --162.5000;112.0000 --162.5000;112.5000 --162.5000;113.0000 --162.5000;113.5000 --162.5000;114.0000 --162.0000;-264.0000 --162.0000;-263.5000 --162.0000;-263.0000 --162.0000;-262.5000 --162.0000;-262.0000 --162.0000;-261.5000 --162.0000;-261.0000 --162.0000;-260.5000 --162.0000;-260.0000 --162.0000;-259.5000 --162.0000;-259.0000 --162.0000;-258.5000 --162.0000;-258.0000 --162.0000;-257.5000 --162.0000;-257.0000 --162.0000;-256.5000 --162.0000;-256.0000 --162.0000;-255.5000 --162.0000;-255.0000 --162.0000;-254.5000 --162.0000;-254.0000 --162.0000;-253.5000 --162.0000;-253.0000 --162.0000;-252.5000 --162.0000;-252.0000 --162.0000;-251.5000 --162.0000;-124.5000 --162.0000;-124.0000 --162.0000;-123.5000 --162.0000;-123.0000 --162.0000;-122.5000 --162.0000;-122.0000 --162.0000;-121.5000 --162.0000;-121.0000 --162.0000;-120.5000 --162.0000;-120.0000 --162.0000;-119.5000 --162.0000;-119.0000 --162.0000;-118.5000 --162.0000;-118.0000 --162.0000;-117.5000 --162.0000;-117.0000 --162.0000;-116.5000 --162.0000;-116.0000 --162.0000;-115.5000 --162.0000;-115.0000 --162.0000;-114.5000 --162.0000;-114.0000 --162.0000;-113.5000 --162.0000;-113.0000 --162.0000;-112.5000 --162.0000;-112.0000 --162.0000;-111.5000 --162.0000;-111.0000 --162.0000;-110.5000 --162.0000;-110.0000 --162.0000;-109.5000 --162.0000;-109.0000 --162.0000;-108.5000 --162.0000;-108.0000 --162.0000;-107.5000 --162.0000;-107.0000 --162.0000;-106.5000 --162.0000;-77.0000 --162.0000;-76.5000 --162.0000;-76.0000 --162.0000;-75.5000 --162.0000;-75.0000 --162.0000;-74.5000 --162.0000;-74.0000 --162.0000;-73.5000 --162.0000;-73.0000 --162.0000;-72.5000 --162.0000;-72.0000 --162.0000;-71.5000 --162.0000;-71.0000 --162.0000;-70.5000 --162.0000;-70.0000 --162.0000;-69.5000 --162.0000;-69.0000 --162.0000;-68.5000 --162.0000;-68.0000 --162.0000;-67.5000 --162.0000;-67.0000 --162.0000;-66.5000 --162.0000;-66.0000 --162.0000;-65.5000 --162.0000;-65.0000 --162.0000;-64.5000 --162.0000;-64.0000 --162.0000;-63.5000 --162.0000;-63.0000 --162.0000;-62.5000 --162.0000;-62.0000 --162.0000;-61.5000 --162.0000;-61.0000 --162.0000;-60.5000 --162.0000;-60.0000 --162.0000;-59.5000 --162.0000;-59.0000 --162.0000;94.5000 --162.0000;95.0000 --162.0000;95.5000 --162.0000;96.0000 --162.0000;96.5000 --162.0000;97.0000 --162.0000;97.5000 --162.0000;98.0000 --162.0000;98.5000 --162.0000;99.0000 --162.0000;99.5000 --162.0000;100.0000 --162.0000;100.5000 --162.0000;101.0000 --162.0000;101.5000 --162.0000;102.0000 --162.0000;102.5000 --162.0000;103.0000 --162.0000;103.5000 --162.0000;104.0000 --162.0000;104.5000 --162.0000;105.0000 --162.0000;105.5000 --162.0000;106.0000 --162.0000;106.5000 --162.0000;107.0000 --162.0000;107.5000 --162.0000;108.0000 --162.0000;108.5000 --162.0000;109.0000 --162.0000;109.5000 --162.0000;110.0000 --162.0000;110.5000 --162.0000;111.0000 --162.0000;111.5000 --162.0000;112.0000 --162.0000;112.5000 --162.0000;113.0000 --162.0000;113.5000 --161.5000;-264.5000 --161.5000;-264.0000 --161.5000;-263.5000 --161.5000;-263.0000 --161.5000;-262.5000 --161.5000;-262.0000 --161.5000;-261.5000 --161.5000;-261.0000 --161.5000;-260.5000 --161.5000;-260.0000 --161.5000;-259.5000 --161.5000;-259.0000 --161.5000;-258.5000 --161.5000;-258.0000 --161.5000;-257.5000 --161.5000;-257.0000 --161.5000;-256.5000 --161.5000;-256.0000 --161.5000;-255.5000 --161.5000;-255.0000 --161.5000;-254.5000 --161.5000;-254.0000 --161.5000;-253.5000 --161.5000;-253.0000 --161.5000;-252.5000 --161.5000;-252.0000 --161.5000;-251.5000 --161.5000;-124.0000 --161.5000;-123.5000 --161.5000;-123.0000 --161.5000;-122.5000 --161.5000;-122.0000 --161.5000;-121.5000 --161.5000;-121.0000 --161.5000;-120.5000 --161.5000;-120.0000 --161.5000;-119.5000 --161.5000;-119.0000 --161.5000;-118.5000 --161.5000;-118.0000 --161.5000;-117.5000 --161.5000;-117.0000 --161.5000;-116.5000 --161.5000;-116.0000 --161.5000;-115.5000 --161.5000;-115.0000 --161.5000;-114.5000 --161.5000;-114.0000 --161.5000;-113.5000 --161.5000;-113.0000 --161.5000;-112.5000 --161.5000;-112.0000 --161.5000;-111.5000 --161.5000;-111.0000 --161.5000;-110.5000 --161.5000;-110.0000 --161.5000;-109.5000 --161.5000;-109.0000 --161.5000;-108.5000 --161.5000;-108.0000 --161.5000;-107.5000 --161.5000;-107.0000 --161.5000;-106.5000 --161.5000;-106.0000 --161.5000;-105.5000 --161.5000;-78.0000 --161.5000;-77.5000 --161.5000;-77.0000 --161.5000;-76.5000 --161.5000;-76.0000 --161.5000;-75.5000 --161.5000;-75.0000 --161.5000;-74.5000 --161.5000;-74.0000 --161.5000;-73.5000 --161.5000;-73.0000 --161.5000;-72.5000 --161.5000;-72.0000 --161.5000;-71.5000 --161.5000;-71.0000 --161.5000;-70.5000 --161.5000;-70.0000 --161.5000;-69.5000 --161.5000;-69.0000 --161.5000;-68.5000 --161.5000;-68.0000 --161.5000;-67.5000 --161.5000;-67.0000 --161.5000;-66.5000 --161.5000;-66.0000 --161.5000;-65.5000 --161.5000;-65.0000 --161.5000;-64.5000 --161.5000;-64.0000 --161.5000;-63.5000 --161.5000;-63.0000 --161.5000;-62.5000 --161.5000;-62.0000 --161.5000;-61.5000 --161.5000;-61.0000 --161.5000;-60.5000 --161.5000;-60.0000 --161.5000;-59.5000 --161.5000;-59.0000 --161.5000;94.0000 --161.5000;94.5000 --161.5000;95.0000 --161.5000;95.5000 --161.5000;96.0000 --161.5000;96.5000 --161.5000;97.0000 --161.5000;97.5000 --161.5000;98.0000 --161.5000;98.5000 --161.5000;99.0000 --161.5000;99.5000 --161.5000;100.0000 --161.5000;100.5000 --161.5000;101.0000 --161.5000;101.5000 --161.5000;102.0000 --161.5000;102.5000 --161.5000;103.0000 --161.5000;103.5000 --161.5000;104.0000 --161.5000;104.5000 --161.5000;105.0000 --161.5000;105.5000 --161.5000;106.0000 --161.5000;106.5000 --161.5000;107.0000 --161.5000;107.5000 --161.5000;108.0000 --161.5000;108.5000 --161.5000;109.0000 --161.5000;109.5000 --161.5000;110.0000 --161.5000;110.5000 --161.5000;111.0000 --161.5000;111.5000 --161.5000;112.0000 --161.5000;112.5000 --161.5000;113.0000 --161.0000;-264.5000 --161.0000;-264.0000 --161.0000;-263.5000 --161.0000;-263.0000 --161.0000;-262.5000 --161.0000;-262.0000 --161.0000;-261.5000 --161.0000;-261.0000 --161.0000;-260.5000 --161.0000;-260.0000 --161.0000;-259.5000 --161.0000;-259.0000 --161.0000;-258.5000 --161.0000;-258.0000 --161.0000;-257.5000 --161.0000;-257.0000 --161.0000;-256.5000 --161.0000;-256.0000 --161.0000;-255.5000 --161.0000;-255.0000 --161.0000;-254.5000 --161.0000;-254.0000 --161.0000;-253.5000 --161.0000;-253.0000 --161.0000;-252.5000 --161.0000;-252.0000 --161.0000;-124.0000 --161.0000;-123.5000 --161.0000;-123.0000 --161.0000;-122.5000 --161.0000;-122.0000 --161.0000;-121.5000 --161.0000;-121.0000 --161.0000;-120.5000 --161.0000;-120.0000 --161.0000;-119.5000 --161.0000;-119.0000 --161.0000;-118.5000 --161.0000;-118.0000 --161.0000;-117.5000 --161.0000;-117.0000 --161.0000;-116.5000 --161.0000;-116.0000 --161.0000;-115.5000 --161.0000;-115.0000 --161.0000;-114.5000 --161.0000;-114.0000 --161.0000;-113.5000 --161.0000;-113.0000 --161.0000;-112.5000 --161.0000;-112.0000 --161.0000;-111.5000 --161.0000;-111.0000 --161.0000;-110.5000 --161.0000;-110.0000 --161.0000;-109.5000 --161.0000;-109.0000 --161.0000;-108.5000 --161.0000;-108.0000 --161.0000;-107.5000 --161.0000;-107.0000 --161.0000;-106.5000 --161.0000;-106.0000 --161.0000;-105.5000 --161.0000;-105.0000 --161.0000;-104.5000 --161.0000;-79.0000 --161.0000;-78.5000 --161.0000;-78.0000 --161.0000;-77.5000 --161.0000;-77.0000 --161.0000;-76.5000 --161.0000;-76.0000 --161.0000;-75.5000 --161.0000;-75.0000 --161.0000;-74.5000 --161.0000;-74.0000 --161.0000;-73.5000 --161.0000;-73.0000 --161.0000;-72.5000 --161.0000;-72.0000 --161.0000;-71.5000 --161.0000;-71.0000 --161.0000;-70.5000 --161.0000;-70.0000 --161.0000;-69.5000 --161.0000;-69.0000 --161.0000;-68.5000 --161.0000;-68.0000 --161.0000;-67.5000 --161.0000;-67.0000 --161.0000;-66.5000 --161.0000;-66.0000 --161.0000;-65.5000 --161.0000;-65.0000 --161.0000;-64.5000 --161.0000;-64.0000 --161.0000;-63.5000 --161.0000;-63.0000 --161.0000;-62.5000 --161.0000;-62.0000 --161.0000;-61.5000 --161.0000;-61.0000 --161.0000;-60.5000 --161.0000;-60.0000 --161.0000;-59.5000 --161.0000;93.5000 --161.0000;94.0000 --161.0000;94.5000 --161.0000;95.0000 --161.0000;95.5000 --161.0000;96.0000 --161.0000;96.5000 --161.0000;97.0000 --161.0000;97.5000 --161.0000;98.0000 --161.0000;98.5000 --161.0000;99.0000 --161.0000;99.5000 --161.0000;100.0000 --161.0000;100.5000 --161.0000;101.0000 --161.0000;101.5000 --161.0000;102.0000 --161.0000;102.5000 --161.0000;103.0000 --161.0000;103.5000 --161.0000;104.0000 --161.0000;104.5000 --161.0000;105.0000 --161.0000;105.5000 --161.0000;106.0000 --161.0000;106.5000 --161.0000;107.0000 --161.0000;107.5000 --161.0000;108.0000 --161.0000;108.5000 --161.0000;109.0000 --161.0000;109.5000 --161.0000;110.0000 --161.0000;110.5000 --161.0000;111.0000 --161.0000;111.5000 --161.0000;112.0000 --160.5000;-265.0000 --160.5000;-264.5000 --160.5000;-264.0000 --160.5000;-263.5000 --160.5000;-263.0000 --160.5000;-262.5000 --160.5000;-262.0000 --160.5000;-261.5000 --160.5000;-261.0000 --160.5000;-260.5000 --160.5000;-260.0000 --160.5000;-259.5000 --160.5000;-259.0000 --160.5000;-258.5000 --160.5000;-258.0000 --160.5000;-257.5000 --160.5000;-257.0000 --160.5000;-256.5000 --160.5000;-256.0000 --160.5000;-255.5000 --160.5000;-255.0000 --160.5000;-254.5000 --160.5000;-254.0000 --160.5000;-253.5000 --160.5000;-253.0000 --160.5000;-252.5000 --160.5000;-252.0000 --160.5000;-123.5000 --160.5000;-123.0000 --160.5000;-122.5000 --160.5000;-122.0000 --160.5000;-121.5000 --160.5000;-121.0000 --160.5000;-120.5000 --160.5000;-120.0000 --160.5000;-119.5000 --160.5000;-119.0000 --160.5000;-118.5000 --160.5000;-118.0000 --160.5000;-117.5000 --160.5000;-117.0000 --160.5000;-116.5000 --160.5000;-116.0000 --160.5000;-115.5000 --160.5000;-115.0000 --160.5000;-114.5000 --160.5000;-114.0000 --160.5000;-113.5000 --160.5000;-113.0000 --160.5000;-112.5000 --160.5000;-112.0000 --160.5000;-111.5000 --160.5000;-111.0000 --160.5000;-110.5000 --160.5000;-110.0000 --160.5000;-109.5000 --160.5000;-109.0000 --160.5000;-108.5000 --160.5000;-108.0000 --160.5000;-107.5000 --160.5000;-107.0000 --160.5000;-106.5000 --160.5000;-106.0000 --160.5000;-105.5000 --160.5000;-105.0000 --160.5000;-104.5000 --160.5000;-104.0000 --160.5000;-103.5000 --160.5000;-103.0000 --160.5000;-80.0000 --160.5000;-79.5000 --160.5000;-79.0000 --160.5000;-78.5000 --160.5000;-78.0000 --160.5000;-77.5000 --160.5000;-77.0000 --160.5000;-76.5000 --160.5000;-76.0000 --160.5000;-75.5000 --160.5000;-75.0000 --160.5000;-74.5000 --160.5000;-74.0000 --160.5000;-73.5000 --160.5000;-73.0000 --160.5000;-72.5000 --160.5000;-72.0000 --160.5000;-71.5000 --160.5000;-71.0000 --160.5000;-70.5000 --160.5000;-70.0000 --160.5000;-69.5000 --160.5000;-69.0000 --160.5000;-68.5000 --160.5000;-68.0000 --160.5000;-67.5000 --160.5000;-67.0000 --160.5000;-66.5000 --160.5000;-66.0000 --160.5000;-65.5000 --160.5000;-65.0000 --160.5000;-64.5000 --160.5000;-64.0000 --160.5000;-63.5000 --160.5000;-63.0000 --160.5000;-62.5000 --160.5000;-62.0000 --160.5000;-61.5000 --160.5000;-61.0000 --160.5000;-60.5000 --160.5000;-60.0000 --160.5000;93.0000 --160.5000;93.5000 --160.5000;94.0000 --160.5000;94.5000 --160.5000;95.0000 --160.5000;95.5000 --160.5000;96.0000 --160.5000;96.5000 --160.5000;97.0000 --160.5000;97.5000 --160.5000;98.0000 --160.5000;98.5000 --160.5000;99.0000 --160.5000;99.5000 --160.5000;100.0000 --160.5000;100.5000 --160.5000;101.0000 --160.5000;101.5000 --160.5000;102.0000 --160.5000;102.5000 --160.5000;103.0000 --160.5000;103.5000 --160.5000;104.0000 --160.5000;104.5000 --160.5000;105.0000 --160.5000;105.5000 --160.5000;106.0000 --160.5000;106.5000 --160.5000;107.0000 --160.5000;107.5000 --160.5000;108.0000 --160.5000;108.5000 --160.5000;109.0000 --160.5000;109.5000 --160.5000;110.0000 --160.5000;110.5000 --160.5000;111.0000 --160.5000;111.5000 --160.0000;-265.0000 --160.0000;-264.5000 --160.0000;-264.0000 --160.0000;-263.5000 --160.0000;-263.0000 --160.0000;-262.5000 --160.0000;-262.0000 --160.0000;-261.5000 --160.0000;-261.0000 --160.0000;-260.5000 --160.0000;-260.0000 --160.0000;-259.5000 --160.0000;-259.0000 --160.0000;-258.5000 --160.0000;-258.0000 --160.0000;-257.5000 --160.0000;-257.0000 --160.0000;-256.5000 --160.0000;-256.0000 --160.0000;-255.5000 --160.0000;-255.0000 --160.0000;-254.5000 --160.0000;-254.0000 --160.0000;-253.5000 --160.0000;-253.0000 --160.0000;-252.5000 --160.0000;-252.0000 --160.0000;-123.0000 --160.0000;-122.5000 --160.0000;-122.0000 --160.0000;-121.5000 --160.0000;-121.0000 --160.0000;-120.5000 --160.0000;-120.0000 --160.0000;-119.5000 --160.0000;-119.0000 --160.0000;-118.5000 --160.0000;-118.0000 --160.0000;-117.5000 --160.0000;-117.0000 --160.0000;-116.5000 --160.0000;-116.0000 --160.0000;-115.5000 --160.0000;-115.0000 --160.0000;-114.5000 --160.0000;-114.0000 --160.0000;-113.5000 --160.0000;-113.0000 --160.0000;-112.5000 --160.0000;-112.0000 --160.0000;-111.5000 --160.0000;-111.0000 --160.0000;-110.5000 --160.0000;-110.0000 --160.0000;-109.5000 --160.0000;-109.0000 --160.0000;-108.5000 --160.0000;-108.0000 --160.0000;-107.5000 --160.0000;-107.0000 --160.0000;-106.5000 --160.0000;-106.0000 --160.0000;-105.5000 --160.0000;-105.0000 --160.0000;-104.5000 --160.0000;-104.0000 --160.0000;-103.5000 --160.0000;-103.0000 --160.0000;-102.5000 --160.0000;-102.0000 --160.0000;-81.5000 --160.0000;-81.0000 --160.0000;-80.5000 --160.0000;-80.0000 --160.0000;-79.5000 --160.0000;-79.0000 --160.0000;-78.5000 --160.0000;-78.0000 --160.0000;-77.5000 --160.0000;-77.0000 --160.0000;-76.5000 --160.0000;-76.0000 --160.0000;-75.5000 --160.0000;-75.0000 --160.0000;-74.5000 --160.0000;-74.0000 --160.0000;-73.5000 --160.0000;-73.0000 --160.0000;-72.5000 --160.0000;-72.0000 --160.0000;-71.5000 --160.0000;-71.0000 --160.0000;-70.5000 --160.0000;-70.0000 --160.0000;-69.5000 --160.0000;-69.0000 --160.0000;-68.5000 --160.0000;-68.0000 --160.0000;-67.5000 --160.0000;-67.0000 --160.0000;-66.5000 --160.0000;-66.0000 --160.0000;-65.5000 --160.0000;-65.0000 --160.0000;-64.5000 --160.0000;-64.0000 --160.0000;-63.5000 --160.0000;-63.0000 --160.0000;-62.5000 --160.0000;-62.0000 --160.0000;-61.5000 --160.0000;-61.0000 --160.0000;-60.5000 --160.0000;92.5000 --160.0000;93.0000 --160.0000;93.5000 --160.0000;94.0000 --160.0000;94.5000 --160.0000;95.0000 --160.0000;95.5000 --160.0000;96.0000 --160.0000;96.5000 --160.0000;97.0000 --160.0000;97.5000 --160.0000;98.0000 --160.0000;98.5000 --160.0000;99.0000 --160.0000;99.5000 --160.0000;100.0000 --160.0000;100.5000 --160.0000;101.0000 --160.0000;101.5000 --160.0000;102.0000 --160.0000;102.5000 --160.0000;103.0000 --160.0000;103.5000 --160.0000;104.0000 --160.0000;104.5000 --160.0000;105.0000 --160.0000;105.5000 --160.0000;106.0000 --160.0000;106.5000 --160.0000;107.0000 --160.0000;107.5000 --160.0000;108.0000 --160.0000;108.5000 --160.0000;109.0000 --160.0000;109.5000 --160.0000;110.0000 --160.0000;110.5000 --160.0000;111.0000 --159.5000;-265.0000 --159.5000;-264.5000 --159.5000;-264.0000 --159.5000;-263.5000 --159.5000;-263.0000 --159.5000;-262.5000 --159.5000;-262.0000 --159.5000;-261.5000 --159.5000;-261.0000 --159.5000;-260.5000 --159.5000;-260.0000 --159.5000;-259.5000 --159.5000;-259.0000 --159.5000;-258.5000 --159.5000;-258.0000 --159.5000;-257.5000 --159.5000;-257.0000 --159.5000;-256.5000 --159.5000;-256.0000 --159.5000;-255.5000 --159.5000;-255.0000 --159.5000;-254.5000 --159.5000;-254.0000 --159.5000;-253.5000 --159.5000;-253.0000 --159.5000;-252.5000 --159.5000;-122.5000 --159.5000;-122.0000 --159.5000;-121.5000 --159.5000;-121.0000 --159.5000;-120.5000 --159.5000;-120.0000 --159.5000;-119.5000 --159.5000;-119.0000 --159.5000;-118.5000 --159.5000;-118.0000 --159.5000;-117.5000 --159.5000;-117.0000 --159.5000;-116.5000 --159.5000;-116.0000 --159.5000;-115.5000 --159.5000;-115.0000 --159.5000;-114.5000 --159.5000;-114.0000 --159.5000;-113.5000 --159.5000;-113.0000 --159.5000;-112.5000 --159.5000;-112.0000 --159.5000;-111.5000 --159.5000;-111.0000 --159.5000;-110.5000 --159.5000;-110.0000 --159.5000;-109.5000 --159.5000;-109.0000 --159.5000;-108.5000 --159.5000;-108.0000 --159.5000;-107.5000 --159.5000;-107.0000 --159.5000;-106.5000 --159.5000;-106.0000 --159.5000;-105.5000 --159.5000;-105.0000 --159.5000;-104.5000 --159.5000;-104.0000 --159.5000;-103.5000 --159.5000;-103.0000 --159.5000;-102.5000 --159.5000;-102.0000 --159.5000;-101.5000 --159.5000;-101.0000 --159.5000;-100.5000 --159.5000;-100.0000 --159.5000;-83.0000 --159.5000;-82.5000 --159.5000;-82.0000 --159.5000;-81.5000 --159.5000;-81.0000 --159.5000;-80.5000 --159.5000;-80.0000 --159.5000;-79.5000 --159.5000;-79.0000 --159.5000;-78.5000 --159.5000;-78.0000 --159.5000;-77.5000 --159.5000;-77.0000 --159.5000;-76.5000 --159.5000;-76.0000 --159.5000;-75.5000 --159.5000;-75.0000 --159.5000;-74.5000 --159.5000;-74.0000 --159.5000;-73.5000 --159.5000;-73.0000 --159.5000;-72.5000 --159.5000;-72.0000 --159.5000;-71.5000 --159.5000;-71.0000 --159.5000;-70.5000 --159.5000;-70.0000 --159.5000;-69.5000 --159.5000;-69.0000 --159.5000;-68.5000 --159.5000;-68.0000 --159.5000;-67.5000 --159.5000;-67.0000 --159.5000;-66.5000 --159.5000;-66.0000 --159.5000;-65.5000 --159.5000;-65.0000 --159.5000;-64.5000 --159.5000;-64.0000 --159.5000;-63.5000 --159.5000;-63.0000 --159.5000;-62.5000 --159.5000;-62.0000 --159.5000;-61.5000 --159.5000;-61.0000 --159.5000;92.0000 --159.5000;92.5000 --159.5000;93.0000 --159.5000;93.5000 --159.5000;94.0000 --159.5000;94.5000 --159.5000;95.0000 --159.5000;95.5000 --159.5000;96.0000 --159.5000;96.5000 --159.5000;97.0000 --159.5000;97.5000 --159.5000;98.0000 --159.5000;98.5000 --159.5000;99.0000 --159.5000;99.5000 --159.5000;100.0000 --159.5000;100.5000 --159.5000;101.0000 --159.5000;101.5000 --159.5000;102.0000 --159.5000;102.5000 --159.5000;103.0000 --159.5000;103.5000 --159.5000;104.0000 --159.5000;104.5000 --159.5000;105.0000 --159.5000;105.5000 --159.5000;106.0000 --159.5000;106.5000 --159.5000;107.0000 --159.5000;107.5000 --159.5000;108.0000 --159.5000;108.5000 --159.5000;109.0000 --159.5000;109.5000 --159.5000;110.0000 --159.5000;110.5000 --159.0000;-265.5000 --159.0000;-265.0000 --159.0000;-264.5000 --159.0000;-264.0000 --159.0000;-263.5000 --159.0000;-263.0000 --159.0000;-262.5000 --159.0000;-262.0000 --159.0000;-261.5000 --159.0000;-261.0000 --159.0000;-260.5000 --159.0000;-260.0000 --159.0000;-259.5000 --159.0000;-259.0000 --159.0000;-258.5000 --159.0000;-258.0000 --159.0000;-257.5000 --159.0000;-257.0000 --159.0000;-256.5000 --159.0000;-256.0000 --159.0000;-255.5000 --159.0000;-255.0000 --159.0000;-254.5000 --159.0000;-254.0000 --159.0000;-253.5000 --159.0000;-253.0000 --159.0000;-252.5000 --159.0000;-122.0000 --159.0000;-121.5000 --159.0000;-121.0000 --159.0000;-120.5000 --159.0000;-120.0000 --159.0000;-119.5000 --159.0000;-119.0000 --159.0000;-118.5000 --159.0000;-118.0000 --159.0000;-117.5000 --159.0000;-117.0000 --159.0000;-116.5000 --159.0000;-116.0000 --159.0000;-115.5000 --159.0000;-115.0000 --159.0000;-114.5000 --159.0000;-114.0000 --159.0000;-113.5000 --159.0000;-113.0000 --159.0000;-112.5000 --159.0000;-112.0000 --159.0000;-111.5000 --159.0000;-111.0000 --159.0000;-110.5000 --159.0000;-110.0000 --159.0000;-109.5000 --159.0000;-109.0000 --159.0000;-108.5000 --159.0000;-108.0000 --159.0000;-107.5000 --159.0000;-107.0000 --159.0000;-106.5000 --159.0000;-106.0000 --159.0000;-105.5000 --159.0000;-105.0000 --159.0000;-104.5000 --159.0000;-104.0000 --159.0000;-103.5000 --159.0000;-103.0000 --159.0000;-102.5000 --159.0000;-102.0000 --159.0000;-101.5000 --159.0000;-101.0000 --159.0000;-100.5000 --159.0000;-100.0000 --159.0000;-99.5000 --159.0000;-99.0000 --159.0000;-98.5000 --159.0000;-98.0000 --159.0000;-85.0000 --159.0000;-84.5000 --159.0000;-84.0000 --159.0000;-83.5000 --159.0000;-83.0000 --159.0000;-82.5000 --159.0000;-82.0000 --159.0000;-81.5000 --159.0000;-81.0000 --159.0000;-80.5000 --159.0000;-80.0000 --159.0000;-79.5000 --159.0000;-79.0000 --159.0000;-78.5000 --159.0000;-78.0000 --159.0000;-77.5000 --159.0000;-77.0000 --159.0000;-76.5000 --159.0000;-76.0000 --159.0000;-75.5000 --159.0000;-75.0000 --159.0000;-74.5000 --159.0000;-74.0000 --159.0000;-73.5000 --159.0000;-73.0000 --159.0000;-72.5000 --159.0000;-72.0000 --159.0000;-71.5000 --159.0000;-71.0000 --159.0000;-70.5000 --159.0000;-70.0000 --159.0000;-69.5000 --159.0000;-69.0000 --159.0000;-68.5000 --159.0000;-68.0000 --159.0000;-67.5000 --159.0000;-67.0000 --159.0000;-66.5000 --159.0000;-66.0000 --159.0000;-65.5000 --159.0000;-65.0000 --159.0000;-64.5000 --159.0000;-64.0000 --159.0000;-63.5000 --159.0000;-63.0000 --159.0000;-62.5000 --159.0000;-62.0000 --159.0000;-61.5000 --159.0000;91.5000 --159.0000;92.0000 --159.0000;92.5000 --159.0000;93.0000 --159.0000;93.5000 --159.0000;94.0000 --159.0000;94.5000 --159.0000;95.0000 --159.0000;95.5000 --159.0000;96.0000 --159.0000;96.5000 --159.0000;97.0000 --159.0000;97.5000 --159.0000;98.0000 --159.0000;98.5000 --159.0000;99.0000 --159.0000;99.5000 --159.0000;100.0000 --159.0000;100.5000 --159.0000;101.0000 --159.0000;101.5000 --159.0000;102.0000 --159.0000;102.5000 --159.0000;103.0000 --159.0000;103.5000 --159.0000;104.0000 --159.0000;104.5000 --159.0000;105.0000 --159.0000;105.5000 --159.0000;106.0000 --159.0000;106.5000 --159.0000;107.0000 --159.0000;107.5000 --159.0000;108.0000 --159.0000;108.5000 --159.0000;109.0000 --159.0000;109.5000 --159.0000;110.0000 --158.5000;-265.5000 --158.5000;-265.0000 --158.5000;-264.5000 --158.5000;-264.0000 --158.5000;-263.5000 --158.5000;-263.0000 --158.5000;-262.5000 --158.5000;-262.0000 --158.5000;-261.5000 --158.5000;-261.0000 --158.5000;-260.5000 --158.5000;-260.0000 --158.5000;-259.5000 --158.5000;-259.0000 --158.5000;-258.5000 --158.5000;-258.0000 --158.5000;-257.5000 --158.5000;-257.0000 --158.5000;-256.5000 --158.5000;-256.0000 --158.5000;-255.5000 --158.5000;-255.0000 --158.5000;-254.5000 --158.5000;-254.0000 --158.5000;-253.5000 --158.5000;-253.0000 --158.5000;-252.5000 --158.5000;-121.5000 --158.5000;-121.0000 --158.5000;-120.5000 --158.5000;-120.0000 --158.5000;-119.5000 --158.5000;-119.0000 --158.5000;-118.5000 --158.5000;-118.0000 --158.5000;-117.5000 --158.5000;-117.0000 --158.5000;-116.5000 --158.5000;-116.0000 --158.5000;-115.5000 --158.5000;-115.0000 --158.5000;-114.5000 --158.5000;-114.0000 --158.5000;-113.5000 --158.5000;-113.0000 --158.5000;-112.5000 --158.5000;-112.0000 --158.5000;-111.5000 --158.5000;-111.0000 --158.5000;-110.5000 --158.5000;-110.0000 --158.5000;-109.5000 --158.5000;-109.0000 --158.5000;-108.5000 --158.5000;-108.0000 --158.5000;-107.5000 --158.5000;-107.0000 --158.5000;-106.5000 --158.5000;-106.0000 --158.5000;-105.5000 --158.5000;-105.0000 --158.5000;-104.5000 --158.5000;-104.0000 --158.5000;-103.5000 --158.5000;-103.0000 --158.5000;-102.5000 --158.5000;-102.0000 --158.5000;-101.5000 --158.5000;-101.0000 --158.5000;-100.5000 --158.5000;-100.0000 --158.5000;-99.5000 --158.5000;-99.0000 --158.5000;-98.5000 --158.5000;-98.0000 --158.5000;-97.5000 --158.5000;-97.0000 --158.5000;-96.5000 --158.5000;-96.0000 --158.5000;-95.5000 --158.5000;-95.0000 --158.5000;-88.0000 --158.5000;-87.5000 --158.5000;-87.0000 --158.5000;-86.5000 --158.5000;-86.0000 --158.5000;-85.5000 --158.5000;-85.0000 --158.5000;-84.5000 --158.5000;-84.0000 --158.5000;-83.5000 --158.5000;-83.0000 --158.5000;-82.5000 --158.5000;-82.0000 --158.5000;-81.5000 --158.5000;-81.0000 --158.5000;-80.5000 --158.5000;-80.0000 --158.5000;-79.5000 --158.5000;-79.0000 --158.5000;-78.5000 --158.5000;-78.0000 --158.5000;-77.5000 --158.5000;-77.0000 --158.5000;-76.5000 --158.5000;-76.0000 --158.5000;-75.5000 --158.5000;-75.0000 --158.5000;-74.5000 --158.5000;-74.0000 --158.5000;-73.5000 --158.5000;-73.0000 --158.5000;-72.5000 --158.5000;-72.0000 --158.5000;-71.5000 --158.5000;-71.0000 --158.5000;-70.5000 --158.5000;-70.0000 --158.5000;-69.5000 --158.5000;-69.0000 --158.5000;-68.5000 --158.5000;-68.0000 --158.5000;-67.5000 --158.5000;-67.0000 --158.5000;-66.5000 --158.5000;-66.0000 --158.5000;-65.5000 --158.5000;-65.0000 --158.5000;-64.5000 --158.5000;-64.0000 --158.5000;-63.5000 --158.5000;-63.0000 --158.5000;-62.5000 --158.5000;-62.0000 --158.5000;90.5000 --158.5000;91.0000 --158.5000;91.5000 --158.5000;92.0000 --158.5000;92.5000 --158.5000;93.0000 --158.5000;93.5000 --158.5000;94.0000 --158.5000;94.5000 --158.5000;95.0000 --158.5000;95.5000 --158.5000;96.0000 --158.5000;96.5000 --158.5000;97.0000 --158.5000;97.5000 --158.5000;98.0000 --158.5000;98.5000 --158.5000;99.0000 --158.5000;99.5000 --158.5000;100.0000 --158.5000;100.5000 --158.5000;101.0000 --158.5000;101.5000 --158.5000;102.0000 --158.5000;102.5000 --158.5000;103.0000 --158.5000;103.5000 --158.5000;104.0000 --158.5000;104.5000 --158.5000;105.0000 --158.5000;105.5000 --158.5000;106.0000 --158.5000;106.5000 --158.5000;107.0000 --158.5000;107.5000 --158.5000;108.0000 --158.5000;108.5000 --158.5000;109.0000 --158.5000;109.5000 --158.0000;-265.5000 --158.0000;-265.0000 --158.0000;-264.5000 --158.0000;-264.0000 --158.0000;-263.5000 --158.0000;-263.0000 --158.0000;-262.5000 --158.0000;-262.0000 --158.0000;-261.5000 --158.0000;-261.0000 --158.0000;-260.5000 --158.0000;-260.0000 --158.0000;-259.5000 --158.0000;-259.0000 --158.0000;-258.5000 --158.0000;-258.0000 --158.0000;-257.5000 --158.0000;-257.0000 --158.0000;-256.5000 --158.0000;-256.0000 --158.0000;-255.5000 --158.0000;-255.0000 --158.0000;-254.5000 --158.0000;-254.0000 --158.0000;-253.5000 --158.0000;-253.0000 --158.0000;-121.0000 --158.0000;-120.5000 --158.0000;-120.0000 --158.0000;-119.5000 --158.0000;-119.0000 --158.0000;-118.5000 --158.0000;-118.0000 --158.0000;-117.5000 --158.0000;-117.0000 --158.0000;-116.5000 --158.0000;-116.0000 --158.0000;-115.5000 --158.0000;-115.0000 --158.0000;-114.5000 --158.0000;-114.0000 --158.0000;-113.5000 --158.0000;-113.0000 --158.0000;-112.5000 --158.0000;-112.0000 --158.0000;-111.5000 --158.0000;-111.0000 --158.0000;-110.5000 --158.0000;-110.0000 --158.0000;-109.5000 --158.0000;-109.0000 --158.0000;-108.5000 --158.0000;-108.0000 --158.0000;-107.5000 --158.0000;-107.0000 --158.0000;-106.5000 --158.0000;-106.0000 --158.0000;-105.5000 --158.0000;-105.0000 --158.0000;-104.5000 --158.0000;-104.0000 --158.0000;-103.5000 --158.0000;-103.0000 --158.0000;-102.5000 --158.0000;-102.0000 --158.0000;-101.5000 --158.0000;-101.0000 --158.0000;-100.5000 --158.0000;-100.0000 --158.0000;-99.5000 --158.0000;-99.0000 --158.0000;-98.5000 --158.0000;-98.0000 --158.0000;-97.5000 --158.0000;-97.0000 --158.0000;-96.5000 --158.0000;-96.0000 --158.0000;-95.5000 --158.0000;-95.0000 --158.0000;-94.5000 --158.0000;-94.0000 --158.0000;-93.5000 --158.0000;-93.0000 --158.0000;-92.5000 --158.0000;-92.0000 --158.0000;-91.5000 --158.0000;-91.0000 --158.0000;-90.5000 --158.0000;-90.0000 --158.0000;-89.5000 --158.0000;-89.0000 --158.0000;-88.5000 --158.0000;-88.0000 --158.0000;-87.5000 --158.0000;-87.0000 --158.0000;-86.5000 --158.0000;-86.0000 --158.0000;-85.5000 --158.0000;-85.0000 --158.0000;-84.5000 --158.0000;-84.0000 --158.0000;-83.5000 --158.0000;-83.0000 --158.0000;-82.5000 --158.0000;-82.0000 --158.0000;-81.5000 --158.0000;-81.0000 --158.0000;-80.5000 --158.0000;-80.0000 --158.0000;-79.5000 --158.0000;-79.0000 --158.0000;-78.5000 --158.0000;-78.0000 --158.0000;-77.5000 --158.0000;-77.0000 --158.0000;-76.5000 --158.0000;-76.0000 --158.0000;-75.5000 --158.0000;-75.0000 --158.0000;-74.5000 --158.0000;-74.0000 --158.0000;-73.5000 --158.0000;-73.0000 --158.0000;-72.5000 --158.0000;-72.0000 --158.0000;-71.5000 --158.0000;-71.0000 --158.0000;-70.5000 --158.0000;-70.0000 --158.0000;-69.5000 --158.0000;-69.0000 --158.0000;-68.5000 --158.0000;-68.0000 --158.0000;-67.5000 --158.0000;-67.0000 --158.0000;-66.5000 --158.0000;-66.0000 --158.0000;-65.5000 --158.0000;-65.0000 --158.0000;-64.5000 --158.0000;-64.0000 --158.0000;-63.5000 --158.0000;-63.0000 --158.0000;-62.5000 --158.0000;90.0000 --158.0000;90.5000 --158.0000;91.0000 --158.0000;91.5000 --158.0000;92.0000 --158.0000;92.5000 --158.0000;93.0000 --158.0000;93.5000 --158.0000;94.0000 --158.0000;94.5000 --158.0000;95.0000 --158.0000;95.5000 --158.0000;96.0000 --158.0000;96.5000 --158.0000;97.0000 --158.0000;97.5000 --158.0000;98.0000 --158.0000;98.5000 --158.0000;99.0000 --158.0000;99.5000 --158.0000;100.0000 --158.0000;100.5000 --158.0000;101.0000 --158.0000;101.5000 --158.0000;102.0000 --158.0000;102.5000 --158.0000;103.0000 --158.0000;103.5000 --158.0000;104.0000 --158.0000;104.5000 --158.0000;105.0000 --158.0000;105.5000 --158.0000;106.0000 --158.0000;106.5000 --158.0000;107.0000 --158.0000;107.5000 --158.0000;108.0000 --158.0000;108.5000 --158.0000;109.0000 --157.5000;-266.0000 --157.5000;-265.5000 --157.5000;-265.0000 --157.5000;-264.5000 --157.5000;-264.0000 --157.5000;-263.5000 --157.5000;-263.0000 --157.5000;-262.5000 --157.5000;-262.0000 --157.5000;-261.5000 --157.5000;-261.0000 --157.5000;-260.5000 --157.5000;-260.0000 --157.5000;-259.5000 --157.5000;-259.0000 --157.5000;-258.5000 --157.5000;-258.0000 --157.5000;-257.5000 --157.5000;-257.0000 --157.5000;-256.5000 --157.5000;-256.0000 --157.5000;-255.5000 --157.5000;-255.0000 --157.5000;-254.5000 --157.5000;-254.0000 --157.5000;-253.5000 --157.5000;-253.0000 --157.5000;-120.5000 --157.5000;-120.0000 --157.5000;-119.5000 --157.5000;-119.0000 --157.5000;-118.5000 --157.5000;-118.0000 --157.5000;-117.5000 --157.5000;-117.0000 --157.5000;-116.5000 --157.5000;-116.0000 --157.5000;-115.5000 --157.5000;-115.0000 --157.5000;-114.5000 --157.5000;-114.0000 --157.5000;-113.5000 --157.5000;-113.0000 --157.5000;-112.5000 --157.5000;-112.0000 --157.5000;-111.5000 --157.5000;-111.0000 --157.5000;-110.5000 --157.5000;-110.0000 --157.5000;-109.5000 --157.5000;-109.0000 --157.5000;-108.5000 --157.5000;-108.0000 --157.5000;-107.5000 --157.5000;-107.0000 --157.5000;-106.5000 --157.5000;-106.0000 --157.5000;-105.5000 --157.5000;-105.0000 --157.5000;-104.5000 --157.5000;-104.0000 --157.5000;-103.5000 --157.5000;-103.0000 --157.5000;-102.5000 --157.5000;-102.0000 --157.5000;-101.5000 --157.5000;-101.0000 --157.5000;-100.5000 --157.5000;-100.0000 --157.5000;-99.5000 --157.5000;-99.0000 --157.5000;-98.5000 --157.5000;-98.0000 --157.5000;-97.5000 --157.5000;-97.0000 --157.5000;-96.5000 --157.5000;-96.0000 --157.5000;-95.5000 --157.5000;-95.0000 --157.5000;-94.5000 --157.5000;-94.0000 --157.5000;-93.5000 --157.5000;-93.0000 --157.5000;-92.5000 --157.5000;-92.0000 --157.5000;-91.5000 --157.5000;-91.0000 --157.5000;-90.5000 --157.5000;-90.0000 --157.5000;-89.5000 --157.5000;-89.0000 --157.5000;-88.5000 --157.5000;-88.0000 --157.5000;-87.5000 --157.5000;-87.0000 --157.5000;-86.5000 --157.5000;-86.0000 --157.5000;-85.5000 --157.5000;-85.0000 --157.5000;-84.5000 --157.5000;-84.0000 --157.5000;-83.5000 --157.5000;-83.0000 --157.5000;-82.5000 --157.5000;-82.0000 --157.5000;-81.5000 --157.5000;-81.0000 --157.5000;-80.5000 --157.5000;-80.0000 --157.5000;-79.5000 --157.5000;-79.0000 --157.5000;-78.5000 --157.5000;-78.0000 --157.5000;-77.5000 --157.5000;-77.0000 --157.5000;-76.5000 --157.5000;-76.0000 --157.5000;-75.5000 --157.5000;-75.0000 --157.5000;-74.5000 --157.5000;-74.0000 --157.5000;-73.5000 --157.5000;-73.0000 --157.5000;-72.5000 --157.5000;-72.0000 --157.5000;-71.5000 --157.5000;-71.0000 --157.5000;-70.5000 --157.5000;-70.0000 --157.5000;-69.5000 --157.5000;-69.0000 --157.5000;-68.5000 --157.5000;-68.0000 --157.5000;-67.5000 --157.5000;-67.0000 --157.5000;-66.5000 --157.5000;-66.0000 --157.5000;-65.5000 --157.5000;-65.0000 --157.5000;-64.5000 --157.5000;-64.0000 --157.5000;-63.5000 --157.5000;-63.0000 --157.5000;89.5000 --157.5000;90.0000 --157.5000;90.5000 --157.5000;91.0000 --157.5000;91.5000 --157.5000;92.0000 --157.5000;92.5000 --157.5000;93.0000 --157.5000;93.5000 --157.5000;94.0000 --157.5000;94.5000 --157.5000;95.0000 --157.5000;95.5000 --157.5000;96.0000 --157.5000;96.5000 --157.5000;97.0000 --157.5000;97.5000 --157.5000;98.0000 --157.5000;98.5000 --157.5000;99.0000 --157.5000;99.5000 --157.5000;100.0000 --157.5000;100.5000 --157.5000;101.0000 --157.5000;101.5000 --157.5000;102.0000 --157.5000;102.5000 --157.5000;103.0000 --157.5000;103.5000 --157.5000;104.0000 --157.5000;104.5000 --157.5000;105.0000 --157.5000;105.5000 --157.5000;106.0000 --157.5000;106.5000 --157.5000;107.0000 --157.5000;107.5000 --157.5000;108.0000 --157.5000;108.5000 --157.0000;-266.0000 --157.0000;-265.5000 --157.0000;-265.0000 --157.0000;-264.5000 --157.0000;-264.0000 --157.0000;-263.5000 --157.0000;-263.0000 --157.0000;-262.5000 --157.0000;-262.0000 --157.0000;-261.5000 --157.0000;-261.0000 --157.0000;-260.5000 --157.0000;-260.0000 --157.0000;-259.5000 --157.0000;-259.0000 --157.0000;-258.5000 --157.0000;-258.0000 --157.0000;-257.5000 --157.0000;-257.0000 --157.0000;-256.5000 --157.0000;-256.0000 --157.0000;-255.5000 --157.0000;-255.0000 --157.0000;-254.5000 --157.0000;-254.0000 --157.0000;-253.5000 --157.0000;-120.0000 --157.0000;-119.5000 --157.0000;-119.0000 --157.0000;-118.5000 --157.0000;-118.0000 --157.0000;-117.5000 --157.0000;-117.0000 --157.0000;-116.5000 --157.0000;-116.0000 --157.0000;-115.5000 --157.0000;-115.0000 --157.0000;-114.5000 --157.0000;-114.0000 --157.0000;-113.5000 --157.0000;-113.0000 --157.0000;-112.5000 --157.0000;-112.0000 --157.0000;-111.5000 --157.0000;-111.0000 --157.0000;-110.5000 --157.0000;-110.0000 --157.0000;-109.5000 --157.0000;-109.0000 --157.0000;-108.5000 --157.0000;-108.0000 --157.0000;-107.5000 --157.0000;-107.0000 --157.0000;-106.5000 --157.0000;-106.0000 --157.0000;-105.5000 --157.0000;-105.0000 --157.0000;-104.5000 --157.0000;-104.0000 --157.0000;-103.5000 --157.0000;-103.0000 --157.0000;-102.5000 --157.0000;-102.0000 --157.0000;-101.5000 --157.0000;-101.0000 --157.0000;-100.5000 --157.0000;-100.0000 --157.0000;-99.5000 --157.0000;-99.0000 --157.0000;-98.5000 --157.0000;-98.0000 --157.0000;-97.5000 --157.0000;-97.0000 --157.0000;-96.5000 --157.0000;-96.0000 --157.0000;-95.5000 --157.0000;-95.0000 --157.0000;-94.5000 --157.0000;-94.0000 --157.0000;-93.5000 --157.0000;-93.0000 --157.0000;-92.5000 --157.0000;-92.0000 --157.0000;-91.5000 --157.0000;-91.0000 --157.0000;-90.5000 --157.0000;-90.0000 --157.0000;-89.5000 --157.0000;-89.0000 --157.0000;-88.5000 --157.0000;-88.0000 --157.0000;-87.5000 --157.0000;-87.0000 --157.0000;-86.5000 --157.0000;-86.0000 --157.0000;-85.5000 --157.0000;-85.0000 --157.0000;-84.5000 --157.0000;-84.0000 --157.0000;-83.5000 --157.0000;-83.0000 --157.0000;-82.5000 --157.0000;-82.0000 --157.0000;-81.5000 --157.0000;-81.0000 --157.0000;-80.5000 --157.0000;-80.0000 --157.0000;-79.5000 --157.0000;-79.0000 --157.0000;-78.5000 --157.0000;-78.0000 --157.0000;-77.5000 --157.0000;-77.0000 --157.0000;-76.5000 --157.0000;-76.0000 --157.0000;-75.5000 --157.0000;-75.0000 --157.0000;-74.5000 --157.0000;-74.0000 --157.0000;-73.5000 --157.0000;-73.0000 --157.0000;-72.5000 --157.0000;-72.0000 --157.0000;-71.5000 --157.0000;-71.0000 --157.0000;-70.5000 --157.0000;-70.0000 --157.0000;-69.5000 --157.0000;-69.0000 --157.0000;-68.5000 --157.0000;-68.0000 --157.0000;-67.5000 --157.0000;-67.0000 --157.0000;-66.5000 --157.0000;-66.0000 --157.0000;-65.5000 --157.0000;-65.0000 --157.0000;-64.5000 --157.0000;-64.0000 --157.0000;-63.5000 --157.0000;89.0000 --157.0000;89.5000 --157.0000;90.0000 --157.0000;90.5000 --157.0000;91.0000 --157.0000;91.5000 --157.0000;92.0000 --157.0000;92.5000 --157.0000;93.0000 --157.0000;93.5000 --157.0000;94.0000 --157.0000;94.5000 --157.0000;95.0000 --157.0000;95.5000 --157.0000;96.0000 --157.0000;96.5000 --157.0000;97.0000 --157.0000;97.5000 --157.0000;98.0000 --157.0000;98.5000 --157.0000;99.0000 --157.0000;99.5000 --157.0000;100.0000 --157.0000;100.5000 --157.0000;101.0000 --157.0000;101.5000 --157.0000;102.0000 --157.0000;102.5000 --157.0000;103.0000 --157.0000;103.5000 --157.0000;104.0000 --157.0000;104.5000 --157.0000;105.0000 --157.0000;105.5000 --157.0000;106.0000 --157.0000;106.5000 --157.0000;107.0000 --157.0000;107.5000 --157.0000;108.0000 --156.5000;-266.5000 --156.5000;-266.0000 --156.5000;-265.5000 --156.5000;-265.0000 --156.5000;-264.5000 --156.5000;-264.0000 --156.5000;-263.5000 --156.5000;-263.0000 --156.5000;-262.5000 --156.5000;-262.0000 --156.5000;-261.5000 --156.5000;-261.0000 --156.5000;-260.5000 --156.5000;-260.0000 --156.5000;-259.5000 --156.5000;-259.0000 --156.5000;-258.5000 --156.5000;-258.0000 --156.5000;-257.5000 --156.5000;-257.0000 --156.5000;-256.5000 --156.5000;-256.0000 --156.5000;-255.5000 --156.5000;-255.0000 --156.5000;-254.5000 --156.5000;-254.0000 --156.5000;-253.5000 --156.5000;-119.5000 --156.5000;-119.0000 --156.5000;-118.5000 --156.5000;-118.0000 --156.5000;-117.5000 --156.5000;-117.0000 --156.5000;-116.5000 --156.5000;-116.0000 --156.5000;-115.5000 --156.5000;-115.0000 --156.5000;-114.5000 --156.5000;-114.0000 --156.5000;-113.5000 --156.5000;-113.0000 --156.5000;-112.5000 --156.5000;-112.0000 --156.5000;-111.5000 --156.5000;-111.0000 --156.5000;-110.5000 --156.5000;-110.0000 --156.5000;-109.5000 --156.5000;-109.0000 --156.5000;-108.5000 --156.5000;-108.0000 --156.5000;-107.5000 --156.5000;-107.0000 --156.5000;-106.5000 --156.5000;-106.0000 --156.5000;-105.5000 --156.5000;-105.0000 --156.5000;-104.5000 --156.5000;-104.0000 --156.5000;-103.5000 --156.5000;-103.0000 --156.5000;-102.5000 --156.5000;-102.0000 --156.5000;-101.5000 --156.5000;-101.0000 --156.5000;-100.5000 --156.5000;-100.0000 --156.5000;-99.5000 --156.5000;-99.0000 --156.5000;-98.5000 --156.5000;-98.0000 --156.5000;-97.5000 --156.5000;-97.0000 --156.5000;-96.5000 --156.5000;-96.0000 --156.5000;-95.5000 --156.5000;-95.0000 --156.5000;-94.5000 --156.5000;-94.0000 --156.5000;-93.5000 --156.5000;-93.0000 --156.5000;-92.5000 --156.5000;-92.0000 --156.5000;-91.5000 --156.5000;-91.0000 --156.5000;-90.5000 --156.5000;-90.0000 --156.5000;-89.5000 --156.5000;-89.0000 --156.5000;-88.5000 --156.5000;-88.0000 --156.5000;-87.5000 --156.5000;-87.0000 --156.5000;-86.5000 --156.5000;-86.0000 --156.5000;-85.5000 --156.5000;-85.0000 --156.5000;-84.5000 --156.5000;-84.0000 --156.5000;-83.5000 --156.5000;-83.0000 --156.5000;-82.5000 --156.5000;-82.0000 --156.5000;-81.5000 --156.5000;-81.0000 --156.5000;-80.5000 --156.5000;-80.0000 --156.5000;-79.5000 --156.5000;-79.0000 --156.5000;-78.5000 --156.5000;-78.0000 --156.5000;-77.5000 --156.5000;-77.0000 --156.5000;-76.5000 --156.5000;-76.0000 --156.5000;-75.5000 --156.5000;-75.0000 --156.5000;-74.5000 --156.5000;-74.0000 --156.5000;-73.5000 --156.5000;-73.0000 --156.5000;-72.5000 --156.5000;-72.0000 --156.5000;-71.5000 --156.5000;-71.0000 --156.5000;-70.5000 --156.5000;-70.0000 --156.5000;-69.5000 --156.5000;-69.0000 --156.5000;-68.5000 --156.5000;-68.0000 --156.5000;-67.5000 --156.5000;-67.0000 --156.5000;-66.5000 --156.5000;-66.0000 --156.5000;-65.5000 --156.5000;-65.0000 --156.5000;-64.5000 --156.5000;-64.0000 --156.5000;88.5000 --156.5000;89.0000 --156.5000;89.5000 --156.5000;90.0000 --156.5000;90.5000 --156.5000;91.0000 --156.5000;91.5000 --156.5000;92.0000 --156.5000;92.5000 --156.5000;93.0000 --156.5000;93.5000 --156.5000;94.0000 --156.5000;94.5000 --156.5000;95.0000 --156.5000;95.5000 --156.5000;96.0000 --156.5000;96.5000 --156.5000;97.0000 --156.5000;97.5000 --156.5000;98.0000 --156.5000;98.5000 --156.5000;99.0000 --156.5000;99.5000 --156.5000;100.0000 --156.5000;100.5000 --156.5000;101.0000 --156.5000;101.5000 --156.5000;102.0000 --156.5000;102.5000 --156.5000;103.0000 --156.5000;103.5000 --156.5000;104.0000 --156.5000;104.5000 --156.5000;105.0000 --156.5000;105.5000 --156.5000;106.0000 --156.5000;106.5000 --156.5000;107.0000 --156.0000;-266.5000 --156.0000;-266.0000 --156.0000;-265.5000 --156.0000;-265.0000 --156.0000;-264.5000 --156.0000;-264.0000 --156.0000;-263.5000 --156.0000;-263.0000 --156.0000;-262.5000 --156.0000;-262.0000 --156.0000;-261.5000 --156.0000;-261.0000 --156.0000;-260.5000 --156.0000;-260.0000 --156.0000;-259.5000 --156.0000;-259.0000 --156.0000;-258.5000 --156.0000;-258.0000 --156.0000;-257.5000 --156.0000;-257.0000 --156.0000;-256.5000 --156.0000;-256.0000 --156.0000;-255.5000 --156.0000;-255.0000 --156.0000;-254.5000 --156.0000;-254.0000 --156.0000;-253.5000 --156.0000;-118.5000 --156.0000;-118.0000 --156.0000;-117.5000 --156.0000;-117.0000 --156.0000;-116.5000 --156.0000;-116.0000 --156.0000;-115.5000 --156.0000;-115.0000 --156.0000;-114.5000 --156.0000;-114.0000 --156.0000;-113.5000 --156.0000;-113.0000 --156.0000;-112.5000 --156.0000;-112.0000 --156.0000;-111.5000 --156.0000;-111.0000 --156.0000;-110.5000 --156.0000;-110.0000 --156.0000;-109.5000 --156.0000;-109.0000 --156.0000;-108.5000 --156.0000;-108.0000 --156.0000;-107.5000 --156.0000;-107.0000 --156.0000;-106.5000 --156.0000;-106.0000 --156.0000;-105.5000 --156.0000;-105.0000 --156.0000;-104.5000 --156.0000;-104.0000 --156.0000;-103.5000 --156.0000;-103.0000 --156.0000;-102.5000 --156.0000;-102.0000 --156.0000;-101.5000 --156.0000;-101.0000 --156.0000;-100.5000 --156.0000;-100.0000 --156.0000;-99.5000 --156.0000;-99.0000 --156.0000;-98.5000 --156.0000;-98.0000 --156.0000;-97.5000 --156.0000;-97.0000 --156.0000;-96.5000 --156.0000;-96.0000 --156.0000;-95.5000 --156.0000;-95.0000 --156.0000;-94.5000 --156.0000;-94.0000 --156.0000;-93.5000 --156.0000;-93.0000 --156.0000;-92.5000 --156.0000;-92.0000 --156.0000;-91.5000 --156.0000;-91.0000 --156.0000;-90.5000 --156.0000;-90.0000 --156.0000;-89.5000 --156.0000;-89.0000 --156.0000;-88.5000 --156.0000;-88.0000 --156.0000;-87.5000 --156.0000;-87.0000 --156.0000;-86.5000 --156.0000;-86.0000 --156.0000;-85.5000 --156.0000;-85.0000 --156.0000;-84.5000 --156.0000;-84.0000 --156.0000;-83.5000 --156.0000;-83.0000 --156.0000;-82.5000 --156.0000;-82.0000 --156.0000;-81.5000 --156.0000;-81.0000 --156.0000;-80.5000 --156.0000;-80.0000 --156.0000;-79.5000 --156.0000;-79.0000 --156.0000;-78.5000 --156.0000;-78.0000 --156.0000;-77.5000 --156.0000;-77.0000 --156.0000;-76.5000 --156.0000;-76.0000 --156.0000;-75.5000 --156.0000;-75.0000 --156.0000;-74.5000 --156.0000;-74.0000 --156.0000;-73.5000 --156.0000;-73.0000 --156.0000;-72.5000 --156.0000;-72.0000 --156.0000;-71.5000 --156.0000;-71.0000 --156.0000;-70.5000 --156.0000;-70.0000 --156.0000;-69.5000 --156.0000;-69.0000 --156.0000;-68.5000 --156.0000;-68.0000 --156.0000;-67.5000 --156.0000;-67.0000 --156.0000;-66.5000 --156.0000;-66.0000 --156.0000;-65.5000 --156.0000;-65.0000 --156.0000;-64.5000 --156.0000;88.0000 --156.0000;88.5000 --156.0000;89.0000 --156.0000;89.5000 --156.0000;90.0000 --156.0000;90.5000 --156.0000;91.0000 --156.0000;91.5000 --156.0000;92.0000 --156.0000;92.5000 --156.0000;93.0000 --156.0000;93.5000 --156.0000;94.0000 --156.0000;94.5000 --156.0000;95.0000 --156.0000;95.5000 --156.0000;96.0000 --156.0000;96.5000 --156.0000;97.0000 --156.0000;97.5000 --156.0000;98.0000 --156.0000;98.5000 --156.0000;99.0000 --156.0000;99.5000 --156.0000;100.0000 --156.0000;100.5000 --156.0000;101.0000 --156.0000;101.5000 --156.0000;102.0000 --156.0000;102.5000 --156.0000;103.0000 --156.0000;103.5000 --156.0000;104.0000 --156.0000;104.5000 --156.0000;105.0000 --156.0000;105.5000 --156.0000;106.0000 --156.0000;106.5000 --155.5000;-266.5000 --155.5000;-266.0000 --155.5000;-265.5000 --155.5000;-265.0000 --155.5000;-264.5000 --155.5000;-264.0000 --155.5000;-263.5000 --155.5000;-263.0000 --155.5000;-262.5000 --155.5000;-262.0000 --155.5000;-261.5000 --155.5000;-261.0000 --155.5000;-260.5000 --155.5000;-260.0000 --155.5000;-259.5000 --155.5000;-259.0000 --155.5000;-258.5000 --155.5000;-258.0000 --155.5000;-257.5000 --155.5000;-257.0000 --155.5000;-256.5000 --155.5000;-256.0000 --155.5000;-255.5000 --155.5000;-255.0000 --155.5000;-254.5000 --155.5000;-254.0000 --155.5000;-118.0000 --155.5000;-117.5000 --155.5000;-117.0000 --155.5000;-116.5000 --155.5000;-116.0000 --155.5000;-115.5000 --155.5000;-115.0000 --155.5000;-114.5000 --155.5000;-114.0000 --155.5000;-113.5000 --155.5000;-113.0000 --155.5000;-112.5000 --155.5000;-112.0000 --155.5000;-111.5000 --155.5000;-111.0000 --155.5000;-110.5000 --155.5000;-110.0000 --155.5000;-109.5000 --155.5000;-109.0000 --155.5000;-108.5000 --155.5000;-108.0000 --155.5000;-107.5000 --155.5000;-107.0000 --155.5000;-106.5000 --155.5000;-106.0000 --155.5000;-105.5000 --155.5000;-105.0000 --155.5000;-104.5000 --155.5000;-104.0000 --155.5000;-103.5000 --155.5000;-103.0000 --155.5000;-102.5000 --155.5000;-102.0000 --155.5000;-101.5000 --155.5000;-101.0000 --155.5000;-100.5000 --155.5000;-100.0000 --155.5000;-99.5000 --155.5000;-99.0000 --155.5000;-98.5000 --155.5000;-98.0000 --155.5000;-97.5000 --155.5000;-97.0000 --155.5000;-96.5000 --155.5000;-96.0000 --155.5000;-95.5000 --155.5000;-95.0000 --155.5000;-94.5000 --155.5000;-94.0000 --155.5000;-93.5000 --155.5000;-93.0000 --155.5000;-92.5000 --155.5000;-92.0000 --155.5000;-91.5000 --155.5000;-91.0000 --155.5000;-90.5000 --155.5000;-90.0000 --155.5000;-89.5000 --155.5000;-89.0000 --155.5000;-88.5000 --155.5000;-88.0000 --155.5000;-87.5000 --155.5000;-87.0000 --155.5000;-86.5000 --155.5000;-86.0000 --155.5000;-85.5000 --155.5000;-85.0000 --155.5000;-84.5000 --155.5000;-84.0000 --155.5000;-83.5000 --155.5000;-83.0000 --155.5000;-82.5000 --155.5000;-82.0000 --155.5000;-81.5000 --155.5000;-81.0000 --155.5000;-80.5000 --155.5000;-80.0000 --155.5000;-79.5000 --155.5000;-79.0000 --155.5000;-78.5000 --155.5000;-78.0000 --155.5000;-77.5000 --155.5000;-77.0000 --155.5000;-76.5000 --155.5000;-76.0000 --155.5000;-75.5000 --155.5000;-75.0000 --155.5000;-74.5000 --155.5000;-74.0000 --155.5000;-73.5000 --155.5000;-73.0000 --155.5000;-72.5000 --155.5000;-72.0000 --155.5000;-71.5000 --155.5000;-71.0000 --155.5000;-70.5000 --155.5000;-70.0000 --155.5000;-69.5000 --155.5000;-69.0000 --155.5000;-68.5000 --155.5000;-68.0000 --155.5000;-67.5000 --155.5000;-67.0000 --155.5000;-66.5000 --155.5000;-66.0000 --155.5000;-65.5000 --155.5000;-65.0000 --155.5000;87.5000 --155.5000;88.0000 --155.5000;88.5000 --155.5000;89.0000 --155.5000;89.5000 --155.5000;90.0000 --155.5000;90.5000 --155.5000;91.0000 --155.5000;91.5000 --155.5000;92.0000 --155.5000;92.5000 --155.5000;93.0000 --155.5000;93.5000 --155.5000;94.0000 --155.5000;94.5000 --155.5000;95.0000 --155.5000;95.5000 --155.5000;96.0000 --155.5000;96.5000 --155.5000;97.0000 --155.5000;97.5000 --155.5000;98.0000 --155.5000;98.5000 --155.5000;99.0000 --155.5000;99.5000 --155.5000;100.0000 --155.5000;100.5000 --155.5000;101.0000 --155.5000;101.5000 --155.5000;102.0000 --155.5000;102.5000 --155.5000;103.0000 --155.5000;103.5000 --155.5000;104.0000 --155.5000;104.5000 --155.5000;105.0000 --155.5000;105.5000 --155.5000;106.0000 --155.0000;-267.0000 --155.0000;-266.5000 --155.0000;-266.0000 --155.0000;-265.5000 --155.0000;-265.0000 --155.0000;-264.5000 --155.0000;-264.0000 --155.0000;-263.5000 --155.0000;-263.0000 --155.0000;-262.5000 --155.0000;-262.0000 --155.0000;-261.5000 --155.0000;-261.0000 --155.0000;-260.5000 --155.0000;-260.0000 --155.0000;-259.5000 --155.0000;-259.0000 --155.0000;-258.5000 --155.0000;-258.0000 --155.0000;-257.5000 --155.0000;-257.0000 --155.0000;-256.5000 --155.0000;-256.0000 --155.0000;-255.5000 --155.0000;-255.0000 --155.0000;-254.5000 --155.0000;-254.0000 --155.0000;-117.5000 --155.0000;-117.0000 --155.0000;-116.5000 --155.0000;-116.0000 --155.0000;-115.5000 --155.0000;-115.0000 --155.0000;-114.5000 --155.0000;-114.0000 --155.0000;-113.5000 --155.0000;-113.0000 --155.0000;-112.5000 --155.0000;-112.0000 --155.0000;-111.5000 --155.0000;-111.0000 --155.0000;-110.5000 --155.0000;-110.0000 --155.0000;-109.5000 --155.0000;-109.0000 --155.0000;-108.5000 --155.0000;-108.0000 --155.0000;-107.5000 --155.0000;-107.0000 --155.0000;-106.5000 --155.0000;-106.0000 --155.0000;-105.5000 --155.0000;-105.0000 --155.0000;-104.5000 --155.0000;-104.0000 --155.0000;-103.5000 --155.0000;-103.0000 --155.0000;-102.5000 --155.0000;-102.0000 --155.0000;-101.5000 --155.0000;-101.0000 --155.0000;-100.5000 --155.0000;-100.0000 --155.0000;-99.5000 --155.0000;-99.0000 --155.0000;-98.5000 --155.0000;-98.0000 --155.0000;-97.5000 --155.0000;-97.0000 --155.0000;-96.5000 --155.0000;-96.0000 --155.0000;-95.5000 --155.0000;-95.0000 --155.0000;-94.5000 --155.0000;-94.0000 --155.0000;-93.5000 --155.0000;-93.0000 --155.0000;-92.5000 --155.0000;-92.0000 --155.0000;-91.5000 --155.0000;-91.0000 --155.0000;-90.5000 --155.0000;-90.0000 --155.0000;-89.5000 --155.0000;-89.0000 --155.0000;-88.5000 --155.0000;-88.0000 --155.0000;-87.5000 --155.0000;-87.0000 --155.0000;-86.5000 --155.0000;-86.0000 --155.0000;-85.5000 --155.0000;-85.0000 --155.0000;-84.5000 --155.0000;-84.0000 --155.0000;-83.5000 --155.0000;-83.0000 --155.0000;-82.5000 --155.0000;-82.0000 --155.0000;-81.5000 --155.0000;-81.0000 --155.0000;-80.5000 --155.0000;-80.0000 --155.0000;-79.5000 --155.0000;-79.0000 --155.0000;-78.5000 --155.0000;-78.0000 --155.0000;-77.5000 --155.0000;-77.0000 --155.0000;-76.5000 --155.0000;-76.0000 --155.0000;-75.5000 --155.0000;-75.0000 --155.0000;-74.5000 --155.0000;-74.0000 --155.0000;-73.5000 --155.0000;-73.0000 --155.0000;-72.5000 --155.0000;-72.0000 --155.0000;-71.5000 --155.0000;-71.0000 --155.0000;-70.5000 --155.0000;-70.0000 --155.0000;-69.5000 --155.0000;-69.0000 --155.0000;-68.5000 --155.0000;-68.0000 --155.0000;-67.5000 --155.0000;-67.0000 --155.0000;-66.5000 --155.0000;-66.0000 --155.0000;87.0000 --155.0000;87.5000 --155.0000;88.0000 --155.0000;88.5000 --155.0000;89.0000 --155.0000;89.5000 --155.0000;90.0000 --155.0000;90.5000 --155.0000;91.0000 --155.0000;91.5000 --155.0000;92.0000 --155.0000;92.5000 --155.0000;93.0000 --155.0000;93.5000 --155.0000;94.0000 --155.0000;94.5000 --155.0000;95.0000 --155.0000;95.5000 --155.0000;96.0000 --155.0000;96.5000 --155.0000;97.0000 --155.0000;97.5000 --155.0000;98.0000 --155.0000;98.5000 --155.0000;99.0000 --155.0000;99.5000 --155.0000;100.0000 --155.0000;100.5000 --155.0000;101.0000 --155.0000;101.5000 --155.0000;102.0000 --155.0000;102.5000 --155.0000;103.0000 --155.0000;103.5000 --155.0000;104.0000 --155.0000;104.5000 --155.0000;105.0000 --155.0000;105.5000 --154.5000;-267.0000 --154.5000;-266.5000 --154.5000;-266.0000 --154.5000;-265.5000 --154.5000;-265.0000 --154.5000;-264.5000 --154.5000;-264.0000 --154.5000;-263.5000 --154.5000;-263.0000 --154.5000;-262.5000 --154.5000;-262.0000 --154.5000;-261.5000 --154.5000;-261.0000 --154.5000;-260.5000 --154.5000;-260.0000 --154.5000;-259.5000 --154.5000;-259.0000 --154.5000;-258.5000 --154.5000;-258.0000 --154.5000;-257.5000 --154.5000;-257.0000 --154.5000;-256.5000 --154.5000;-256.0000 --154.5000;-255.5000 --154.5000;-255.0000 --154.5000;-254.5000 --154.5000;-117.0000 --154.5000;-116.5000 --154.5000;-116.0000 --154.5000;-115.5000 --154.5000;-115.0000 --154.5000;-114.5000 --154.5000;-114.0000 --154.5000;-113.5000 --154.5000;-113.0000 --154.5000;-112.5000 --154.5000;-112.0000 --154.5000;-111.5000 --154.5000;-111.0000 --154.5000;-110.5000 --154.5000;-110.0000 --154.5000;-109.5000 --154.5000;-109.0000 --154.5000;-108.5000 --154.5000;-108.0000 --154.5000;-107.5000 --154.5000;-107.0000 --154.5000;-106.5000 --154.5000;-106.0000 --154.5000;-105.5000 --154.5000;-105.0000 --154.5000;-104.5000 --154.5000;-104.0000 --154.5000;-103.5000 --154.5000;-103.0000 --154.5000;-102.5000 --154.5000;-102.0000 --154.5000;-101.5000 --154.5000;-101.0000 --154.5000;-100.5000 --154.5000;-100.0000 --154.5000;-99.5000 --154.5000;-99.0000 --154.5000;-98.5000 --154.5000;-98.0000 --154.5000;-97.5000 --154.5000;-97.0000 --154.5000;-96.5000 --154.5000;-96.0000 --154.5000;-95.5000 --154.5000;-95.0000 --154.5000;-94.5000 --154.5000;-94.0000 --154.5000;-93.5000 --154.5000;-93.0000 --154.5000;-92.5000 --154.5000;-92.0000 --154.5000;-91.5000 --154.5000;-91.0000 --154.5000;-90.5000 --154.5000;-90.0000 --154.5000;-89.5000 --154.5000;-89.0000 --154.5000;-88.5000 --154.5000;-88.0000 --154.5000;-87.5000 --154.5000;-87.0000 --154.5000;-86.5000 --154.5000;-86.0000 --154.5000;-85.5000 --154.5000;-85.0000 --154.5000;-84.5000 --154.5000;-84.0000 --154.5000;-83.5000 --154.5000;-83.0000 --154.5000;-82.5000 --154.5000;-82.0000 --154.5000;-81.5000 --154.5000;-81.0000 --154.5000;-80.5000 --154.5000;-80.0000 --154.5000;-79.5000 --154.5000;-79.0000 --154.5000;-78.5000 --154.5000;-78.0000 --154.5000;-77.5000 --154.5000;-77.0000 --154.5000;-76.5000 --154.5000;-76.0000 --154.5000;-75.5000 --154.5000;-75.0000 --154.5000;-74.5000 --154.5000;-74.0000 --154.5000;-73.5000 --154.5000;-73.0000 --154.5000;-72.5000 --154.5000;-72.0000 --154.5000;-71.5000 --154.5000;-71.0000 --154.5000;-70.5000 --154.5000;-70.0000 --154.5000;-69.5000 --154.5000;-69.0000 --154.5000;-68.5000 --154.5000;-68.0000 --154.5000;-67.5000 --154.5000;-67.0000 --154.5000;-66.5000 --154.5000;86.5000 --154.5000;87.0000 --154.5000;87.5000 --154.5000;88.0000 --154.5000;88.5000 --154.5000;89.0000 --154.5000;89.5000 --154.5000;90.0000 --154.5000;90.5000 --154.5000;91.0000 --154.5000;91.5000 --154.5000;92.0000 --154.5000;92.5000 --154.5000;93.0000 --154.5000;93.5000 --154.5000;94.0000 --154.5000;94.5000 --154.5000;95.0000 --154.5000;95.5000 --154.5000;96.0000 --154.5000;96.5000 --154.5000;97.0000 --154.5000;97.5000 --154.5000;98.0000 --154.5000;98.5000 --154.5000;99.0000 --154.5000;99.5000 --154.5000;100.0000 --154.5000;100.5000 --154.5000;101.0000 --154.5000;101.5000 --154.5000;102.0000 --154.5000;102.5000 --154.5000;103.0000 --154.5000;103.5000 --154.5000;104.0000 --154.5000;104.5000 --154.5000;105.0000 --154.0000;-267.0000 --154.0000;-266.5000 --154.0000;-266.0000 --154.0000;-265.5000 --154.0000;-265.0000 --154.0000;-264.5000 --154.0000;-264.0000 --154.0000;-263.5000 --154.0000;-263.0000 --154.0000;-262.5000 --154.0000;-262.0000 --154.0000;-261.5000 --154.0000;-261.0000 --154.0000;-260.5000 --154.0000;-260.0000 --154.0000;-259.5000 --154.0000;-259.0000 --154.0000;-258.5000 --154.0000;-258.0000 --154.0000;-257.5000 --154.0000;-257.0000 --154.0000;-256.5000 --154.0000;-256.0000 --154.0000;-255.5000 --154.0000;-255.0000 --154.0000;-254.5000 --154.0000;-116.0000 --154.0000;-115.5000 --154.0000;-115.0000 --154.0000;-114.5000 --154.0000;-114.0000 --154.0000;-113.5000 --154.0000;-113.0000 --154.0000;-112.5000 --154.0000;-112.0000 --154.0000;-111.5000 --154.0000;-111.0000 --154.0000;-110.5000 --154.0000;-110.0000 --154.0000;-109.5000 --154.0000;-109.0000 --154.0000;-108.5000 --154.0000;-108.0000 --154.0000;-107.5000 --154.0000;-107.0000 --154.0000;-106.5000 --154.0000;-106.0000 --154.0000;-105.5000 --154.0000;-105.0000 --154.0000;-104.5000 --154.0000;-104.0000 --154.0000;-103.5000 --154.0000;-103.0000 --154.0000;-102.5000 --154.0000;-102.0000 --154.0000;-101.5000 --154.0000;-101.0000 --154.0000;-100.5000 --154.0000;-100.0000 --154.0000;-99.5000 --154.0000;-99.0000 --154.0000;-98.5000 --154.0000;-98.0000 --154.0000;-97.5000 --154.0000;-97.0000 --154.0000;-96.5000 --154.0000;-96.0000 --154.0000;-95.5000 --154.0000;-95.0000 --154.0000;-94.5000 --154.0000;-94.0000 --154.0000;-93.5000 --154.0000;-93.0000 --154.0000;-92.5000 --154.0000;-92.0000 --154.0000;-91.5000 --154.0000;-91.0000 --154.0000;-90.5000 --154.0000;-90.0000 --154.0000;-89.5000 --154.0000;-89.0000 --154.0000;-88.5000 --154.0000;-88.0000 --154.0000;-87.5000 --154.0000;-87.0000 --154.0000;-86.5000 --154.0000;-86.0000 --154.0000;-85.5000 --154.0000;-85.0000 --154.0000;-84.5000 --154.0000;-84.0000 --154.0000;-83.5000 --154.0000;-83.0000 --154.0000;-82.5000 --154.0000;-82.0000 --154.0000;-81.5000 --154.0000;-81.0000 --154.0000;-80.5000 --154.0000;-80.0000 --154.0000;-79.5000 --154.0000;-79.0000 --154.0000;-78.5000 --154.0000;-78.0000 --154.0000;-77.5000 --154.0000;-77.0000 --154.0000;-76.5000 --154.0000;-76.0000 --154.0000;-75.5000 --154.0000;-75.0000 --154.0000;-74.5000 --154.0000;-74.0000 --154.0000;-73.5000 --154.0000;-73.0000 --154.0000;-72.5000 --154.0000;-72.0000 --154.0000;-71.5000 --154.0000;-71.0000 --154.0000;-70.5000 --154.0000;-70.0000 --154.0000;-69.5000 --154.0000;-69.0000 --154.0000;-68.5000 --154.0000;-68.0000 --154.0000;-67.5000 --154.0000;-67.0000 --154.0000;86.0000 --154.0000;86.5000 --154.0000;87.0000 --154.0000;87.5000 --154.0000;88.0000 --154.0000;88.5000 --154.0000;89.0000 --154.0000;89.5000 --154.0000;90.0000 --154.0000;90.5000 --154.0000;91.0000 --154.0000;91.5000 --154.0000;92.0000 --154.0000;92.5000 --154.0000;93.0000 --154.0000;93.5000 --154.0000;94.0000 --154.0000;94.5000 --154.0000;95.0000 --154.0000;95.5000 --154.0000;96.0000 --154.0000;96.5000 --154.0000;97.0000 --154.0000;97.5000 --154.0000;98.0000 --154.0000;98.5000 --154.0000;99.0000 --154.0000;99.5000 --154.0000;100.0000 --154.0000;100.5000 --154.0000;101.0000 --154.0000;101.5000 --154.0000;102.0000 --154.0000;102.5000 --154.0000;103.0000 --154.0000;103.5000 --154.0000;104.0000 --154.0000;104.5000 --153.5000;-267.5000 --153.5000;-267.0000 --153.5000;-266.5000 --153.5000;-266.0000 --153.5000;-265.5000 --153.5000;-265.0000 --153.5000;-264.5000 --153.5000;-264.0000 --153.5000;-263.5000 --153.5000;-263.0000 --153.5000;-262.5000 --153.5000;-262.0000 --153.5000;-261.5000 --153.5000;-261.0000 --153.5000;-260.5000 --153.5000;-260.0000 --153.5000;-259.5000 --153.5000;-259.0000 --153.5000;-258.5000 --153.5000;-258.0000 --153.5000;-257.5000 --153.5000;-257.0000 --153.5000;-256.5000 --153.5000;-256.0000 --153.5000;-255.5000 --153.5000;-255.0000 --153.5000;-254.5000 --153.5000;-115.5000 --153.5000;-115.0000 --153.5000;-114.5000 --153.5000;-114.0000 --153.5000;-113.5000 --153.5000;-113.0000 --153.5000;-112.5000 --153.5000;-112.0000 --153.5000;-111.5000 --153.5000;-111.0000 --153.5000;-110.5000 --153.5000;-110.0000 --153.5000;-109.5000 --153.5000;-109.0000 --153.5000;-108.5000 --153.5000;-108.0000 --153.5000;-107.5000 --153.5000;-107.0000 --153.5000;-106.5000 --153.5000;-106.0000 --153.5000;-105.5000 --153.5000;-105.0000 --153.5000;-104.5000 --153.5000;-104.0000 --153.5000;-103.5000 --153.5000;-103.0000 --153.5000;-102.5000 --153.5000;-102.0000 --153.5000;-101.5000 --153.5000;-101.0000 --153.5000;-100.5000 --153.5000;-100.0000 --153.5000;-99.5000 --153.5000;-99.0000 --153.5000;-98.5000 --153.5000;-98.0000 --153.5000;-97.5000 --153.5000;-97.0000 --153.5000;-96.5000 --153.5000;-96.0000 --153.5000;-95.5000 --153.5000;-95.0000 --153.5000;-94.5000 --153.5000;-94.0000 --153.5000;-93.5000 --153.5000;-93.0000 --153.5000;-92.5000 --153.5000;-92.0000 --153.5000;-91.5000 --153.5000;-91.0000 --153.5000;-90.5000 --153.5000;-90.0000 --153.5000;-89.5000 --153.5000;-89.0000 --153.5000;-88.5000 --153.5000;-88.0000 --153.5000;-87.5000 --153.5000;-87.0000 --153.5000;-86.5000 --153.5000;-86.0000 --153.5000;-85.5000 --153.5000;-85.0000 --153.5000;-84.5000 --153.5000;-84.0000 --153.5000;-83.5000 --153.5000;-83.0000 --153.5000;-82.5000 --153.5000;-82.0000 --153.5000;-81.5000 --153.5000;-81.0000 --153.5000;-80.5000 --153.5000;-80.0000 --153.5000;-79.5000 --153.5000;-79.0000 --153.5000;-78.5000 --153.5000;-78.0000 --153.5000;-77.5000 --153.5000;-77.0000 --153.5000;-76.5000 --153.5000;-76.0000 --153.5000;-75.5000 --153.5000;-75.0000 --153.5000;-74.5000 --153.5000;-74.0000 --153.5000;-73.5000 --153.5000;-73.0000 --153.5000;-72.5000 --153.5000;-72.0000 --153.5000;-71.5000 --153.5000;-71.0000 --153.5000;-70.5000 --153.5000;-70.0000 --153.5000;-69.5000 --153.5000;-69.0000 --153.5000;-68.5000 --153.5000;-68.0000 --153.5000;85.5000 --153.5000;86.0000 --153.5000;86.5000 --153.5000;87.0000 --153.5000;87.5000 --153.5000;88.0000 --153.5000;88.5000 --153.5000;89.0000 --153.5000;89.5000 --153.5000;90.0000 --153.5000;90.5000 --153.5000;91.0000 --153.5000;91.5000 --153.5000;92.0000 --153.5000;92.5000 --153.5000;93.0000 --153.5000;93.5000 --153.5000;94.0000 --153.5000;94.5000 --153.5000;95.0000 --153.5000;95.5000 --153.5000;96.0000 --153.5000;96.5000 --153.5000;97.0000 --153.5000;97.5000 --153.5000;98.0000 --153.5000;98.5000 --153.5000;99.0000 --153.5000;99.5000 --153.5000;100.0000 --153.5000;100.5000 --153.5000;101.0000 --153.5000;101.5000 --153.5000;102.0000 --153.5000;102.5000 --153.5000;103.0000 --153.5000;103.5000 --153.5000;104.0000 --153.0000;-267.5000 --153.0000;-267.0000 --153.0000;-266.5000 --153.0000;-266.0000 --153.0000;-265.5000 --153.0000;-265.0000 --153.0000;-264.5000 --153.0000;-264.0000 --153.0000;-263.5000 --153.0000;-263.0000 --153.0000;-262.5000 --153.0000;-262.0000 --153.0000;-261.5000 --153.0000;-261.0000 --153.0000;-260.5000 --153.0000;-260.0000 --153.0000;-259.5000 --153.0000;-259.0000 --153.0000;-258.5000 --153.0000;-258.0000 --153.0000;-257.5000 --153.0000;-257.0000 --153.0000;-256.5000 --153.0000;-256.0000 --153.0000;-255.5000 --153.0000;-255.0000 --153.0000;-114.5000 --153.0000;-114.0000 --153.0000;-113.5000 --153.0000;-113.0000 --153.0000;-112.5000 --153.0000;-112.0000 --153.0000;-111.5000 --153.0000;-111.0000 --153.0000;-110.5000 --153.0000;-110.0000 --153.0000;-109.5000 --153.0000;-109.0000 --153.0000;-108.5000 --153.0000;-108.0000 --153.0000;-107.5000 --153.0000;-107.0000 --153.0000;-106.5000 --153.0000;-106.0000 --153.0000;-105.5000 --153.0000;-105.0000 --153.0000;-104.5000 --153.0000;-104.0000 --153.0000;-103.5000 --153.0000;-103.0000 --153.0000;-102.5000 --153.0000;-102.0000 --153.0000;-101.5000 --153.0000;-101.0000 --153.0000;-100.5000 --153.0000;-100.0000 --153.0000;-99.5000 --153.0000;-99.0000 --153.0000;-98.5000 --153.0000;-98.0000 --153.0000;-97.5000 --153.0000;-97.0000 --153.0000;-96.5000 --153.0000;-96.0000 --153.0000;-95.5000 --153.0000;-95.0000 --153.0000;-94.5000 --153.0000;-94.0000 --153.0000;-93.5000 --153.0000;-93.0000 --153.0000;-92.5000 --153.0000;-92.0000 --153.0000;-91.5000 --153.0000;-91.0000 --153.0000;-90.5000 --153.0000;-90.0000 --153.0000;-89.5000 --153.0000;-89.0000 --153.0000;-88.5000 --153.0000;-88.0000 --153.0000;-87.5000 --153.0000;-87.0000 --153.0000;-86.5000 --153.0000;-86.0000 --153.0000;-85.5000 --153.0000;-85.0000 --153.0000;-84.5000 --153.0000;-84.0000 --153.0000;-83.5000 --153.0000;-83.0000 --153.0000;-82.5000 --153.0000;-82.0000 --153.0000;-81.5000 --153.0000;-81.0000 --153.0000;-80.5000 --153.0000;-80.0000 --153.0000;-79.5000 --153.0000;-79.0000 --153.0000;-78.5000 --153.0000;-78.0000 --153.0000;-77.5000 --153.0000;-77.0000 --153.0000;-76.5000 --153.0000;-76.0000 --153.0000;-75.5000 --153.0000;-75.0000 --153.0000;-74.5000 --153.0000;-74.0000 --153.0000;-73.5000 --153.0000;-73.0000 --153.0000;-72.5000 --153.0000;-72.0000 --153.0000;-71.5000 --153.0000;-71.0000 --153.0000;-70.5000 --153.0000;-70.0000 --153.0000;-69.5000 --153.0000;-69.0000 --153.0000;-68.5000 --153.0000;85.0000 --153.0000;85.5000 --153.0000;86.0000 --153.0000;86.5000 --153.0000;87.0000 --153.0000;87.5000 --153.0000;88.0000 --153.0000;88.5000 --153.0000;89.0000 --153.0000;89.5000 --153.0000;90.0000 --153.0000;90.5000 --153.0000;91.0000 --153.0000;91.5000 --153.0000;92.0000 --153.0000;92.5000 --153.0000;93.0000 --153.0000;93.5000 --153.0000;94.0000 --153.0000;94.5000 --153.0000;95.0000 --153.0000;95.5000 --153.0000;96.0000 --153.0000;96.5000 --153.0000;97.0000 --153.0000;97.5000 --153.0000;98.0000 --153.0000;98.5000 --153.0000;99.0000 --153.0000;99.5000 --153.0000;100.0000 --153.0000;100.5000 --153.0000;101.0000 --153.0000;101.5000 --153.0000;102.0000 --153.0000;102.5000 --153.0000;103.0000 --152.5000;-268.0000 --152.5000;-267.5000 --152.5000;-267.0000 --152.5000;-266.5000 --152.5000;-266.0000 --152.5000;-265.5000 --152.5000;-265.0000 --152.5000;-264.5000 --152.5000;-264.0000 --152.5000;-263.5000 --152.5000;-263.0000 --152.5000;-262.5000 --152.5000;-262.0000 --152.5000;-261.5000 --152.5000;-261.0000 --152.5000;-260.5000 --152.5000;-260.0000 --152.5000;-259.5000 --152.5000;-259.0000 --152.5000;-258.5000 --152.5000;-258.0000 --152.5000;-257.5000 --152.5000;-257.0000 --152.5000;-256.5000 --152.5000;-256.0000 --152.5000;-255.5000 --152.5000;-255.0000 --152.5000;-114.0000 --152.5000;-113.5000 --152.5000;-113.0000 --152.5000;-112.5000 --152.5000;-112.0000 --152.5000;-111.5000 --152.5000;-111.0000 --152.5000;-110.5000 --152.5000;-110.0000 --152.5000;-109.5000 --152.5000;-109.0000 --152.5000;-108.5000 --152.5000;-108.0000 --152.5000;-107.5000 --152.5000;-107.0000 --152.5000;-106.5000 --152.5000;-106.0000 --152.5000;-105.5000 --152.5000;-105.0000 --152.5000;-104.5000 --152.5000;-104.0000 --152.5000;-103.5000 --152.5000;-103.0000 --152.5000;-102.5000 --152.5000;-102.0000 --152.5000;-101.5000 --152.5000;-101.0000 --152.5000;-100.5000 --152.5000;-100.0000 --152.5000;-99.5000 --152.5000;-99.0000 --152.5000;-98.5000 --152.5000;-98.0000 --152.5000;-97.5000 --152.5000;-97.0000 --152.5000;-96.5000 --152.5000;-96.0000 --152.5000;-95.5000 --152.5000;-95.0000 --152.5000;-94.5000 --152.5000;-94.0000 --152.5000;-93.5000 --152.5000;-93.0000 --152.5000;-92.5000 --152.5000;-92.0000 --152.5000;-91.5000 --152.5000;-91.0000 --152.5000;-90.5000 --152.5000;-90.0000 --152.5000;-89.5000 --152.5000;-89.0000 --152.5000;-88.5000 --152.5000;-88.0000 --152.5000;-87.5000 --152.5000;-87.0000 --152.5000;-86.5000 --152.5000;-86.0000 --152.5000;-85.5000 --152.5000;-85.0000 --152.5000;-84.5000 --152.5000;-84.0000 --152.5000;-83.5000 --152.5000;-83.0000 --152.5000;-82.5000 --152.5000;-82.0000 --152.5000;-81.5000 --152.5000;-81.0000 --152.5000;-80.5000 --152.5000;-80.0000 --152.5000;-79.5000 --152.5000;-79.0000 --152.5000;-78.5000 --152.5000;-78.0000 --152.5000;-77.5000 --152.5000;-77.0000 --152.5000;-76.5000 --152.5000;-76.0000 --152.5000;-75.5000 --152.5000;-75.0000 --152.5000;-74.5000 --152.5000;-74.0000 --152.5000;-73.5000 --152.5000;-73.0000 --152.5000;-72.5000 --152.5000;-72.0000 --152.5000;-71.5000 --152.5000;-71.0000 --152.5000;-70.5000 --152.5000;-70.0000 --152.5000;-69.5000 --152.5000;84.5000 --152.5000;85.0000 --152.5000;85.5000 --152.5000;86.0000 --152.5000;86.5000 --152.5000;87.0000 --152.5000;87.5000 --152.5000;88.0000 --152.5000;88.5000 --152.5000;89.0000 --152.5000;89.5000 --152.5000;90.0000 --152.5000;90.5000 --152.5000;91.0000 --152.5000;91.5000 --152.5000;92.0000 --152.5000;92.5000 --152.5000;93.0000 --152.5000;93.5000 --152.5000;94.0000 --152.5000;94.5000 --152.5000;95.0000 --152.5000;95.5000 --152.5000;96.0000 --152.5000;96.5000 --152.5000;97.0000 --152.5000;97.5000 --152.5000;98.0000 --152.5000;98.5000 --152.5000;99.0000 --152.5000;99.5000 --152.5000;100.0000 --152.5000;100.5000 --152.5000;101.0000 --152.5000;101.5000 --152.5000;102.0000 --152.5000;102.5000 --152.0000;-268.0000 --152.0000;-267.5000 --152.0000;-267.0000 --152.0000;-266.5000 --152.0000;-266.0000 --152.0000;-265.5000 --152.0000;-265.0000 --152.0000;-264.5000 --152.0000;-264.0000 --152.0000;-263.5000 --152.0000;-263.0000 --152.0000;-262.5000 --152.0000;-262.0000 --152.0000;-261.5000 --152.0000;-261.0000 --152.0000;-260.5000 --152.0000;-260.0000 --152.0000;-259.5000 --152.0000;-259.0000 --152.0000;-258.5000 --152.0000;-258.0000 --152.0000;-257.5000 --152.0000;-257.0000 --152.0000;-256.5000 --152.0000;-256.0000 --152.0000;-255.5000 --152.0000;-255.0000 --152.0000;-113.0000 --152.0000;-112.5000 --152.0000;-112.0000 --152.0000;-111.5000 --152.0000;-111.0000 --152.0000;-110.5000 --152.0000;-110.0000 --152.0000;-109.5000 --152.0000;-109.0000 --152.0000;-108.5000 --152.0000;-108.0000 --152.0000;-107.5000 --152.0000;-107.0000 --152.0000;-106.5000 --152.0000;-106.0000 --152.0000;-105.5000 --152.0000;-105.0000 --152.0000;-104.5000 --152.0000;-104.0000 --152.0000;-103.5000 --152.0000;-103.0000 --152.0000;-102.5000 --152.0000;-102.0000 --152.0000;-101.5000 --152.0000;-101.0000 --152.0000;-100.5000 --152.0000;-100.0000 --152.0000;-99.5000 --152.0000;-99.0000 --152.0000;-98.5000 --152.0000;-98.0000 --152.0000;-97.5000 --152.0000;-97.0000 --152.0000;-96.5000 --152.0000;-96.0000 --152.0000;-95.5000 --152.0000;-95.0000 --152.0000;-94.5000 --152.0000;-94.0000 --152.0000;-93.5000 --152.0000;-93.0000 --152.0000;-92.5000 --152.0000;-92.0000 --152.0000;-91.5000 --152.0000;-91.0000 --152.0000;-90.5000 --152.0000;-90.0000 --152.0000;-89.5000 --152.0000;-89.0000 --152.0000;-88.5000 --152.0000;-88.0000 --152.0000;-87.5000 --152.0000;-87.0000 --152.0000;-86.5000 --152.0000;-86.0000 --152.0000;-85.5000 --152.0000;-85.0000 --152.0000;-84.5000 --152.0000;-84.0000 --152.0000;-83.5000 --152.0000;-83.0000 --152.0000;-82.5000 --152.0000;-82.0000 --152.0000;-81.5000 --152.0000;-81.0000 --152.0000;-80.5000 --152.0000;-80.0000 --152.0000;-79.5000 --152.0000;-79.0000 --152.0000;-78.5000 --152.0000;-78.0000 --152.0000;-77.5000 --152.0000;-77.0000 --152.0000;-76.5000 --152.0000;-76.0000 --152.0000;-75.5000 --152.0000;-75.0000 --152.0000;-74.5000 --152.0000;-74.0000 --152.0000;-73.5000 --152.0000;-73.0000 --152.0000;-72.5000 --152.0000;-72.0000 --152.0000;-71.5000 --152.0000;-71.0000 --152.0000;-70.5000 --152.0000;-70.0000 --152.0000;84.0000 --152.0000;84.5000 --152.0000;85.0000 --152.0000;85.5000 --152.0000;86.0000 --152.0000;86.5000 --152.0000;87.0000 --152.0000;87.5000 --152.0000;88.0000 --152.0000;88.5000 --152.0000;89.0000 --152.0000;89.5000 --152.0000;90.0000 --152.0000;90.5000 --152.0000;91.0000 --152.0000;91.5000 --152.0000;92.0000 --152.0000;92.5000 --152.0000;93.0000 --152.0000;93.5000 --152.0000;94.0000 --152.0000;94.5000 --152.0000;95.0000 --152.0000;95.5000 --152.0000;96.0000 --152.0000;96.5000 --152.0000;97.0000 --152.0000;97.5000 --152.0000;98.0000 --152.0000;98.5000 --152.0000;99.0000 --152.0000;99.5000 --152.0000;100.0000 --152.0000;100.5000 --152.0000;101.0000 --152.0000;101.5000 --152.0000;102.0000 --151.5000;-268.0000 --151.5000;-267.5000 --151.5000;-267.0000 --151.5000;-266.5000 --151.5000;-266.0000 --151.5000;-265.5000 --151.5000;-265.0000 --151.5000;-264.5000 --151.5000;-264.0000 --151.5000;-263.5000 --151.5000;-263.0000 --151.5000;-262.5000 --151.5000;-262.0000 --151.5000;-261.5000 --151.5000;-261.0000 --151.5000;-260.5000 --151.5000;-260.0000 --151.5000;-259.5000 --151.5000;-259.0000 --151.5000;-258.5000 --151.5000;-258.0000 --151.5000;-257.5000 --151.5000;-257.0000 --151.5000;-256.5000 --151.5000;-256.0000 --151.5000;-255.5000 --151.5000;-112.5000 --151.5000;-112.0000 --151.5000;-111.5000 --151.5000;-111.0000 --151.5000;-110.5000 --151.5000;-110.0000 --151.5000;-109.5000 --151.5000;-109.0000 --151.5000;-108.5000 --151.5000;-108.0000 --151.5000;-107.5000 --151.5000;-107.0000 --151.5000;-106.5000 --151.5000;-106.0000 --151.5000;-105.5000 --151.5000;-105.0000 --151.5000;-104.5000 --151.5000;-104.0000 --151.5000;-103.5000 --151.5000;-103.0000 --151.5000;-102.5000 --151.5000;-102.0000 --151.5000;-101.5000 --151.5000;-101.0000 --151.5000;-100.5000 --151.5000;-100.0000 --151.5000;-99.5000 --151.5000;-99.0000 --151.5000;-98.5000 --151.5000;-98.0000 --151.5000;-97.5000 --151.5000;-97.0000 --151.5000;-96.5000 --151.5000;-96.0000 --151.5000;-95.5000 --151.5000;-95.0000 --151.5000;-94.5000 --151.5000;-94.0000 --151.5000;-93.5000 --151.5000;-93.0000 --151.5000;-92.5000 --151.5000;-92.0000 --151.5000;-91.5000 --151.5000;-91.0000 --151.5000;-90.5000 --151.5000;-90.0000 --151.5000;-89.5000 --151.5000;-89.0000 --151.5000;-88.5000 --151.5000;-88.0000 --151.5000;-87.5000 --151.5000;-87.0000 --151.5000;-86.5000 --151.5000;-86.0000 --151.5000;-85.5000 --151.5000;-85.0000 --151.5000;-84.5000 --151.5000;-84.0000 --151.5000;-83.5000 --151.5000;-83.0000 --151.5000;-82.5000 --151.5000;-82.0000 --151.5000;-81.5000 --151.5000;-81.0000 --151.5000;-80.5000 --151.5000;-80.0000 --151.5000;-79.5000 --151.5000;-79.0000 --151.5000;-78.5000 --151.5000;-78.0000 --151.5000;-77.5000 --151.5000;-77.0000 --151.5000;-76.5000 --151.5000;-76.0000 --151.5000;-75.5000 --151.5000;-75.0000 --151.5000;-74.5000 --151.5000;-74.0000 --151.5000;-73.5000 --151.5000;-73.0000 --151.5000;-72.5000 --151.5000;-72.0000 --151.5000;-71.5000 --151.5000;-71.0000 --151.5000;83.5000 --151.5000;84.0000 --151.5000;84.5000 --151.5000;85.0000 --151.5000;85.5000 --151.5000;86.0000 --151.5000;86.5000 --151.5000;87.0000 --151.5000;87.5000 --151.5000;88.0000 --151.5000;88.5000 --151.5000;89.0000 --151.5000;89.5000 --151.5000;90.0000 --151.5000;90.5000 --151.5000;91.0000 --151.5000;91.5000 --151.5000;92.0000 --151.5000;92.5000 --151.5000;93.0000 --151.5000;93.5000 --151.5000;94.0000 --151.5000;94.5000 --151.5000;95.0000 --151.5000;95.5000 --151.5000;96.0000 --151.5000;96.5000 --151.5000;97.0000 --151.5000;97.5000 --151.5000;98.0000 --151.5000;98.5000 --151.5000;99.0000 --151.5000;99.5000 --151.5000;100.0000 --151.5000;100.5000 --151.5000;101.0000 --151.5000;101.5000 --151.0000;-268.5000 --151.0000;-268.0000 --151.0000;-267.5000 --151.0000;-267.0000 --151.0000;-266.5000 --151.0000;-266.0000 --151.0000;-265.5000 --151.0000;-265.0000 --151.0000;-264.5000 --151.0000;-264.0000 --151.0000;-263.5000 --151.0000;-263.0000 --151.0000;-262.5000 --151.0000;-262.0000 --151.0000;-261.5000 --151.0000;-261.0000 --151.0000;-260.5000 --151.0000;-260.0000 --151.0000;-259.5000 --151.0000;-259.0000 --151.0000;-258.5000 --151.0000;-258.0000 --151.0000;-257.5000 --151.0000;-257.0000 --151.0000;-256.5000 --151.0000;-256.0000 --151.0000;-255.5000 --151.0000;-111.5000 --151.0000;-111.0000 --151.0000;-110.5000 --151.0000;-110.0000 --151.0000;-109.5000 --151.0000;-109.0000 --151.0000;-108.5000 --151.0000;-108.0000 --151.0000;-107.5000 --151.0000;-107.0000 --151.0000;-106.5000 --151.0000;-106.0000 --151.0000;-105.5000 --151.0000;-105.0000 --151.0000;-104.5000 --151.0000;-104.0000 --151.0000;-103.5000 --151.0000;-103.0000 --151.0000;-102.5000 --151.0000;-102.0000 --151.0000;-101.5000 --151.0000;-101.0000 --151.0000;-100.5000 --151.0000;-100.0000 --151.0000;-99.5000 --151.0000;-99.0000 --151.0000;-98.5000 --151.0000;-98.0000 --151.0000;-97.5000 --151.0000;-97.0000 --151.0000;-96.5000 --151.0000;-96.0000 --151.0000;-95.5000 --151.0000;-95.0000 --151.0000;-94.5000 --151.0000;-94.0000 --151.0000;-93.5000 --151.0000;-93.0000 --151.0000;-92.5000 --151.0000;-92.0000 --151.0000;-91.5000 --151.0000;-91.0000 --151.0000;-90.5000 --151.0000;-90.0000 --151.0000;-89.5000 --151.0000;-89.0000 --151.0000;-88.5000 --151.0000;-88.0000 --151.0000;-87.5000 --151.0000;-87.0000 --151.0000;-86.5000 --151.0000;-86.0000 --151.0000;-85.5000 --151.0000;-85.0000 --151.0000;-84.5000 --151.0000;-84.0000 --151.0000;-83.5000 --151.0000;-83.0000 --151.0000;-82.5000 --151.0000;-82.0000 --151.0000;-81.5000 --151.0000;-81.0000 --151.0000;-80.5000 --151.0000;-80.0000 --151.0000;-79.5000 --151.0000;-79.0000 --151.0000;-78.5000 --151.0000;-78.0000 --151.0000;-77.5000 --151.0000;-77.0000 --151.0000;-76.5000 --151.0000;-76.0000 --151.0000;-75.5000 --151.0000;-75.0000 --151.0000;-74.5000 --151.0000;-74.0000 --151.0000;-73.5000 --151.0000;-73.0000 --151.0000;-72.5000 --151.0000;-72.0000 --151.0000;83.0000 --151.0000;83.5000 --151.0000;84.0000 --151.0000;84.5000 --151.0000;85.0000 --151.0000;85.5000 --151.0000;86.0000 --151.0000;86.5000 --151.0000;87.0000 --151.0000;87.5000 --151.0000;88.0000 --151.0000;88.5000 --151.0000;89.0000 --151.0000;89.5000 --151.0000;90.0000 --151.0000;90.5000 --151.0000;91.0000 --151.0000;91.5000 --151.0000;92.0000 --151.0000;92.5000 --151.0000;93.0000 --151.0000;93.5000 --151.0000;94.0000 --151.0000;94.5000 --151.0000;95.0000 --151.0000;95.5000 --151.0000;96.0000 --151.0000;96.5000 --151.0000;97.0000 --151.0000;97.5000 --151.0000;98.0000 --151.0000;98.5000 --151.0000;99.0000 --151.0000;99.5000 --151.0000;100.0000 --151.0000;100.5000 --151.0000;101.0000 --150.5000;-268.5000 --150.5000;-268.0000 --150.5000;-267.5000 --150.5000;-267.0000 --150.5000;-266.5000 --150.5000;-266.0000 --150.5000;-265.5000 --150.5000;-265.0000 --150.5000;-264.5000 --150.5000;-264.0000 --150.5000;-263.5000 --150.5000;-263.0000 --150.5000;-262.5000 --150.5000;-262.0000 --150.5000;-261.5000 --150.5000;-261.0000 --150.5000;-260.5000 --150.5000;-260.0000 --150.5000;-259.5000 --150.5000;-259.0000 --150.5000;-258.5000 --150.5000;-258.0000 --150.5000;-257.5000 --150.5000;-257.0000 --150.5000;-256.5000 --150.5000;-256.0000 --150.5000;-110.5000 --150.5000;-110.0000 --150.5000;-109.5000 --150.5000;-109.0000 --150.5000;-108.5000 --150.5000;-108.0000 --150.5000;-107.5000 --150.5000;-107.0000 --150.5000;-106.5000 --150.5000;-106.0000 --150.5000;-105.5000 --150.5000;-105.0000 --150.5000;-104.5000 --150.5000;-104.0000 --150.5000;-103.5000 --150.5000;-103.0000 --150.5000;-102.5000 --150.5000;-102.0000 --150.5000;-101.5000 --150.5000;-101.0000 --150.5000;-100.5000 --150.5000;-100.0000 --150.5000;-99.5000 --150.5000;-99.0000 --150.5000;-98.5000 --150.5000;-98.0000 --150.5000;-97.5000 --150.5000;-97.0000 --150.5000;-96.5000 --150.5000;-96.0000 --150.5000;-95.5000 --150.5000;-95.0000 --150.5000;-94.5000 --150.5000;-94.0000 --150.5000;-93.5000 --150.5000;-93.0000 --150.5000;-92.5000 --150.5000;-92.0000 --150.5000;-91.5000 --150.5000;-91.0000 --150.5000;-90.5000 --150.5000;-90.0000 --150.5000;-89.5000 --150.5000;-89.0000 --150.5000;-88.5000 --150.5000;-88.0000 --150.5000;-87.5000 --150.5000;-87.0000 --150.5000;-86.5000 --150.5000;-86.0000 --150.5000;-85.5000 --150.5000;-85.0000 --150.5000;-84.5000 --150.5000;-84.0000 --150.5000;-83.5000 --150.5000;-83.0000 --150.5000;-82.5000 --150.5000;-82.0000 --150.5000;-81.5000 --150.5000;-81.0000 --150.5000;-80.5000 --150.5000;-80.0000 --150.5000;-79.5000 --150.5000;-79.0000 --150.5000;-78.5000 --150.5000;-78.0000 --150.5000;-77.5000 --150.5000;-77.0000 --150.5000;-76.5000 --150.5000;-76.0000 --150.5000;-75.5000 --150.5000;-75.0000 --150.5000;-74.5000 --150.5000;-74.0000 --150.5000;-73.5000 --150.5000;-73.0000 --150.5000;82.5000 --150.5000;83.0000 --150.5000;83.5000 --150.5000;84.0000 --150.5000;84.5000 --150.5000;85.0000 --150.5000;85.5000 --150.5000;86.0000 --150.5000;86.5000 --150.5000;87.0000 --150.5000;87.5000 --150.5000;88.0000 --150.5000;88.5000 --150.5000;89.0000 --150.5000;89.5000 --150.5000;90.0000 --150.5000;90.5000 --150.5000;91.0000 --150.5000;91.5000 --150.5000;92.0000 --150.5000;92.5000 --150.5000;93.0000 --150.5000;93.5000 --150.5000;94.0000 --150.5000;94.5000 --150.5000;95.0000 --150.5000;95.5000 --150.5000;96.0000 --150.5000;96.5000 --150.5000;97.0000 --150.5000;97.5000 --150.5000;98.0000 --150.5000;98.5000 --150.5000;99.0000 --150.5000;99.5000 --150.5000;100.0000 --150.5000;100.5000 --150.0000;-269.0000 --150.0000;-268.5000 --150.0000;-268.0000 --150.0000;-267.5000 --150.0000;-267.0000 --150.0000;-266.5000 --150.0000;-266.0000 --150.0000;-265.5000 --150.0000;-265.0000 --150.0000;-264.5000 --150.0000;-264.0000 --150.0000;-263.5000 --150.0000;-263.0000 --150.0000;-262.5000 --150.0000;-262.0000 --150.0000;-261.5000 --150.0000;-261.0000 --150.0000;-260.5000 --150.0000;-260.0000 --150.0000;-259.5000 --150.0000;-259.0000 --150.0000;-258.5000 --150.0000;-258.0000 --150.0000;-257.5000 --150.0000;-257.0000 --150.0000;-256.5000 --150.0000;-256.0000 --150.0000;-109.5000 --150.0000;-109.0000 --150.0000;-108.5000 --150.0000;-108.0000 --150.0000;-107.5000 --150.0000;-107.0000 --150.0000;-106.5000 --150.0000;-106.0000 --150.0000;-105.5000 --150.0000;-105.0000 --150.0000;-104.5000 --150.0000;-104.0000 --150.0000;-103.5000 --150.0000;-103.0000 --150.0000;-102.5000 --150.0000;-102.0000 --150.0000;-101.5000 --150.0000;-101.0000 --150.0000;-100.5000 --150.0000;-100.0000 --150.0000;-99.5000 --150.0000;-99.0000 --150.0000;-98.5000 --150.0000;-98.0000 --150.0000;-97.5000 --150.0000;-97.0000 --150.0000;-96.5000 --150.0000;-96.0000 --150.0000;-95.5000 --150.0000;-95.0000 --150.0000;-94.5000 --150.0000;-94.0000 --150.0000;-93.5000 --150.0000;-93.0000 --150.0000;-92.5000 --150.0000;-92.0000 --150.0000;-91.5000 --150.0000;-91.0000 --150.0000;-90.5000 --150.0000;-90.0000 --150.0000;-89.5000 --150.0000;-89.0000 --150.0000;-88.5000 --150.0000;-88.0000 --150.0000;-87.5000 --150.0000;-87.0000 --150.0000;-86.5000 --150.0000;-86.0000 --150.0000;-85.5000 --150.0000;-85.0000 --150.0000;-84.5000 --150.0000;-84.0000 --150.0000;-83.5000 --150.0000;-83.0000 --150.0000;-82.5000 --150.0000;-82.0000 --150.0000;-81.5000 --150.0000;-81.0000 --150.0000;-80.5000 --150.0000;-80.0000 --150.0000;-79.5000 --150.0000;-79.0000 --150.0000;-78.5000 --150.0000;-78.0000 --150.0000;-77.5000 --150.0000;-77.0000 --150.0000;-76.5000 --150.0000;-76.0000 --150.0000;-75.5000 --150.0000;-75.0000 --150.0000;-74.5000 --150.0000;-74.0000 --150.0000;82.0000 --150.0000;82.5000 --150.0000;83.0000 --150.0000;83.5000 --150.0000;84.0000 --150.0000;84.5000 --150.0000;85.0000 --150.0000;85.5000 --150.0000;86.0000 --150.0000;86.5000 --150.0000;87.0000 --150.0000;87.5000 --150.0000;88.0000 --150.0000;88.5000 --150.0000;89.0000 --150.0000;89.5000 --150.0000;90.0000 --150.0000;90.5000 --150.0000;91.0000 --150.0000;91.5000 --150.0000;92.0000 --150.0000;92.5000 --150.0000;93.0000 --150.0000;93.5000 --150.0000;94.0000 --150.0000;94.5000 --150.0000;95.0000 --150.0000;95.5000 --150.0000;96.0000 --150.0000;96.5000 --150.0000;97.0000 --150.0000;97.5000 --150.0000;98.0000 --150.0000;98.5000 --150.0000;99.0000 --150.0000;99.5000 --150.0000;100.0000 --149.5000;-269.0000 --149.5000;-268.5000 --149.5000;-268.0000 --149.5000;-267.5000 --149.5000;-267.0000 --149.5000;-266.5000 --149.5000;-266.0000 --149.5000;-265.5000 --149.5000;-265.0000 --149.5000;-264.5000 --149.5000;-264.0000 --149.5000;-263.5000 --149.5000;-263.0000 --149.5000;-262.5000 --149.5000;-262.0000 --149.5000;-261.5000 --149.5000;-261.0000 --149.5000;-260.5000 --149.5000;-260.0000 --149.5000;-259.5000 --149.5000;-259.0000 --149.5000;-258.5000 --149.5000;-258.0000 --149.5000;-257.5000 --149.5000;-257.0000 --149.5000;-256.5000 --149.5000;-256.0000 --149.5000;-108.5000 --149.5000;-108.0000 --149.5000;-107.5000 --149.5000;-107.0000 --149.5000;-106.5000 --149.5000;-106.0000 --149.5000;-105.5000 --149.5000;-105.0000 --149.5000;-104.5000 --149.5000;-104.0000 --149.5000;-103.5000 --149.5000;-103.0000 --149.5000;-102.5000 --149.5000;-102.0000 --149.5000;-101.5000 --149.5000;-101.0000 --149.5000;-100.5000 --149.5000;-100.0000 --149.5000;-99.5000 --149.5000;-99.0000 --149.5000;-98.5000 --149.5000;-98.0000 --149.5000;-97.5000 --149.5000;-97.0000 --149.5000;-96.5000 --149.5000;-96.0000 --149.5000;-95.5000 --149.5000;-95.0000 --149.5000;-94.5000 --149.5000;-94.0000 --149.5000;-93.5000 --149.5000;-93.0000 --149.5000;-92.5000 --149.5000;-92.0000 --149.5000;-91.5000 --149.5000;-91.0000 --149.5000;-90.5000 --149.5000;-90.0000 --149.5000;-89.5000 --149.5000;-89.0000 --149.5000;-88.5000 --149.5000;-88.0000 --149.5000;-87.5000 --149.5000;-87.0000 --149.5000;-86.5000 --149.5000;-86.0000 --149.5000;-85.5000 --149.5000;-85.0000 --149.5000;-84.5000 --149.5000;-84.0000 --149.5000;-83.5000 --149.5000;-83.0000 --149.5000;-82.5000 --149.5000;-82.0000 --149.5000;-81.5000 --149.5000;-81.0000 --149.5000;-80.5000 --149.5000;-80.0000 --149.5000;-79.5000 --149.5000;-79.0000 --149.5000;-78.5000 --149.5000;-78.0000 --149.5000;-77.5000 --149.5000;-77.0000 --149.5000;-76.5000 --149.5000;-76.0000 --149.5000;-75.5000 --149.5000;-75.0000 --149.5000;81.5000 --149.5000;82.0000 --149.5000;82.5000 --149.5000;83.0000 --149.5000;83.5000 --149.5000;84.0000 --149.5000;84.5000 --149.5000;85.0000 --149.5000;85.5000 --149.5000;86.0000 --149.5000;86.5000 --149.5000;87.0000 --149.5000;87.5000 --149.5000;88.0000 --149.5000;88.5000 --149.5000;89.0000 --149.5000;89.5000 --149.5000;90.0000 --149.5000;90.5000 --149.5000;91.0000 --149.5000;91.5000 --149.5000;92.0000 --149.5000;92.5000 --149.5000;93.0000 --149.5000;93.5000 --149.5000;94.0000 --149.5000;94.5000 --149.5000;95.0000 --149.5000;95.5000 --149.5000;96.0000 --149.5000;96.5000 --149.5000;97.0000 --149.5000;97.5000 --149.5000;98.0000 --149.5000;98.5000 --149.5000;99.0000 --149.0000;-269.0000 --149.0000;-268.5000 --149.0000;-268.0000 --149.0000;-267.5000 --149.0000;-267.0000 --149.0000;-266.5000 --149.0000;-266.0000 --149.0000;-265.5000 --149.0000;-265.0000 --149.0000;-264.5000 --149.0000;-264.0000 --149.0000;-263.5000 --149.0000;-263.0000 --149.0000;-262.5000 --149.0000;-262.0000 --149.0000;-261.5000 --149.0000;-261.0000 --149.0000;-260.5000 --149.0000;-260.0000 --149.0000;-259.5000 --149.0000;-259.0000 --149.0000;-258.5000 --149.0000;-258.0000 --149.0000;-257.5000 --149.0000;-257.0000 --149.0000;-256.5000 --149.0000;-107.5000 --149.0000;-107.0000 --149.0000;-106.5000 --149.0000;-106.0000 --149.0000;-105.5000 --149.0000;-105.0000 --149.0000;-104.5000 --149.0000;-104.0000 --149.0000;-103.5000 --149.0000;-103.0000 --149.0000;-102.5000 --149.0000;-102.0000 --149.0000;-101.5000 --149.0000;-101.0000 --149.0000;-100.5000 --149.0000;-100.0000 --149.0000;-99.5000 --149.0000;-99.0000 --149.0000;-98.5000 --149.0000;-98.0000 --149.0000;-97.5000 --149.0000;-97.0000 --149.0000;-96.5000 --149.0000;-96.0000 --149.0000;-95.5000 --149.0000;-95.0000 --149.0000;-94.5000 --149.0000;-94.0000 --149.0000;-93.5000 --149.0000;-93.0000 --149.0000;-92.5000 --149.0000;-92.0000 --149.0000;-91.5000 --149.0000;-91.0000 --149.0000;-90.5000 --149.0000;-90.0000 --149.0000;-89.5000 --149.0000;-89.0000 --149.0000;-88.5000 --149.0000;-88.0000 --149.0000;-87.5000 --149.0000;-87.0000 --149.0000;-86.5000 --149.0000;-86.0000 --149.0000;-85.5000 --149.0000;-85.0000 --149.0000;-84.5000 --149.0000;-84.0000 --149.0000;-83.5000 --149.0000;-83.0000 --149.0000;-82.5000 --149.0000;-82.0000 --149.0000;-81.5000 --149.0000;-81.0000 --149.0000;-80.5000 --149.0000;-80.0000 --149.0000;-79.5000 --149.0000;-79.0000 --149.0000;-78.5000 --149.0000;-78.0000 --149.0000;-77.5000 --149.0000;-77.0000 --149.0000;-76.5000 --149.0000;-76.0000 --149.0000;81.0000 --149.0000;81.5000 --149.0000;82.0000 --149.0000;82.5000 --149.0000;83.0000 --149.0000;83.5000 --149.0000;84.0000 --149.0000;84.5000 --149.0000;85.0000 --149.0000;85.5000 --149.0000;86.0000 --149.0000;86.5000 --149.0000;87.0000 --149.0000;87.5000 --149.0000;88.0000 --149.0000;88.5000 --149.0000;89.0000 --149.0000;89.5000 --149.0000;90.0000 --149.0000;90.5000 --149.0000;91.0000 --149.0000;91.5000 --149.0000;92.0000 --149.0000;92.5000 --149.0000;93.0000 --149.0000;93.5000 --149.0000;94.0000 --149.0000;94.5000 --149.0000;95.0000 --149.0000;95.5000 --149.0000;96.0000 --149.0000;96.5000 --149.0000;97.0000 --149.0000;97.5000 --149.0000;98.0000 --149.0000;98.5000 --148.5000;-269.5000 --148.5000;-269.0000 --148.5000;-268.5000 --148.5000;-268.0000 --148.5000;-267.5000 --148.5000;-267.0000 --148.5000;-266.5000 --148.5000;-266.0000 --148.5000;-265.5000 --148.5000;-265.0000 --148.5000;-264.5000 --148.5000;-264.0000 --148.5000;-263.5000 --148.5000;-263.0000 --148.5000;-262.5000 --148.5000;-262.0000 --148.5000;-261.5000 --148.5000;-261.0000 --148.5000;-260.5000 --148.5000;-260.0000 --148.5000;-259.5000 --148.5000;-259.0000 --148.5000;-258.5000 --148.5000;-258.0000 --148.5000;-257.5000 --148.5000;-257.0000 --148.5000;-256.5000 --148.5000;-106.0000 --148.5000;-105.5000 --148.5000;-105.0000 --148.5000;-104.5000 --148.5000;-104.0000 --148.5000;-103.5000 --148.5000;-103.0000 --148.5000;-102.5000 --148.5000;-102.0000 --148.5000;-101.5000 --148.5000;-101.0000 --148.5000;-100.5000 --148.5000;-100.0000 --148.5000;-99.5000 --148.5000;-99.0000 --148.5000;-98.5000 --148.5000;-98.0000 --148.5000;-97.5000 --148.5000;-97.0000 --148.5000;-96.5000 --148.5000;-96.0000 --148.5000;-95.5000 --148.5000;-95.0000 --148.5000;-94.5000 --148.5000;-94.0000 --148.5000;-93.5000 --148.5000;-93.0000 --148.5000;-92.5000 --148.5000;-92.0000 --148.5000;-91.5000 --148.5000;-91.0000 --148.5000;-90.5000 --148.5000;-90.0000 --148.5000;-89.5000 --148.5000;-89.0000 --148.5000;-88.5000 --148.5000;-88.0000 --148.5000;-87.5000 --148.5000;-87.0000 --148.5000;-86.5000 --148.5000;-86.0000 --148.5000;-85.5000 --148.5000;-85.0000 --148.5000;-84.5000 --148.5000;-84.0000 --148.5000;-83.5000 --148.5000;-83.0000 --148.5000;-82.5000 --148.5000;-82.0000 --148.5000;-81.5000 --148.5000;-81.0000 --148.5000;-80.5000 --148.5000;-80.0000 --148.5000;-79.5000 --148.5000;-79.0000 --148.5000;-78.5000 --148.5000;-78.0000 --148.5000;-77.5000 --148.5000;80.5000 --148.5000;81.0000 --148.5000;81.5000 --148.5000;82.0000 --148.5000;82.5000 --148.5000;83.0000 --148.5000;83.5000 --148.5000;84.0000 --148.5000;84.5000 --148.5000;85.0000 --148.5000;85.5000 --148.5000;86.0000 --148.5000;86.5000 --148.5000;87.0000 --148.5000;87.5000 --148.5000;88.0000 --148.5000;88.5000 --148.5000;89.0000 --148.5000;89.5000 --148.5000;90.0000 --148.5000;90.5000 --148.5000;91.0000 --148.5000;91.5000 --148.5000;92.0000 --148.5000;92.5000 --148.5000;93.0000 --148.5000;93.5000 --148.5000;94.0000 --148.5000;94.5000 --148.5000;95.0000 --148.5000;95.5000 --148.5000;96.0000 --148.5000;96.5000 --148.5000;97.0000 --148.5000;97.5000 --148.5000;98.0000 --148.0000;-269.5000 --148.0000;-269.0000 --148.0000;-268.5000 --148.0000;-268.0000 --148.0000;-267.5000 --148.0000;-267.0000 --148.0000;-266.5000 --148.0000;-266.0000 --148.0000;-265.5000 --148.0000;-265.0000 --148.0000;-264.5000 --148.0000;-264.0000 --148.0000;-263.5000 --148.0000;-263.0000 --148.0000;-262.5000 --148.0000;-262.0000 --148.0000;-261.5000 --148.0000;-261.0000 --148.0000;-260.5000 --148.0000;-260.0000 --148.0000;-259.5000 --148.0000;-259.0000 --148.0000;-258.5000 --148.0000;-258.0000 --148.0000;-257.5000 --148.0000;-257.0000 --148.0000;-256.5000 --148.0000;-104.5000 --148.0000;-104.0000 --148.0000;-103.5000 --148.0000;-103.0000 --148.0000;-102.5000 --148.0000;-102.0000 --148.0000;-101.5000 --148.0000;-101.0000 --148.0000;-100.5000 --148.0000;-100.0000 --148.0000;-99.5000 --148.0000;-99.0000 --148.0000;-98.5000 --148.0000;-98.0000 --148.0000;-97.5000 --148.0000;-97.0000 --148.0000;-96.5000 --148.0000;-96.0000 --148.0000;-95.5000 --148.0000;-95.0000 --148.0000;-94.5000 --148.0000;-94.0000 --148.0000;-93.5000 --148.0000;-93.0000 --148.0000;-92.5000 --148.0000;-92.0000 --148.0000;-91.5000 --148.0000;-91.0000 --148.0000;-90.5000 --148.0000;-90.0000 --148.0000;-89.5000 --148.0000;-89.0000 --148.0000;-88.5000 --148.0000;-88.0000 --148.0000;-87.5000 --148.0000;-87.0000 --148.0000;-86.5000 --148.0000;-86.0000 --148.0000;-85.5000 --148.0000;-85.0000 --148.0000;-84.5000 --148.0000;-84.0000 --148.0000;-83.5000 --148.0000;-83.0000 --148.0000;-82.5000 --148.0000;-82.0000 --148.0000;-81.5000 --148.0000;-81.0000 --148.0000;-80.5000 --148.0000;-80.0000 --148.0000;-79.5000 --148.0000;-79.0000 --148.0000;-78.5000 --148.0000;80.0000 --148.0000;80.5000 --148.0000;81.0000 --148.0000;81.5000 --148.0000;82.0000 --148.0000;82.5000 --148.0000;83.0000 --148.0000;83.5000 --148.0000;84.0000 --148.0000;84.5000 --148.0000;85.0000 --148.0000;85.5000 --148.0000;86.0000 --148.0000;86.5000 --148.0000;87.0000 --148.0000;87.5000 --148.0000;88.0000 --148.0000;88.5000 --148.0000;89.0000 --148.0000;89.5000 --148.0000;90.0000 --148.0000;90.5000 --148.0000;91.0000 --148.0000;91.5000 --148.0000;92.0000 --148.0000;92.5000 --148.0000;93.0000 --148.0000;93.5000 --148.0000;94.0000 --148.0000;94.5000 --148.0000;95.0000 --148.0000;95.5000 --148.0000;96.0000 --148.0000;96.5000 --148.0000;97.0000 --148.0000;97.5000 --147.5000;-269.5000 --147.5000;-269.0000 --147.5000;-268.5000 --147.5000;-268.0000 --147.5000;-267.5000 --147.5000;-267.0000 --147.5000;-266.5000 --147.5000;-266.0000 --147.5000;-265.5000 --147.5000;-265.0000 --147.5000;-264.5000 --147.5000;-264.0000 --147.5000;-263.5000 --147.5000;-263.0000 --147.5000;-262.5000 --147.5000;-262.0000 --147.5000;-261.5000 --147.5000;-261.0000 --147.5000;-260.5000 --147.5000;-260.0000 --147.5000;-259.5000 --147.5000;-259.0000 --147.5000;-258.5000 --147.5000;-258.0000 --147.5000;-257.5000 --147.5000;-257.0000 --147.5000;-103.0000 --147.5000;-102.5000 --147.5000;-102.0000 --147.5000;-101.5000 --147.5000;-101.0000 --147.5000;-100.5000 --147.5000;-100.0000 --147.5000;-99.5000 --147.5000;-99.0000 --147.5000;-98.5000 --147.5000;-98.0000 --147.5000;-97.5000 --147.5000;-97.0000 --147.5000;-96.5000 --147.5000;-96.0000 --147.5000;-95.5000 --147.5000;-95.0000 --147.5000;-94.5000 --147.5000;-94.0000 --147.5000;-93.5000 --147.5000;-93.0000 --147.5000;-92.5000 --147.5000;-92.0000 --147.5000;-91.5000 --147.5000;-91.0000 --147.5000;-90.5000 --147.5000;-90.0000 --147.5000;-89.5000 --147.5000;-89.0000 --147.5000;-88.5000 --147.5000;-88.0000 --147.5000;-87.5000 --147.5000;-87.0000 --147.5000;-86.5000 --147.5000;-86.0000 --147.5000;-85.5000 --147.5000;-85.0000 --147.5000;-84.5000 --147.5000;-84.0000 --147.5000;-83.5000 --147.5000;-83.0000 --147.5000;-82.5000 --147.5000;-82.0000 --147.5000;-81.5000 --147.5000;-81.0000 --147.5000;-80.5000 --147.5000;79.5000 --147.5000;80.0000 --147.5000;80.5000 --147.5000;81.0000 --147.5000;81.5000 --147.5000;82.0000 --147.5000;82.5000 --147.5000;83.0000 --147.5000;83.5000 --147.5000;84.0000 --147.5000;84.5000 --147.5000;85.0000 --147.5000;85.5000 --147.5000;86.0000 --147.5000;86.5000 --147.5000;87.0000 --147.5000;87.5000 --147.5000;88.0000 --147.5000;88.5000 --147.5000;89.0000 --147.5000;89.5000 --147.5000;90.0000 --147.5000;90.5000 --147.5000;91.0000 --147.5000;91.5000 --147.5000;92.0000 --147.5000;92.5000 --147.5000;93.0000 --147.5000;93.5000 --147.5000;94.0000 --147.5000;94.5000 --147.5000;95.0000 --147.5000;95.5000 --147.5000;96.0000 --147.5000;96.5000 --147.5000;97.0000 --147.0000;-270.0000 --147.0000;-269.5000 --147.0000;-269.0000 --147.0000;-268.5000 --147.0000;-268.0000 --147.0000;-267.5000 --147.0000;-267.0000 --147.0000;-266.5000 --147.0000;-266.0000 --147.0000;-265.5000 --147.0000;-265.0000 --147.0000;-264.5000 --147.0000;-264.0000 --147.0000;-263.5000 --147.0000;-263.0000 --147.0000;-262.5000 --147.0000;-262.0000 --147.0000;-261.5000 --147.0000;-261.0000 --147.0000;-260.5000 --147.0000;-260.0000 --147.0000;-259.5000 --147.0000;-259.0000 --147.0000;-258.5000 --147.0000;-258.0000 --147.0000;-257.5000 --147.0000;-257.0000 --147.0000;-101.5000 --147.0000;-101.0000 --147.0000;-100.5000 --147.0000;-100.0000 --147.0000;-99.5000 --147.0000;-99.0000 --147.0000;-98.5000 --147.0000;-98.0000 --147.0000;-97.5000 --147.0000;-97.0000 --147.0000;-96.5000 --147.0000;-96.0000 --147.0000;-95.5000 --147.0000;-95.0000 --147.0000;-94.5000 --147.0000;-94.0000 --147.0000;-93.5000 --147.0000;-93.0000 --147.0000;-92.5000 --147.0000;-92.0000 --147.0000;-91.5000 --147.0000;-91.0000 --147.0000;-90.5000 --147.0000;-90.0000 --147.0000;-89.5000 --147.0000;-89.0000 --147.0000;-88.5000 --147.0000;-88.0000 --147.0000;-87.5000 --147.0000;-87.0000 --147.0000;-86.5000 --147.0000;-86.0000 --147.0000;-85.5000 --147.0000;-85.0000 --147.0000;-84.5000 --147.0000;-84.0000 --147.0000;-83.5000 --147.0000;-83.0000 --147.0000;-82.5000 --147.0000;-82.0000 --147.0000;79.0000 --147.0000;79.5000 --147.0000;80.0000 --147.0000;80.5000 --147.0000;81.0000 --147.0000;81.5000 --147.0000;82.0000 --147.0000;82.5000 --147.0000;83.0000 --147.0000;83.5000 --147.0000;84.0000 --147.0000;84.5000 --147.0000;85.0000 --147.0000;85.5000 --147.0000;86.0000 --147.0000;86.5000 --147.0000;87.0000 --147.0000;87.5000 --147.0000;88.0000 --147.0000;88.5000 --147.0000;89.0000 --147.0000;89.5000 --147.0000;90.0000 --147.0000;90.5000 --147.0000;91.0000 --147.0000;91.5000 --147.0000;92.0000 --147.0000;92.5000 --147.0000;93.0000 --147.0000;93.5000 --147.0000;94.0000 --147.0000;94.5000 --147.0000;95.0000 --147.0000;95.5000 --147.0000;96.0000 --147.0000;96.5000 --146.5000;-270.0000 --146.5000;-269.5000 --146.5000;-269.0000 --146.5000;-268.5000 --146.5000;-268.0000 --146.5000;-267.5000 --146.5000;-267.0000 --146.5000;-266.5000 --146.5000;-266.0000 --146.5000;-265.5000 --146.5000;-265.0000 --146.5000;-264.5000 --146.5000;-264.0000 --146.5000;-263.5000 --146.5000;-263.0000 --146.5000;-262.5000 --146.5000;-262.0000 --146.5000;-261.5000 --146.5000;-261.0000 --146.5000;-260.5000 --146.5000;-260.0000 --146.5000;-259.5000 --146.5000;-259.0000 --146.5000;-258.5000 --146.5000;-258.0000 --146.5000;-257.5000 --146.5000;-99.0000 --146.5000;-98.5000 --146.5000;-98.0000 --146.5000;-97.5000 --146.5000;-97.0000 --146.5000;-96.5000 --146.5000;-96.0000 --146.5000;-95.5000 --146.5000;-95.0000 --146.5000;-94.5000 --146.5000;-94.0000 --146.5000;-93.5000 --146.5000;-93.0000 --146.5000;-92.5000 --146.5000;-92.0000 --146.5000;-91.5000 --146.5000;-91.0000 --146.5000;-90.5000 --146.5000;-90.0000 --146.5000;-89.5000 --146.5000;-89.0000 --146.5000;-88.5000 --146.5000;-88.0000 --146.5000;-87.5000 --146.5000;-87.0000 --146.5000;-86.5000 --146.5000;-86.0000 --146.5000;-85.5000 --146.5000;-85.0000 --146.5000;-84.5000 --146.5000;78.5000 --146.5000;79.0000 --146.5000;79.5000 --146.5000;80.0000 --146.5000;80.5000 --146.5000;81.0000 --146.5000;81.5000 --146.5000;82.0000 --146.5000;82.5000 --146.5000;83.0000 --146.5000;83.5000 --146.5000;84.0000 --146.5000;84.5000 --146.5000;85.0000 --146.5000;85.5000 --146.5000;86.0000 --146.5000;86.5000 --146.5000;87.0000 --146.5000;87.5000 --146.5000;88.0000 --146.5000;88.5000 --146.5000;89.0000 --146.5000;89.5000 --146.5000;90.0000 --146.5000;90.5000 --146.5000;91.0000 --146.5000;91.5000 --146.5000;92.0000 --146.5000;92.5000 --146.5000;93.0000 --146.5000;93.5000 --146.5000;94.0000 --146.5000;94.5000 --146.5000;95.0000 --146.5000;95.5000 --146.5000;96.0000 --146.0000;-270.5000 --146.0000;-270.0000 --146.0000;-269.5000 --146.0000;-269.0000 --146.0000;-268.5000 --146.0000;-268.0000 --146.0000;-267.5000 --146.0000;-267.0000 --146.0000;-266.5000 --146.0000;-266.0000 --146.0000;-265.5000 --146.0000;-265.0000 --146.0000;-264.5000 --146.0000;-264.0000 --146.0000;-263.5000 --146.0000;-263.0000 --146.0000;-262.5000 --146.0000;-262.0000 --146.0000;-261.5000 --146.0000;-261.0000 --146.0000;-260.5000 --146.0000;-260.0000 --146.0000;-259.5000 --146.0000;-259.0000 --146.0000;-258.5000 --146.0000;-258.0000 --146.0000;-257.5000 --146.0000;-96.0000 --146.0000;-95.5000 --146.0000;-95.0000 --146.0000;-94.5000 --146.0000;-94.0000 --146.0000;-93.5000 --146.0000;-93.0000 --146.0000;-92.5000 --146.0000;-92.0000 --146.0000;-91.5000 --146.0000;-91.0000 --146.0000;-90.5000 --146.0000;-90.0000 --146.0000;-89.5000 --146.0000;-89.0000 --146.0000;-88.5000 --146.0000;-88.0000 --146.0000;78.0000 --146.0000;78.5000 --146.0000;79.0000 --146.0000;79.5000 --146.0000;80.0000 --146.0000;80.5000 --146.0000;81.0000 --146.0000;81.5000 --146.0000;82.0000 --146.0000;82.5000 --146.0000;83.0000 --146.0000;83.5000 --146.0000;84.0000 --146.0000;84.5000 --146.0000;85.0000 --146.0000;85.5000 --146.0000;86.0000 --146.0000;86.5000 --146.0000;87.0000 --146.0000;87.5000 --146.0000;88.0000 --146.0000;88.5000 --146.0000;89.0000 --146.0000;89.5000 --146.0000;90.0000 --146.0000;90.5000 --146.0000;91.0000 --146.0000;91.5000 --146.0000;92.0000 --146.0000;92.5000 --146.0000;93.0000 --146.0000;93.5000 --146.0000;94.0000 --146.0000;94.5000 --146.0000;95.0000 --146.0000;95.5000 --145.5000;-270.5000 --145.5000;-270.0000 --145.5000;-269.5000 --145.5000;-269.0000 --145.5000;-268.5000 --145.5000;-268.0000 --145.5000;-267.5000 --145.5000;-267.0000 --145.5000;-266.5000 --145.5000;-266.0000 --145.5000;-265.5000 --145.5000;-265.0000 --145.5000;-264.5000 --145.5000;-264.0000 --145.5000;-263.5000 --145.5000;-263.0000 --145.5000;-262.5000 --145.5000;-262.0000 --145.5000;-261.5000 --145.5000;-261.0000 --145.5000;-260.5000 --145.5000;-260.0000 --145.5000;-259.5000 --145.5000;-259.0000 --145.5000;-258.5000 --145.5000;-258.0000 --145.5000;-257.5000 --145.5000;77.5000 --145.5000;78.0000 --145.5000;78.5000 --145.5000;79.0000 --145.5000;79.5000 --145.5000;80.0000 --145.5000;80.5000 --145.5000;81.0000 --145.5000;81.5000 --145.5000;82.0000 --145.5000;82.5000 --145.5000;83.0000 --145.5000;83.5000 --145.5000;84.0000 --145.5000;84.5000 --145.5000;85.0000 --145.5000;85.5000 --145.5000;86.0000 --145.5000;86.5000 --145.5000;87.0000 --145.5000;87.5000 --145.5000;88.0000 --145.5000;88.5000 --145.5000;89.0000 --145.5000;89.5000 --145.5000;90.0000 --145.5000;90.5000 --145.5000;91.0000 --145.5000;91.5000 --145.5000;92.0000 --145.5000;92.5000 --145.5000;93.0000 --145.5000;93.5000 --145.5000;94.0000 --145.5000;94.5000 --145.0000;-270.5000 --145.0000;-270.0000 --145.0000;-269.5000 --145.0000;-269.0000 --145.0000;-268.5000 --145.0000;-268.0000 --145.0000;-267.5000 --145.0000;-267.0000 --145.0000;-266.5000 --145.0000;-266.0000 --145.0000;-265.5000 --145.0000;-265.0000 --145.0000;-264.5000 --145.0000;-264.0000 --145.0000;-263.5000 --145.0000;-263.0000 --145.0000;-262.5000 --145.0000;-262.0000 --145.0000;-261.5000 --145.0000;-261.0000 --145.0000;-260.5000 --145.0000;-260.0000 --145.0000;-259.5000 --145.0000;-259.0000 --145.0000;-258.5000 --145.0000;-258.0000 --145.0000;77.0000 --145.0000;77.5000 --145.0000;78.0000 --145.0000;78.5000 --145.0000;79.0000 --145.0000;79.5000 --145.0000;80.0000 --145.0000;80.5000 --145.0000;81.0000 --145.0000;81.5000 --145.0000;82.0000 --145.0000;82.5000 --145.0000;83.0000 --145.0000;83.5000 --145.0000;84.0000 --145.0000;84.5000 --145.0000;85.0000 --145.0000;85.5000 --145.0000;86.0000 --145.0000;86.5000 --145.0000;87.0000 --145.0000;87.5000 --145.0000;88.0000 --145.0000;88.5000 --145.0000;89.0000 --145.0000;89.5000 --145.0000;90.0000 --145.0000;90.5000 --145.0000;91.0000 --145.0000;91.5000 --145.0000;92.0000 --145.0000;92.5000 --145.0000;93.0000 --145.0000;93.5000 --145.0000;94.0000 --144.5000;-271.0000 --144.5000;-270.5000 --144.5000;-270.0000 --144.5000;-269.5000 --144.5000;-269.0000 --144.5000;-268.5000 --144.5000;-268.0000 --144.5000;-267.5000 --144.5000;-267.0000 --144.5000;-266.5000 --144.5000;-266.0000 --144.5000;-265.5000 --144.5000;-265.0000 --144.5000;-264.5000 --144.5000;-264.0000 --144.5000;-263.5000 --144.5000;-263.0000 --144.5000;-262.5000 --144.5000;-262.0000 --144.5000;-261.5000 --144.5000;-261.0000 --144.5000;-260.5000 --144.5000;-260.0000 --144.5000;-259.5000 --144.5000;-259.0000 --144.5000;-258.5000 --144.5000;-258.0000 --144.5000;76.5000 --144.5000;77.0000 --144.5000;77.5000 --144.5000;78.0000 --144.5000;78.5000 --144.5000;79.0000 --144.5000;79.5000 --144.5000;80.0000 --144.5000;80.5000 --144.5000;81.0000 --144.5000;81.5000 --144.5000;82.0000 --144.5000;82.5000 --144.5000;83.0000 --144.5000;83.5000 --144.5000;84.0000 --144.5000;84.5000 --144.5000;85.0000 --144.5000;85.5000 --144.5000;86.0000 --144.5000;86.5000 --144.5000;87.0000 --144.5000;87.5000 --144.5000;88.0000 --144.5000;88.5000 --144.5000;89.0000 --144.5000;89.5000 --144.5000;90.0000 --144.5000;90.5000 --144.5000;91.0000 --144.5000;91.5000 --144.5000;92.0000 --144.5000;92.5000 --144.5000;93.0000 --144.5000;93.5000 --144.0000;-271.0000 --144.0000;-270.5000 --144.0000;-270.0000 --144.0000;-269.5000 --144.0000;-269.0000 --144.0000;-268.5000 --144.0000;-268.0000 --144.0000;-267.5000 --144.0000;-267.0000 --144.0000;-266.5000 --144.0000;-266.0000 --144.0000;-265.5000 --144.0000;-265.0000 --144.0000;-264.5000 --144.0000;-264.0000 --144.0000;-263.5000 --144.0000;-263.0000 --144.0000;-262.5000 --144.0000;-262.0000 --144.0000;-261.5000 --144.0000;-261.0000 --144.0000;-260.5000 --144.0000;-260.0000 --144.0000;-259.5000 --144.0000;-259.0000 --144.0000;-258.5000 --144.0000;-258.0000 --144.0000;76.0000 --144.0000;76.5000 --144.0000;77.0000 --144.0000;77.5000 --144.0000;78.0000 --144.0000;78.5000 --144.0000;79.0000 --144.0000;79.5000 --144.0000;80.0000 --144.0000;80.5000 --144.0000;81.0000 --144.0000;81.5000 --144.0000;82.0000 --144.0000;82.5000 --144.0000;83.0000 --144.0000;83.5000 --144.0000;84.0000 --144.0000;84.5000 --144.0000;85.0000 --144.0000;85.5000 --144.0000;86.0000 --144.0000;86.5000 --144.0000;87.0000 --144.0000;87.5000 --144.0000;88.0000 --144.0000;88.5000 --144.0000;89.0000 --144.0000;89.5000 --144.0000;90.0000 --144.0000;90.5000 --144.0000;91.0000 --144.0000;91.5000 --144.0000;92.0000 --144.0000;92.5000 --144.0000;93.0000 --143.5000;-271.0000 --143.5000;-270.5000 --143.5000;-270.0000 --143.5000;-269.5000 --143.5000;-269.0000 --143.5000;-268.5000 --143.5000;-268.0000 --143.5000;-267.5000 --143.5000;-267.0000 --143.5000;-266.5000 --143.5000;-266.0000 --143.5000;-265.5000 --143.5000;-265.0000 --143.5000;-264.5000 --143.5000;-264.0000 --143.5000;-263.5000 --143.5000;-263.0000 --143.5000;-262.5000 --143.5000;-262.0000 --143.5000;-261.5000 --143.5000;-261.0000 --143.5000;-260.5000 --143.5000;-260.0000 --143.5000;-259.5000 --143.5000;-259.0000 --143.5000;-258.5000 --143.5000;75.5000 --143.5000;76.0000 --143.5000;76.5000 --143.5000;77.0000 --143.5000;77.5000 --143.5000;78.0000 --143.5000;78.5000 --143.5000;79.0000 --143.5000;79.5000 --143.5000;80.0000 --143.5000;80.5000 --143.5000;81.0000 --143.5000;81.5000 --143.5000;82.0000 --143.5000;82.5000 --143.5000;83.0000 --143.5000;83.5000 --143.5000;84.0000 --143.5000;84.5000 --143.5000;85.0000 --143.5000;85.5000 --143.5000;86.0000 --143.5000;86.5000 --143.5000;87.0000 --143.5000;87.5000 --143.5000;88.0000 --143.5000;88.5000 --143.5000;89.0000 --143.5000;89.5000 --143.5000;90.0000 --143.5000;90.5000 --143.5000;91.0000 --143.5000;91.5000 --143.5000;92.0000 --143.5000;92.5000 --143.0000;-271.5000 --143.0000;-271.0000 --143.0000;-270.5000 --143.0000;-270.0000 --143.0000;-269.5000 --143.0000;-269.0000 --143.0000;-268.5000 --143.0000;-268.0000 --143.0000;-267.5000 --143.0000;-267.0000 --143.0000;-266.5000 --143.0000;-266.0000 --143.0000;-265.5000 --143.0000;-265.0000 --143.0000;-264.5000 --143.0000;-264.0000 --143.0000;-263.5000 --143.0000;-263.0000 --143.0000;-262.5000 --143.0000;-262.0000 --143.0000;-261.5000 --143.0000;-261.0000 --143.0000;-260.5000 --143.0000;-260.0000 --143.0000;-259.5000 --143.0000;-259.0000 --143.0000;-258.5000 --143.0000;75.0000 --143.0000;75.5000 --143.0000;76.0000 --143.0000;76.5000 --143.0000;77.0000 --143.0000;77.5000 --143.0000;78.0000 --143.0000;78.5000 --143.0000;79.0000 --143.0000;79.5000 --143.0000;80.0000 --143.0000;80.5000 --143.0000;81.0000 --143.0000;81.5000 --143.0000;82.0000 --143.0000;82.5000 --143.0000;83.0000 --143.0000;83.5000 --143.0000;84.0000 --143.0000;84.5000 --143.0000;85.0000 --143.0000;85.5000 --143.0000;86.0000 --143.0000;86.5000 --143.0000;87.0000 --143.0000;87.5000 --143.0000;88.0000 --143.0000;88.5000 --143.0000;89.0000 --143.0000;89.5000 --143.0000;90.0000 --143.0000;90.5000 --143.0000;91.0000 --143.0000;91.5000 --143.0000;92.0000 --142.5000;-271.5000 --142.5000;-271.0000 --142.5000;-270.5000 --142.5000;-270.0000 --142.5000;-269.5000 --142.5000;-269.0000 --142.5000;-268.5000 --142.5000;-268.0000 --142.5000;-267.5000 --142.5000;-267.0000 --142.5000;-266.5000 --142.5000;-266.0000 --142.5000;-265.5000 --142.5000;-265.0000 --142.5000;-264.5000 --142.5000;-264.0000 --142.5000;-263.5000 --142.5000;-263.0000 --142.5000;-262.5000 --142.5000;-262.0000 --142.5000;-261.5000 --142.5000;-261.0000 --142.5000;-260.5000 --142.5000;-260.0000 --142.5000;-259.5000 --142.5000;-259.0000 --142.5000;74.5000 --142.5000;75.0000 --142.5000;75.5000 --142.5000;76.0000 --142.5000;76.5000 --142.5000;77.0000 --142.5000;77.5000 --142.5000;78.0000 --142.5000;78.5000 --142.5000;79.0000 --142.5000;79.5000 --142.5000;80.0000 --142.5000;80.5000 --142.5000;81.0000 --142.5000;81.5000 --142.5000;82.0000 --142.5000;82.5000 --142.5000;83.0000 --142.5000;83.5000 --142.5000;84.0000 --142.5000;84.5000 --142.5000;85.0000 --142.5000;85.5000 --142.5000;86.0000 --142.5000;86.5000 --142.5000;87.0000 --142.5000;87.5000 --142.5000;88.0000 --142.5000;88.5000 --142.5000;89.0000 --142.5000;89.5000 --142.5000;90.0000 --142.5000;90.5000 --142.5000;91.0000 --142.5000;91.5000 --142.0000;-272.0000 --142.0000;-271.5000 --142.0000;-271.0000 --142.0000;-270.5000 --142.0000;-270.0000 --142.0000;-269.5000 --142.0000;-269.0000 --142.0000;-268.5000 --142.0000;-268.0000 --142.0000;-267.5000 --142.0000;-267.0000 --142.0000;-266.5000 --142.0000;-266.0000 --142.0000;-265.5000 --142.0000;-265.0000 --142.0000;-264.5000 --142.0000;-264.0000 --142.0000;-263.5000 --142.0000;-263.0000 --142.0000;-262.5000 --142.0000;-262.0000 --142.0000;-261.5000 --142.0000;-261.0000 --142.0000;-260.5000 --142.0000;-260.0000 --142.0000;-259.5000 --142.0000;-259.0000 --142.0000;74.0000 --142.0000;74.5000 --142.0000;75.0000 --142.0000;75.5000 --142.0000;76.0000 --142.0000;76.5000 --142.0000;77.0000 --142.0000;77.5000 --142.0000;78.0000 --142.0000;78.5000 --142.0000;79.0000 --142.0000;79.5000 --142.0000;80.0000 --142.0000;80.5000 --142.0000;81.0000 --142.0000;81.5000 --142.0000;82.0000 --142.0000;82.5000 --142.0000;83.0000 --142.0000;83.5000 --142.0000;84.0000 --142.0000;84.5000 --142.0000;85.0000 --142.0000;85.5000 --142.0000;86.0000 --142.0000;86.5000 --142.0000;87.0000 --142.0000;87.5000 --142.0000;88.0000 --142.0000;88.5000 --142.0000;89.0000 --142.0000;89.5000 --142.0000;90.0000 --142.0000;90.5000 --142.0000;91.0000 --141.5000;-272.0000 --141.5000;-271.5000 --141.5000;-271.0000 --141.5000;-270.5000 --141.5000;-270.0000 --141.5000;-269.5000 --141.5000;-269.0000 --141.5000;-268.5000 --141.5000;-268.0000 --141.5000;-267.5000 --141.5000;-267.0000 --141.5000;-266.5000 --141.5000;-266.0000 --141.5000;-265.5000 --141.5000;-265.0000 --141.5000;-264.5000 --141.5000;-264.0000 --141.5000;-263.5000 --141.5000;-263.0000 --141.5000;-262.5000 --141.5000;-262.0000 --141.5000;-261.5000 --141.5000;-261.0000 --141.5000;-260.5000 --141.5000;-260.0000 --141.5000;-259.5000 --141.5000;-259.0000 --141.5000;74.0000 --141.5000;74.5000 --141.5000;75.0000 --141.5000;75.5000 --141.5000;76.0000 --141.5000;76.5000 --141.5000;77.0000 --141.5000;77.5000 --141.5000;78.0000 --141.5000;78.5000 --141.5000;79.0000 --141.5000;79.5000 --141.5000;80.0000 --141.5000;80.5000 --141.5000;81.0000 --141.5000;81.5000 --141.5000;82.0000 --141.5000;82.5000 --141.5000;83.0000 --141.5000;83.5000 --141.5000;84.0000 --141.5000;84.5000 --141.5000;85.0000 --141.5000;85.5000 --141.5000;86.0000 --141.5000;86.5000 --141.5000;87.0000 --141.5000;87.5000 --141.5000;88.0000 --141.5000;88.5000 --141.5000;89.0000 --141.5000;89.5000 --141.5000;90.0000 --141.5000;90.5000 --141.0000;-272.0000 --141.0000;-271.5000 --141.0000;-271.0000 --141.0000;-270.5000 --141.0000;-270.0000 --141.0000;-269.5000 --141.0000;-269.0000 --141.0000;-268.5000 --141.0000;-268.0000 --141.0000;-267.5000 --141.0000;-267.0000 --141.0000;-266.5000 --141.0000;-266.0000 --141.0000;-265.5000 --141.0000;-265.0000 --141.0000;-264.5000 --141.0000;-264.0000 --141.0000;-263.5000 --141.0000;-263.0000 --141.0000;-262.5000 --141.0000;-262.0000 --141.0000;-261.5000 --141.0000;-261.0000 --141.0000;-260.5000 --141.0000;-260.0000 --141.0000;-259.5000 --141.0000;73.5000 --141.0000;74.0000 --141.0000;74.5000 --141.0000;75.0000 --141.0000;75.5000 --141.0000;76.0000 --141.0000;76.5000 --141.0000;77.0000 --141.0000;77.5000 --141.0000;78.0000 --141.0000;78.5000 --141.0000;79.0000 --141.0000;79.5000 --141.0000;80.0000 --141.0000;80.5000 --141.0000;81.0000 --141.0000;81.5000 --141.0000;82.0000 --141.0000;82.5000 --141.0000;83.0000 --141.0000;83.5000 --141.0000;84.0000 --141.0000;84.5000 --141.0000;85.0000 --141.0000;85.5000 --141.0000;86.0000 --141.0000;86.5000 --141.0000;87.0000 --141.0000;87.5000 --141.0000;88.0000 --141.0000;88.5000 --141.0000;89.0000 --141.0000;89.5000 --141.0000;90.0000 --140.5000;-272.5000 --140.5000;-272.0000 --140.5000;-271.5000 --140.5000;-271.0000 --140.5000;-270.5000 --140.5000;-270.0000 --140.5000;-269.5000 --140.5000;-269.0000 --140.5000;-268.5000 --140.5000;-268.0000 --140.5000;-267.5000 --140.5000;-267.0000 --140.5000;-266.5000 --140.5000;-266.0000 --140.5000;-265.5000 --140.5000;-265.0000 --140.5000;-264.5000 --140.5000;-264.0000 --140.5000;-263.5000 --140.5000;-263.0000 --140.5000;-262.5000 --140.5000;-262.0000 --140.5000;-261.5000 --140.5000;-261.0000 --140.5000;-260.5000 --140.5000;-260.0000 --140.5000;-259.5000 --140.5000;73.0000 --140.5000;73.5000 --140.5000;74.0000 --140.5000;74.5000 --140.5000;75.0000 --140.5000;75.5000 --140.5000;76.0000 --140.5000;76.5000 --140.5000;77.0000 --140.5000;77.5000 --140.5000;78.0000 --140.5000;78.5000 --140.5000;79.0000 --140.5000;79.5000 --140.5000;80.0000 --140.5000;80.5000 --140.5000;81.0000 --140.5000;81.5000 --140.5000;82.0000 --140.5000;82.5000 --140.5000;83.0000 --140.5000;83.5000 --140.5000;84.0000 --140.5000;84.5000 --140.5000;85.0000 --140.5000;85.5000 --140.5000;86.0000 --140.5000;86.5000 --140.5000;87.0000 --140.5000;87.5000 --140.5000;88.0000 --140.5000;88.5000 --140.5000;89.0000 --140.5000;89.5000 --140.0000;-272.5000 --140.0000;-272.0000 --140.0000;-271.5000 --140.0000;-271.0000 --140.0000;-270.5000 --140.0000;-270.0000 --140.0000;-269.5000 --140.0000;-269.0000 --140.0000;-268.5000 --140.0000;-268.0000 --140.0000;-267.5000 --140.0000;-267.0000 --140.0000;-266.5000 --140.0000;-266.0000 --140.0000;-265.5000 --140.0000;-265.0000 --140.0000;-264.5000 --140.0000;-264.0000 --140.0000;-263.5000 --140.0000;-263.0000 --140.0000;-262.5000 --140.0000;-262.0000 --140.0000;-261.5000 --140.0000;-261.0000 --140.0000;-260.5000 --140.0000;-260.0000 --140.0000;72.5000 --140.0000;73.0000 --140.0000;73.5000 --140.0000;74.0000 --140.0000;74.5000 --140.0000;75.0000 --140.0000;75.5000 --140.0000;76.0000 --140.0000;76.5000 --140.0000;77.0000 --140.0000;77.5000 --140.0000;78.0000 --140.0000;78.5000 --140.0000;79.0000 --140.0000;79.5000 --140.0000;80.0000 --140.0000;80.5000 --140.0000;81.0000 --140.0000;81.5000 --140.0000;82.0000 --140.0000;82.5000 --140.0000;83.0000 --140.0000;83.5000 --140.0000;84.0000 --140.0000;84.5000 --140.0000;85.0000 --140.0000;85.5000 --140.0000;86.0000 --140.0000;86.5000 --140.0000;87.0000 --140.0000;87.5000 --140.0000;88.0000 --140.0000;88.5000 --140.0000;89.0000 --139.5000;-272.5000 --139.5000;-272.0000 --139.5000;-271.5000 --139.5000;-271.0000 --139.5000;-270.5000 --139.5000;-270.0000 --139.5000;-269.5000 --139.5000;-269.0000 --139.5000;-268.5000 --139.5000;-268.0000 --139.5000;-267.5000 --139.5000;-267.0000 --139.5000;-266.5000 --139.5000;-266.0000 --139.5000;-265.5000 --139.5000;-265.0000 --139.5000;-264.5000 --139.5000;-264.0000 --139.5000;-263.5000 --139.5000;-263.0000 --139.5000;-262.5000 --139.5000;-262.0000 --139.5000;-261.5000 --139.5000;-261.0000 --139.5000;-260.5000 --139.5000;-260.0000 --139.5000;72.0000 --139.5000;72.5000 --139.5000;73.0000 --139.5000;73.5000 --139.5000;74.0000 --139.5000;74.5000 --139.5000;75.0000 --139.5000;75.5000 --139.5000;76.0000 --139.5000;76.5000 --139.5000;77.0000 --139.5000;77.5000 --139.5000;78.0000 --139.5000;78.5000 --139.5000;79.0000 --139.5000;79.5000 --139.5000;80.0000 --139.5000;80.5000 --139.5000;81.0000 --139.5000;81.5000 --139.5000;82.0000 --139.5000;82.5000 --139.5000;83.0000 --139.5000;83.5000 --139.5000;84.0000 --139.5000;84.5000 --139.5000;85.0000 --139.5000;85.5000 --139.5000;86.0000 --139.5000;86.5000 --139.5000;87.0000 --139.5000;87.5000 --139.5000;88.0000 --139.5000;88.5000 --139.0000;-273.0000 --139.0000;-272.5000 --139.0000;-272.0000 --139.0000;-271.5000 --139.0000;-271.0000 --139.0000;-270.5000 --139.0000;-270.0000 --139.0000;-269.5000 --139.0000;-269.0000 --139.0000;-268.5000 --139.0000;-268.0000 --139.0000;-267.5000 --139.0000;-267.0000 --139.0000;-266.5000 --139.0000;-266.0000 --139.0000;-265.5000 --139.0000;-265.0000 --139.0000;-264.5000 --139.0000;-264.0000 --139.0000;-263.5000 --139.0000;-263.0000 --139.0000;-262.5000 --139.0000;-262.0000 --139.0000;-261.5000 --139.0000;-261.0000 --139.0000;-260.5000 --139.0000;-260.0000 --139.0000;71.5000 --139.0000;72.0000 --139.0000;72.5000 --139.0000;73.0000 --139.0000;73.5000 --139.0000;74.0000 --139.0000;74.5000 --139.0000;75.0000 --139.0000;75.5000 --139.0000;76.0000 --139.0000;76.5000 --139.0000;77.0000 --139.0000;77.5000 --139.0000;78.0000 --139.0000;78.5000 --139.0000;79.0000 --139.0000;79.5000 --139.0000;80.0000 --139.0000;80.5000 --139.0000;81.0000 --139.0000;81.5000 --139.0000;82.0000 --139.0000;82.5000 --139.0000;83.0000 --139.0000;83.5000 --139.0000;84.0000 --139.0000;84.5000 --139.0000;85.0000 --139.0000;85.5000 --139.0000;86.0000 --139.0000;86.5000 --139.0000;87.0000 --139.0000;87.5000 --139.0000;88.0000 --138.5000;-273.0000 --138.5000;-272.5000 --138.5000;-272.0000 --138.5000;-271.5000 --138.5000;-271.0000 --138.5000;-270.5000 --138.5000;-270.0000 --138.5000;-269.5000 --138.5000;-269.0000 --138.5000;-268.5000 --138.5000;-268.0000 --138.5000;-267.5000 --138.5000;-267.0000 --138.5000;-266.5000 --138.5000;-266.0000 --138.5000;-265.5000 --138.5000;-265.0000 --138.5000;-264.5000 --138.5000;-264.0000 --138.5000;-263.5000 --138.5000;-263.0000 --138.5000;-262.5000 --138.5000;-262.0000 --138.5000;-261.5000 --138.5000;-261.0000 --138.5000;-260.5000 --138.5000;71.0000 --138.5000;71.5000 --138.5000;72.0000 --138.5000;72.5000 --138.5000;73.0000 --138.5000;73.5000 --138.5000;74.0000 --138.5000;74.5000 --138.5000;75.0000 --138.5000;75.5000 --138.5000;76.0000 --138.5000;76.5000 --138.5000;77.0000 --138.5000;77.5000 --138.5000;78.0000 --138.5000;78.5000 --138.5000;79.0000 --138.5000;79.5000 --138.5000;80.0000 --138.5000;80.5000 --138.5000;81.0000 --138.5000;81.5000 --138.5000;82.0000 --138.5000;82.5000 --138.5000;83.0000 --138.5000;83.5000 --138.5000;84.0000 --138.5000;84.5000 --138.5000;85.0000 --138.5000;85.5000 --138.5000;86.0000 --138.5000;86.5000 --138.5000;87.0000 --138.5000;87.5000 --138.0000;-273.5000 --138.0000;-273.0000 --138.0000;-272.5000 --138.0000;-272.0000 --138.0000;-271.5000 --138.0000;-271.0000 --138.0000;-270.5000 --138.0000;-270.0000 --138.0000;-269.5000 --138.0000;-269.0000 --138.0000;-268.5000 --138.0000;-268.0000 --138.0000;-267.5000 --138.0000;-267.0000 --138.0000;-266.5000 --138.0000;-266.0000 --138.0000;-265.5000 --138.0000;-265.0000 --138.0000;-264.5000 --138.0000;-264.0000 --138.0000;-263.5000 --138.0000;-263.0000 --138.0000;-262.5000 --138.0000;-262.0000 --138.0000;-261.5000 --138.0000;-261.0000 --138.0000;-260.5000 --138.0000;71.0000 --138.0000;71.5000 --138.0000;72.0000 --138.0000;72.5000 --138.0000;73.0000 --138.0000;73.5000 --138.0000;74.0000 --138.0000;74.5000 --138.0000;75.0000 --138.0000;75.5000 --138.0000;76.0000 --138.0000;76.5000 --138.0000;77.0000 --138.0000;77.5000 --138.0000;78.0000 --138.0000;78.5000 --138.0000;79.0000 --138.0000;79.5000 --138.0000;80.0000 --138.0000;80.5000 --138.0000;81.0000 --138.0000;81.5000 --138.0000;82.0000 --138.0000;82.5000 --138.0000;83.0000 --138.0000;83.5000 --138.0000;84.0000 --138.0000;84.5000 --138.0000;85.0000 --138.0000;85.5000 --138.0000;86.0000 --138.0000;86.5000 --138.0000;87.0000 --137.5000;-273.5000 --137.5000;-273.0000 --137.5000;-272.5000 --137.5000;-272.0000 --137.5000;-271.5000 --137.5000;-271.0000 --137.5000;-270.5000 --137.5000;-270.0000 --137.5000;-269.5000 --137.5000;-269.0000 --137.5000;-268.5000 --137.5000;-268.0000 --137.5000;-267.5000 --137.5000;-267.0000 --137.5000;-266.5000 --137.5000;-266.0000 --137.5000;-265.5000 --137.5000;-265.0000 --137.5000;-264.5000 --137.5000;-264.0000 --137.5000;-263.5000 --137.5000;-263.0000 --137.5000;-262.5000 --137.5000;-262.0000 --137.5000;-261.5000 --137.5000;-261.0000 --137.5000;-260.5000 --137.5000;70.5000 --137.5000;71.0000 --137.5000;71.5000 --137.5000;72.0000 --137.5000;72.5000 --137.5000;73.0000 --137.5000;73.5000 --137.5000;74.0000 --137.5000;74.5000 --137.5000;75.0000 --137.5000;75.5000 --137.5000;76.0000 --137.5000;76.5000 --137.5000;77.0000 --137.5000;77.5000 --137.5000;78.0000 --137.5000;78.5000 --137.5000;79.0000 --137.5000;79.5000 --137.5000;80.0000 --137.5000;80.5000 --137.5000;81.0000 --137.5000;81.5000 --137.5000;82.0000 --137.5000;82.5000 --137.5000;83.0000 --137.5000;83.5000 --137.5000;84.0000 --137.5000;84.5000 --137.5000;85.0000 --137.5000;85.5000 --137.5000;86.0000 --137.5000;86.5000 --137.0000;-273.5000 --137.0000;-273.0000 --137.0000;-272.5000 --137.0000;-272.0000 --137.0000;-271.5000 --137.0000;-271.0000 --137.0000;-270.5000 --137.0000;-270.0000 --137.0000;-269.5000 --137.0000;-269.0000 --137.0000;-268.5000 --137.0000;-268.0000 --137.0000;-267.5000 --137.0000;-267.0000 --137.0000;-266.5000 --137.0000;-266.0000 --137.0000;-265.5000 --137.0000;-265.0000 --137.0000;-264.5000 --137.0000;-264.0000 --137.0000;-263.5000 --137.0000;-263.0000 --137.0000;-262.5000 --137.0000;-262.0000 --137.0000;-261.5000 --137.0000;-261.0000 --137.0000;70.0000 --137.0000;70.5000 --137.0000;71.0000 --137.0000;71.5000 --137.0000;72.0000 --137.0000;72.5000 --137.0000;73.0000 --137.0000;73.5000 --137.0000;74.0000 --137.0000;74.5000 --137.0000;75.0000 --137.0000;75.5000 --137.0000;76.0000 --137.0000;76.5000 --137.0000;77.0000 --137.0000;77.5000 --137.0000;78.0000 --137.0000;78.5000 --137.0000;79.0000 --137.0000;79.5000 --137.0000;80.0000 --137.0000;80.5000 --137.0000;81.0000 --137.0000;81.5000 --137.0000;82.0000 --137.0000;82.5000 --137.0000;83.0000 --137.0000;83.5000 --137.0000;84.0000 --137.0000;84.5000 --137.0000;85.0000 --137.0000;85.5000 --137.0000;86.0000 --136.5000;-274.0000 --136.5000;-273.5000 --136.5000;-273.0000 --136.5000;-272.5000 --136.5000;-272.0000 --136.5000;-271.5000 --136.5000;-271.0000 --136.5000;-270.5000 --136.5000;-270.0000 --136.5000;-269.5000 --136.5000;-269.0000 --136.5000;-268.5000 --136.5000;-268.0000 --136.5000;-267.5000 --136.5000;-267.0000 --136.5000;-266.5000 --136.5000;-266.0000 --136.5000;-265.5000 --136.5000;-265.0000 --136.5000;-264.5000 --136.5000;-264.0000 --136.5000;-263.5000 --136.5000;-263.0000 --136.5000;-262.5000 --136.5000;-262.0000 --136.5000;-261.5000 --136.5000;-261.0000 --136.5000;69.5000 --136.5000;70.0000 --136.5000;70.5000 --136.5000;71.0000 --136.5000;71.5000 --136.5000;72.0000 --136.5000;72.5000 --136.5000;73.0000 --136.5000;73.5000 --136.5000;74.0000 --136.5000;74.5000 --136.5000;75.0000 --136.5000;75.5000 --136.5000;76.0000 --136.5000;76.5000 --136.5000;77.0000 --136.5000;77.5000 --136.5000;78.0000 --136.5000;78.5000 --136.5000;79.0000 --136.5000;79.5000 --136.5000;80.0000 --136.5000;80.5000 --136.5000;81.0000 --136.5000;81.5000 --136.5000;82.0000 --136.5000;82.5000 --136.5000;83.0000 --136.5000;83.5000 --136.5000;84.0000 --136.5000;84.5000 --136.5000;85.0000 --136.5000;85.5000 --136.0000;-274.0000 --136.0000;-273.5000 --136.0000;-273.0000 --136.0000;-272.5000 --136.0000;-272.0000 --136.0000;-271.5000 --136.0000;-271.0000 --136.0000;-270.5000 --136.0000;-270.0000 --136.0000;-269.5000 --136.0000;-269.0000 --136.0000;-268.5000 --136.0000;-268.0000 --136.0000;-267.5000 --136.0000;-267.0000 --136.0000;-266.5000 --136.0000;-266.0000 --136.0000;-265.5000 --136.0000;-265.0000 --136.0000;-264.5000 --136.0000;-264.0000 --136.0000;-263.5000 --136.0000;-263.0000 --136.0000;-262.5000 --136.0000;-262.0000 --136.0000;-261.5000 --136.0000;69.0000 --136.0000;69.5000 --136.0000;70.0000 --136.0000;70.5000 --136.0000;71.0000 --136.0000;71.5000 --136.0000;72.0000 --136.0000;72.5000 --136.0000;73.0000 --136.0000;73.5000 --136.0000;74.0000 --136.0000;74.5000 --136.0000;75.0000 --136.0000;75.5000 --136.0000;76.0000 --136.0000;76.5000 --136.0000;77.0000 --136.0000;77.5000 --136.0000;78.0000 --136.0000;78.5000 --136.0000;79.0000 --136.0000;79.5000 --136.0000;80.0000 --136.0000;80.5000 --136.0000;81.0000 --136.0000;81.5000 --136.0000;82.0000 --136.0000;82.5000 --136.0000;83.0000 --136.0000;83.5000 --136.0000;84.0000 --136.0000;84.5000 --136.0000;85.0000 --135.5000;-274.0000 --135.5000;-273.5000 --135.5000;-273.0000 --135.5000;-272.5000 --135.5000;-272.0000 --135.5000;-271.5000 --135.5000;-271.0000 --135.5000;-270.5000 --135.5000;-270.0000 --135.5000;-269.5000 --135.5000;-269.0000 --135.5000;-268.5000 --135.5000;-268.0000 --135.5000;-267.5000 --135.5000;-267.0000 --135.5000;-266.5000 --135.5000;-266.0000 --135.5000;-265.5000 --135.5000;-265.0000 --135.5000;-264.5000 --135.5000;-264.0000 --135.5000;-263.5000 --135.5000;-263.0000 --135.5000;-262.5000 --135.5000;-262.0000 --135.5000;-261.5000 --135.5000;69.0000 --135.5000;69.5000 --135.5000;70.0000 --135.5000;70.5000 --135.5000;71.0000 --135.5000;71.5000 --135.5000;72.0000 --135.5000;72.5000 --135.5000;73.0000 --135.5000;73.5000 --135.5000;74.0000 --135.5000;74.5000 --135.5000;75.0000 --135.5000;75.5000 --135.5000;76.0000 --135.5000;76.5000 --135.5000;77.0000 --135.5000;77.5000 --135.5000;78.0000 --135.5000;78.5000 --135.5000;79.0000 --135.5000;79.5000 --135.5000;80.0000 --135.5000;80.5000 --135.5000;81.0000 --135.5000;81.5000 --135.5000;82.0000 --135.5000;82.5000 --135.5000;83.0000 --135.5000;83.5000 --135.5000;84.0000 --135.5000;84.5000 --135.0000;-274.5000 --135.0000;-274.0000 --135.0000;-273.5000 --135.0000;-273.0000 --135.0000;-272.5000 --135.0000;-272.0000 --135.0000;-271.5000 --135.0000;-271.0000 --135.0000;-270.5000 --135.0000;-270.0000 --135.0000;-269.5000 --135.0000;-269.0000 --135.0000;-268.5000 --135.0000;-268.0000 --135.0000;-267.5000 --135.0000;-267.0000 --135.0000;-266.5000 --135.0000;-266.0000 --135.0000;-265.5000 --135.0000;-265.0000 --135.0000;-264.5000 --135.0000;-264.0000 --135.0000;-263.5000 --135.0000;-263.0000 --135.0000;-262.5000 --135.0000;-262.0000 --135.0000;-261.5000 --135.0000;68.5000 --135.0000;69.0000 --135.0000;69.5000 --135.0000;70.0000 --135.0000;70.5000 --135.0000;71.0000 --135.0000;71.5000 --135.0000;72.0000 --135.0000;72.5000 --135.0000;73.0000 --135.0000;73.5000 --135.0000;74.0000 --135.0000;74.5000 --135.0000;75.0000 --135.0000;75.5000 --135.0000;76.0000 --135.0000;76.5000 --135.0000;77.0000 --135.0000;77.5000 --135.0000;78.0000 --135.0000;78.5000 --135.0000;79.0000 --135.0000;79.5000 --135.0000;80.0000 --135.0000;80.5000 --135.0000;81.0000 --135.0000;81.5000 --135.0000;82.0000 --135.0000;82.5000 --135.0000;83.0000 --135.0000;83.5000 --135.0000;84.0000 --134.5000;-274.5000 --134.5000;-274.0000 --134.5000;-273.5000 --134.5000;-273.0000 --134.5000;-272.5000 --134.5000;-272.0000 --134.5000;-271.5000 --134.5000;-271.0000 --134.5000;-270.5000 --134.5000;-270.0000 --134.5000;-269.5000 --134.5000;-269.0000 --134.5000;-268.5000 --134.5000;-268.0000 --134.5000;-267.5000 --134.5000;-267.0000 --134.5000;-266.5000 --134.5000;-266.0000 --134.5000;-265.5000 --134.5000;-265.0000 --134.5000;-264.5000 --134.5000;-264.0000 --134.5000;-263.5000 --134.5000;-263.0000 --134.5000;-262.5000 --134.5000;-262.0000 --134.5000;68.0000 --134.5000;68.5000 --134.5000;69.0000 --134.5000;69.5000 --134.5000;70.0000 --134.5000;70.5000 --134.5000;71.0000 --134.5000;71.5000 --134.5000;72.0000 --134.5000;72.5000 --134.5000;73.0000 --134.5000;73.5000 --134.5000;74.0000 --134.5000;74.5000 --134.5000;75.0000 --134.5000;75.5000 --134.5000;76.0000 --134.5000;76.5000 --134.5000;77.0000 --134.5000;77.5000 --134.5000;78.0000 --134.5000;78.5000 --134.5000;79.0000 --134.5000;79.5000 --134.5000;80.0000 --134.5000;80.5000 --134.5000;81.0000 --134.5000;81.5000 --134.5000;82.0000 --134.5000;82.5000 --134.5000;83.0000 --134.5000;83.5000 --134.5000;84.0000 --134.0000;-275.0000 --134.0000;-274.5000 --134.0000;-274.0000 --134.0000;-273.5000 --134.0000;-273.0000 --134.0000;-272.5000 --134.0000;-272.0000 --134.0000;-271.5000 --134.0000;-271.0000 --134.0000;-270.5000 --134.0000;-270.0000 --134.0000;-269.5000 --134.0000;-269.0000 --134.0000;-268.5000 --134.0000;-268.0000 --134.0000;-267.5000 --134.0000;-267.0000 --134.0000;-266.5000 --134.0000;-266.0000 --134.0000;-265.5000 --134.0000;-265.0000 --134.0000;-264.5000 --134.0000;-264.0000 --134.0000;-263.5000 --134.0000;-263.0000 --134.0000;-262.5000 --134.0000;-262.0000 --134.0000;67.5000 --134.0000;68.0000 --134.0000;68.5000 --134.0000;69.0000 --134.0000;69.5000 --134.0000;70.0000 --134.0000;70.5000 --134.0000;71.0000 --134.0000;71.5000 --134.0000;72.0000 --134.0000;72.5000 --134.0000;73.0000 --134.0000;73.5000 --134.0000;74.0000 --134.0000;74.5000 --134.0000;75.0000 --134.0000;75.5000 --134.0000;76.0000 --134.0000;76.5000 --134.0000;77.0000 --134.0000;77.5000 --134.0000;78.0000 --134.0000;78.5000 --134.0000;79.0000 --134.0000;79.5000 --134.0000;80.0000 --134.0000;80.5000 --134.0000;81.0000 --134.0000;81.5000 --134.0000;82.0000 --134.0000;82.5000 --134.0000;83.0000 --134.0000;83.5000 --133.5000;-275.0000 --133.5000;-274.5000 --133.5000;-274.0000 --133.5000;-273.5000 --133.5000;-273.0000 --133.5000;-272.5000 --133.5000;-272.0000 --133.5000;-271.5000 --133.5000;-271.0000 --133.5000;-270.5000 --133.5000;-270.0000 --133.5000;-269.5000 --133.5000;-269.0000 --133.5000;-268.5000 --133.5000;-268.0000 --133.5000;-267.5000 --133.5000;-267.0000 --133.5000;-266.5000 --133.5000;-266.0000 --133.5000;-265.5000 --133.5000;-265.0000 --133.5000;-264.5000 --133.5000;-264.0000 --133.5000;-263.5000 --133.5000;-263.0000 --133.5000;-262.5000 --133.5000;67.0000 --133.5000;67.5000 --133.5000;68.0000 --133.5000;68.5000 --133.5000;69.0000 --133.5000;69.5000 --133.5000;70.0000 --133.5000;70.5000 --133.5000;71.0000 --133.5000;71.5000 --133.5000;72.0000 --133.5000;72.5000 --133.5000;73.0000 --133.5000;73.5000 --133.5000;74.0000 --133.5000;74.5000 --133.5000;75.0000 --133.5000;75.5000 --133.5000;76.0000 --133.5000;76.5000 --133.5000;77.0000 --133.5000;77.5000 --133.5000;78.0000 --133.5000;78.5000 --133.5000;79.0000 --133.5000;79.5000 --133.5000;80.0000 --133.5000;80.5000 --133.5000;81.0000 --133.5000;81.5000 --133.5000;82.0000 --133.5000;82.5000 --133.5000;83.0000 --133.0000;-275.0000 --133.0000;-274.5000 --133.0000;-274.0000 --133.0000;-273.5000 --133.0000;-273.0000 --133.0000;-272.5000 --133.0000;-272.0000 --133.0000;-271.5000 --133.0000;-271.0000 --133.0000;-270.5000 --133.0000;-270.0000 --133.0000;-269.5000 --133.0000;-269.0000 --133.0000;-268.5000 --133.0000;-268.0000 --133.0000;-267.5000 --133.0000;-267.0000 --133.0000;-266.5000 --133.0000;-266.0000 --133.0000;-265.5000 --133.0000;-265.0000 --133.0000;-264.5000 --133.0000;-264.0000 --133.0000;-263.5000 --133.0000;-263.0000 --133.0000;-262.5000 --133.0000;67.0000 --133.0000;67.5000 --133.0000;68.0000 --133.0000;68.5000 --133.0000;69.0000 --133.0000;69.5000 --133.0000;70.0000 --133.0000;70.5000 --133.0000;71.0000 --133.0000;71.5000 --133.0000;72.0000 --133.0000;72.5000 --133.0000;73.0000 --133.0000;73.5000 --133.0000;74.0000 --133.0000;74.5000 --133.0000;75.0000 --133.0000;75.5000 --133.0000;76.0000 --133.0000;76.5000 --133.0000;77.0000 --133.0000;77.5000 --133.0000;78.0000 --133.0000;78.5000 --133.0000;79.0000 --133.0000;79.5000 --133.0000;80.0000 --133.0000;80.5000 --133.0000;81.0000 --133.0000;81.5000 --133.0000;82.0000 --133.0000;82.5000 --132.5000;-275.5000 --132.5000;-275.0000 --132.5000;-274.5000 --132.5000;-274.0000 --132.5000;-273.5000 --132.5000;-273.0000 --132.5000;-272.5000 --132.5000;-272.0000 --132.5000;-271.5000 --132.5000;-271.0000 --132.5000;-270.5000 --132.5000;-270.0000 --132.5000;-269.5000 --132.5000;-269.0000 --132.5000;-268.5000 --132.5000;-268.0000 --132.5000;-267.5000 --132.5000;-267.0000 --132.5000;-266.5000 --132.5000;-266.0000 --132.5000;-265.5000 --132.5000;-265.0000 --132.5000;-264.5000 --132.5000;-264.0000 --132.5000;-263.5000 --132.5000;-263.0000 --132.5000;-262.5000 --132.5000;66.5000 --132.5000;67.0000 --132.5000;67.5000 --132.5000;68.0000 --132.5000;68.5000 --132.5000;69.0000 --132.5000;69.5000 --132.5000;70.0000 --132.5000;70.5000 --132.5000;71.0000 --132.5000;71.5000 --132.5000;72.0000 --132.5000;72.5000 --132.5000;73.0000 --132.5000;73.5000 --132.5000;74.0000 --132.5000;74.5000 --132.5000;75.0000 --132.5000;75.5000 --132.5000;76.0000 --132.5000;76.5000 --132.5000;77.0000 --132.5000;77.5000 --132.5000;78.0000 --132.5000;78.5000 --132.5000;79.0000 --132.5000;79.5000 --132.5000;80.0000 --132.5000;80.5000 --132.5000;81.0000 --132.5000;81.5000 --132.5000;82.0000 --132.0000;-275.5000 --132.0000;-275.0000 --132.0000;-274.5000 --132.0000;-274.0000 --132.0000;-273.5000 --132.0000;-273.0000 --132.0000;-272.5000 --132.0000;-272.0000 --132.0000;-271.5000 --132.0000;-271.0000 --132.0000;-270.5000 --132.0000;-270.0000 --132.0000;-269.5000 --132.0000;-269.0000 --132.0000;-268.5000 --132.0000;-268.0000 --132.0000;-267.5000 --132.0000;-267.0000 --132.0000;-266.5000 --132.0000;-266.0000 --132.0000;-265.5000 --132.0000;-265.0000 --132.0000;-264.5000 --132.0000;-264.0000 --132.0000;-263.5000 --132.0000;-263.0000 --132.0000;66.0000 --132.0000;66.5000 --132.0000;67.0000 --132.0000;67.5000 --132.0000;68.0000 --132.0000;68.5000 --132.0000;69.0000 --132.0000;69.5000 --132.0000;70.0000 --132.0000;70.5000 --132.0000;71.0000 --132.0000;71.5000 --132.0000;72.0000 --132.0000;72.5000 --132.0000;73.0000 --132.0000;73.5000 --132.0000;74.0000 --132.0000;74.5000 --132.0000;75.0000 --132.0000;75.5000 --132.0000;76.0000 --132.0000;76.5000 --132.0000;77.0000 --132.0000;77.5000 --132.0000;78.0000 --132.0000;78.5000 --132.0000;79.0000 --132.0000;79.5000 --132.0000;80.0000 --132.0000;80.5000 --132.0000;81.0000 --132.0000;81.5000 --131.5000;-275.5000 --131.5000;-275.0000 --131.5000;-274.5000 --131.5000;-274.0000 --131.5000;-273.5000 --131.5000;-273.0000 --131.5000;-272.5000 --131.5000;-272.0000 --131.5000;-271.5000 --131.5000;-271.0000 --131.5000;-270.5000 --131.5000;-270.0000 --131.5000;-269.5000 --131.5000;-269.0000 --131.5000;-268.5000 --131.5000;-268.0000 --131.5000;-267.5000 --131.5000;-267.0000 --131.5000;-266.5000 --131.5000;-266.0000 --131.5000;-265.5000 --131.5000;-265.0000 --131.5000;-264.5000 --131.5000;-264.0000 --131.5000;-263.5000 --131.5000;-263.0000 --131.5000;65.5000 --131.5000;66.0000 --131.5000;66.5000 --131.5000;67.0000 --131.5000;67.5000 --131.5000;68.0000 --131.5000;68.5000 --131.5000;69.0000 --131.5000;69.5000 --131.5000;70.0000 --131.5000;70.5000 --131.5000;71.0000 --131.5000;71.5000 --131.5000;72.0000 --131.5000;72.5000 --131.5000;73.0000 --131.5000;73.5000 --131.5000;74.0000 --131.5000;74.5000 --131.5000;75.0000 --131.5000;75.5000 --131.5000;76.0000 --131.5000;76.5000 --131.5000;77.0000 --131.5000;77.5000 --131.5000;78.0000 --131.5000;78.5000 --131.5000;79.0000 --131.5000;79.5000 --131.5000;80.0000 --131.5000;80.5000 --131.5000;81.0000 --131.0000;-276.0000 --131.0000;-275.5000 --131.0000;-275.0000 --131.0000;-274.5000 --131.0000;-274.0000 --131.0000;-273.5000 --131.0000;-273.0000 --131.0000;-272.5000 --131.0000;-272.0000 --131.0000;-271.5000 --131.0000;-271.0000 --131.0000;-270.5000 --131.0000;-270.0000 --131.0000;-269.5000 --131.0000;-269.0000 --131.0000;-268.5000 --131.0000;-268.0000 --131.0000;-267.5000 --131.0000;-267.0000 --131.0000;-266.5000 --131.0000;-266.0000 --131.0000;-265.5000 --131.0000;-265.0000 --131.0000;-264.5000 --131.0000;-264.0000 --131.0000;-263.5000 --131.0000;-263.0000 --131.0000;65.5000 --131.0000;66.0000 --131.0000;66.5000 --131.0000;67.0000 --131.0000;67.5000 --131.0000;68.0000 --131.0000;68.5000 --131.0000;69.0000 --131.0000;69.5000 --131.0000;70.0000 --131.0000;70.5000 --131.0000;71.0000 --131.0000;71.5000 --131.0000;72.0000 --131.0000;72.5000 --131.0000;73.0000 --131.0000;73.5000 --131.0000;74.0000 --131.0000;74.5000 --131.0000;75.0000 --131.0000;75.5000 --131.0000;76.0000 --131.0000;76.5000 --131.0000;77.0000 --131.0000;77.5000 --131.0000;78.0000 --131.0000;78.5000 --131.0000;79.0000 --131.0000;79.5000 --131.0000;80.0000 --131.0000;80.5000 --131.0000;81.0000 --130.5000;-276.0000 --130.5000;-275.5000 --130.5000;-275.0000 --130.5000;-274.5000 --130.5000;-274.0000 --130.5000;-273.5000 --130.5000;-273.0000 --130.5000;-272.5000 --130.5000;-272.0000 --130.5000;-271.5000 --130.5000;-271.0000 --130.5000;-270.5000 --130.5000;-270.0000 --130.5000;-269.5000 --130.5000;-269.0000 --130.5000;-268.5000 --130.5000;-268.0000 --130.5000;-267.5000 --130.5000;-267.0000 --130.5000;-266.5000 --130.5000;-266.0000 --130.5000;-265.5000 --130.5000;-265.0000 --130.5000;-264.5000 --130.5000;-264.0000 --130.5000;-263.5000 --130.5000;65.0000 --130.5000;65.5000 --130.5000;66.0000 --130.5000;66.5000 --130.5000;67.0000 --130.5000;67.5000 --130.5000;68.0000 --130.5000;68.5000 --130.5000;69.0000 --130.5000;69.5000 --130.5000;70.0000 --130.5000;70.5000 --130.5000;71.0000 --130.5000;71.5000 --130.5000;72.0000 --130.5000;72.5000 --130.5000;73.0000 --130.5000;73.5000 --130.5000;74.0000 --130.5000;74.5000 --130.5000;75.0000 --130.5000;75.5000 --130.5000;76.0000 --130.5000;76.5000 --130.5000;77.0000 --130.5000;77.5000 --130.5000;78.0000 --130.5000;78.5000 --130.5000;79.0000 --130.5000;79.5000 --130.5000;80.0000 --130.5000;80.5000 --130.0000;-276.0000 --130.0000;-275.5000 --130.0000;-275.0000 --130.0000;-274.5000 --130.0000;-274.0000 --130.0000;-273.5000 --130.0000;-273.0000 --130.0000;-272.5000 --130.0000;-272.0000 --130.0000;-271.5000 --130.0000;-271.0000 --130.0000;-270.5000 --130.0000;-270.0000 --130.0000;-269.5000 --130.0000;-269.0000 --130.0000;-268.5000 --130.0000;-268.0000 --130.0000;-267.5000 --130.0000;-267.0000 --130.0000;-266.5000 --130.0000;-266.0000 --130.0000;-265.5000 --130.0000;-265.0000 --130.0000;-264.5000 --130.0000;-264.0000 --130.0000;-263.5000 --130.0000;64.5000 --130.0000;65.0000 --130.0000;65.5000 --130.0000;66.0000 --130.0000;66.5000 --130.0000;67.0000 --130.0000;67.5000 --130.0000;68.0000 --130.0000;68.5000 --130.0000;69.0000 --130.0000;69.5000 --130.0000;70.0000 --130.0000;70.5000 --130.0000;71.0000 --130.0000;71.5000 --130.0000;72.0000 --130.0000;72.5000 --130.0000;73.0000 --130.0000;73.5000 --130.0000;74.0000 --130.0000;74.5000 --130.0000;75.0000 --130.0000;75.5000 --130.0000;76.0000 --130.0000;76.5000 --130.0000;77.0000 --130.0000;77.5000 --130.0000;78.0000 --130.0000;78.5000 --130.0000;79.0000 --130.0000;79.5000 --130.0000;80.0000 --129.5000;-276.5000 --129.5000;-276.0000 --129.5000;-275.5000 --129.5000;-275.0000 --129.5000;-274.5000 --129.5000;-274.0000 --129.5000;-273.5000 --129.5000;-273.0000 --129.5000;-272.5000 --129.5000;-272.0000 --129.5000;-271.5000 --129.5000;-271.0000 --129.5000;-270.5000 --129.5000;-270.0000 --129.5000;-269.5000 --129.5000;-269.0000 --129.5000;-268.5000 --129.5000;-268.0000 --129.5000;-267.5000 --129.5000;-267.0000 --129.5000;-266.5000 --129.5000;-266.0000 --129.5000;-265.5000 --129.5000;-265.0000 --129.5000;-264.5000 --129.5000;-264.0000 --129.5000;64.0000 --129.5000;64.5000 --129.5000;65.0000 --129.5000;65.5000 --129.5000;66.0000 --129.5000;66.5000 --129.5000;67.0000 --129.5000;67.5000 --129.5000;68.0000 --129.5000;68.5000 --129.5000;69.0000 --129.5000;69.5000 --129.5000;70.0000 --129.5000;70.5000 --129.5000;71.0000 --129.5000;71.5000 --129.5000;72.0000 --129.5000;72.5000 --129.5000;73.0000 --129.5000;73.5000 --129.5000;74.0000 --129.5000;74.5000 --129.5000;75.0000 --129.5000;75.5000 --129.5000;76.0000 --129.5000;76.5000 --129.5000;77.0000 --129.5000;77.5000 --129.5000;78.0000 --129.5000;78.5000 --129.5000;79.0000 --129.5000;79.5000 --129.0000;-276.5000 --129.0000;-276.0000 --129.0000;-275.5000 --129.0000;-275.0000 --129.0000;-274.5000 --129.0000;-274.0000 --129.0000;-273.5000 --129.0000;-273.0000 --129.0000;-272.5000 --129.0000;-272.0000 --129.0000;-271.5000 --129.0000;-271.0000 --129.0000;-270.5000 --129.0000;-270.0000 --129.0000;-269.5000 --129.0000;-269.0000 --129.0000;-268.5000 --129.0000;-268.0000 --129.0000;-267.5000 --129.0000;-267.0000 --129.0000;-266.5000 --129.0000;-266.0000 --129.0000;-265.5000 --129.0000;-265.0000 --129.0000;-264.5000 --129.0000;-264.0000 --129.0000;64.0000 --129.0000;64.5000 --129.0000;65.0000 --129.0000;65.5000 --129.0000;66.0000 --129.0000;66.5000 --129.0000;67.0000 --129.0000;67.5000 --129.0000;68.0000 --129.0000;68.5000 --129.0000;69.0000 --129.0000;69.5000 --129.0000;70.0000 --129.0000;70.5000 --129.0000;71.0000 --129.0000;71.5000 --129.0000;72.0000 --129.0000;72.5000 --129.0000;73.0000 --129.0000;73.5000 --129.0000;74.0000 --129.0000;74.5000 --129.0000;75.0000 --129.0000;75.5000 --129.0000;76.0000 --129.0000;76.5000 --129.0000;77.0000 --129.0000;77.5000 --129.0000;78.0000 --129.0000;78.5000 --129.0000;79.0000 --128.5000;-276.5000 --128.5000;-276.0000 --128.5000;-275.5000 --128.5000;-275.0000 --128.5000;-274.5000 --128.5000;-274.0000 --128.5000;-273.5000 --128.5000;-273.0000 --128.5000;-272.5000 --128.5000;-272.0000 --128.5000;-271.5000 --128.5000;-271.0000 --128.5000;-270.5000 --128.5000;-270.0000 --128.5000;-269.5000 --128.5000;-269.0000 --128.5000;-268.5000 --128.5000;-268.0000 --128.5000;-267.5000 --128.5000;-267.0000 --128.5000;-266.5000 --128.5000;-266.0000 --128.5000;-265.5000 --128.5000;-265.0000 --128.5000;-264.5000 --128.5000;-264.0000 --128.5000;63.5000 --128.5000;64.0000 --128.5000;64.5000 --128.5000;65.0000 --128.5000;65.5000 --128.5000;66.0000 --128.5000;66.5000 --128.5000;67.0000 --128.5000;67.5000 --128.5000;68.0000 --128.5000;68.5000 --128.5000;69.0000 --128.5000;69.5000 --128.5000;70.0000 --128.5000;70.5000 --128.5000;71.0000 --128.5000;71.5000 --128.5000;72.0000 --128.5000;72.5000 --128.5000;73.0000 --128.5000;73.5000 --128.5000;74.0000 --128.5000;74.5000 --128.5000;75.0000 --128.5000;75.5000 --128.5000;76.0000 --128.5000;76.5000 --128.5000;77.0000 --128.5000;77.5000 --128.5000;78.0000 --128.5000;78.5000 --128.0000;-277.0000 --128.0000;-276.5000 --128.0000;-276.0000 --128.0000;-275.5000 --128.0000;-275.0000 --128.0000;-274.5000 --128.0000;-274.0000 --128.0000;-273.5000 --128.0000;-273.0000 --128.0000;-272.5000 --128.0000;-272.0000 --128.0000;-271.5000 --128.0000;-271.0000 --128.0000;-270.5000 --128.0000;-270.0000 --128.0000;-269.5000 --128.0000;-269.0000 --128.0000;-268.5000 --128.0000;-268.0000 --128.0000;-267.5000 --128.0000;-267.0000 --128.0000;-266.5000 --128.0000;-266.0000 --128.0000;-265.5000 --128.0000;-265.0000 --128.0000;-264.5000 --128.0000;63.0000 --128.0000;63.5000 --128.0000;64.0000 --128.0000;64.5000 --128.0000;65.0000 --128.0000;65.5000 --128.0000;66.0000 --128.0000;66.5000 --128.0000;67.0000 --128.0000;67.5000 --128.0000;68.0000 --128.0000;68.5000 --128.0000;69.0000 --128.0000;69.5000 --128.0000;70.0000 --128.0000;70.5000 --128.0000;71.0000 --128.0000;71.5000 --128.0000;72.0000 --128.0000;72.5000 --128.0000;73.0000 --128.0000;73.5000 --128.0000;74.0000 --128.0000;74.5000 --128.0000;75.0000 --128.0000;75.5000 --128.0000;76.0000 --128.0000;76.5000 --128.0000;77.0000 --128.0000;77.5000 --128.0000;78.0000 --128.0000;78.5000 --127.5000;-277.0000 --127.5000;-276.5000 --127.5000;-276.0000 --127.5000;-275.5000 --127.5000;-275.0000 --127.5000;-274.5000 --127.5000;-274.0000 --127.5000;-273.5000 --127.5000;-273.0000 --127.5000;-272.5000 --127.5000;-272.0000 --127.5000;-271.5000 --127.5000;-271.0000 --127.5000;-270.5000 --127.5000;-270.0000 --127.5000;-269.5000 --127.5000;-269.0000 --127.5000;-268.5000 --127.5000;-268.0000 --127.5000;-267.5000 --127.5000;-267.0000 --127.5000;-266.5000 --127.5000;-266.0000 --127.5000;-265.5000 --127.5000;-265.0000 --127.5000;-264.5000 --127.5000;62.5000 --127.5000;63.0000 --127.5000;63.5000 --127.5000;64.0000 --127.5000;64.5000 --127.5000;65.0000 --127.5000;65.5000 --127.5000;66.0000 --127.5000;66.5000 --127.5000;67.0000 --127.5000;67.5000 --127.5000;68.0000 --127.5000;68.5000 --127.5000;69.0000 --127.5000;69.5000 --127.5000;70.0000 --127.5000;70.5000 --127.5000;71.0000 --127.5000;71.5000 --127.5000;72.0000 --127.5000;72.5000 --127.5000;73.0000 --127.5000;73.5000 --127.5000;74.0000 --127.5000;74.5000 --127.5000;75.0000 --127.5000;75.5000 --127.5000;76.0000 --127.5000;76.5000 --127.5000;77.0000 --127.5000;77.5000 --127.5000;78.0000 --127.0000;-277.5000 --127.0000;-277.0000 --127.0000;-276.5000 --127.0000;-276.0000 --127.0000;-275.5000 --127.0000;-275.0000 --127.0000;-274.5000 --127.0000;-274.0000 --127.0000;-273.5000 --127.0000;-273.0000 --127.0000;-272.5000 --127.0000;-272.0000 --127.0000;-271.5000 --127.0000;-271.0000 --127.0000;-270.5000 --127.0000;-270.0000 --127.0000;-269.5000 --127.0000;-269.0000 --127.0000;-268.5000 --127.0000;-268.0000 --127.0000;-267.5000 --127.0000;-267.0000 --127.0000;-266.5000 --127.0000;-266.0000 --127.0000;-265.5000 --127.0000;-265.0000 --127.0000;-264.5000 --127.0000;62.5000 --127.0000;63.0000 --127.0000;63.5000 --127.0000;64.0000 --127.0000;64.5000 --127.0000;65.0000 --127.0000;65.5000 --127.0000;66.0000 --127.0000;66.5000 --127.0000;67.0000 --127.0000;67.5000 --127.0000;68.0000 --127.0000;68.5000 --127.0000;69.0000 --127.0000;69.5000 --127.0000;70.0000 --127.0000;70.5000 --127.0000;71.0000 --127.0000;71.5000 --127.0000;72.0000 --127.0000;72.5000 --127.0000;73.0000 --127.0000;73.5000 --127.0000;74.0000 --127.0000;74.5000 --127.0000;75.0000 --127.0000;75.5000 --127.0000;76.0000 --127.0000;76.5000 --127.0000;77.0000 --127.0000;77.5000 --126.5000;-277.5000 --126.5000;-277.0000 --126.5000;-276.5000 --126.5000;-276.0000 --126.5000;-275.5000 --126.5000;-275.0000 --126.5000;-274.5000 --126.5000;-274.0000 --126.5000;-273.5000 --126.5000;-273.0000 --126.5000;-272.5000 --126.5000;-272.0000 --126.5000;-271.5000 --126.5000;-271.0000 --126.5000;-270.5000 --126.5000;-270.0000 --126.5000;-269.5000 --126.5000;-269.0000 --126.5000;-268.5000 --126.5000;-268.0000 --126.5000;-267.5000 --126.5000;-267.0000 --126.5000;-266.5000 --126.5000;-266.0000 --126.5000;-265.5000 --126.5000;-265.0000 --126.5000;62.0000 --126.5000;62.5000 --126.5000;63.0000 --126.5000;63.5000 --126.5000;64.0000 --126.5000;64.5000 --126.5000;65.0000 --126.5000;65.5000 --126.5000;66.0000 --126.5000;66.5000 --126.5000;67.0000 --126.5000;67.5000 --126.5000;68.0000 --126.5000;68.5000 --126.5000;69.0000 --126.5000;69.5000 --126.5000;70.0000 --126.5000;70.5000 --126.5000;71.0000 --126.5000;71.5000 --126.5000;72.0000 --126.5000;72.5000 --126.5000;73.0000 --126.5000;73.5000 --126.5000;74.0000 --126.5000;74.5000 --126.5000;75.0000 --126.5000;75.5000 --126.5000;76.0000 --126.5000;76.5000 --126.5000;77.0000 --126.0000;-277.5000 --126.0000;-277.0000 --126.0000;-276.5000 --126.0000;-276.0000 --126.0000;-275.5000 --126.0000;-275.0000 --126.0000;-274.5000 --126.0000;-274.0000 --126.0000;-273.5000 --126.0000;-273.0000 --126.0000;-272.5000 --126.0000;-272.0000 --126.0000;-271.5000 --126.0000;-271.0000 --126.0000;-270.5000 --126.0000;-270.0000 --126.0000;-269.5000 --126.0000;-269.0000 --126.0000;-268.5000 --126.0000;-268.0000 --126.0000;-267.5000 --126.0000;-267.0000 --126.0000;-266.5000 --126.0000;-266.0000 --126.0000;-265.5000 --126.0000;-265.0000 --126.0000;61.5000 --126.0000;62.0000 --126.0000;62.5000 --126.0000;63.0000 --126.0000;63.5000 --126.0000;64.0000 --126.0000;64.5000 --126.0000;65.0000 --126.0000;65.5000 --126.0000;66.0000 --126.0000;66.5000 --126.0000;67.0000 --126.0000;67.5000 --126.0000;68.0000 --126.0000;68.5000 --126.0000;69.0000 --126.0000;69.5000 --126.0000;70.0000 --126.0000;70.5000 --126.0000;71.0000 --126.0000;71.5000 --126.0000;72.0000 --126.0000;72.5000 --126.0000;73.0000 --126.0000;73.5000 --126.0000;74.0000 --126.0000;74.5000 --126.0000;75.0000 --126.0000;75.5000 --126.0000;76.0000 --126.0000;76.5000 --125.5000;-278.0000 --125.5000;-277.5000 --125.5000;-277.0000 --125.5000;-276.5000 --125.5000;-276.0000 --125.5000;-275.5000 --125.5000;-275.0000 --125.5000;-274.5000 --125.5000;-274.0000 --125.5000;-273.5000 --125.5000;-273.0000 --125.5000;-272.5000 --125.5000;-272.0000 --125.5000;-271.5000 --125.5000;-271.0000 --125.5000;-270.5000 --125.5000;-270.0000 --125.5000;-269.5000 --125.5000;-269.0000 --125.5000;-268.5000 --125.5000;-268.0000 --125.5000;-267.5000 --125.5000;-267.0000 --125.5000;-266.5000 --125.5000;-266.0000 --125.5000;-265.5000 --125.5000;-265.0000 --125.5000;61.0000 --125.5000;61.5000 --125.5000;62.0000 --125.5000;62.5000 --125.5000;63.0000 --125.5000;63.5000 --125.5000;64.0000 --125.5000;64.5000 --125.5000;65.0000 --125.5000;65.5000 --125.5000;66.0000 --125.5000;66.5000 --125.5000;67.0000 --125.5000;67.5000 --125.5000;68.0000 --125.5000;68.5000 --125.5000;69.0000 --125.5000;69.5000 --125.5000;70.0000 --125.5000;70.5000 --125.5000;71.0000 --125.5000;71.5000 --125.5000;72.0000 --125.5000;72.5000 --125.5000;73.0000 --125.5000;73.5000 --125.5000;74.0000 --125.5000;74.5000 --125.5000;75.0000 --125.5000;75.5000 --125.5000;76.0000 --125.0000;-278.0000 --125.0000;-277.5000 --125.0000;-277.0000 --125.0000;-276.5000 --125.0000;-276.0000 --125.0000;-275.5000 --125.0000;-275.0000 --125.0000;-274.5000 --125.0000;-274.0000 --125.0000;-273.5000 --125.0000;-273.0000 --125.0000;-272.5000 --125.0000;-272.0000 --125.0000;-271.5000 --125.0000;-271.0000 --125.0000;-270.5000 --125.0000;-270.0000 --125.0000;-269.5000 --125.0000;-269.0000 --125.0000;-268.5000 --125.0000;-268.0000 --125.0000;-267.5000 --125.0000;-267.0000 --125.0000;-266.5000 --125.0000;-266.0000 --125.0000;-265.5000 --125.0000;61.0000 --125.0000;61.5000 --125.0000;62.0000 --125.0000;62.5000 --125.0000;63.0000 --125.0000;63.5000 --125.0000;64.0000 --125.0000;64.5000 --125.0000;65.0000 --125.0000;65.5000 --125.0000;66.0000 --125.0000;66.5000 --125.0000;67.0000 --125.0000;67.5000 --125.0000;68.0000 --125.0000;68.5000 --125.0000;69.0000 --125.0000;69.5000 --125.0000;70.0000 --125.0000;70.5000 --125.0000;71.0000 --125.0000;71.5000 --125.0000;72.0000 --125.0000;72.5000 --125.0000;73.0000 --125.0000;73.5000 --125.0000;74.0000 --125.0000;74.5000 --125.0000;75.0000 --125.0000;75.5000 --125.0000;76.0000 --124.5000;-278.0000 --124.5000;-277.5000 --124.5000;-277.0000 --124.5000;-276.5000 --124.5000;-276.0000 --124.5000;-275.5000 --124.5000;-275.0000 --124.5000;-274.5000 --124.5000;-274.0000 --124.5000;-273.5000 --124.5000;-273.0000 --124.5000;-272.5000 --124.5000;-272.0000 --124.5000;-271.5000 --124.5000;-271.0000 --124.5000;-270.5000 --124.5000;-270.0000 --124.5000;-269.5000 --124.5000;-269.0000 --124.5000;-268.5000 --124.5000;-268.0000 --124.5000;-267.5000 --124.5000;-267.0000 --124.5000;-266.5000 --124.5000;-266.0000 --124.5000;-265.5000 --124.5000;60.5000 --124.5000;61.0000 --124.5000;61.5000 --124.5000;62.0000 --124.5000;62.5000 --124.5000;63.0000 --124.5000;63.5000 --124.5000;64.0000 --124.5000;64.5000 --124.5000;65.0000 --124.5000;65.5000 --124.5000;66.0000 --124.5000;66.5000 --124.5000;67.0000 --124.5000;67.5000 --124.5000;68.0000 --124.5000;68.5000 --124.5000;69.0000 --124.5000;69.5000 --124.5000;70.0000 --124.5000;70.5000 --124.5000;71.0000 --124.5000;71.5000 --124.5000;72.0000 --124.5000;72.5000 --124.5000;73.0000 --124.5000;73.5000 --124.5000;74.0000 --124.5000;74.5000 --124.5000;75.0000 --124.5000;75.5000 --124.0000;-278.5000 --124.0000;-278.0000 --124.0000;-277.5000 --124.0000;-277.0000 --124.0000;-276.5000 --124.0000;-276.0000 --124.0000;-275.5000 --124.0000;-275.0000 --124.0000;-274.5000 --124.0000;-274.0000 --124.0000;-273.5000 --124.0000;-273.0000 --124.0000;-272.5000 --124.0000;-272.0000 --124.0000;-271.5000 --124.0000;-271.0000 --124.0000;-270.5000 --124.0000;-270.0000 --124.0000;-269.5000 --124.0000;-269.0000 --124.0000;-268.5000 --124.0000;-268.0000 --124.0000;-267.5000 --124.0000;-267.0000 --124.0000;-266.5000 --124.0000;-266.0000 --124.0000;60.0000 --124.0000;60.5000 --124.0000;61.0000 --124.0000;61.5000 --124.0000;62.0000 --124.0000;62.5000 --124.0000;63.0000 --124.0000;63.5000 --124.0000;64.0000 --124.0000;64.5000 --124.0000;65.0000 --124.0000;65.5000 --124.0000;66.0000 --124.0000;66.5000 --124.0000;67.0000 --124.0000;67.5000 --124.0000;68.0000 --124.0000;68.5000 --124.0000;69.0000 --124.0000;69.5000 --124.0000;70.0000 --124.0000;70.5000 --124.0000;71.0000 --124.0000;71.5000 --124.0000;72.0000 --124.0000;72.5000 --124.0000;73.0000 --124.0000;73.5000 --124.0000;74.0000 --124.0000;74.5000 --124.0000;75.0000 --123.5000;-278.5000 --123.5000;-278.0000 --123.5000;-277.5000 --123.5000;-277.0000 --123.5000;-276.5000 --123.5000;-276.0000 --123.5000;-275.5000 --123.5000;-275.0000 --123.5000;-274.5000 --123.5000;-274.0000 --123.5000;-273.5000 --123.5000;-273.0000 --123.5000;-272.5000 --123.5000;-272.0000 --123.5000;-271.5000 --123.5000;-271.0000 --123.5000;-270.5000 --123.5000;-270.0000 --123.5000;-269.5000 --123.5000;-269.0000 --123.5000;-268.5000 --123.5000;-268.0000 --123.5000;-267.5000 --123.5000;-267.0000 --123.5000;-266.5000 --123.5000;-266.0000 --123.5000;59.5000 --123.5000;60.0000 --123.5000;60.5000 --123.5000;61.0000 --123.5000;61.5000 --123.5000;62.0000 --123.5000;62.5000 --123.5000;63.0000 --123.5000;63.5000 --123.5000;64.0000 --123.5000;64.5000 --123.5000;65.0000 --123.5000;65.5000 --123.5000;66.0000 --123.5000;66.5000 --123.5000;67.0000 --123.5000;67.5000 --123.5000;68.0000 --123.5000;68.5000 --123.5000;69.0000 --123.5000;69.5000 --123.5000;70.0000 --123.5000;70.5000 --123.5000;71.0000 --123.5000;71.5000 --123.5000;72.0000 --123.5000;72.5000 --123.5000;73.0000 --123.5000;73.5000 --123.5000;74.0000 --123.5000;74.5000 --123.0000;-278.5000 --123.0000;-278.0000 --123.0000;-277.5000 --123.0000;-277.0000 --123.0000;-276.5000 --123.0000;-276.0000 --123.0000;-275.5000 --123.0000;-275.0000 --123.0000;-274.5000 --123.0000;-274.0000 --123.0000;-273.5000 --123.0000;-273.0000 --123.0000;-272.5000 --123.0000;-272.0000 --123.0000;-271.5000 --123.0000;-271.0000 --123.0000;-270.5000 --123.0000;-270.0000 --123.0000;-269.5000 --123.0000;-269.0000 --123.0000;-268.5000 --123.0000;-268.0000 --123.0000;-267.5000 --123.0000;-267.0000 --123.0000;-266.5000 --123.0000;-266.0000 --123.0000;59.5000 --123.0000;60.0000 --123.0000;60.5000 --123.0000;61.0000 --123.0000;61.5000 --123.0000;62.0000 --123.0000;62.5000 --123.0000;63.0000 --123.0000;63.5000 --123.0000;64.0000 --123.0000;64.5000 --123.0000;65.0000 --123.0000;65.5000 --123.0000;66.0000 --123.0000;66.5000 --123.0000;67.0000 --123.0000;67.5000 --123.0000;68.0000 --123.0000;68.5000 --123.0000;69.0000 --123.0000;69.5000 --123.0000;70.0000 --123.0000;70.5000 --123.0000;71.0000 --123.0000;71.5000 --123.0000;72.0000 --123.0000;72.5000 --123.0000;73.0000 --123.0000;73.5000 --123.0000;74.0000 --122.5000;-279.0000 --122.5000;-278.5000 --122.5000;-278.0000 --122.5000;-277.5000 --122.5000;-277.0000 --122.5000;-276.5000 --122.5000;-276.0000 --122.5000;-275.5000 --122.5000;-275.0000 --122.5000;-274.5000 --122.5000;-274.0000 --122.5000;-273.5000 --122.5000;-273.0000 --122.5000;-272.5000 --122.5000;-272.0000 --122.5000;-271.5000 --122.5000;-271.0000 --122.5000;-270.5000 --122.5000;-270.0000 --122.5000;-269.5000 --122.5000;-269.0000 --122.5000;-268.5000 --122.5000;-268.0000 --122.5000;-267.5000 --122.5000;-267.0000 --122.5000;-266.5000 --122.5000;59.0000 --122.5000;59.5000 --122.5000;60.0000 --122.5000;60.5000 --122.5000;61.0000 --122.5000;61.5000 --122.5000;62.0000 --122.5000;62.5000 --122.5000;63.0000 --122.5000;63.5000 --122.5000;64.0000 --122.5000;64.5000 --122.5000;65.0000 --122.5000;65.5000 --122.5000;66.0000 --122.5000;66.5000 --122.5000;67.0000 --122.5000;67.5000 --122.5000;68.0000 --122.5000;68.5000 --122.5000;69.0000 --122.5000;69.5000 --122.5000;70.0000 --122.5000;70.5000 --122.5000;71.0000 --122.5000;71.5000 --122.5000;72.0000 --122.5000;72.5000 --122.5000;73.0000 --122.5000;73.5000 --122.5000;74.0000 --122.0000;-279.0000 --122.0000;-278.5000 --122.0000;-278.0000 --122.0000;-277.5000 --122.0000;-277.0000 --122.0000;-276.5000 --122.0000;-276.0000 --122.0000;-275.5000 --122.0000;-275.0000 --122.0000;-274.5000 --122.0000;-274.0000 --122.0000;-273.5000 --122.0000;-273.0000 --122.0000;-272.5000 --122.0000;-272.0000 --122.0000;-271.5000 --122.0000;-271.0000 --122.0000;-270.5000 --122.0000;-270.0000 --122.0000;-269.5000 --122.0000;-269.0000 --122.0000;-268.5000 --122.0000;-268.0000 --122.0000;-267.5000 --122.0000;-267.0000 --122.0000;-266.5000 --122.0000;58.5000 --122.0000;59.0000 --122.0000;59.5000 --122.0000;60.0000 --122.0000;60.5000 --122.0000;61.0000 --122.0000;61.5000 --122.0000;62.0000 --122.0000;62.5000 --122.0000;63.0000 --122.0000;63.5000 --122.0000;64.0000 --122.0000;64.5000 --122.0000;65.0000 --122.0000;65.5000 --122.0000;66.0000 --122.0000;66.5000 --122.0000;67.0000 --122.0000;67.5000 --122.0000;68.0000 --122.0000;68.5000 --122.0000;69.0000 --122.0000;69.5000 --122.0000;70.0000 --122.0000;70.5000 --122.0000;71.0000 --122.0000;71.5000 --122.0000;72.0000 --122.0000;72.5000 --122.0000;73.0000 --122.0000;73.5000 --121.5000;-279.0000 --121.5000;-278.5000 --121.5000;-278.0000 --121.5000;-277.5000 --121.5000;-277.0000 --121.5000;-276.5000 --121.5000;-276.0000 --121.5000;-275.5000 --121.5000;-275.0000 --121.5000;-274.5000 --121.5000;-274.0000 --121.5000;-273.5000 --121.5000;-273.0000 --121.5000;-272.5000 --121.5000;-272.0000 --121.5000;-271.5000 --121.5000;-271.0000 --121.5000;-270.5000 --121.5000;-270.0000 --121.5000;-269.5000 --121.5000;-269.0000 --121.5000;-268.5000 --121.5000;-268.0000 --121.5000;-267.5000 --121.5000;-267.0000 --121.5000;-266.5000 --121.5000;58.0000 --121.5000;58.5000 --121.5000;59.0000 --121.5000;59.5000 --121.5000;60.0000 --121.5000;60.5000 --121.5000;61.0000 --121.5000;61.5000 --121.5000;62.0000 --121.5000;62.5000 --121.5000;63.0000 --121.5000;63.5000 --121.5000;64.0000 --121.5000;64.5000 --121.5000;65.0000 --121.5000;65.5000 --121.5000;66.0000 --121.5000;66.5000 --121.5000;67.0000 --121.5000;67.5000 --121.5000;68.0000 --121.5000;68.5000 --121.5000;69.0000 --121.5000;69.5000 --121.5000;70.0000 --121.5000;70.5000 --121.5000;71.0000 --121.5000;71.5000 --121.5000;72.0000 --121.5000;72.5000 --121.5000;73.0000 --121.0000;-279.5000 --121.0000;-279.0000 --121.0000;-278.5000 --121.0000;-278.0000 --121.0000;-277.5000 --121.0000;-277.0000 --121.0000;-276.5000 --121.0000;-276.0000 --121.0000;-275.5000 --121.0000;-275.0000 --121.0000;-274.5000 --121.0000;-274.0000 --121.0000;-273.5000 --121.0000;-273.0000 --121.0000;-272.5000 --121.0000;-272.0000 --121.0000;-271.5000 --121.0000;-271.0000 --121.0000;-270.5000 --121.0000;-270.0000 --121.0000;-269.5000 --121.0000;-269.0000 --121.0000;-268.5000 --121.0000;-268.0000 --121.0000;-267.5000 --121.0000;-267.0000 --121.0000;58.0000 --121.0000;58.5000 --121.0000;59.0000 --121.0000;59.5000 --121.0000;60.0000 --121.0000;60.5000 --121.0000;61.0000 --121.0000;61.5000 --121.0000;62.0000 --121.0000;62.5000 --121.0000;63.0000 --121.0000;63.5000 --121.0000;64.0000 --121.0000;64.5000 --121.0000;65.0000 --121.0000;65.5000 --121.0000;66.0000 --121.0000;66.5000 --121.0000;67.0000 --121.0000;67.5000 --121.0000;68.0000 --121.0000;68.5000 --121.0000;69.0000 --121.0000;69.5000 --121.0000;70.0000 --121.0000;70.5000 --121.0000;71.0000 --121.0000;71.5000 --121.0000;72.0000 --121.0000;72.5000 --120.5000;-279.5000 --120.5000;-279.0000 --120.5000;-278.5000 --120.5000;-278.0000 --120.5000;-277.5000 --120.5000;-277.0000 --120.5000;-276.5000 --120.5000;-276.0000 --120.5000;-275.5000 --120.5000;-275.0000 --120.5000;-274.5000 --120.5000;-274.0000 --120.5000;-273.5000 --120.5000;-273.0000 --120.5000;-272.5000 --120.5000;-272.0000 --120.5000;-271.5000 --120.5000;-271.0000 --120.5000;-270.5000 --120.5000;-270.0000 --120.5000;-269.5000 --120.5000;-269.0000 --120.5000;-268.5000 --120.5000;-268.0000 --120.5000;-267.5000 --120.5000;-267.0000 --120.5000;57.5000 --120.5000;58.0000 --120.5000;58.5000 --120.5000;59.0000 --120.5000;59.5000 --120.5000;60.0000 --120.5000;60.5000 --120.5000;61.0000 --120.5000;61.5000 --120.5000;62.0000 --120.5000;62.5000 --120.5000;63.0000 --120.5000;63.5000 --120.5000;64.0000 --120.5000;64.5000 --120.5000;65.0000 --120.5000;65.5000 --120.5000;66.0000 --120.5000;66.5000 --120.5000;67.0000 --120.5000;67.5000 --120.5000;68.0000 --120.5000;68.5000 --120.5000;69.0000 --120.5000;69.5000 --120.5000;70.0000 --120.5000;70.5000 --120.5000;71.0000 --120.5000;71.5000 --120.5000;72.0000 --120.5000;72.5000 --120.0000;-279.5000 --120.0000;-279.0000 --120.0000;-278.5000 --120.0000;-278.0000 --120.0000;-277.5000 --120.0000;-277.0000 --120.0000;-276.5000 --120.0000;-276.0000 --120.0000;-275.5000 --120.0000;-275.0000 --120.0000;-274.5000 --120.0000;-274.0000 --120.0000;-273.5000 --120.0000;-273.0000 --120.0000;-272.5000 --120.0000;-272.0000 --120.0000;-271.5000 --120.0000;-271.0000 --120.0000;-270.5000 --120.0000;-270.0000 --120.0000;-269.5000 --120.0000;-269.0000 --120.0000;-268.5000 --120.0000;-268.0000 --120.0000;-267.5000 --120.0000;-267.0000 --120.0000;57.0000 --120.0000;57.5000 --120.0000;58.0000 --120.0000;58.5000 --120.0000;59.0000 --120.0000;59.5000 --120.0000;60.0000 --120.0000;60.5000 --120.0000;61.0000 --120.0000;61.5000 --120.0000;62.0000 --120.0000;62.5000 --120.0000;63.0000 --120.0000;63.5000 --120.0000;64.0000 --120.0000;64.5000 --120.0000;65.0000 --120.0000;65.5000 --120.0000;66.0000 --120.0000;66.5000 --120.0000;67.0000 --120.0000;67.5000 --120.0000;68.0000 --120.0000;68.5000 --120.0000;69.0000 --120.0000;69.5000 --120.0000;70.0000 --120.0000;70.5000 --120.0000;71.0000 --120.0000;71.5000 --120.0000;72.0000 --119.5000;-279.5000 --119.5000;-279.0000 --119.5000;-278.5000 --119.5000;-278.0000 --119.5000;-277.5000 --119.5000;-277.0000 --119.5000;-276.5000 --119.5000;-276.0000 --119.5000;-275.5000 --119.5000;-275.0000 --119.5000;-274.5000 --119.5000;-274.0000 --119.5000;-273.5000 --119.5000;-273.0000 --119.5000;-272.5000 --119.5000;-272.0000 --119.5000;-271.5000 --119.5000;-271.0000 --119.5000;-270.5000 --119.5000;-270.0000 --119.5000;-269.5000 --119.5000;-269.0000 --119.5000;-268.5000 --119.5000;-268.0000 --119.5000;-267.5000 --119.5000;57.0000 --119.5000;57.5000 --119.5000;58.0000 --119.5000;58.5000 --119.5000;59.0000 --119.5000;59.5000 --119.5000;60.0000 --119.5000;60.5000 --119.5000;61.0000 --119.5000;61.5000 --119.5000;62.0000 --119.5000;62.5000 --119.5000;63.0000 --119.5000;63.5000 --119.5000;64.0000 --119.5000;64.5000 --119.5000;65.0000 --119.5000;65.5000 --119.5000;66.0000 --119.5000;66.5000 --119.5000;67.0000 --119.5000;67.5000 --119.5000;68.0000 --119.5000;68.5000 --119.5000;69.0000 --119.5000;69.5000 --119.5000;70.0000 --119.5000;70.5000 --119.5000;71.0000 --119.5000;71.5000 --119.0000;-280.0000 --119.0000;-279.5000 --119.0000;-279.0000 --119.0000;-278.5000 --119.0000;-278.0000 --119.0000;-277.5000 --119.0000;-277.0000 --119.0000;-276.5000 --119.0000;-276.0000 --119.0000;-275.5000 --119.0000;-275.0000 --119.0000;-274.5000 --119.0000;-274.0000 --119.0000;-273.5000 --119.0000;-273.0000 --119.0000;-272.5000 --119.0000;-272.0000 --119.0000;-271.5000 --119.0000;-271.0000 --119.0000;-270.5000 --119.0000;-270.0000 --119.0000;-269.5000 --119.0000;-269.0000 --119.0000;-268.5000 --119.0000;-268.0000 --119.0000;-267.5000 --119.0000;56.5000 --119.0000;57.0000 --119.0000;57.5000 --119.0000;58.0000 --119.0000;58.5000 --119.0000;59.0000 --119.0000;59.5000 --119.0000;60.0000 --119.0000;60.5000 --119.0000;61.0000 --119.0000;61.5000 --119.0000;62.0000 --119.0000;62.5000 --119.0000;63.0000 --119.0000;63.5000 --119.0000;64.0000 --119.0000;64.5000 --119.0000;65.0000 --119.0000;65.5000 --119.0000;66.0000 --119.0000;66.5000 --119.0000;67.0000 --119.0000;67.5000 --119.0000;68.0000 --119.0000;68.5000 --119.0000;69.0000 --119.0000;69.5000 --119.0000;70.0000 --119.0000;70.5000 --119.0000;71.0000 --118.5000;-280.0000 --118.5000;-279.5000 --118.5000;-279.0000 --118.5000;-278.5000 --118.5000;-278.0000 --118.5000;-277.5000 --118.5000;-277.0000 --118.5000;-276.5000 --118.5000;-276.0000 --118.5000;-275.5000 --118.5000;-275.0000 --118.5000;-274.5000 --118.5000;-274.0000 --118.5000;-273.5000 --118.5000;-273.0000 --118.5000;-272.5000 --118.5000;-272.0000 --118.5000;-271.5000 --118.5000;-271.0000 --118.5000;-270.5000 --118.5000;-270.0000 --118.5000;-269.5000 --118.5000;-269.0000 --118.5000;-268.5000 --118.5000;-268.0000 --118.5000;-267.5000 --118.5000;56.0000 --118.5000;56.5000 --118.5000;57.0000 --118.5000;57.5000 --118.5000;58.0000 --118.5000;58.5000 --118.5000;59.0000 --118.5000;59.5000 --118.5000;60.0000 --118.5000;60.5000 --118.5000;61.0000 --118.5000;61.5000 --118.5000;62.0000 --118.5000;62.5000 --118.5000;63.0000 --118.5000;63.5000 --118.5000;64.0000 --118.5000;64.5000 --118.5000;65.0000 --118.5000;65.5000 --118.5000;66.0000 --118.5000;66.5000 --118.5000;67.0000 --118.5000;67.5000 --118.5000;68.0000 --118.5000;68.5000 --118.5000;69.0000 --118.5000;69.5000 --118.5000;70.0000 --118.5000;70.5000 --118.5000;71.0000 --118.0000;-280.0000 --118.0000;-279.5000 --118.0000;-279.0000 --118.0000;-278.5000 --118.0000;-278.0000 --118.0000;-277.5000 --118.0000;-277.0000 --118.0000;-276.5000 --118.0000;-276.0000 --118.0000;-275.5000 --118.0000;-275.0000 --118.0000;-274.5000 --118.0000;-274.0000 --118.0000;-273.5000 --118.0000;-273.0000 --118.0000;-272.5000 --118.0000;-272.0000 --118.0000;-271.5000 --118.0000;-271.0000 --118.0000;-270.5000 --118.0000;-270.0000 --118.0000;-269.5000 --118.0000;-269.0000 --118.0000;-268.5000 --118.0000;-268.0000 --118.0000;55.5000 --118.0000;56.0000 --118.0000;56.5000 --118.0000;57.0000 --118.0000;57.5000 --118.0000;58.0000 --118.0000;58.5000 --118.0000;59.0000 --118.0000;59.5000 --118.0000;60.0000 --118.0000;60.5000 --118.0000;61.0000 --118.0000;61.5000 --118.0000;62.0000 --118.0000;62.5000 --118.0000;63.0000 --118.0000;63.5000 --118.0000;64.0000 --118.0000;64.5000 --118.0000;65.0000 --118.0000;65.5000 --118.0000;66.0000 --118.0000;66.5000 --118.0000;67.0000 --118.0000;67.5000 --118.0000;68.0000 --118.0000;68.5000 --118.0000;69.0000 --118.0000;69.5000 --118.0000;70.0000 --118.0000;70.5000 --117.5000;-280.5000 --117.5000;-280.0000 --117.5000;-279.5000 --117.5000;-279.0000 --117.5000;-278.5000 --117.5000;-278.0000 --117.5000;-277.5000 --117.5000;-277.0000 --117.5000;-276.5000 --117.5000;-276.0000 --117.5000;-275.5000 --117.5000;-275.0000 --117.5000;-274.5000 --117.5000;-274.0000 --117.5000;-273.5000 --117.5000;-273.0000 --117.5000;-272.5000 --117.5000;-272.0000 --117.5000;-271.5000 --117.5000;-271.0000 --117.5000;-270.5000 --117.5000;-270.0000 --117.5000;-269.5000 --117.5000;-269.0000 --117.5000;-268.5000 --117.5000;-268.0000 --117.5000;55.5000 --117.5000;56.0000 --117.5000;56.5000 --117.5000;57.0000 --117.5000;57.5000 --117.5000;58.0000 --117.5000;58.5000 --117.5000;59.0000 --117.5000;59.5000 --117.5000;60.0000 --117.5000;60.5000 --117.5000;61.0000 --117.5000;61.5000 --117.5000;62.0000 --117.5000;62.5000 --117.5000;63.0000 --117.5000;63.5000 --117.5000;64.0000 --117.5000;64.5000 --117.5000;65.0000 --117.5000;65.5000 --117.5000;66.0000 --117.5000;66.5000 --117.5000;67.0000 --117.5000;67.5000 --117.5000;68.0000 --117.5000;68.5000 --117.5000;69.0000 --117.5000;69.5000 --117.5000;70.0000 --117.0000;-280.5000 --117.0000;-280.0000 --117.0000;-279.5000 --117.0000;-279.0000 --117.0000;-278.5000 --117.0000;-278.0000 --117.0000;-277.5000 --117.0000;-277.0000 --117.0000;-276.5000 --117.0000;-276.0000 --117.0000;-275.5000 --117.0000;-275.0000 --117.0000;-274.5000 --117.0000;-274.0000 --117.0000;-273.5000 --117.0000;-273.0000 --117.0000;-272.5000 --117.0000;-272.0000 --117.0000;-271.5000 --117.0000;-271.0000 --117.0000;-270.5000 --117.0000;-270.0000 --117.0000;-269.5000 --117.0000;-269.0000 --117.0000;-268.5000 --117.0000;-268.0000 --117.0000;55.0000 --117.0000;55.5000 --117.0000;56.0000 --117.0000;56.5000 --117.0000;57.0000 --117.0000;57.5000 --117.0000;58.0000 --117.0000;58.5000 --117.0000;59.0000 --117.0000;59.5000 --117.0000;60.0000 --117.0000;60.5000 --117.0000;61.0000 --117.0000;61.5000 --117.0000;62.0000 --117.0000;62.5000 --117.0000;63.0000 --117.0000;63.5000 --117.0000;64.0000 --117.0000;64.5000 --117.0000;65.0000 --117.0000;65.5000 --117.0000;66.0000 --117.0000;66.5000 --117.0000;67.0000 --117.0000;67.5000 --117.0000;68.0000 --117.0000;68.5000 --117.0000;69.0000 --117.0000;69.5000 --116.5000;-280.5000 --116.5000;-280.0000 --116.5000;-279.5000 --116.5000;-279.0000 --116.5000;-278.5000 --116.5000;-278.0000 --116.5000;-277.5000 --116.5000;-277.0000 --116.5000;-276.5000 --116.5000;-276.0000 --116.5000;-275.5000 --116.5000;-275.0000 --116.5000;-274.5000 --116.5000;-274.0000 --116.5000;-273.5000 --116.5000;-273.0000 --116.5000;-272.5000 --116.5000;-272.0000 --116.5000;-271.5000 --116.5000;-271.0000 --116.5000;-270.5000 --116.5000;-270.0000 --116.5000;-269.5000 --116.5000;-269.0000 --116.5000;-268.5000 --116.5000;54.5000 --116.5000;55.0000 --116.5000;55.5000 --116.5000;56.0000 --116.5000;56.5000 --116.5000;57.0000 --116.5000;57.5000 --116.5000;58.0000 --116.5000;58.5000 --116.5000;59.0000 --116.5000;59.5000 --116.5000;60.0000 --116.5000;60.5000 --116.5000;61.0000 --116.5000;61.5000 --116.5000;62.0000 --116.5000;62.5000 --116.5000;63.0000 --116.5000;63.5000 --116.5000;64.0000 --116.5000;64.5000 --116.5000;65.0000 --116.5000;65.5000 --116.5000;66.0000 --116.5000;66.5000 --116.5000;67.0000 --116.5000;67.5000 --116.5000;68.0000 --116.5000;68.5000 --116.5000;69.0000 --116.0000;-281.0000 --116.0000;-280.5000 --116.0000;-280.0000 --116.0000;-279.5000 --116.0000;-279.0000 --116.0000;-278.5000 --116.0000;-278.0000 --116.0000;-277.5000 --116.0000;-277.0000 --116.0000;-276.5000 --116.0000;-276.0000 --116.0000;-275.5000 --116.0000;-275.0000 --116.0000;-274.5000 --116.0000;-274.0000 --116.0000;-273.5000 --116.0000;-273.0000 --116.0000;-272.5000 --116.0000;-272.0000 --116.0000;-271.5000 --116.0000;-271.0000 --116.0000;-270.5000 --116.0000;-270.0000 --116.0000;-269.5000 --116.0000;-269.0000 --116.0000;-268.5000 --116.0000;54.0000 --116.0000;54.5000 --116.0000;55.0000 --116.0000;55.5000 --116.0000;56.0000 --116.0000;56.5000 --116.0000;57.0000 --116.0000;57.5000 --116.0000;58.0000 --116.0000;58.5000 --116.0000;59.0000 --116.0000;59.5000 --116.0000;60.0000 --116.0000;60.5000 --116.0000;61.0000 --116.0000;61.5000 --116.0000;62.0000 --116.0000;62.5000 --116.0000;63.0000 --116.0000;63.5000 --116.0000;64.0000 --116.0000;64.5000 --116.0000;65.0000 --116.0000;65.5000 --116.0000;66.0000 --116.0000;66.5000 --116.0000;67.0000 --116.0000;67.5000 --116.0000;68.0000 --116.0000;68.5000 --116.0000;69.0000 --115.5000;-281.0000 --115.5000;-280.5000 --115.5000;-280.0000 --115.5000;-279.5000 --115.5000;-279.0000 --115.5000;-278.5000 --115.5000;-278.0000 --115.5000;-277.5000 --115.5000;-277.0000 --115.5000;-276.5000 --115.5000;-276.0000 --115.5000;-275.5000 --115.5000;-275.0000 --115.5000;-274.5000 --115.5000;-274.0000 --115.5000;-273.5000 --115.5000;-273.0000 --115.5000;-272.5000 --115.5000;-272.0000 --115.5000;-271.5000 --115.5000;-271.0000 --115.5000;-270.5000 --115.5000;-270.0000 --115.5000;-269.5000 --115.5000;-269.0000 --115.5000;-268.5000 --115.5000;53.5000 --115.5000;54.0000 --115.5000;54.5000 --115.5000;55.0000 --115.5000;55.5000 --115.5000;56.0000 --115.5000;56.5000 --115.5000;57.0000 --115.5000;57.5000 --115.5000;58.0000 --115.5000;58.5000 --115.5000;59.0000 --115.5000;59.5000 --115.5000;60.0000 --115.5000;60.5000 --115.5000;61.0000 --115.5000;61.5000 --115.5000;62.0000 --115.5000;62.5000 --115.5000;63.0000 --115.5000;63.5000 --115.5000;64.0000 --115.5000;64.5000 --115.5000;65.0000 --115.5000;65.5000 --115.5000;66.0000 --115.5000;66.5000 --115.5000;67.0000 --115.5000;67.5000 --115.5000;68.0000 --115.5000;68.5000 --115.0000;-281.0000 --115.0000;-280.5000 --115.0000;-280.0000 --115.0000;-279.5000 --115.0000;-279.0000 --115.0000;-278.5000 --115.0000;-278.0000 --115.0000;-277.5000 --115.0000;-277.0000 --115.0000;-276.5000 --115.0000;-276.0000 --115.0000;-275.5000 --115.0000;-275.0000 --115.0000;-274.5000 --115.0000;-274.0000 --115.0000;-273.5000 --115.0000;-273.0000 --115.0000;-272.5000 --115.0000;-272.0000 --115.0000;-271.5000 --115.0000;-271.0000 --115.0000;-270.5000 --115.0000;-270.0000 --115.0000;-269.5000 --115.0000;-269.0000 --115.0000;-268.5000 --115.0000;53.5000 --115.0000;54.0000 --115.0000;54.5000 --115.0000;55.0000 --115.0000;55.5000 --115.0000;56.0000 --115.0000;56.5000 --115.0000;57.0000 --115.0000;57.5000 --115.0000;58.0000 --115.0000;58.5000 --115.0000;59.0000 --115.0000;59.5000 --115.0000;60.0000 --115.0000;60.5000 --115.0000;61.0000 --115.0000;61.5000 --115.0000;62.0000 --115.0000;62.5000 --115.0000;63.0000 --115.0000;63.5000 --115.0000;64.0000 --115.0000;64.5000 --115.0000;65.0000 --115.0000;65.5000 --115.0000;66.0000 --115.0000;66.5000 --115.0000;67.0000 --115.0000;67.5000 --115.0000;68.0000 --114.5000;-281.0000 --114.5000;-280.5000 --114.5000;-280.0000 --114.5000;-279.5000 --114.5000;-279.0000 --114.5000;-278.5000 --114.5000;-278.0000 --114.5000;-277.5000 --114.5000;-277.0000 --114.5000;-276.5000 --114.5000;-276.0000 --114.5000;-275.5000 --114.5000;-275.0000 --114.5000;-274.5000 --114.5000;-274.0000 --114.5000;-273.5000 --114.5000;-273.0000 --114.5000;-272.5000 --114.5000;-272.0000 --114.5000;-271.5000 --114.5000;-271.0000 --114.5000;-270.5000 --114.5000;-270.0000 --114.5000;-269.5000 --114.5000;-269.0000 --114.5000;53.0000 --114.5000;53.5000 --114.5000;54.0000 --114.5000;54.5000 --114.5000;55.0000 --114.5000;55.5000 --114.5000;56.0000 --114.5000;56.5000 --114.5000;57.0000 --114.5000;57.5000 --114.5000;58.0000 --114.5000;58.5000 --114.5000;59.0000 --114.5000;59.5000 --114.5000;60.0000 --114.5000;60.5000 --114.5000;61.0000 --114.5000;61.5000 --114.5000;62.0000 --114.5000;62.5000 --114.5000;63.0000 --114.5000;63.5000 --114.5000;64.0000 --114.5000;64.5000 --114.5000;65.0000 --114.5000;65.5000 --114.5000;66.0000 --114.5000;66.5000 --114.5000;67.0000 --114.5000;67.5000 --114.0000;-281.5000 --114.0000;-281.0000 --114.0000;-280.5000 --114.0000;-280.0000 --114.0000;-279.5000 --114.0000;-279.0000 --114.0000;-278.5000 --114.0000;-278.0000 --114.0000;-277.5000 --114.0000;-277.0000 --114.0000;-276.5000 --114.0000;-276.0000 --114.0000;-275.5000 --114.0000;-275.0000 --114.0000;-274.5000 --114.0000;-274.0000 --114.0000;-273.5000 --114.0000;-273.0000 --114.0000;-272.5000 --114.0000;-272.0000 --114.0000;-271.5000 --114.0000;-271.0000 --114.0000;-270.5000 --114.0000;-270.0000 --114.0000;-269.5000 --114.0000;-269.0000 --114.0000;52.5000 --114.0000;53.0000 --114.0000;53.5000 --114.0000;54.0000 --114.0000;54.5000 --114.0000;55.0000 --114.0000;55.5000 --114.0000;56.0000 --114.0000;56.5000 --114.0000;57.0000 --114.0000;57.5000 --114.0000;58.0000 --114.0000;58.5000 --114.0000;59.0000 --114.0000;59.5000 --114.0000;60.0000 --114.0000;60.5000 --114.0000;61.0000 --114.0000;61.5000 --114.0000;62.0000 --114.0000;62.5000 --114.0000;63.0000 --114.0000;63.5000 --114.0000;64.0000 --114.0000;64.5000 --114.0000;65.0000 --114.0000;65.5000 --114.0000;66.0000 --114.0000;66.5000 --114.0000;67.0000 --114.0000;67.5000 --113.5000;-281.5000 --113.5000;-281.0000 --113.5000;-280.5000 --113.5000;-280.0000 --113.5000;-279.5000 --113.5000;-279.0000 --113.5000;-278.5000 --113.5000;-278.0000 --113.5000;-277.5000 --113.5000;-277.0000 --113.5000;-276.5000 --113.5000;-276.0000 --113.5000;-275.5000 --113.5000;-275.0000 --113.5000;-274.5000 --113.5000;-274.0000 --113.5000;-273.5000 --113.5000;-273.0000 --113.5000;-272.5000 --113.5000;-272.0000 --113.5000;-271.5000 --113.5000;-271.0000 --113.5000;-270.5000 --113.5000;-270.0000 --113.5000;-269.5000 --113.5000;-269.0000 --113.5000;52.0000 --113.5000;52.5000 --113.5000;53.0000 --113.5000;53.5000 --113.5000;54.0000 --113.5000;54.5000 --113.5000;55.0000 --113.5000;55.5000 --113.5000;56.0000 --113.5000;56.5000 --113.5000;57.0000 --113.5000;57.5000 --113.5000;58.0000 --113.5000;58.5000 --113.5000;59.0000 --113.5000;59.5000 --113.5000;60.0000 --113.5000;60.5000 --113.5000;61.0000 --113.5000;61.5000 --113.5000;62.0000 --113.5000;62.5000 --113.5000;63.0000 --113.5000;63.5000 --113.5000;64.0000 --113.5000;64.5000 --113.5000;65.0000 --113.5000;65.5000 --113.5000;66.0000 --113.5000;66.5000 --113.5000;67.0000 --113.0000;-281.5000 --113.0000;-281.0000 --113.0000;-280.5000 --113.0000;-280.0000 --113.0000;-279.5000 --113.0000;-279.0000 --113.0000;-278.5000 --113.0000;-278.0000 --113.0000;-277.5000 --113.0000;-277.0000 --113.0000;-276.5000 --113.0000;-276.0000 --113.0000;-275.5000 --113.0000;-275.0000 --113.0000;-274.5000 --113.0000;-274.0000 --113.0000;-273.5000 --113.0000;-273.0000 --113.0000;-272.5000 --113.0000;-272.0000 --113.0000;-271.5000 --113.0000;-271.0000 --113.0000;-270.5000 --113.0000;-270.0000 --113.0000;-269.5000 --113.0000;52.0000 --113.0000;52.5000 --113.0000;53.0000 --113.0000;53.5000 --113.0000;54.0000 --113.0000;54.5000 --113.0000;55.0000 --113.0000;55.5000 --113.0000;56.0000 --113.0000;56.5000 --113.0000;57.0000 --113.0000;57.5000 --113.0000;58.0000 --113.0000;58.5000 --113.0000;59.0000 --113.0000;59.5000 --113.0000;60.0000 --113.0000;60.5000 --113.0000;61.0000 --113.0000;61.5000 --113.0000;62.0000 --113.0000;62.5000 --113.0000;63.0000 --113.0000;63.5000 --113.0000;64.0000 --113.0000;64.5000 --113.0000;65.0000 --113.0000;65.5000 --113.0000;66.0000 --113.0000;66.5000 --112.5000;-281.5000 --112.5000;-281.0000 --112.5000;-280.5000 --112.5000;-280.0000 --112.5000;-279.5000 --112.5000;-279.0000 --112.5000;-278.5000 --112.5000;-278.0000 --112.5000;-277.5000 --112.5000;-277.0000 --112.5000;-276.5000 --112.5000;-276.0000 --112.5000;-275.5000 --112.5000;-275.0000 --112.5000;-274.5000 --112.5000;-274.0000 --112.5000;-273.5000 --112.5000;-273.0000 --112.5000;-272.5000 --112.5000;-272.0000 --112.5000;-271.5000 --112.5000;-271.0000 --112.5000;-270.5000 --112.5000;-270.0000 --112.5000;-269.5000 --112.5000;51.5000 --112.5000;52.0000 --112.5000;52.5000 --112.5000;53.0000 --112.5000;53.5000 --112.5000;54.0000 --112.5000;54.5000 --112.5000;55.0000 --112.5000;55.5000 --112.5000;56.0000 --112.5000;56.5000 --112.5000;57.0000 --112.5000;57.5000 --112.5000;58.0000 --112.5000;58.5000 --112.5000;59.0000 --112.5000;59.5000 --112.5000;60.0000 --112.5000;60.5000 --112.5000;61.0000 --112.5000;61.5000 --112.5000;62.0000 --112.5000;62.5000 --112.5000;63.0000 --112.5000;63.5000 --112.5000;64.0000 --112.5000;64.5000 --112.5000;65.0000 --112.5000;65.5000 --112.5000;66.0000 --112.0000;-282.0000 --112.0000;-281.5000 --112.0000;-281.0000 --112.0000;-280.5000 --112.0000;-280.0000 --112.0000;-279.5000 --112.0000;-279.0000 --112.0000;-278.5000 --112.0000;-278.0000 --112.0000;-277.5000 --112.0000;-277.0000 --112.0000;-276.5000 --112.0000;-276.0000 --112.0000;-275.5000 --112.0000;-275.0000 --112.0000;-274.5000 --112.0000;-274.0000 --112.0000;-273.5000 --112.0000;-273.0000 --112.0000;-272.5000 --112.0000;-272.0000 --112.0000;-271.5000 --112.0000;-271.0000 --112.0000;-270.5000 --112.0000;-270.0000 --112.0000;-269.5000 --112.0000;51.0000 --112.0000;51.5000 --112.0000;52.0000 --112.0000;52.5000 --112.0000;53.0000 --112.0000;53.5000 --112.0000;54.0000 --112.0000;54.5000 --112.0000;55.0000 --112.0000;55.5000 --112.0000;56.0000 --112.0000;56.5000 --112.0000;57.0000 --112.0000;57.5000 --112.0000;58.0000 --112.0000;58.5000 --112.0000;59.0000 --112.0000;59.5000 --112.0000;60.0000 --112.0000;60.5000 --112.0000;61.0000 --112.0000;61.5000 --112.0000;62.0000 --112.0000;62.5000 --112.0000;63.0000 --112.0000;63.5000 --112.0000;64.0000 --112.0000;64.5000 --112.0000;65.0000 --112.0000;65.5000 --112.0000;66.0000 --111.5000;-282.0000 --111.5000;-281.5000 --111.5000;-281.0000 --111.5000;-280.5000 --111.5000;-280.0000 --111.5000;-279.5000 --111.5000;-279.0000 --111.5000;-278.5000 --111.5000;-278.0000 --111.5000;-277.5000 --111.5000;-277.0000 --111.5000;-276.5000 --111.5000;-276.0000 --111.5000;-275.5000 --111.5000;-275.0000 --111.5000;-274.5000 --111.5000;-274.0000 --111.5000;-273.5000 --111.5000;-273.0000 --111.5000;-272.5000 --111.5000;-272.0000 --111.5000;-271.5000 --111.5000;-271.0000 --111.5000;-270.5000 --111.5000;-270.0000 --111.5000;-269.5000 --111.5000;50.5000 --111.5000;51.0000 --111.5000;51.5000 --111.5000;52.0000 --111.5000;52.5000 --111.5000;53.0000 --111.5000;53.5000 --111.5000;54.0000 --111.5000;54.5000 --111.5000;55.0000 --111.5000;55.5000 --111.5000;56.0000 --111.5000;56.5000 --111.5000;57.0000 --111.5000;57.5000 --111.5000;58.0000 --111.5000;58.5000 --111.5000;59.0000 --111.5000;59.5000 --111.5000;60.0000 --111.5000;60.5000 --111.5000;61.0000 --111.5000;61.5000 --111.5000;62.0000 --111.5000;62.5000 --111.5000;63.0000 --111.5000;63.5000 --111.5000;64.0000 --111.5000;64.5000 --111.5000;65.0000 --111.5000;65.5000 --111.0000;-282.0000 --111.0000;-281.5000 --111.0000;-281.0000 --111.0000;-280.5000 --111.0000;-280.0000 --111.0000;-279.5000 --111.0000;-279.0000 --111.0000;-278.5000 --111.0000;-278.0000 --111.0000;-277.5000 --111.0000;-277.0000 --111.0000;-276.5000 --111.0000;-276.0000 --111.0000;-275.5000 --111.0000;-275.0000 --111.0000;-274.5000 --111.0000;-274.0000 --111.0000;-273.5000 --111.0000;-273.0000 --111.0000;-272.5000 --111.0000;-272.0000 --111.0000;-271.5000 --111.0000;-271.0000 --111.0000;-270.5000 --111.0000;-270.0000 --111.0000;50.5000 --111.0000;51.0000 --111.0000;51.5000 --111.0000;52.0000 --111.0000;52.5000 --111.0000;53.0000 --111.0000;53.5000 --111.0000;54.0000 --111.0000;54.5000 --111.0000;55.0000 --111.0000;55.5000 --111.0000;56.0000 --111.0000;56.5000 --111.0000;57.0000 --111.0000;57.5000 --111.0000;58.0000 --111.0000;58.5000 --111.0000;59.0000 --111.0000;59.5000 --111.0000;60.0000 --111.0000;60.5000 --111.0000;61.0000 --111.0000;61.5000 --111.0000;62.0000 --111.0000;62.5000 --111.0000;63.0000 --111.0000;63.5000 --111.0000;64.0000 --111.0000;64.5000 --111.0000;65.0000 --110.5000;-282.0000 --110.5000;-281.5000 --110.5000;-281.0000 --110.5000;-280.5000 --110.5000;-280.0000 --110.5000;-279.5000 --110.5000;-279.0000 --110.5000;-278.5000 --110.5000;-278.0000 --110.5000;-277.5000 --110.5000;-277.0000 --110.5000;-276.5000 --110.5000;-276.0000 --110.5000;-275.5000 --110.5000;-275.0000 --110.5000;-274.5000 --110.5000;-274.0000 --110.5000;-273.5000 --110.5000;-273.0000 --110.5000;-272.5000 --110.5000;-272.0000 --110.5000;-271.5000 --110.5000;-271.0000 --110.5000;-270.5000 --110.5000;-270.0000 --110.5000;50.0000 --110.5000;50.5000 --110.5000;51.0000 --110.5000;51.5000 --110.5000;52.0000 --110.5000;52.5000 --110.5000;53.0000 --110.5000;53.5000 --110.5000;54.0000 --110.5000;54.5000 --110.5000;55.0000 --110.5000;55.5000 --110.5000;56.0000 --110.5000;56.5000 --110.5000;57.0000 --110.5000;57.5000 --110.5000;58.0000 --110.5000;58.5000 --110.5000;59.0000 --110.5000;59.5000 --110.5000;60.0000 --110.5000;60.5000 --110.5000;61.0000 --110.5000;61.5000 --110.5000;62.0000 --110.5000;62.5000 --110.5000;63.0000 --110.5000;63.5000 --110.5000;64.0000 --110.5000;64.5000 --110.0000;-282.5000 --110.0000;-282.0000 --110.0000;-281.5000 --110.0000;-281.0000 --110.0000;-280.5000 --110.0000;-280.0000 --110.0000;-279.5000 --110.0000;-279.0000 --110.0000;-278.5000 --110.0000;-278.0000 --110.0000;-277.5000 --110.0000;-277.0000 --110.0000;-276.5000 --110.0000;-276.0000 --110.0000;-275.5000 --110.0000;-275.0000 --110.0000;-274.5000 --110.0000;-274.0000 --110.0000;-273.5000 --110.0000;-273.0000 --110.0000;-272.5000 --110.0000;-272.0000 --110.0000;-271.5000 --110.0000;-271.0000 --110.0000;-270.5000 --110.0000;-270.0000 --110.0000;49.5000 --110.0000;50.0000 --110.0000;50.5000 --110.0000;51.0000 --110.0000;51.5000 --110.0000;52.0000 --110.0000;52.5000 --110.0000;53.0000 --110.0000;53.5000 --110.0000;54.0000 --110.0000;54.5000 --110.0000;55.0000 --110.0000;55.5000 --110.0000;56.0000 --110.0000;56.5000 --110.0000;57.0000 --110.0000;57.5000 --110.0000;58.0000 --110.0000;58.5000 --110.0000;59.0000 --110.0000;59.5000 --110.0000;60.0000 --110.0000;60.5000 --110.0000;61.0000 --110.0000;61.5000 --110.0000;62.0000 --110.0000;62.5000 --110.0000;63.0000 --110.0000;63.5000 --110.0000;64.0000 --110.0000;64.5000 --109.5000;-282.5000 --109.5000;-282.0000 --109.5000;-281.5000 --109.5000;-281.0000 --109.5000;-280.5000 --109.5000;-280.0000 --109.5000;-279.5000 --109.5000;-279.0000 --109.5000;-278.5000 --109.5000;-278.0000 --109.5000;-277.5000 --109.5000;-277.0000 --109.5000;-276.5000 --109.5000;-276.0000 --109.5000;-275.5000 --109.5000;-275.0000 --109.5000;-274.5000 --109.5000;-274.0000 --109.5000;-273.5000 --109.5000;-273.0000 --109.5000;-272.5000 --109.5000;-272.0000 --109.5000;-271.5000 --109.5000;-271.0000 --109.5000;-270.5000 --109.5000;-270.0000 --109.5000;49.0000 --109.5000;49.5000 --109.5000;50.0000 --109.5000;50.5000 --109.5000;51.0000 --109.5000;51.5000 --109.5000;52.0000 --109.5000;52.5000 --109.5000;53.0000 --109.5000;53.5000 --109.5000;54.0000 --109.5000;54.5000 --109.5000;55.0000 --109.5000;55.5000 --109.5000;56.0000 --109.5000;56.5000 --109.5000;57.0000 --109.5000;57.5000 --109.5000;58.0000 --109.5000;58.5000 --109.5000;59.0000 --109.5000;59.5000 --109.5000;60.0000 --109.5000;60.5000 --109.5000;61.0000 --109.5000;61.5000 --109.5000;62.0000 --109.5000;62.5000 --109.5000;63.0000 --109.5000;63.5000 --109.5000;64.0000 --109.0000;-282.5000 --109.0000;-282.0000 --109.0000;-281.5000 --109.0000;-281.0000 --109.0000;-280.5000 --109.0000;-280.0000 --109.0000;-279.5000 --109.0000;-279.0000 --109.0000;-278.5000 --109.0000;-278.0000 --109.0000;-277.5000 --109.0000;-277.0000 --109.0000;-276.5000 --109.0000;-276.0000 --109.0000;-275.5000 --109.0000;-275.0000 --109.0000;-274.5000 --109.0000;-274.0000 --109.0000;-273.5000 --109.0000;-273.0000 --109.0000;-272.5000 --109.0000;-272.0000 --109.0000;-271.5000 --109.0000;-271.0000 --109.0000;-270.5000 --109.0000;49.0000 --109.0000;49.5000 --109.0000;50.0000 --109.0000;50.5000 --109.0000;51.0000 --109.0000;51.5000 --109.0000;52.0000 --109.0000;52.5000 --109.0000;53.0000 --109.0000;53.5000 --109.0000;54.0000 --109.0000;54.5000 --109.0000;55.0000 --109.0000;55.5000 --109.0000;56.0000 --109.0000;56.5000 --109.0000;57.0000 --109.0000;57.5000 --109.0000;58.0000 --109.0000;58.5000 --109.0000;59.0000 --109.0000;59.5000 --109.0000;60.0000 --109.0000;60.5000 --109.0000;61.0000 --109.0000;61.5000 --109.0000;62.0000 --109.0000;62.5000 --109.0000;63.0000 --109.0000;63.5000 --108.5000;-282.5000 --108.5000;-282.0000 --108.5000;-281.5000 --108.5000;-281.0000 --108.5000;-280.5000 --108.5000;-280.0000 --108.5000;-279.5000 --108.5000;-279.0000 --108.5000;-278.5000 --108.5000;-278.0000 --108.5000;-277.5000 --108.5000;-277.0000 --108.5000;-276.5000 --108.5000;-276.0000 --108.5000;-275.5000 --108.5000;-275.0000 --108.5000;-274.5000 --108.5000;-274.0000 --108.5000;-273.5000 --108.5000;-273.0000 --108.5000;-272.5000 --108.5000;-272.0000 --108.5000;-271.5000 --108.5000;-271.0000 --108.5000;-270.5000 --108.5000;48.5000 --108.5000;49.0000 --108.5000;49.5000 --108.5000;50.0000 --108.5000;50.5000 --108.5000;51.0000 --108.5000;51.5000 --108.5000;52.0000 --108.5000;52.5000 --108.5000;53.0000 --108.5000;53.5000 --108.5000;54.0000 --108.5000;54.5000 --108.5000;55.0000 --108.5000;55.5000 --108.5000;56.0000 --108.5000;56.5000 --108.5000;57.0000 --108.5000;57.5000 --108.5000;58.0000 --108.5000;58.5000 --108.5000;59.0000 --108.5000;59.5000 --108.5000;60.0000 --108.5000;60.5000 --108.5000;61.0000 --108.5000;61.5000 --108.5000;62.0000 --108.5000;62.5000 --108.5000;63.0000 --108.0000;-282.5000 --108.0000;-282.0000 --108.0000;-281.5000 --108.0000;-281.0000 --108.0000;-280.5000 --108.0000;-280.0000 --108.0000;-279.5000 --108.0000;-279.0000 --108.0000;-278.5000 --108.0000;-278.0000 --108.0000;-277.5000 --108.0000;-277.0000 --108.0000;-276.5000 --108.0000;-276.0000 --108.0000;-275.5000 --108.0000;-275.0000 --108.0000;-274.5000 --108.0000;-274.0000 --108.0000;-273.5000 --108.0000;-273.0000 --108.0000;-272.5000 --108.0000;-272.0000 --108.0000;-271.5000 --108.0000;-271.0000 --108.0000;-270.5000 --108.0000;48.0000 --108.0000;48.5000 --108.0000;49.0000 --108.0000;49.5000 --108.0000;50.0000 --108.0000;50.5000 --108.0000;51.0000 --108.0000;51.5000 --108.0000;52.0000 --108.0000;52.5000 --108.0000;53.0000 --108.0000;53.5000 --108.0000;54.0000 --108.0000;54.5000 --108.0000;55.0000 --108.0000;55.5000 --108.0000;56.0000 --108.0000;56.5000 --108.0000;57.0000 --108.0000;57.5000 --108.0000;58.0000 --108.0000;58.5000 --108.0000;59.0000 --108.0000;59.5000 --108.0000;60.0000 --108.0000;60.5000 --108.0000;61.0000 --108.0000;61.5000 --108.0000;62.0000 --108.0000;62.5000 --108.0000;63.0000 --107.5000;-283.0000 --107.5000;-282.5000 --107.5000;-282.0000 --107.5000;-281.5000 --107.5000;-281.0000 --107.5000;-280.5000 --107.5000;-280.0000 --107.5000;-279.5000 --107.5000;-279.0000 --107.5000;-278.5000 --107.5000;-278.0000 --107.5000;-277.5000 --107.5000;-277.0000 --107.5000;-276.5000 --107.5000;-276.0000 --107.5000;-275.5000 --107.5000;-275.0000 --107.5000;-274.5000 --107.5000;-274.0000 --107.5000;-273.5000 --107.5000;-273.0000 --107.5000;-272.5000 --107.5000;-272.0000 --107.5000;-271.5000 --107.5000;-271.0000 --107.5000;-270.5000 --107.5000;47.5000 --107.5000;48.0000 --107.5000;48.5000 --107.5000;49.0000 --107.5000;49.5000 --107.5000;50.0000 --107.5000;50.5000 --107.5000;51.0000 --107.5000;51.5000 --107.5000;52.0000 --107.5000;52.5000 --107.5000;53.0000 --107.5000;53.5000 --107.5000;54.0000 --107.5000;54.5000 --107.5000;55.0000 --107.5000;55.5000 --107.5000;56.0000 --107.5000;56.5000 --107.5000;57.0000 --107.5000;57.5000 --107.5000;58.0000 --107.5000;58.5000 --107.5000;59.0000 --107.5000;59.5000 --107.5000;60.0000 --107.5000;60.5000 --107.5000;61.0000 --107.5000;61.5000 --107.5000;62.0000 --107.5000;62.5000 --107.0000;-283.0000 --107.0000;-282.5000 --107.0000;-282.0000 --107.0000;-281.5000 --107.0000;-281.0000 --107.0000;-280.5000 --107.0000;-280.0000 --107.0000;-279.5000 --107.0000;-279.0000 --107.0000;-278.5000 --107.0000;-278.0000 --107.0000;-277.5000 --107.0000;-277.0000 --107.0000;-276.5000 --107.0000;-276.0000 --107.0000;-275.5000 --107.0000;-275.0000 --107.0000;-274.5000 --107.0000;-274.0000 --107.0000;-273.5000 --107.0000;-273.0000 --107.0000;-272.5000 --107.0000;-272.0000 --107.0000;-271.5000 --107.0000;-271.0000 --107.0000;-270.5000 --107.0000;47.5000 --107.0000;48.0000 --107.0000;48.5000 --107.0000;49.0000 --107.0000;49.5000 --107.0000;50.0000 --107.0000;50.5000 --107.0000;51.0000 --107.0000;51.5000 --107.0000;52.0000 --107.0000;52.5000 --107.0000;53.0000 --107.0000;53.5000 --107.0000;54.0000 --107.0000;54.5000 --107.0000;55.0000 --107.0000;55.5000 --107.0000;56.0000 --107.0000;56.5000 --107.0000;57.0000 --107.0000;57.5000 --107.0000;58.0000 --107.0000;58.5000 --107.0000;59.0000 --107.0000;59.5000 --107.0000;60.0000 --107.0000;60.5000 --107.0000;61.0000 --107.0000;61.5000 --107.0000;62.0000 --106.5000;-283.0000 --106.5000;-282.5000 --106.5000;-282.0000 --106.5000;-281.5000 --106.5000;-281.0000 --106.5000;-280.5000 --106.5000;-280.0000 --106.5000;-279.5000 --106.5000;-279.0000 --106.5000;-278.5000 --106.5000;-278.0000 --106.5000;-277.5000 --106.5000;-277.0000 --106.5000;-276.5000 --106.5000;-276.0000 --106.5000;-275.5000 --106.5000;-275.0000 --106.5000;-274.5000 --106.5000;-274.0000 --106.5000;-273.5000 --106.5000;-273.0000 --106.5000;-272.5000 --106.5000;-272.0000 --106.5000;-271.5000 --106.5000;-271.0000 --106.5000;47.0000 --106.5000;47.5000 --106.5000;48.0000 --106.5000;48.5000 --106.5000;49.0000 --106.5000;49.5000 --106.5000;50.0000 --106.5000;50.5000 --106.5000;51.0000 --106.5000;51.5000 --106.5000;52.0000 --106.5000;52.5000 --106.5000;53.0000 --106.5000;53.5000 --106.5000;54.0000 --106.5000;54.5000 --106.5000;55.0000 --106.5000;55.5000 --106.5000;56.0000 --106.5000;56.5000 --106.5000;57.0000 --106.5000;57.5000 --106.5000;58.0000 --106.5000;58.5000 --106.5000;59.0000 --106.5000;59.5000 --106.5000;60.0000 --106.5000;60.5000 --106.5000;61.0000 --106.5000;61.5000 --106.0000;-283.0000 --106.0000;-282.5000 --106.0000;-282.0000 --106.0000;-281.5000 --106.0000;-281.0000 --106.0000;-280.5000 --106.0000;-280.0000 --106.0000;-279.5000 --106.0000;-279.0000 --106.0000;-278.5000 --106.0000;-278.0000 --106.0000;-277.5000 --106.0000;-277.0000 --106.0000;-276.5000 --106.0000;-276.0000 --106.0000;-275.5000 --106.0000;-275.0000 --106.0000;-274.5000 --106.0000;-274.0000 --106.0000;-273.5000 --106.0000;-273.0000 --106.0000;-272.5000 --106.0000;-272.0000 --106.0000;-271.5000 --106.0000;-271.0000 --106.0000;46.5000 --106.0000;47.0000 --106.0000;47.5000 --106.0000;48.0000 --106.0000;48.5000 --106.0000;49.0000 --106.0000;49.5000 --106.0000;50.0000 --106.0000;50.5000 --106.0000;51.0000 --106.0000;51.5000 --106.0000;52.0000 --106.0000;52.5000 --106.0000;53.0000 --106.0000;53.5000 --106.0000;54.0000 --106.0000;54.5000 --106.0000;55.0000 --106.0000;55.5000 --106.0000;56.0000 --106.0000;56.5000 --106.0000;57.0000 --106.0000;57.5000 --106.0000;58.0000 --106.0000;58.5000 --106.0000;59.0000 --106.0000;59.5000 --106.0000;60.0000 --106.0000;60.5000 --106.0000;61.0000 --106.0000;61.5000 --105.5000;-283.0000 --105.5000;-282.5000 --105.5000;-282.0000 --105.5000;-281.5000 --105.5000;-281.0000 --105.5000;-280.5000 --105.5000;-280.0000 --105.5000;-279.5000 --105.5000;-279.0000 --105.5000;-278.5000 --105.5000;-278.0000 --105.5000;-277.5000 --105.5000;-277.0000 --105.5000;-276.5000 --105.5000;-276.0000 --105.5000;-275.5000 --105.5000;-275.0000 --105.5000;-274.5000 --105.5000;-274.0000 --105.5000;-273.5000 --105.5000;-273.0000 --105.5000;-272.5000 --105.5000;-272.0000 --105.5000;-271.5000 --105.5000;-271.0000 --105.5000;46.0000 --105.5000;46.5000 --105.5000;47.0000 --105.5000;47.5000 --105.5000;48.0000 --105.5000;48.5000 --105.5000;49.0000 --105.5000;49.5000 --105.5000;50.0000 --105.5000;50.5000 --105.5000;51.0000 --105.5000;51.5000 --105.5000;52.0000 --105.5000;52.5000 --105.5000;53.0000 --105.5000;53.5000 --105.5000;54.0000 --105.5000;54.5000 --105.5000;55.0000 --105.5000;55.5000 --105.5000;56.0000 --105.5000;56.5000 --105.5000;57.0000 --105.5000;57.5000 --105.5000;58.0000 --105.5000;58.5000 --105.5000;59.0000 --105.5000;59.5000 --105.5000;60.0000 --105.5000;60.5000 --105.5000;61.0000 --105.0000;-283.5000 --105.0000;-283.0000 --105.0000;-282.5000 --105.0000;-282.0000 --105.0000;-281.5000 --105.0000;-281.0000 --105.0000;-280.5000 --105.0000;-280.0000 --105.0000;-279.5000 --105.0000;-279.0000 --105.0000;-278.5000 --105.0000;-278.0000 --105.0000;-277.5000 --105.0000;-277.0000 --105.0000;-276.5000 --105.0000;-276.0000 --105.0000;-275.5000 --105.0000;-275.0000 --105.0000;-274.5000 --105.0000;-274.0000 --105.0000;-273.5000 --105.0000;-273.0000 --105.0000;-272.5000 --105.0000;-272.0000 --105.0000;-271.5000 --105.0000;-271.0000 --105.0000;46.0000 --105.0000;46.5000 --105.0000;47.0000 --105.0000;47.5000 --105.0000;48.0000 --105.0000;48.5000 --105.0000;49.0000 --105.0000;49.5000 --105.0000;50.0000 --105.0000;50.5000 --105.0000;51.0000 --105.0000;51.5000 --105.0000;52.0000 --105.0000;52.5000 --105.0000;53.0000 --105.0000;53.5000 --105.0000;54.0000 --105.0000;54.5000 --105.0000;55.0000 --105.0000;55.5000 --105.0000;56.0000 --105.0000;56.5000 --105.0000;57.0000 --105.0000;57.5000 --105.0000;58.0000 --105.0000;58.5000 --105.0000;59.0000 --105.0000;59.5000 --105.0000;60.0000 --105.0000;60.5000 --104.5000;-283.5000 --104.5000;-283.0000 --104.5000;-282.5000 --104.5000;-282.0000 --104.5000;-281.5000 --104.5000;-281.0000 --104.5000;-280.5000 --104.5000;-280.0000 --104.5000;-279.5000 --104.5000;-279.0000 --104.5000;-278.5000 --104.5000;-278.0000 --104.5000;-277.5000 --104.5000;-277.0000 --104.5000;-276.5000 --104.5000;-276.0000 --104.5000;-275.5000 --104.5000;-275.0000 --104.5000;-274.5000 --104.5000;-274.0000 --104.5000;-273.5000 --104.5000;-273.0000 --104.5000;-272.5000 --104.5000;-272.0000 --104.5000;-271.5000 --104.5000;45.5000 --104.5000;46.0000 --104.5000;46.5000 --104.5000;47.0000 --104.5000;47.5000 --104.5000;48.0000 --104.5000;48.5000 --104.5000;49.0000 --104.5000;49.5000 --104.5000;50.0000 --104.5000;50.5000 --104.5000;51.0000 --104.5000;51.5000 --104.5000;52.0000 --104.5000;52.5000 --104.5000;53.0000 --104.5000;53.5000 --104.5000;54.0000 --104.5000;54.5000 --104.5000;55.0000 --104.5000;55.5000 --104.5000;56.0000 --104.5000;56.5000 --104.5000;57.0000 --104.5000;57.5000 --104.5000;58.0000 --104.5000;58.5000 --104.5000;59.0000 --104.5000;59.5000 --104.5000;60.0000 --104.0000;-283.5000 --104.0000;-283.0000 --104.0000;-282.5000 --104.0000;-282.0000 --104.0000;-281.5000 --104.0000;-281.0000 --104.0000;-280.5000 --104.0000;-280.0000 --104.0000;-279.5000 --104.0000;-279.0000 --104.0000;-278.5000 --104.0000;-278.0000 --104.0000;-277.5000 --104.0000;-277.0000 --104.0000;-276.5000 --104.0000;-276.0000 --104.0000;-275.5000 --104.0000;-275.0000 --104.0000;-274.5000 --104.0000;-274.0000 --104.0000;-273.5000 --104.0000;-273.0000 --104.0000;-272.5000 --104.0000;-272.0000 --104.0000;-271.5000 --104.0000;45.0000 --104.0000;45.5000 --104.0000;46.0000 --104.0000;46.5000 --104.0000;47.0000 --104.0000;47.5000 --104.0000;48.0000 --104.0000;48.5000 --104.0000;49.0000 --104.0000;49.5000 --104.0000;50.0000 --104.0000;50.5000 --104.0000;51.0000 --104.0000;51.5000 --104.0000;52.0000 --104.0000;52.5000 --104.0000;53.0000 --104.0000;53.5000 --104.0000;54.0000 --104.0000;54.5000 --104.0000;55.0000 --104.0000;55.5000 --104.0000;56.0000 --104.0000;56.5000 --104.0000;57.0000 --104.0000;57.5000 --104.0000;58.0000 --104.0000;58.5000 --104.0000;59.0000 --104.0000;59.5000 --104.0000;60.0000 --103.5000;-283.5000 --103.5000;-283.0000 --103.5000;-282.5000 --103.5000;-282.0000 --103.5000;-281.5000 --103.5000;-281.0000 --103.5000;-280.5000 --103.5000;-280.0000 --103.5000;-279.5000 --103.5000;-279.0000 --103.5000;-278.5000 --103.5000;-278.0000 --103.5000;-277.5000 --103.5000;-277.0000 --103.5000;-276.5000 --103.5000;-276.0000 --103.5000;-275.5000 --103.5000;-275.0000 --103.5000;-274.5000 --103.5000;-274.0000 --103.5000;-273.5000 --103.5000;-273.0000 --103.5000;-272.5000 --103.5000;-272.0000 --103.5000;-271.5000 --103.5000;44.5000 --103.5000;45.0000 --103.5000;45.5000 --103.5000;46.0000 --103.5000;46.5000 --103.5000;47.0000 --103.5000;47.5000 --103.5000;48.0000 --103.5000;48.5000 --103.5000;49.0000 --103.5000;49.5000 --103.5000;50.0000 --103.5000;50.5000 --103.5000;51.0000 --103.5000;51.5000 --103.5000;52.0000 --103.5000;52.5000 --103.5000;53.0000 --103.5000;53.5000 --103.5000;54.0000 --103.5000;54.5000 --103.5000;55.0000 --103.5000;55.5000 --103.5000;56.0000 --103.5000;56.5000 --103.5000;57.0000 --103.5000;57.5000 --103.5000;58.0000 --103.5000;58.5000 --103.5000;59.0000 --103.5000;59.5000 --103.0000;-283.5000 --103.0000;-283.0000 --103.0000;-282.5000 --103.0000;-282.0000 --103.0000;-281.5000 --103.0000;-281.0000 --103.0000;-280.5000 --103.0000;-280.0000 --103.0000;-279.5000 --103.0000;-279.0000 --103.0000;-278.5000 --103.0000;-278.0000 --103.0000;-277.5000 --103.0000;-277.0000 --103.0000;-276.5000 --103.0000;-276.0000 --103.0000;-275.5000 --103.0000;-275.0000 --103.0000;-274.5000 --103.0000;-274.0000 --103.0000;-273.5000 --103.0000;-273.0000 --103.0000;-272.5000 --103.0000;-272.0000 --103.0000;-271.5000 --103.0000;44.5000 --103.0000;45.0000 --103.0000;45.5000 --103.0000;46.0000 --103.0000;46.5000 --103.0000;47.0000 --103.0000;47.5000 --103.0000;48.0000 --103.0000;48.5000 --103.0000;49.0000 --103.0000;49.5000 --103.0000;50.0000 --103.0000;50.5000 --103.0000;51.0000 --103.0000;51.5000 --103.0000;52.0000 --103.0000;52.5000 --103.0000;53.0000 --103.0000;53.5000 --103.0000;54.0000 --103.0000;54.5000 --103.0000;55.0000 --103.0000;55.5000 --103.0000;56.0000 --103.0000;56.5000 --103.0000;57.0000 --103.0000;57.5000 --103.0000;58.0000 --103.0000;58.5000 --103.0000;59.0000 --102.5000;-284.0000 --102.5000;-283.5000 --102.5000;-283.0000 --102.5000;-282.5000 --102.5000;-282.0000 --102.5000;-281.5000 --102.5000;-281.0000 --102.5000;-280.5000 --102.5000;-280.0000 --102.5000;-279.5000 --102.5000;-279.0000 --102.5000;-278.5000 --102.5000;-278.0000 --102.5000;-277.5000 --102.5000;-277.0000 --102.5000;-276.5000 --102.5000;-276.0000 --102.5000;-275.5000 --102.5000;-275.0000 --102.5000;-274.5000 --102.5000;-274.0000 --102.5000;-273.5000 --102.5000;-273.0000 --102.5000;-272.5000 --102.5000;-272.0000 --102.5000;-271.5000 --102.5000;44.0000 --102.5000;44.5000 --102.5000;45.0000 --102.5000;45.5000 --102.5000;46.0000 --102.5000;46.5000 --102.5000;47.0000 --102.5000;47.5000 --102.5000;48.0000 --102.5000;48.5000 --102.5000;49.0000 --102.5000;49.5000 --102.5000;50.0000 --102.5000;50.5000 --102.5000;51.0000 --102.5000;51.5000 --102.5000;52.0000 --102.5000;52.5000 --102.5000;53.0000 --102.5000;53.5000 --102.5000;54.0000 --102.5000;54.5000 --102.5000;55.0000 --102.5000;55.5000 --102.5000;56.0000 --102.5000;56.5000 --102.5000;57.0000 --102.5000;57.5000 --102.5000;58.0000 --102.5000;58.5000 --102.0000;-284.0000 --102.0000;-283.5000 --102.0000;-283.0000 --102.0000;-282.5000 --102.0000;-282.0000 --102.0000;-281.5000 --102.0000;-281.0000 --102.0000;-280.5000 --102.0000;-280.0000 --102.0000;-279.5000 --102.0000;-279.0000 --102.0000;-278.5000 --102.0000;-278.0000 --102.0000;-277.5000 --102.0000;-277.0000 --102.0000;-276.5000 --102.0000;-276.0000 --102.0000;-275.5000 --102.0000;-275.0000 --102.0000;-274.5000 --102.0000;-274.0000 --102.0000;-273.5000 --102.0000;-273.0000 --102.0000;-272.5000 --102.0000;-272.0000 --102.0000;-271.5000 --102.0000;43.5000 --102.0000;44.0000 --102.0000;44.5000 --102.0000;45.0000 --102.0000;45.5000 --102.0000;46.0000 --102.0000;46.5000 --102.0000;47.0000 --102.0000;47.5000 --102.0000;48.0000 --102.0000;48.5000 --102.0000;49.0000 --102.0000;49.5000 --102.0000;50.0000 --102.0000;50.5000 --102.0000;51.0000 --102.0000;51.5000 --102.0000;52.0000 --102.0000;52.5000 --102.0000;53.0000 --102.0000;53.5000 --102.0000;54.0000 --102.0000;54.5000 --102.0000;55.0000 --102.0000;55.5000 --102.0000;56.0000 --102.0000;56.5000 --102.0000;57.0000 --102.0000;57.5000 --102.0000;58.0000 --101.5000;-284.0000 --101.5000;-283.5000 --101.5000;-283.0000 --101.5000;-282.5000 --101.5000;-282.0000 --101.5000;-281.5000 --101.5000;-281.0000 --101.5000;-280.5000 --101.5000;-280.0000 --101.5000;-279.5000 --101.5000;-279.0000 --101.5000;-278.5000 --101.5000;-278.0000 --101.5000;-277.5000 --101.5000;-277.0000 --101.5000;-276.5000 --101.5000;-276.0000 --101.5000;-275.5000 --101.5000;-275.0000 --101.5000;-274.5000 --101.5000;-274.0000 --101.5000;-273.5000 --101.5000;-273.0000 --101.5000;-272.5000 --101.5000;-272.0000 --101.5000;43.0000 --101.5000;43.5000 --101.5000;44.0000 --101.5000;44.5000 --101.5000;45.0000 --101.5000;45.5000 --101.5000;46.0000 --101.5000;46.5000 --101.5000;47.0000 --101.5000;47.5000 --101.5000;48.0000 --101.5000;48.5000 --101.5000;49.0000 --101.5000;49.5000 --101.5000;50.0000 --101.5000;50.5000 --101.5000;51.0000 --101.5000;51.5000 --101.5000;52.0000 --101.5000;52.5000 --101.5000;53.0000 --101.5000;53.5000 --101.5000;54.0000 --101.5000;54.5000 --101.5000;55.0000 --101.5000;55.5000 --101.5000;56.0000 --101.5000;56.5000 --101.5000;57.0000 --101.5000;57.5000 --101.5000;58.0000 --101.0000;-284.0000 --101.0000;-283.5000 --101.0000;-283.0000 --101.0000;-282.5000 --101.0000;-282.0000 --101.0000;-281.5000 --101.0000;-281.0000 --101.0000;-280.5000 --101.0000;-280.0000 --101.0000;-279.5000 --101.0000;-279.0000 --101.0000;-278.5000 --101.0000;-278.0000 --101.0000;-277.5000 --101.0000;-277.0000 --101.0000;-276.5000 --101.0000;-276.0000 --101.0000;-275.5000 --101.0000;-275.0000 --101.0000;-274.5000 --101.0000;-274.0000 --101.0000;-273.5000 --101.0000;-273.0000 --101.0000;-272.5000 --101.0000;-272.0000 --101.0000;42.5000 --101.0000;43.0000 --101.0000;43.5000 --101.0000;44.0000 --101.0000;44.5000 --101.0000;45.0000 --101.0000;45.5000 --101.0000;46.0000 --101.0000;46.5000 --101.0000;47.0000 --101.0000;47.5000 --101.0000;48.0000 --101.0000;48.5000 --101.0000;49.0000 --101.0000;49.5000 --101.0000;50.0000 --101.0000;50.5000 --101.0000;51.0000 --101.0000;51.5000 --101.0000;52.0000 --101.0000;52.5000 --101.0000;53.0000 --101.0000;53.5000 --101.0000;54.0000 --101.0000;54.5000 --101.0000;55.0000 --101.0000;55.5000 --101.0000;56.0000 --101.0000;56.5000 --101.0000;57.0000 --101.0000;57.5000 --100.5000;-284.0000 --100.5000;-283.5000 --100.5000;-283.0000 --100.5000;-282.5000 --100.5000;-282.0000 --100.5000;-281.5000 --100.5000;-281.0000 --100.5000;-280.5000 --100.5000;-280.0000 --100.5000;-279.5000 --100.5000;-279.0000 --100.5000;-278.5000 --100.5000;-278.0000 --100.5000;-277.5000 --100.5000;-277.0000 --100.5000;-276.5000 --100.5000;-276.0000 --100.5000;-275.5000 --100.5000;-275.0000 --100.5000;-274.5000 --100.5000;-274.0000 --100.5000;-273.5000 --100.5000;-273.0000 --100.5000;-272.5000 --100.5000;-272.0000 --100.5000;42.5000 --100.5000;43.0000 --100.5000;43.5000 --100.5000;44.0000 --100.5000;44.5000 --100.5000;45.0000 --100.5000;45.5000 --100.5000;46.0000 --100.5000;46.5000 --100.5000;47.0000 --100.5000;47.5000 --100.5000;48.0000 --100.5000;48.5000 --100.5000;49.0000 --100.5000;49.5000 --100.5000;50.0000 --100.5000;50.5000 --100.5000;51.0000 --100.5000;51.5000 --100.5000;52.0000 --100.5000;52.5000 --100.5000;53.0000 --100.5000;53.5000 --100.5000;54.0000 --100.5000;54.5000 --100.5000;55.0000 --100.5000;55.5000 --100.5000;56.0000 --100.5000;56.5000 --100.5000;57.0000 --100.0000;-284.5000 --100.0000;-284.0000 --100.0000;-283.5000 --100.0000;-283.0000 --100.0000;-282.5000 --100.0000;-282.0000 --100.0000;-281.5000 --100.0000;-281.0000 --100.0000;-280.5000 --100.0000;-280.0000 --100.0000;-279.5000 --100.0000;-279.0000 --100.0000;-278.5000 --100.0000;-278.0000 --100.0000;-277.5000 --100.0000;-277.0000 --100.0000;-276.5000 --100.0000;-276.0000 --100.0000;-275.5000 --100.0000;-275.0000 --100.0000;-274.5000 --100.0000;-274.0000 --100.0000;-273.5000 --100.0000;-273.0000 --100.0000;-272.5000 --100.0000;-272.0000 --100.0000;42.0000 --100.0000;42.5000 --100.0000;43.0000 --100.0000;43.5000 --100.0000;44.0000 --100.0000;44.5000 --100.0000;45.0000 --100.0000;45.5000 --100.0000;46.0000 --100.0000;46.5000 --100.0000;47.0000 --100.0000;47.5000 --100.0000;48.0000 --100.0000;48.5000 --100.0000;49.0000 --100.0000;49.5000 --100.0000;50.0000 --100.0000;50.5000 --100.0000;51.0000 --100.0000;51.5000 --100.0000;52.0000 --100.0000;52.5000 --100.0000;53.0000 --100.0000;53.5000 --100.0000;54.0000 --100.0000;54.5000 --100.0000;55.0000 --100.0000;55.5000 --100.0000;56.0000 --100.0000;56.5000 --99.5000;-284.5000 --99.5000;-284.0000 --99.5000;-283.5000 --99.5000;-283.0000 --99.5000;-282.5000 --99.5000;-282.0000 --99.5000;-281.5000 --99.5000;-281.0000 --99.5000;-280.5000 --99.5000;-280.0000 --99.5000;-279.5000 --99.5000;-279.0000 --99.5000;-278.5000 --99.5000;-278.0000 --99.5000;-277.5000 --99.5000;-277.0000 --99.5000;-276.5000 --99.5000;-276.0000 --99.5000;-275.5000 --99.5000;-275.0000 --99.5000;-274.5000 --99.5000;-274.0000 --99.5000;-273.5000 --99.5000;-273.0000 --99.5000;-272.5000 --99.5000;-272.0000 --99.5000;41.5000 --99.5000;42.0000 --99.5000;42.5000 --99.5000;43.0000 --99.5000;43.5000 --99.5000;44.0000 --99.5000;44.5000 --99.5000;45.0000 --99.5000;45.5000 --99.5000;46.0000 --99.5000;46.5000 --99.5000;47.0000 --99.5000;47.5000 --99.5000;48.0000 --99.5000;48.5000 --99.5000;49.0000 --99.5000;49.5000 --99.5000;50.0000 --99.5000;50.5000 --99.5000;51.0000 --99.5000;51.5000 --99.5000;52.0000 --99.5000;52.5000 --99.5000;53.0000 --99.5000;53.5000 --99.5000;54.0000 --99.5000;54.5000 --99.5000;55.0000 --99.5000;55.5000 --99.5000;56.0000 --99.5000;56.5000 --99.0000;-284.5000 --99.0000;-284.0000 --99.0000;-283.5000 --99.0000;-283.0000 --99.0000;-282.5000 --99.0000;-282.0000 --99.0000;-281.5000 --99.0000;-281.0000 --99.0000;-280.5000 --99.0000;-280.0000 --99.0000;-279.5000 --99.0000;-279.0000 --99.0000;-278.5000 --99.0000;-278.0000 --99.0000;-277.5000 --99.0000;-277.0000 --99.0000;-276.5000 --99.0000;-276.0000 --99.0000;-275.5000 --99.0000;-275.0000 --99.0000;-274.5000 --99.0000;-274.0000 --99.0000;-273.5000 --99.0000;-273.0000 --99.0000;-272.5000 --99.0000;41.0000 --99.0000;41.5000 --99.0000;42.0000 --99.0000;42.5000 --99.0000;43.0000 --99.0000;43.5000 --99.0000;44.0000 --99.0000;44.5000 --99.0000;45.0000 --99.0000;45.5000 --99.0000;46.0000 --99.0000;46.5000 --99.0000;47.0000 --99.0000;47.5000 --99.0000;48.0000 --99.0000;48.5000 --99.0000;49.0000 --99.0000;49.5000 --99.0000;50.0000 --99.0000;50.5000 --99.0000;51.0000 --99.0000;51.5000 --99.0000;52.0000 --99.0000;52.5000 --99.0000;53.0000 --99.0000;53.5000 --99.0000;54.0000 --99.0000;54.5000 --99.0000;55.0000 --99.0000;55.5000 --99.0000;56.0000 --98.5000;-284.5000 --98.5000;-284.0000 --98.5000;-283.5000 --98.5000;-283.0000 --98.5000;-282.5000 --98.5000;-282.0000 --98.5000;-281.5000 --98.5000;-281.0000 --98.5000;-280.5000 --98.5000;-280.0000 --98.5000;-279.5000 --98.5000;-279.0000 --98.5000;-278.5000 --98.5000;-278.0000 --98.5000;-277.5000 --98.5000;-277.0000 --98.5000;-276.5000 --98.5000;-276.0000 --98.5000;-275.5000 --98.5000;-275.0000 --98.5000;-274.5000 --98.5000;-274.0000 --98.5000;-273.5000 --98.5000;-273.0000 --98.5000;-272.5000 --98.5000;41.0000 --98.5000;41.5000 --98.5000;42.0000 --98.5000;42.5000 --98.5000;43.0000 --98.5000;43.5000 --98.5000;44.0000 --98.5000;44.5000 --98.5000;45.0000 --98.5000;45.5000 --98.5000;46.0000 --98.5000;46.5000 --98.5000;47.0000 --98.5000;47.5000 --98.5000;48.0000 --98.5000;48.5000 --98.5000;49.0000 --98.5000;49.5000 --98.5000;50.0000 --98.5000;50.5000 --98.5000;51.0000 --98.5000;51.5000 --98.5000;52.0000 --98.5000;52.5000 --98.5000;53.0000 --98.5000;53.5000 --98.5000;54.0000 --98.5000;54.5000 --98.5000;55.0000 --98.5000;55.5000 --98.0000;-284.5000 --98.0000;-284.0000 --98.0000;-283.5000 --98.0000;-283.0000 --98.0000;-282.5000 --98.0000;-282.0000 --98.0000;-281.5000 --98.0000;-281.0000 --98.0000;-280.5000 --98.0000;-280.0000 --98.0000;-279.5000 --98.0000;-279.0000 --98.0000;-278.5000 --98.0000;-278.0000 --98.0000;-277.5000 --98.0000;-277.0000 --98.0000;-276.5000 --98.0000;-276.0000 --98.0000;-275.5000 --98.0000;-275.0000 --98.0000;-274.5000 --98.0000;-274.0000 --98.0000;-273.5000 --98.0000;-273.0000 --98.0000;-272.5000 --98.0000;40.5000 --98.0000;41.0000 --98.0000;41.5000 --98.0000;42.0000 --98.0000;42.5000 --98.0000;43.0000 --98.0000;43.5000 --98.0000;44.0000 --98.0000;44.5000 --98.0000;45.0000 --98.0000;45.5000 --98.0000;46.0000 --98.0000;46.5000 --98.0000;47.0000 --98.0000;47.5000 --98.0000;48.0000 --98.0000;48.5000 --98.0000;49.0000 --98.0000;49.5000 --98.0000;50.0000 --98.0000;50.5000 --98.0000;51.0000 --98.0000;51.5000 --98.0000;52.0000 --98.0000;52.5000 --98.0000;53.0000 --98.0000;53.5000 --98.0000;54.0000 --98.0000;54.5000 --98.0000;55.0000 --97.5000;-284.5000 --97.5000;-284.0000 --97.5000;-283.5000 --97.5000;-283.0000 --97.5000;-282.5000 --97.5000;-282.0000 --97.5000;-281.5000 --97.5000;-281.0000 --97.5000;-280.5000 --97.5000;-280.0000 --97.5000;-279.5000 --97.5000;-279.0000 --97.5000;-278.5000 --97.5000;-278.0000 --97.5000;-277.5000 --97.5000;-277.0000 --97.5000;-276.5000 --97.5000;-276.0000 --97.5000;-275.5000 --97.5000;-275.0000 --97.5000;-274.5000 --97.5000;-274.0000 --97.5000;-273.5000 --97.5000;-273.0000 --97.5000;-272.5000 --97.5000;40.0000 --97.5000;40.5000 --97.5000;41.0000 --97.5000;41.5000 --97.5000;42.0000 --97.5000;42.5000 --97.5000;43.0000 --97.5000;43.5000 --97.5000;44.0000 --97.5000;44.5000 --97.5000;45.0000 --97.5000;45.5000 --97.5000;46.0000 --97.5000;46.5000 --97.5000;47.0000 --97.5000;47.5000 --97.5000;48.0000 --97.5000;48.5000 --97.5000;49.0000 --97.5000;49.5000 --97.5000;50.0000 --97.5000;50.5000 --97.5000;51.0000 --97.5000;51.5000 --97.5000;52.0000 --97.5000;52.5000 --97.5000;53.0000 --97.5000;53.5000 --97.5000;54.0000 --97.5000;54.5000 --97.5000;55.0000 --97.0000;-285.0000 --97.0000;-284.5000 --97.0000;-284.0000 --97.0000;-283.5000 --97.0000;-283.0000 --97.0000;-282.5000 --97.0000;-282.0000 --97.0000;-281.5000 --97.0000;-281.0000 --97.0000;-280.5000 --97.0000;-280.0000 --97.0000;-279.5000 --97.0000;-279.0000 --97.0000;-278.5000 --97.0000;-278.0000 --97.0000;-277.5000 --97.0000;-277.0000 --97.0000;-276.5000 --97.0000;-276.0000 --97.0000;-275.5000 --97.0000;-275.0000 --97.0000;-274.5000 --97.0000;-274.0000 --97.0000;-273.5000 --97.0000;-273.0000 --97.0000;-272.5000 --97.0000;39.5000 --97.0000;40.0000 --97.0000;40.5000 --97.0000;41.0000 --97.0000;41.5000 --97.0000;42.0000 --97.0000;42.5000 --97.0000;43.0000 --97.0000;43.5000 --97.0000;44.0000 --97.0000;44.5000 --97.0000;45.0000 --97.0000;45.5000 --97.0000;46.0000 --97.0000;46.5000 --97.0000;47.0000 --97.0000;47.5000 --97.0000;48.0000 --97.0000;48.5000 --97.0000;49.0000 --97.0000;49.5000 --97.0000;50.0000 --97.0000;50.5000 --97.0000;51.0000 --97.0000;51.5000 --97.0000;52.0000 --97.0000;52.5000 --97.0000;53.0000 --97.0000;53.5000 --97.0000;54.0000 --97.0000;54.5000 --96.5000;-285.0000 --96.5000;-284.5000 --96.5000;-284.0000 --96.5000;-283.5000 --96.5000;-283.0000 --96.5000;-282.5000 --96.5000;-282.0000 --96.5000;-281.5000 --96.5000;-281.0000 --96.5000;-280.5000 --96.5000;-280.0000 --96.5000;-279.5000 --96.5000;-279.0000 --96.5000;-278.5000 --96.5000;-278.0000 --96.5000;-277.5000 --96.5000;-277.0000 --96.5000;-276.5000 --96.5000;-276.0000 --96.5000;-275.5000 --96.5000;-275.0000 --96.5000;-274.5000 --96.5000;-274.0000 --96.5000;-273.5000 --96.5000;-273.0000 --96.5000;-272.5000 --96.5000;39.5000 --96.5000;40.0000 --96.5000;40.5000 --96.5000;41.0000 --96.5000;41.5000 --96.5000;42.0000 --96.5000;42.5000 --96.5000;43.0000 --96.5000;43.5000 --96.5000;44.0000 --96.5000;44.5000 --96.5000;45.0000 --96.5000;45.5000 --96.5000;46.0000 --96.5000;46.5000 --96.5000;47.0000 --96.5000;47.5000 --96.5000;48.0000 --96.5000;48.5000 --96.5000;49.0000 --96.5000;49.5000 --96.5000;50.0000 --96.5000;50.5000 --96.5000;51.0000 --96.5000;51.5000 --96.5000;52.0000 --96.5000;52.5000 --96.5000;53.0000 --96.5000;53.5000 --96.5000;54.0000 --96.0000;-285.0000 --96.0000;-284.5000 --96.0000;-284.0000 --96.0000;-283.5000 --96.0000;-283.0000 --96.0000;-282.5000 --96.0000;-282.0000 --96.0000;-281.5000 --96.0000;-281.0000 --96.0000;-280.5000 --96.0000;-280.0000 --96.0000;-279.5000 --96.0000;-279.0000 --96.0000;-278.5000 --96.0000;-278.0000 --96.0000;-277.5000 --96.0000;-277.0000 --96.0000;-276.5000 --96.0000;-276.0000 --96.0000;-275.5000 --96.0000;-275.0000 --96.0000;-274.5000 --96.0000;-274.0000 --96.0000;-273.5000 --96.0000;-273.0000 --96.0000;39.0000 --96.0000;39.5000 --96.0000;40.0000 --96.0000;40.5000 --96.0000;41.0000 --96.0000;41.5000 --96.0000;42.0000 --96.0000;42.5000 --96.0000;43.0000 --96.0000;43.5000 --96.0000;44.0000 --96.0000;44.5000 --96.0000;45.0000 --96.0000;45.5000 --96.0000;46.0000 --96.0000;46.5000 --96.0000;47.0000 --96.0000;47.5000 --96.0000;48.0000 --96.0000;48.5000 --96.0000;49.0000 --96.0000;49.5000 --96.0000;50.0000 --96.0000;50.5000 --96.0000;51.0000 --96.0000;51.5000 --96.0000;52.0000 --96.0000;52.5000 --96.0000;53.0000 --96.0000;53.5000 --95.5000;-285.0000 --95.5000;-284.5000 --95.5000;-284.0000 --95.5000;-283.5000 --95.5000;-283.0000 --95.5000;-282.5000 --95.5000;-282.0000 --95.5000;-281.5000 --95.5000;-281.0000 --95.5000;-280.5000 --95.5000;-280.0000 --95.5000;-279.5000 --95.5000;-279.0000 --95.5000;-278.5000 --95.5000;-278.0000 --95.5000;-277.5000 --95.5000;-277.0000 --95.5000;-276.5000 --95.5000;-276.0000 --95.5000;-275.5000 --95.5000;-275.0000 --95.5000;-274.5000 --95.5000;-274.0000 --95.5000;-273.5000 --95.5000;-273.0000 --95.5000;38.5000 --95.5000;39.0000 --95.5000;39.5000 --95.5000;40.0000 --95.5000;40.5000 --95.5000;41.0000 --95.5000;41.5000 --95.5000;42.0000 --95.5000;42.5000 --95.5000;43.0000 --95.5000;43.5000 --95.5000;44.0000 --95.5000;44.5000 --95.5000;45.0000 --95.5000;45.5000 --95.5000;46.0000 --95.5000;46.5000 --95.5000;47.0000 --95.5000;47.5000 --95.5000;48.0000 --95.5000;48.5000 --95.5000;49.0000 --95.5000;49.5000 --95.5000;50.0000 --95.5000;50.5000 --95.5000;51.0000 --95.5000;51.5000 --95.5000;52.0000 --95.5000;52.5000 --95.5000;53.0000 --95.5000;53.5000 --95.0000;-285.0000 --95.0000;-284.5000 --95.0000;-284.0000 --95.0000;-283.5000 --95.0000;-283.0000 --95.0000;-282.5000 --95.0000;-282.0000 --95.0000;-281.5000 --95.0000;-281.0000 --95.0000;-280.5000 --95.0000;-280.0000 --95.0000;-279.5000 --95.0000;-279.0000 --95.0000;-278.5000 --95.0000;-278.0000 --95.0000;-277.5000 --95.0000;-277.0000 --95.0000;-276.5000 --95.0000;-276.0000 --95.0000;-275.5000 --95.0000;-275.0000 --95.0000;-274.5000 --95.0000;-274.0000 --95.0000;-273.5000 --95.0000;-273.0000 --95.0000;38.0000 --95.0000;38.5000 --95.0000;39.0000 --95.0000;39.5000 --95.0000;40.0000 --95.0000;40.5000 --95.0000;41.0000 --95.0000;41.5000 --95.0000;42.0000 --95.0000;42.5000 --95.0000;43.0000 --95.0000;43.5000 --95.0000;44.0000 --95.0000;44.5000 --95.0000;45.0000 --95.0000;45.5000 --95.0000;46.0000 --95.0000;46.5000 --95.0000;47.0000 --95.0000;47.5000 --95.0000;48.0000 --95.0000;48.5000 --95.0000;49.0000 --95.0000;49.5000 --95.0000;50.0000 --95.0000;50.5000 --95.0000;51.0000 --95.0000;51.5000 --95.0000;52.0000 --95.0000;52.5000 --95.0000;53.0000 --94.5000;-285.0000 --94.5000;-284.5000 --94.5000;-284.0000 --94.5000;-283.5000 --94.5000;-283.0000 --94.5000;-282.5000 --94.5000;-282.0000 --94.5000;-281.5000 --94.5000;-281.0000 --94.5000;-280.5000 --94.5000;-280.0000 --94.5000;-279.5000 --94.5000;-279.0000 --94.5000;-278.5000 --94.5000;-278.0000 --94.5000;-277.5000 --94.5000;-277.0000 --94.5000;-276.5000 --94.5000;-276.0000 --94.5000;-275.5000 --94.5000;-275.0000 --94.5000;-274.5000 --94.5000;-274.0000 --94.5000;-273.5000 --94.5000;-273.0000 --94.5000;38.0000 --94.5000;38.5000 --94.5000;39.0000 --94.5000;39.5000 --94.5000;40.0000 --94.5000;40.5000 --94.5000;41.0000 --94.5000;41.5000 --94.5000;42.0000 --94.5000;42.5000 --94.5000;43.0000 --94.5000;43.5000 --94.5000;44.0000 --94.5000;44.5000 --94.5000;45.0000 --94.5000;45.5000 --94.5000;46.0000 --94.5000;46.5000 --94.5000;47.0000 --94.5000;47.5000 --94.5000;48.0000 --94.5000;48.5000 --94.5000;49.0000 --94.5000;49.5000 --94.5000;50.0000 --94.5000;50.5000 --94.5000;51.0000 --94.5000;51.5000 --94.5000;52.0000 --94.5000;52.5000 --94.0000;-285.5000 --94.0000;-285.0000 --94.0000;-284.5000 --94.0000;-284.0000 --94.0000;-283.5000 --94.0000;-283.0000 --94.0000;-282.5000 --94.0000;-282.0000 --94.0000;-281.5000 --94.0000;-281.0000 --94.0000;-280.5000 --94.0000;-280.0000 --94.0000;-279.5000 --94.0000;-279.0000 --94.0000;-278.5000 --94.0000;-278.0000 --94.0000;-277.5000 --94.0000;-277.0000 --94.0000;-276.5000 --94.0000;-276.0000 --94.0000;-275.5000 --94.0000;-275.0000 --94.0000;-274.5000 --94.0000;-274.0000 --94.0000;-273.5000 --94.0000;-273.0000 --94.0000;37.5000 --94.0000;38.0000 --94.0000;38.5000 --94.0000;39.0000 --94.0000;39.5000 --94.0000;40.0000 --94.0000;40.5000 --94.0000;41.0000 --94.0000;41.5000 --94.0000;42.0000 --94.0000;42.5000 --94.0000;43.0000 --94.0000;43.5000 --94.0000;44.0000 --94.0000;44.5000 --94.0000;45.0000 --94.0000;45.5000 --94.0000;46.0000 --94.0000;46.5000 --94.0000;47.0000 --94.0000;47.5000 --94.0000;48.0000 --94.0000;48.5000 --94.0000;49.0000 --94.0000;49.5000 --94.0000;50.0000 --94.0000;50.5000 --94.0000;51.0000 --94.0000;51.5000 --94.0000;52.0000 --93.5000;-285.5000 --93.5000;-285.0000 --93.5000;-284.5000 --93.5000;-284.0000 --93.5000;-283.5000 --93.5000;-283.0000 --93.5000;-282.5000 --93.5000;-282.0000 --93.5000;-281.5000 --93.5000;-281.0000 --93.5000;-280.5000 --93.5000;-280.0000 --93.5000;-279.5000 --93.5000;-279.0000 --93.5000;-278.5000 --93.5000;-278.0000 --93.5000;-277.5000 --93.5000;-277.0000 --93.5000;-276.5000 --93.5000;-276.0000 --93.5000;-275.5000 --93.5000;-275.0000 --93.5000;-274.5000 --93.5000;-274.0000 --93.5000;-273.5000 --93.5000;-273.0000 --93.5000;37.0000 --93.5000;37.5000 --93.5000;38.0000 --93.5000;38.5000 --93.5000;39.0000 --93.5000;39.5000 --93.5000;40.0000 --93.5000;40.5000 --93.5000;41.0000 --93.5000;41.5000 --93.5000;42.0000 --93.5000;42.5000 --93.5000;43.0000 --93.5000;43.5000 --93.5000;44.0000 --93.5000;44.5000 --93.5000;45.0000 --93.5000;45.5000 --93.5000;46.0000 --93.5000;46.5000 --93.5000;47.0000 --93.5000;47.5000 --93.5000;48.0000 --93.5000;48.5000 --93.5000;49.0000 --93.5000;49.5000 --93.5000;50.0000 --93.5000;50.5000 --93.5000;51.0000 --93.5000;51.5000 --93.5000;52.0000 --93.0000;-285.5000 --93.0000;-285.0000 --93.0000;-284.5000 --93.0000;-284.0000 --93.0000;-283.5000 --93.0000;-283.0000 --93.0000;-282.5000 --93.0000;-282.0000 --93.0000;-281.5000 --93.0000;-281.0000 --93.0000;-280.5000 --93.0000;-280.0000 --93.0000;-279.5000 --93.0000;-279.0000 --93.0000;-278.5000 --93.0000;-278.0000 --93.0000;-277.5000 --93.0000;-277.0000 --93.0000;-276.5000 --93.0000;-276.0000 --93.0000;-275.5000 --93.0000;-275.0000 --93.0000;-274.5000 --93.0000;-274.0000 --93.0000;-273.5000 --93.0000;36.5000 --93.0000;37.0000 --93.0000;37.5000 --93.0000;38.0000 --93.0000;38.5000 --93.0000;39.0000 --93.0000;39.5000 --93.0000;40.0000 --93.0000;40.5000 --93.0000;41.0000 --93.0000;41.5000 --93.0000;42.0000 --93.0000;42.5000 --93.0000;43.0000 --93.0000;43.5000 --93.0000;44.0000 --93.0000;44.5000 --93.0000;45.0000 --93.0000;45.5000 --93.0000;46.0000 --93.0000;46.5000 --93.0000;47.0000 --93.0000;47.5000 --93.0000;48.0000 --93.0000;48.5000 --93.0000;49.0000 --93.0000;49.5000 --93.0000;50.0000 --93.0000;50.5000 --93.0000;51.0000 --93.0000;51.5000 --92.5000;-285.5000 --92.5000;-285.0000 --92.5000;-284.5000 --92.5000;-284.0000 --92.5000;-283.5000 --92.5000;-283.0000 --92.5000;-282.5000 --92.5000;-282.0000 --92.5000;-281.5000 --92.5000;-281.0000 --92.5000;-280.5000 --92.5000;-280.0000 --92.5000;-279.5000 --92.5000;-279.0000 --92.5000;-278.5000 --92.5000;-278.0000 --92.5000;-277.5000 --92.5000;-277.0000 --92.5000;-276.5000 --92.5000;-276.0000 --92.5000;-275.5000 --92.5000;-275.0000 --92.5000;-274.5000 --92.5000;-274.0000 --92.5000;-273.5000 --92.5000;36.0000 --92.5000;36.5000 --92.5000;37.0000 --92.5000;37.5000 --92.5000;38.0000 --92.5000;38.5000 --92.5000;39.0000 --92.5000;39.5000 --92.5000;40.0000 --92.5000;40.5000 --92.5000;41.0000 --92.5000;41.5000 --92.5000;42.0000 --92.5000;42.5000 --92.5000;43.0000 --92.5000;43.5000 --92.5000;44.0000 --92.5000;44.5000 --92.5000;45.0000 --92.5000;45.5000 --92.5000;46.0000 --92.5000;46.5000 --92.5000;47.0000 --92.5000;47.5000 --92.5000;48.0000 --92.5000;48.5000 --92.5000;49.0000 --92.5000;49.5000 --92.5000;50.0000 --92.5000;50.5000 --92.5000;51.0000 --92.0000;-285.5000 --92.0000;-285.0000 --92.0000;-284.5000 --92.0000;-284.0000 --92.0000;-283.5000 --92.0000;-283.0000 --92.0000;-282.5000 --92.0000;-282.0000 --92.0000;-281.5000 --92.0000;-281.0000 --92.0000;-280.5000 --92.0000;-280.0000 --92.0000;-279.5000 --92.0000;-279.0000 --92.0000;-278.5000 --92.0000;-278.0000 --92.0000;-277.5000 --92.0000;-277.0000 --92.0000;-276.5000 --92.0000;-276.0000 --92.0000;-275.5000 --92.0000;-275.0000 --92.0000;-274.5000 --92.0000;-274.0000 --92.0000;-273.5000 --92.0000;36.0000 --92.0000;36.5000 --92.0000;37.0000 --92.0000;37.5000 --92.0000;38.0000 --92.0000;38.5000 --92.0000;39.0000 --92.0000;39.5000 --92.0000;40.0000 --92.0000;40.5000 --92.0000;41.0000 --92.0000;41.5000 --92.0000;42.0000 --92.0000;42.5000 --92.0000;43.0000 --92.0000;43.5000 --92.0000;44.0000 --92.0000;44.5000 --92.0000;45.0000 --92.0000;45.5000 --92.0000;46.0000 --92.0000;46.5000 --92.0000;47.0000 --92.0000;47.5000 --92.0000;48.0000 --92.0000;48.5000 --92.0000;49.0000 --92.0000;49.5000 --92.0000;50.0000 --92.0000;50.5000 --91.5000;-285.5000 --91.5000;-285.0000 --91.5000;-284.5000 --91.5000;-284.0000 --91.5000;-283.5000 --91.5000;-283.0000 --91.5000;-282.5000 --91.5000;-282.0000 --91.5000;-281.5000 --91.5000;-281.0000 --91.5000;-280.5000 --91.5000;-280.0000 --91.5000;-279.5000 --91.5000;-279.0000 --91.5000;-278.5000 --91.5000;-278.0000 --91.5000;-277.5000 --91.5000;-277.0000 --91.5000;-276.5000 --91.5000;-276.0000 --91.5000;-275.5000 --91.5000;-275.0000 --91.5000;-274.5000 --91.5000;-274.0000 --91.5000;-273.5000 --91.5000;35.5000 --91.5000;36.0000 --91.5000;36.5000 --91.5000;37.0000 --91.5000;37.5000 --91.5000;38.0000 --91.5000;38.5000 --91.5000;39.0000 --91.5000;39.5000 --91.5000;40.0000 --91.5000;40.5000 --91.5000;41.0000 --91.5000;41.5000 --91.5000;42.0000 --91.5000;42.5000 --91.5000;43.0000 --91.5000;43.5000 --91.5000;44.0000 --91.5000;44.5000 --91.5000;45.0000 --91.5000;45.5000 --91.5000;46.0000 --91.5000;46.5000 --91.5000;47.0000 --91.5000;47.5000 --91.5000;48.0000 --91.5000;48.5000 --91.5000;49.0000 --91.5000;49.5000 --91.5000;50.0000 --91.5000;50.5000 --91.0000;-285.5000 --91.0000;-285.0000 --91.0000;-284.5000 --91.0000;-284.0000 --91.0000;-283.5000 --91.0000;-283.0000 --91.0000;-282.5000 --91.0000;-282.0000 --91.0000;-281.5000 --91.0000;-281.0000 --91.0000;-280.5000 --91.0000;-280.0000 --91.0000;-279.5000 --91.0000;-279.0000 --91.0000;-278.5000 --91.0000;-278.0000 --91.0000;-277.5000 --91.0000;-277.0000 --91.0000;-276.5000 --91.0000;-276.0000 --91.0000;-275.5000 --91.0000;-275.0000 --91.0000;-274.5000 --91.0000;-274.0000 --91.0000;-273.5000 --91.0000;35.0000 --91.0000;35.5000 --91.0000;36.0000 --91.0000;36.5000 --91.0000;37.0000 --91.0000;37.5000 --91.0000;38.0000 --91.0000;38.5000 --91.0000;39.0000 --91.0000;39.5000 --91.0000;40.0000 --91.0000;40.5000 --91.0000;41.0000 --91.0000;41.5000 --91.0000;42.0000 --91.0000;42.5000 --91.0000;43.0000 --91.0000;43.5000 --91.0000;44.0000 --91.0000;44.5000 --91.0000;45.0000 --91.0000;45.5000 --91.0000;46.0000 --91.0000;46.5000 --91.0000;47.0000 --91.0000;47.5000 --91.0000;48.0000 --91.0000;48.5000 --91.0000;49.0000 --91.0000;49.5000 --91.0000;50.0000 --90.5000;-286.0000 --90.5000;-285.5000 --90.5000;-285.0000 --90.5000;-284.5000 --90.5000;-284.0000 --90.5000;-283.5000 --90.5000;-283.0000 --90.5000;-282.5000 --90.5000;-282.0000 --90.5000;-281.5000 --90.5000;-281.0000 --90.5000;-280.5000 --90.5000;-280.0000 --90.5000;-279.5000 --90.5000;-279.0000 --90.5000;-278.5000 --90.5000;-278.0000 --90.5000;-277.5000 --90.5000;-277.0000 --90.5000;-276.5000 --90.5000;-276.0000 --90.5000;-275.5000 --90.5000;-275.0000 --90.5000;-274.5000 --90.5000;-274.0000 --90.5000;-273.5000 --90.5000;34.5000 --90.5000;35.0000 --90.5000;35.5000 --90.5000;36.0000 --90.5000;36.5000 --90.5000;37.0000 --90.5000;37.5000 --90.5000;38.0000 --90.5000;38.5000 --90.5000;39.0000 --90.5000;39.5000 --90.5000;40.0000 --90.5000;40.5000 --90.5000;41.0000 --90.5000;41.5000 --90.5000;42.0000 --90.5000;42.5000 --90.5000;43.0000 --90.5000;43.5000 --90.5000;44.0000 --90.5000;44.5000 --90.5000;45.0000 --90.5000;45.5000 --90.5000;46.0000 --90.5000;46.5000 --90.5000;47.0000 --90.5000;47.5000 --90.5000;48.0000 --90.5000;48.5000 --90.5000;49.0000 --90.5000;49.5000 --90.0000;-286.0000 --90.0000;-285.5000 --90.0000;-285.0000 --90.0000;-284.5000 --90.0000;-284.0000 --90.0000;-283.5000 --90.0000;-283.0000 --90.0000;-282.5000 --90.0000;-282.0000 --90.0000;-281.5000 --90.0000;-281.0000 --90.0000;-280.5000 --90.0000;-280.0000 --90.0000;-279.5000 --90.0000;-279.0000 --90.0000;-278.5000 --90.0000;-278.0000 --90.0000;-277.5000 --90.0000;-277.0000 --90.0000;-276.5000 --90.0000;-276.0000 --90.0000;-275.5000 --90.0000;-275.0000 --90.0000;-274.5000 --90.0000;-274.0000 --90.0000;-273.5000 --90.0000;34.5000 --90.0000;35.0000 --90.0000;35.5000 --90.0000;36.0000 --90.0000;36.5000 --90.0000;37.0000 --90.0000;37.5000 --90.0000;38.0000 --90.0000;38.5000 --90.0000;39.0000 --90.0000;39.5000 --90.0000;40.0000 --90.0000;40.5000 --90.0000;41.0000 --90.0000;41.5000 --90.0000;42.0000 --90.0000;42.5000 --90.0000;43.0000 --90.0000;43.5000 --90.0000;44.0000 --90.0000;44.5000 --90.0000;45.0000 --90.0000;45.5000 --90.0000;46.0000 --90.0000;46.5000 --90.0000;47.0000 --90.0000;47.5000 --90.0000;48.0000 --90.0000;48.5000 --90.0000;49.0000 --89.5000;-286.0000 --89.5000;-285.5000 --89.5000;-285.0000 --89.5000;-284.5000 --89.5000;-284.0000 --89.5000;-283.5000 --89.5000;-283.0000 --89.5000;-282.5000 --89.5000;-282.0000 --89.5000;-281.5000 --89.5000;-281.0000 --89.5000;-280.5000 --89.5000;-280.0000 --89.5000;-279.5000 --89.5000;-279.0000 --89.5000;-278.5000 --89.5000;-278.0000 --89.5000;-277.5000 --89.5000;-277.0000 --89.5000;-276.5000 --89.5000;-276.0000 --89.5000;-275.5000 --89.5000;-275.0000 --89.5000;-274.5000 --89.5000;-274.0000 --89.5000;34.0000 --89.5000;34.5000 --89.5000;35.0000 --89.5000;35.5000 --89.5000;36.0000 --89.5000;36.5000 --89.5000;37.0000 --89.5000;37.5000 --89.5000;38.0000 --89.5000;38.5000 --89.5000;39.0000 --89.5000;39.5000 --89.5000;40.0000 --89.5000;40.5000 --89.5000;41.0000 --89.5000;41.5000 --89.5000;42.0000 --89.5000;42.5000 --89.5000;43.0000 --89.5000;43.5000 --89.5000;44.0000 --89.5000;44.5000 --89.5000;45.0000 --89.5000;45.5000 --89.5000;46.0000 --89.5000;46.5000 --89.5000;47.0000 --89.5000;47.5000 --89.5000;48.0000 --89.5000;48.5000 --89.5000;49.0000 --89.0000;-286.0000 --89.0000;-285.5000 --89.0000;-285.0000 --89.0000;-284.5000 --89.0000;-284.0000 --89.0000;-283.5000 --89.0000;-283.0000 --89.0000;-282.5000 --89.0000;-282.0000 --89.0000;-281.5000 --89.0000;-281.0000 --89.0000;-280.5000 --89.0000;-280.0000 --89.0000;-279.5000 --89.0000;-279.0000 --89.0000;-278.5000 --89.0000;-278.0000 --89.0000;-277.5000 --89.0000;-277.0000 --89.0000;-276.5000 --89.0000;-276.0000 --89.0000;-275.5000 --89.0000;-275.0000 --89.0000;-274.5000 --89.0000;-274.0000 --89.0000;33.5000 --89.0000;34.0000 --89.0000;34.5000 --89.0000;35.0000 --89.0000;35.5000 --89.0000;36.0000 --89.0000;36.5000 --89.0000;37.0000 --89.0000;37.5000 --89.0000;38.0000 --89.0000;38.5000 --89.0000;39.0000 --89.0000;39.5000 --89.0000;40.0000 --89.0000;40.5000 --89.0000;41.0000 --89.0000;41.5000 --89.0000;42.0000 --89.0000;42.5000 --89.0000;43.0000 --89.0000;43.5000 --89.0000;44.0000 --89.0000;44.5000 --89.0000;45.0000 --89.0000;45.5000 --89.0000;46.0000 --89.0000;46.5000 --89.0000;47.0000 --89.0000;47.5000 --89.0000;48.0000 --89.0000;48.5000 --88.5000;-286.0000 --88.5000;-285.5000 --88.5000;-285.0000 --88.5000;-284.5000 --88.5000;-284.0000 --88.5000;-283.5000 --88.5000;-283.0000 --88.5000;-282.5000 --88.5000;-282.0000 --88.5000;-281.5000 --88.5000;-281.0000 --88.5000;-280.5000 --88.5000;-280.0000 --88.5000;-279.5000 --88.5000;-279.0000 --88.5000;-278.5000 --88.5000;-278.0000 --88.5000;-277.5000 --88.5000;-277.0000 --88.5000;-276.5000 --88.5000;-276.0000 --88.5000;-275.5000 --88.5000;-275.0000 --88.5000;-274.5000 --88.5000;-274.0000 --88.5000;33.0000 --88.5000;33.5000 --88.5000;34.0000 --88.5000;34.5000 --88.5000;35.0000 --88.5000;35.5000 --88.5000;36.0000 --88.5000;36.5000 --88.5000;37.0000 --88.5000;37.5000 --88.5000;38.0000 --88.5000;38.5000 --88.5000;39.0000 --88.5000;39.5000 --88.5000;40.0000 --88.5000;40.5000 --88.5000;41.0000 --88.5000;41.5000 --88.5000;42.0000 --88.5000;42.5000 --88.5000;43.0000 --88.5000;43.5000 --88.5000;44.0000 --88.5000;44.5000 --88.5000;45.0000 --88.5000;45.5000 --88.5000;46.0000 --88.5000;46.5000 --88.5000;47.0000 --88.5000;47.5000 --88.5000;48.0000 --88.0000;-286.0000 --88.0000;-285.5000 --88.0000;-285.0000 --88.0000;-284.5000 --88.0000;-284.0000 --88.0000;-283.5000 --88.0000;-283.0000 --88.0000;-282.5000 --88.0000;-282.0000 --88.0000;-281.5000 --88.0000;-281.0000 --88.0000;-280.5000 --88.0000;-280.0000 --88.0000;-279.5000 --88.0000;-279.0000 --88.0000;-278.5000 --88.0000;-278.0000 --88.0000;-277.5000 --88.0000;-277.0000 --88.0000;-276.5000 --88.0000;-276.0000 --88.0000;-275.5000 --88.0000;-275.0000 --88.0000;-274.5000 --88.0000;-274.0000 --88.0000;33.0000 --88.0000;33.5000 --88.0000;34.0000 --88.0000;34.5000 --88.0000;35.0000 --88.0000;35.5000 --88.0000;36.0000 --88.0000;36.5000 --88.0000;37.0000 --88.0000;37.5000 --88.0000;38.0000 --88.0000;38.5000 --88.0000;39.0000 --88.0000;39.5000 --88.0000;40.0000 --88.0000;40.5000 --88.0000;41.0000 --88.0000;41.5000 --88.0000;42.0000 --88.0000;42.5000 --88.0000;43.0000 --88.0000;43.5000 --88.0000;44.0000 --88.0000;44.5000 --88.0000;45.0000 --88.0000;45.5000 --88.0000;46.0000 --88.0000;46.5000 --88.0000;47.0000 --88.0000;47.5000 --87.5000;-286.0000 --87.5000;-285.5000 --87.5000;-285.0000 --87.5000;-284.5000 --87.5000;-284.0000 --87.5000;-283.5000 --87.5000;-283.0000 --87.5000;-282.5000 --87.5000;-282.0000 --87.5000;-281.5000 --87.5000;-281.0000 --87.5000;-280.5000 --87.5000;-280.0000 --87.5000;-279.5000 --87.5000;-279.0000 --87.5000;-278.5000 --87.5000;-278.0000 --87.5000;-277.5000 --87.5000;-277.0000 --87.5000;-276.5000 --87.5000;-276.0000 --87.5000;-275.5000 --87.5000;-275.0000 --87.5000;-274.5000 --87.5000;-274.0000 --87.5000;32.5000 --87.5000;33.0000 --87.5000;33.5000 --87.5000;34.0000 --87.5000;34.5000 --87.5000;35.0000 --87.5000;35.5000 --87.5000;36.0000 --87.5000;36.5000 --87.5000;37.0000 --87.5000;37.5000 --87.5000;38.0000 --87.5000;38.5000 --87.5000;39.0000 --87.5000;39.5000 --87.5000;40.0000 --87.5000;40.5000 --87.5000;41.0000 --87.5000;41.5000 --87.5000;42.0000 --87.5000;42.5000 --87.5000;43.0000 --87.5000;43.5000 --87.5000;44.0000 --87.5000;44.5000 --87.5000;45.0000 --87.5000;45.5000 --87.5000;46.0000 --87.5000;46.5000 --87.5000;47.0000 --87.5000;47.5000 --87.0000;-286.0000 --87.0000;-285.5000 --87.0000;-285.0000 --87.0000;-284.5000 --87.0000;-284.0000 --87.0000;-283.5000 --87.0000;-283.0000 --87.0000;-282.5000 --87.0000;-282.0000 --87.0000;-281.5000 --87.0000;-281.0000 --87.0000;-280.5000 --87.0000;-280.0000 --87.0000;-279.5000 --87.0000;-279.0000 --87.0000;-278.5000 --87.0000;-278.0000 --87.0000;-277.5000 --87.0000;-277.0000 --87.0000;-276.5000 --87.0000;-276.0000 --87.0000;-275.5000 --87.0000;-275.0000 --87.0000;-274.5000 --87.0000;-274.0000 --87.0000;32.0000 --87.0000;32.5000 --87.0000;33.0000 --87.0000;33.5000 --87.0000;34.0000 --87.0000;34.5000 --87.0000;35.0000 --87.0000;35.5000 --87.0000;36.0000 --87.0000;36.5000 --87.0000;37.0000 --87.0000;37.5000 --87.0000;38.0000 --87.0000;38.5000 --87.0000;39.0000 --87.0000;39.5000 --87.0000;40.0000 --87.0000;40.5000 --87.0000;41.0000 --87.0000;41.5000 --87.0000;42.0000 --87.0000;42.5000 --87.0000;43.0000 --87.0000;43.5000 --87.0000;44.0000 --87.0000;44.5000 --87.0000;45.0000 --87.0000;45.5000 --87.0000;46.0000 --87.0000;46.5000 --87.0000;47.0000 --86.5000;-286.5000 --86.5000;-286.0000 --86.5000;-285.5000 --86.5000;-285.0000 --86.5000;-284.5000 --86.5000;-284.0000 --86.5000;-283.5000 --86.5000;-283.0000 --86.5000;-282.5000 --86.5000;-282.0000 --86.5000;-281.5000 --86.5000;-281.0000 --86.5000;-280.5000 --86.5000;-280.0000 --86.5000;-279.5000 --86.5000;-279.0000 --86.5000;-278.5000 --86.5000;-278.0000 --86.5000;-277.5000 --86.5000;-277.0000 --86.5000;-276.5000 --86.5000;-276.0000 --86.5000;-275.5000 --86.5000;-275.0000 --86.5000;-274.5000 --86.5000;-274.0000 --86.5000;31.5000 --86.5000;32.0000 --86.5000;32.5000 --86.5000;33.0000 --86.5000;33.5000 --86.5000;34.0000 --86.5000;34.5000 --86.5000;35.0000 --86.5000;35.5000 --86.5000;36.0000 --86.5000;36.5000 --86.5000;37.0000 --86.5000;37.5000 --86.5000;38.0000 --86.5000;38.5000 --86.5000;39.0000 --86.5000;39.5000 --86.5000;40.0000 --86.5000;40.5000 --86.5000;41.0000 --86.5000;41.5000 --86.5000;42.0000 --86.5000;42.5000 --86.5000;43.0000 --86.5000;43.5000 --86.5000;44.0000 --86.5000;44.5000 --86.5000;45.0000 --86.5000;45.5000 --86.5000;46.0000 --86.5000;46.5000 --86.0000;-286.5000 --86.0000;-286.0000 --86.0000;-285.5000 --86.0000;-285.0000 --86.0000;-284.5000 --86.0000;-284.0000 --86.0000;-283.5000 --86.0000;-283.0000 --86.0000;-282.5000 --86.0000;-282.0000 --86.0000;-281.5000 --86.0000;-281.0000 --86.0000;-280.5000 --86.0000;-280.0000 --86.0000;-279.5000 --86.0000;-279.0000 --86.0000;-278.5000 --86.0000;-278.0000 --86.0000;-277.5000 --86.0000;-277.0000 --86.0000;-276.5000 --86.0000;-276.0000 --86.0000;-275.5000 --86.0000;-275.0000 --86.0000;-274.5000 --86.0000;-274.0000 --86.0000;31.5000 --86.0000;32.0000 --86.0000;32.5000 --86.0000;33.0000 --86.0000;33.5000 --86.0000;34.0000 --86.0000;34.5000 --86.0000;35.0000 --86.0000;35.5000 --86.0000;36.0000 --86.0000;36.5000 --86.0000;37.0000 --86.0000;37.5000 --86.0000;38.0000 --86.0000;38.5000 --86.0000;39.0000 --86.0000;39.5000 --86.0000;40.0000 --86.0000;40.5000 --86.0000;41.0000 --86.0000;41.5000 --86.0000;42.0000 --86.0000;42.5000 --86.0000;43.0000 --86.0000;43.5000 --86.0000;44.0000 --86.0000;44.5000 --86.0000;45.0000 --86.0000;45.5000 --86.0000;46.0000 --85.5000;-286.5000 --85.5000;-286.0000 --85.5000;-285.5000 --85.5000;-285.0000 --85.5000;-284.5000 --85.5000;-284.0000 --85.5000;-283.5000 --85.5000;-283.0000 --85.5000;-282.5000 --85.5000;-282.0000 --85.5000;-281.5000 --85.5000;-281.0000 --85.5000;-280.5000 --85.5000;-280.0000 --85.5000;-279.5000 --85.5000;-279.0000 --85.5000;-278.5000 --85.5000;-278.0000 --85.5000;-277.5000 --85.5000;-277.0000 --85.5000;-276.5000 --85.5000;-276.0000 --85.5000;-275.5000 --85.5000;-275.0000 --85.5000;-274.5000 --85.5000;31.0000 --85.5000;31.5000 --85.5000;32.0000 --85.5000;32.5000 --85.5000;33.0000 --85.5000;33.5000 --85.5000;34.0000 --85.5000;34.5000 --85.5000;35.0000 --85.5000;35.5000 --85.5000;36.0000 --85.5000;36.5000 --85.5000;37.0000 --85.5000;37.5000 --85.5000;38.0000 --85.5000;38.5000 --85.5000;39.0000 --85.5000;39.5000 --85.5000;40.0000 --85.5000;40.5000 --85.5000;41.0000 --85.5000;41.5000 --85.5000;42.0000 --85.5000;42.5000 --85.5000;43.0000 --85.5000;43.5000 --85.5000;44.0000 --85.5000;44.5000 --85.5000;45.0000 --85.5000;45.5000 --85.0000;-286.5000 --85.0000;-286.0000 --85.0000;-285.5000 --85.0000;-285.0000 --85.0000;-284.5000 --85.0000;-284.0000 --85.0000;-283.5000 --85.0000;-283.0000 --85.0000;-282.5000 --85.0000;-282.0000 --85.0000;-281.5000 --85.0000;-281.0000 --85.0000;-280.5000 --85.0000;-280.0000 --85.0000;-279.5000 --85.0000;-279.0000 --85.0000;-278.5000 --85.0000;-278.0000 --85.0000;-277.5000 --85.0000;-277.0000 --85.0000;-276.5000 --85.0000;-276.0000 --85.0000;-275.5000 --85.0000;-275.0000 --85.0000;-274.5000 --85.0000;30.5000 --85.0000;31.0000 --85.0000;31.5000 --85.0000;32.0000 --85.0000;32.5000 --85.0000;33.0000 --85.0000;33.5000 --85.0000;34.0000 --85.0000;34.5000 --85.0000;35.0000 --85.0000;35.5000 --85.0000;36.0000 --85.0000;36.5000 --85.0000;37.0000 --85.0000;37.5000 --85.0000;38.0000 --85.0000;38.5000 --85.0000;39.0000 --85.0000;39.5000 --85.0000;40.0000 --85.0000;40.5000 --85.0000;41.0000 --85.0000;41.5000 --85.0000;42.0000 --85.0000;42.5000 --85.0000;43.0000 --85.0000;43.5000 --85.0000;44.0000 --85.0000;44.5000 --85.0000;45.0000 --85.0000;45.5000 --84.5000;-286.5000 --84.5000;-286.0000 --84.5000;-285.5000 --84.5000;-285.0000 --84.5000;-284.5000 --84.5000;-284.0000 --84.5000;-283.5000 --84.5000;-283.0000 --84.5000;-282.5000 --84.5000;-282.0000 --84.5000;-281.5000 --84.5000;-281.0000 --84.5000;-280.5000 --84.5000;-280.0000 --84.5000;-279.5000 --84.5000;-279.0000 --84.5000;-278.5000 --84.5000;-278.0000 --84.5000;-277.5000 --84.5000;-277.0000 --84.5000;-276.5000 --84.5000;-276.0000 --84.5000;-275.5000 --84.5000;-275.0000 --84.5000;-274.5000 --84.5000;30.0000 --84.5000;30.5000 --84.5000;31.0000 --84.5000;31.5000 --84.5000;32.0000 --84.5000;32.5000 --84.5000;33.0000 --84.5000;33.5000 --84.5000;34.0000 --84.5000;34.5000 --84.5000;35.0000 --84.5000;35.5000 --84.5000;36.0000 --84.5000;36.5000 --84.5000;37.0000 --84.5000;37.5000 --84.5000;38.0000 --84.5000;38.5000 --84.5000;39.0000 --84.5000;39.5000 --84.5000;40.0000 --84.5000;40.5000 --84.5000;41.0000 --84.5000;41.5000 --84.5000;42.0000 --84.5000;42.5000 --84.5000;43.0000 --84.5000;43.5000 --84.5000;44.0000 --84.5000;44.5000 --84.5000;45.0000 --84.0000;-286.5000 --84.0000;-286.0000 --84.0000;-285.5000 --84.0000;-285.0000 --84.0000;-284.5000 --84.0000;-284.0000 --84.0000;-283.5000 --84.0000;-283.0000 --84.0000;-282.5000 --84.0000;-282.0000 --84.0000;-281.5000 --84.0000;-281.0000 --84.0000;-280.5000 --84.0000;-280.0000 --84.0000;-279.5000 --84.0000;-279.0000 --84.0000;-278.5000 --84.0000;-278.0000 --84.0000;-277.5000 --84.0000;-277.0000 --84.0000;-276.5000 --84.0000;-276.0000 --84.0000;-275.5000 --84.0000;-275.0000 --84.0000;-274.5000 --84.0000;30.0000 --84.0000;30.5000 --84.0000;31.0000 --84.0000;31.5000 --84.0000;32.0000 --84.0000;32.5000 --84.0000;33.0000 --84.0000;33.5000 --84.0000;34.0000 --84.0000;34.5000 --84.0000;35.0000 --84.0000;35.5000 --84.0000;36.0000 --84.0000;36.5000 --84.0000;37.0000 --84.0000;37.5000 --84.0000;38.0000 --84.0000;38.5000 --84.0000;39.0000 --84.0000;39.5000 --84.0000;40.0000 --84.0000;40.5000 --84.0000;41.0000 --84.0000;41.5000 --84.0000;42.0000 --84.0000;42.5000 --84.0000;43.0000 --84.0000;43.5000 --84.0000;44.0000 --84.0000;44.5000 --83.5000;-286.5000 --83.5000;-286.0000 --83.5000;-285.5000 --83.5000;-285.0000 --83.5000;-284.5000 --83.5000;-284.0000 --83.5000;-283.5000 --83.5000;-283.0000 --83.5000;-282.5000 --83.5000;-282.0000 --83.5000;-281.5000 --83.5000;-281.0000 --83.5000;-280.5000 --83.5000;-280.0000 --83.5000;-279.5000 --83.5000;-279.0000 --83.5000;-278.5000 --83.5000;-278.0000 --83.5000;-277.5000 --83.5000;-277.0000 --83.5000;-276.5000 --83.5000;-276.0000 --83.5000;-275.5000 --83.5000;-275.0000 --83.5000;-274.5000 --83.5000;29.5000 --83.5000;30.0000 --83.5000;30.5000 --83.5000;31.0000 --83.5000;31.5000 --83.5000;32.0000 --83.5000;32.5000 --83.5000;33.0000 --83.5000;33.5000 --83.5000;34.0000 --83.5000;34.5000 --83.5000;35.0000 --83.5000;35.5000 --83.5000;36.0000 --83.5000;36.5000 --83.5000;37.0000 --83.5000;37.5000 --83.5000;38.0000 --83.5000;38.5000 --83.5000;39.0000 --83.5000;39.5000 --83.5000;40.0000 --83.5000;40.5000 --83.5000;41.0000 --83.5000;41.5000 --83.5000;42.0000 --83.5000;42.5000 --83.5000;43.0000 --83.5000;43.5000 --83.5000;44.0000 --83.0000;-286.5000 --83.0000;-286.0000 --83.0000;-285.5000 --83.0000;-285.0000 --83.0000;-284.5000 --83.0000;-284.0000 --83.0000;-283.5000 --83.0000;-283.0000 --83.0000;-282.5000 --83.0000;-282.0000 --83.0000;-281.5000 --83.0000;-281.0000 --83.0000;-280.5000 --83.0000;-280.0000 --83.0000;-279.5000 --83.0000;-279.0000 --83.0000;-278.5000 --83.0000;-278.0000 --83.0000;-277.5000 --83.0000;-277.0000 --83.0000;-276.5000 --83.0000;-276.0000 --83.0000;-275.5000 --83.0000;-275.0000 --83.0000;-274.5000 --83.0000;29.0000 --83.0000;29.5000 --83.0000;30.0000 --83.0000;30.5000 --83.0000;31.0000 --83.0000;31.5000 --83.0000;32.0000 --83.0000;32.5000 --83.0000;33.0000 --83.0000;33.5000 --83.0000;34.0000 --83.0000;34.5000 --83.0000;35.0000 --83.0000;35.5000 --83.0000;36.0000 --83.0000;36.5000 --83.0000;37.0000 --83.0000;37.5000 --83.0000;38.0000 --83.0000;38.5000 --83.0000;39.0000 --83.0000;39.5000 --83.0000;40.0000 --83.0000;40.5000 --83.0000;41.0000 --83.0000;41.5000 --83.0000;42.0000 --83.0000;42.5000 --83.0000;43.0000 --83.0000;43.5000 --83.0000;44.0000 --82.5000;-286.5000 --82.5000;-286.0000 --82.5000;-285.5000 --82.5000;-285.0000 --82.5000;-284.5000 --82.5000;-284.0000 --82.5000;-283.5000 --82.5000;-283.0000 --82.5000;-282.5000 --82.5000;-282.0000 --82.5000;-281.5000 --82.5000;-281.0000 --82.5000;-280.5000 --82.5000;-280.0000 --82.5000;-279.5000 --82.5000;-279.0000 --82.5000;-278.5000 --82.5000;-278.0000 --82.5000;-277.5000 --82.5000;-277.0000 --82.5000;-276.5000 --82.5000;-276.0000 --82.5000;-275.5000 --82.5000;-275.0000 --82.5000;-274.5000 --82.5000;28.5000 --82.5000;29.0000 --82.5000;29.5000 --82.5000;30.0000 --82.5000;30.5000 --82.5000;31.0000 --82.5000;31.5000 --82.5000;32.0000 --82.5000;32.5000 --82.5000;33.0000 --82.5000;33.5000 --82.5000;34.0000 --82.5000;34.5000 --82.5000;35.0000 --82.5000;35.5000 --82.5000;36.0000 --82.5000;36.5000 --82.5000;37.0000 --82.5000;37.5000 --82.5000;38.0000 --82.5000;38.5000 --82.5000;39.0000 --82.5000;39.5000 --82.5000;40.0000 --82.5000;40.5000 --82.5000;41.0000 --82.5000;41.5000 --82.5000;42.0000 --82.5000;42.5000 --82.5000;43.0000 --82.5000;43.5000 --82.0000;-286.5000 --82.0000;-286.0000 --82.0000;-285.5000 --82.0000;-285.0000 --82.0000;-284.5000 --82.0000;-284.0000 --82.0000;-283.5000 --82.0000;-283.0000 --82.0000;-282.5000 --82.0000;-282.0000 --82.0000;-281.5000 --82.0000;-281.0000 --82.0000;-280.5000 --82.0000;-280.0000 --82.0000;-279.5000 --82.0000;-279.0000 --82.0000;-278.5000 --82.0000;-278.0000 --82.0000;-277.5000 --82.0000;-277.0000 --82.0000;-276.5000 --82.0000;-276.0000 --82.0000;-275.5000 --82.0000;-275.0000 --82.0000;-274.5000 --82.0000;28.5000 --82.0000;29.0000 --82.0000;29.5000 --82.0000;30.0000 --82.0000;30.5000 --82.0000;31.0000 --82.0000;31.5000 --82.0000;32.0000 --82.0000;32.5000 --82.0000;33.0000 --82.0000;33.5000 --82.0000;34.0000 --82.0000;34.5000 --82.0000;35.0000 --82.0000;35.5000 --82.0000;36.0000 --82.0000;36.5000 --82.0000;37.0000 --82.0000;37.5000 --82.0000;38.0000 --82.0000;38.5000 --82.0000;39.0000 --82.0000;39.5000 --82.0000;40.0000 --82.0000;40.5000 --82.0000;41.0000 --82.0000;41.5000 --82.0000;42.0000 --82.0000;42.5000 --82.0000;43.0000 --81.5000;-286.5000 --81.5000;-286.0000 --81.5000;-285.5000 --81.5000;-285.0000 --81.5000;-284.5000 --81.5000;-284.0000 --81.5000;-283.5000 --81.5000;-283.0000 --81.5000;-282.5000 --81.5000;-282.0000 --81.5000;-281.5000 --81.5000;-281.0000 --81.5000;-280.5000 --81.5000;-280.0000 --81.5000;-279.5000 --81.5000;-279.0000 --81.5000;-278.5000 --81.5000;-278.0000 --81.5000;-277.5000 --81.5000;-277.0000 --81.5000;-276.5000 --81.5000;-276.0000 --81.5000;-275.5000 --81.5000;-275.0000 --81.5000;-274.5000 --81.5000;28.0000 --81.5000;28.5000 --81.5000;29.0000 --81.5000;29.5000 --81.5000;30.0000 --81.5000;30.5000 --81.5000;31.0000 --81.5000;31.5000 --81.5000;32.0000 --81.5000;32.5000 --81.5000;33.0000 --81.5000;33.5000 --81.5000;34.0000 --81.5000;34.5000 --81.5000;35.0000 --81.5000;35.5000 --81.5000;36.0000 --81.5000;36.5000 --81.5000;37.0000 --81.5000;37.5000 --81.5000;38.0000 --81.5000;38.5000 --81.5000;39.0000 --81.5000;39.5000 --81.5000;40.0000 --81.5000;40.5000 --81.5000;41.0000 --81.5000;41.5000 --81.5000;42.0000 --81.5000;42.5000 --81.0000;-286.5000 --81.0000;-286.0000 --81.0000;-285.5000 --81.0000;-285.0000 --81.0000;-284.5000 --81.0000;-284.0000 --81.0000;-283.5000 --81.0000;-283.0000 --81.0000;-282.5000 --81.0000;-282.0000 --81.0000;-281.5000 --81.0000;-281.0000 --81.0000;-280.5000 --81.0000;-280.0000 --81.0000;-279.5000 --81.0000;-279.0000 --81.0000;-278.5000 --81.0000;-278.0000 --81.0000;-277.5000 --81.0000;-277.0000 --81.0000;-276.5000 --81.0000;-276.0000 --81.0000;-275.5000 --81.0000;-275.0000 --81.0000;-274.5000 --81.0000;27.5000 --81.0000;28.0000 --81.0000;28.5000 --81.0000;29.0000 --81.0000;29.5000 --81.0000;30.0000 --81.0000;30.5000 --81.0000;31.0000 --81.0000;31.5000 --81.0000;32.0000 --81.0000;32.5000 --81.0000;33.0000 --81.0000;33.5000 --81.0000;34.0000 --81.0000;34.5000 --81.0000;35.0000 --81.0000;35.5000 --81.0000;36.0000 --81.0000;36.5000 --81.0000;37.0000 --81.0000;37.5000 --81.0000;38.0000 --81.0000;38.5000 --81.0000;39.0000 --81.0000;39.5000 --81.0000;40.0000 --81.0000;40.5000 --81.0000;41.0000 --81.0000;41.5000 --81.0000;42.0000 --81.0000;42.5000 --80.5000;-286.5000 --80.5000;-286.0000 --80.5000;-285.5000 --80.5000;-285.0000 --80.5000;-284.5000 --80.5000;-284.0000 --80.5000;-283.5000 --80.5000;-283.0000 --80.5000;-282.5000 --80.5000;-282.0000 --80.5000;-281.5000 --80.5000;-281.0000 --80.5000;-280.5000 --80.5000;-280.0000 --80.5000;-279.5000 --80.5000;-279.0000 --80.5000;-278.5000 --80.5000;-278.0000 --80.5000;-277.5000 --80.5000;-277.0000 --80.5000;-276.5000 --80.5000;-276.0000 --80.5000;-275.5000 --80.5000;-275.0000 --80.5000;-274.5000 --80.5000;27.0000 --80.5000;27.5000 --80.5000;28.0000 --80.5000;28.5000 --80.5000;29.0000 --80.5000;29.5000 --80.5000;30.0000 --80.5000;30.5000 --80.5000;31.0000 --80.5000;31.5000 --80.5000;32.0000 --80.5000;32.5000 --80.5000;33.0000 --80.5000;33.5000 --80.5000;34.0000 --80.5000;34.5000 --80.5000;35.0000 --80.5000;35.5000 --80.5000;36.0000 --80.5000;36.5000 --80.5000;37.0000 --80.5000;37.5000 --80.5000;38.0000 --80.5000;38.5000 --80.5000;39.0000 --80.5000;39.5000 --80.5000;40.0000 --80.5000;40.5000 --80.5000;41.0000 --80.5000;41.5000 --80.5000;42.0000 --80.0000;-287.0000 --80.0000;-286.5000 --80.0000;-286.0000 --80.0000;-285.5000 --80.0000;-285.0000 --80.0000;-284.5000 --80.0000;-284.0000 --80.0000;-283.5000 --80.0000;-283.0000 --80.0000;-282.5000 --80.0000;-282.0000 --80.0000;-281.5000 --80.0000;-281.0000 --80.0000;-280.5000 --80.0000;-280.0000 --80.0000;-279.5000 --80.0000;-279.0000 --80.0000;-278.5000 --80.0000;-278.0000 --80.0000;-277.5000 --80.0000;-277.0000 --80.0000;-276.5000 --80.0000;-276.0000 --80.0000;-275.5000 --80.0000;-275.0000 --80.0000;27.0000 --80.0000;27.5000 --80.0000;28.0000 --80.0000;28.5000 --80.0000;29.0000 --80.0000;29.5000 --80.0000;30.0000 --80.0000;30.5000 --80.0000;31.0000 --80.0000;31.5000 --80.0000;32.0000 --80.0000;32.5000 --80.0000;33.0000 --80.0000;33.5000 --80.0000;34.0000 --80.0000;34.5000 --80.0000;35.0000 --80.0000;35.5000 --80.0000;36.0000 --80.0000;36.5000 --80.0000;37.0000 --80.0000;37.5000 --80.0000;38.0000 --80.0000;38.5000 --80.0000;39.0000 --80.0000;39.5000 --80.0000;40.0000 --80.0000;40.5000 --80.0000;41.0000 --80.0000;41.5000 --79.5000;-287.0000 --79.5000;-286.5000 --79.5000;-286.0000 --79.5000;-285.5000 --79.5000;-285.0000 --79.5000;-284.5000 --79.5000;-284.0000 --79.5000;-283.5000 --79.5000;-283.0000 --79.5000;-282.5000 --79.5000;-282.0000 --79.5000;-281.5000 --79.5000;-281.0000 --79.5000;-280.5000 --79.5000;-280.0000 --79.5000;-279.5000 --79.5000;-279.0000 --79.5000;-278.5000 --79.5000;-278.0000 --79.5000;-277.5000 --79.5000;-277.0000 --79.5000;-276.5000 --79.5000;-276.0000 --79.5000;-275.5000 --79.5000;-275.0000 --79.5000;26.5000 --79.5000;27.0000 --79.5000;27.5000 --79.5000;28.0000 --79.5000;28.5000 --79.5000;29.0000 --79.5000;29.5000 --79.5000;30.0000 --79.5000;30.5000 --79.5000;31.0000 --79.5000;31.5000 --79.5000;32.0000 --79.5000;32.5000 --79.5000;33.0000 --79.5000;33.5000 --79.5000;34.0000 --79.5000;34.5000 --79.5000;35.0000 --79.5000;35.5000 --79.5000;36.0000 --79.5000;36.5000 --79.5000;37.0000 --79.5000;37.5000 --79.5000;38.0000 --79.5000;38.5000 --79.5000;39.0000 --79.5000;39.5000 --79.5000;40.0000 --79.5000;40.5000 --79.5000;41.0000 --79.0000;-287.0000 --79.0000;-286.5000 --79.0000;-286.0000 --79.0000;-285.5000 --79.0000;-285.0000 --79.0000;-284.5000 --79.0000;-284.0000 --79.0000;-283.5000 --79.0000;-283.0000 --79.0000;-282.5000 --79.0000;-282.0000 --79.0000;-281.5000 --79.0000;-281.0000 --79.0000;-280.5000 --79.0000;-280.0000 --79.0000;-279.5000 --79.0000;-279.0000 --79.0000;-278.5000 --79.0000;-278.0000 --79.0000;-277.5000 --79.0000;-277.0000 --79.0000;-276.5000 --79.0000;-276.0000 --79.0000;-275.5000 --79.0000;-275.0000 --79.0000;26.0000 --79.0000;26.5000 --79.0000;27.0000 --79.0000;27.5000 --79.0000;28.0000 --79.0000;28.5000 --79.0000;29.0000 --79.0000;29.5000 --79.0000;30.0000 --79.0000;30.5000 --79.0000;31.0000 --79.0000;31.5000 --79.0000;32.0000 --79.0000;32.5000 --79.0000;33.0000 --79.0000;33.5000 --79.0000;34.0000 --79.0000;34.5000 --79.0000;35.0000 --79.0000;35.5000 --79.0000;36.0000 --79.0000;36.5000 --79.0000;37.0000 --79.0000;37.5000 --79.0000;38.0000 --79.0000;38.5000 --79.0000;39.0000 --79.0000;39.5000 --79.0000;40.0000 --79.0000;40.5000 --79.0000;41.0000 --78.5000;-287.0000 --78.5000;-286.5000 --78.5000;-286.0000 --78.5000;-285.5000 --78.5000;-285.0000 --78.5000;-284.5000 --78.5000;-284.0000 --78.5000;-283.5000 --78.5000;-283.0000 --78.5000;-282.5000 --78.5000;-282.0000 --78.5000;-281.5000 --78.5000;-281.0000 --78.5000;-280.5000 --78.5000;-280.0000 --78.5000;-279.5000 --78.5000;-279.0000 --78.5000;-278.5000 --78.5000;-278.0000 --78.5000;-277.5000 --78.5000;-277.0000 --78.5000;-276.5000 --78.5000;-276.0000 --78.5000;-275.5000 --78.5000;-275.0000 --78.5000;25.5000 --78.5000;26.0000 --78.5000;26.5000 --78.5000;27.0000 --78.5000;27.5000 --78.5000;28.0000 --78.5000;28.5000 --78.5000;29.0000 --78.5000;29.5000 --78.5000;30.0000 --78.5000;30.5000 --78.5000;31.0000 --78.5000;31.5000 --78.5000;32.0000 --78.5000;32.5000 --78.5000;33.0000 --78.5000;33.5000 --78.5000;34.0000 --78.5000;34.5000 --78.5000;35.0000 --78.5000;35.5000 --78.5000;36.0000 --78.5000;36.5000 --78.5000;37.0000 --78.5000;37.5000 --78.5000;38.0000 --78.5000;38.5000 --78.5000;39.0000 --78.5000;39.5000 --78.5000;40.0000 --78.5000;40.5000 --78.0000;-287.0000 --78.0000;-286.5000 --78.0000;-286.0000 --78.0000;-285.5000 --78.0000;-285.0000 --78.0000;-284.5000 --78.0000;-284.0000 --78.0000;-283.5000 --78.0000;-283.0000 --78.0000;-282.5000 --78.0000;-282.0000 --78.0000;-281.5000 --78.0000;-281.0000 --78.0000;-280.5000 --78.0000;-280.0000 --78.0000;-279.5000 --78.0000;-279.0000 --78.0000;-278.5000 --78.0000;-278.0000 --78.0000;-277.5000 --78.0000;-277.0000 --78.0000;-276.5000 --78.0000;-276.0000 --78.0000;-275.5000 --78.0000;-275.0000 --78.0000;25.0000 --78.0000;25.5000 --78.0000;26.0000 --78.0000;26.5000 --78.0000;27.0000 --78.0000;27.5000 --78.0000;28.0000 --78.0000;28.5000 --78.0000;29.0000 --78.0000;29.5000 --78.0000;30.0000 --78.0000;30.5000 --78.0000;31.0000 --78.0000;31.5000 --78.0000;32.0000 --78.0000;32.5000 --78.0000;33.0000 --78.0000;33.5000 --78.0000;34.0000 --78.0000;34.5000 --78.0000;35.0000 --78.0000;35.5000 --78.0000;36.0000 --78.0000;36.5000 --78.0000;37.0000 --78.0000;37.5000 --78.0000;38.0000 --78.0000;38.5000 --78.0000;39.0000 --78.0000;39.5000 --78.0000;40.0000 --77.5000;-287.0000 --77.5000;-286.5000 --77.5000;-286.0000 --77.5000;-285.5000 --77.5000;-285.0000 --77.5000;-284.5000 --77.5000;-284.0000 --77.5000;-283.5000 --77.5000;-283.0000 --77.5000;-282.5000 --77.5000;-282.0000 --77.5000;-281.5000 --77.5000;-281.0000 --77.5000;-280.5000 --77.5000;-280.0000 --77.5000;-279.5000 --77.5000;-279.0000 --77.5000;-278.5000 --77.5000;-278.0000 --77.5000;-277.5000 --77.5000;-277.0000 --77.5000;-276.5000 --77.5000;-276.0000 --77.5000;-275.5000 --77.5000;-275.0000 --77.5000;25.0000 --77.5000;25.5000 --77.5000;26.0000 --77.5000;26.5000 --77.5000;27.0000 --77.5000;27.5000 --77.5000;28.0000 --77.5000;28.5000 --77.5000;29.0000 --77.5000;29.5000 --77.5000;30.0000 --77.5000;30.5000 --77.5000;31.0000 --77.5000;31.5000 --77.5000;32.0000 --77.5000;32.5000 --77.5000;33.0000 --77.5000;33.5000 --77.5000;34.0000 --77.5000;34.5000 --77.5000;35.0000 --77.5000;35.5000 --77.5000;36.0000 --77.5000;36.5000 --77.5000;37.0000 --77.5000;37.5000 --77.5000;38.0000 --77.5000;38.5000 --77.5000;39.0000 --77.5000;39.5000 --77.0000;-287.0000 --77.0000;-286.5000 --77.0000;-286.0000 --77.0000;-285.5000 --77.0000;-285.0000 --77.0000;-284.5000 --77.0000;-284.0000 --77.0000;-283.5000 --77.0000;-283.0000 --77.0000;-282.5000 --77.0000;-282.0000 --77.0000;-281.5000 --77.0000;-281.0000 --77.0000;-280.5000 --77.0000;-280.0000 --77.0000;-279.5000 --77.0000;-279.0000 --77.0000;-278.5000 --77.0000;-278.0000 --77.0000;-277.5000 --77.0000;-277.0000 --77.0000;-276.5000 --77.0000;-276.0000 --77.0000;-275.5000 --77.0000;-275.0000 --77.0000;24.5000 --77.0000;25.0000 --77.0000;25.5000 --77.0000;26.0000 --77.0000;26.5000 --77.0000;27.0000 --77.0000;27.5000 --77.0000;28.0000 --77.0000;28.5000 --77.0000;29.0000 --77.0000;29.5000 --77.0000;30.0000 --77.0000;30.5000 --77.0000;31.0000 --77.0000;31.5000 --77.0000;32.0000 --77.0000;32.5000 --77.0000;33.0000 --77.0000;33.5000 --77.0000;34.0000 --77.0000;34.5000 --77.0000;35.0000 --77.0000;35.5000 --77.0000;36.0000 --77.0000;36.5000 --77.0000;37.0000 --77.0000;37.5000 --77.0000;38.0000 --77.0000;38.5000 --77.0000;39.0000 --77.0000;39.5000 --76.5000;-287.0000 --76.5000;-286.5000 --76.5000;-286.0000 --76.5000;-285.5000 --76.5000;-285.0000 --76.5000;-284.5000 --76.5000;-284.0000 --76.5000;-283.5000 --76.5000;-283.0000 --76.5000;-282.5000 --76.5000;-282.0000 --76.5000;-281.5000 --76.5000;-281.0000 --76.5000;-280.5000 --76.5000;-280.0000 --76.5000;-279.5000 --76.5000;-279.0000 --76.5000;-278.5000 --76.5000;-278.0000 --76.5000;-277.5000 --76.5000;-277.0000 --76.5000;-276.5000 --76.5000;-276.0000 --76.5000;-275.5000 --76.5000;-275.0000 --76.5000;24.0000 --76.5000;24.5000 --76.5000;25.0000 --76.5000;25.5000 --76.5000;26.0000 --76.5000;26.5000 --76.5000;27.0000 --76.5000;27.5000 --76.5000;28.0000 --76.5000;28.5000 --76.5000;29.0000 --76.5000;29.5000 --76.5000;30.0000 --76.5000;30.5000 --76.5000;31.0000 --76.5000;31.5000 --76.5000;32.0000 --76.5000;32.5000 --76.5000;33.0000 --76.5000;33.5000 --76.5000;34.0000 --76.5000;34.5000 --76.5000;35.0000 --76.5000;35.5000 --76.5000;36.0000 --76.5000;36.5000 --76.5000;37.0000 --76.5000;37.5000 --76.5000;38.0000 --76.5000;38.5000 --76.5000;39.0000 --76.0000;-287.0000 --76.0000;-286.5000 --76.0000;-286.0000 --76.0000;-285.5000 --76.0000;-285.0000 --76.0000;-284.5000 --76.0000;-284.0000 --76.0000;-283.5000 --76.0000;-283.0000 --76.0000;-282.5000 --76.0000;-282.0000 --76.0000;-281.5000 --76.0000;-281.0000 --76.0000;-280.5000 --76.0000;-280.0000 --76.0000;-279.5000 --76.0000;-279.0000 --76.0000;-278.5000 --76.0000;-278.0000 --76.0000;-277.5000 --76.0000;-277.0000 --76.0000;-276.5000 --76.0000;-276.0000 --76.0000;-275.5000 --76.0000;-275.0000 --76.0000;23.5000 --76.0000;24.0000 --76.0000;24.5000 --76.0000;25.0000 --76.0000;25.5000 --76.0000;26.0000 --76.0000;26.5000 --76.0000;27.0000 --76.0000;27.5000 --76.0000;28.0000 --76.0000;28.5000 --76.0000;29.0000 --76.0000;29.5000 --76.0000;30.0000 --76.0000;30.5000 --76.0000;31.0000 --76.0000;31.5000 --76.0000;32.0000 --76.0000;32.5000 --76.0000;33.0000 --76.0000;33.5000 --76.0000;34.0000 --76.0000;34.5000 --76.0000;35.0000 --76.0000;35.5000 --76.0000;36.0000 --76.0000;36.5000 --76.0000;37.0000 --76.0000;37.5000 --76.0000;38.0000 --76.0000;38.5000 --75.5000;-287.0000 --75.5000;-286.5000 --75.5000;-286.0000 --75.5000;-285.5000 --75.5000;-285.0000 --75.5000;-284.5000 --75.5000;-284.0000 --75.5000;-283.5000 --75.5000;-283.0000 --75.5000;-282.5000 --75.5000;-282.0000 --75.5000;-281.5000 --75.5000;-281.0000 --75.5000;-280.5000 --75.5000;-280.0000 --75.5000;-279.5000 --75.5000;-279.0000 --75.5000;-278.5000 --75.5000;-278.0000 --75.5000;-277.5000 --75.5000;-277.0000 --75.5000;-276.5000 --75.5000;-276.0000 --75.5000;-275.5000 --75.5000;-275.0000 --75.5000;23.5000 --75.5000;24.0000 --75.5000;24.5000 --75.5000;25.0000 --75.5000;25.5000 --75.5000;26.0000 --75.5000;26.5000 --75.5000;27.0000 --75.5000;27.5000 --75.5000;28.0000 --75.5000;28.5000 --75.5000;29.0000 --75.5000;29.5000 --75.5000;30.0000 --75.5000;30.5000 --75.5000;31.0000 --75.5000;31.5000 --75.5000;32.0000 --75.5000;32.5000 --75.5000;33.0000 --75.5000;33.5000 --75.5000;34.0000 --75.5000;34.5000 --75.5000;35.0000 --75.5000;35.5000 --75.5000;36.0000 --75.5000;36.5000 --75.5000;37.0000 --75.5000;37.5000 --75.5000;38.0000 --75.0000;-287.0000 --75.0000;-286.5000 --75.0000;-286.0000 --75.0000;-285.5000 --75.0000;-285.0000 --75.0000;-284.5000 --75.0000;-284.0000 --75.0000;-283.5000 --75.0000;-283.0000 --75.0000;-282.5000 --75.0000;-282.0000 --75.0000;-281.5000 --75.0000;-281.0000 --75.0000;-280.5000 --75.0000;-280.0000 --75.0000;-279.5000 --75.0000;-279.0000 --75.0000;-278.5000 --75.0000;-278.0000 --75.0000;-277.5000 --75.0000;-277.0000 --75.0000;-276.5000 --75.0000;-276.0000 --75.0000;-275.5000 --75.0000;-275.0000 --75.0000;23.0000 --75.0000;23.5000 --75.0000;24.0000 --75.0000;24.5000 --75.0000;25.0000 --75.0000;25.5000 --75.0000;26.0000 --75.0000;26.5000 --75.0000;27.0000 --75.0000;27.5000 --75.0000;28.0000 --75.0000;28.5000 --75.0000;29.0000 --75.0000;29.5000 --75.0000;30.0000 --75.0000;30.5000 --75.0000;31.0000 --75.0000;31.5000 --75.0000;32.0000 --75.0000;32.5000 --75.0000;33.0000 --75.0000;33.5000 --75.0000;34.0000 --75.0000;34.5000 --75.0000;35.0000 --75.0000;35.5000 --75.0000;36.0000 --75.0000;36.5000 --75.0000;37.0000 --75.0000;37.5000 --75.0000;38.0000 --74.5000;-287.0000 --74.5000;-286.5000 --74.5000;-286.0000 --74.5000;-285.5000 --74.5000;-285.0000 --74.5000;-284.5000 --74.5000;-284.0000 --74.5000;-283.5000 --74.5000;-283.0000 --74.5000;-282.5000 --74.5000;-282.0000 --74.5000;-281.5000 --74.5000;-281.0000 --74.5000;-280.5000 --74.5000;-280.0000 --74.5000;-279.5000 --74.5000;-279.0000 --74.5000;-278.5000 --74.5000;-278.0000 --74.5000;-277.5000 --74.5000;-277.0000 --74.5000;-276.5000 --74.5000;-276.0000 --74.5000;-275.5000 --74.5000;-275.0000 --74.5000;22.5000 --74.5000;23.0000 --74.5000;23.5000 --74.5000;24.0000 --74.5000;24.5000 --74.5000;25.0000 --74.5000;25.5000 --74.5000;26.0000 --74.5000;26.5000 --74.5000;27.0000 --74.5000;27.5000 --74.5000;28.0000 --74.5000;28.5000 --74.5000;29.0000 --74.5000;29.5000 --74.5000;30.0000 --74.5000;30.5000 --74.5000;31.0000 --74.5000;31.5000 --74.5000;32.0000 --74.5000;32.5000 --74.5000;33.0000 --74.5000;33.5000 --74.5000;34.0000 --74.5000;34.5000 --74.5000;35.0000 --74.5000;35.5000 --74.5000;36.0000 --74.5000;36.5000 --74.5000;37.0000 --74.5000;37.5000 --74.0000;-287.0000 --74.0000;-286.5000 --74.0000;-286.0000 --74.0000;-285.5000 --74.0000;-285.0000 --74.0000;-284.5000 --74.0000;-284.0000 --74.0000;-283.5000 --74.0000;-283.0000 --74.0000;-282.5000 --74.0000;-282.0000 --74.0000;-281.5000 --74.0000;-281.0000 --74.0000;-280.5000 --74.0000;-280.0000 --74.0000;-279.5000 --74.0000;-279.0000 --74.0000;-278.5000 --74.0000;-278.0000 --74.0000;-277.5000 --74.0000;-277.0000 --74.0000;-276.5000 --74.0000;-276.0000 --74.0000;-275.5000 --74.0000;-275.0000 --74.0000;22.0000 --74.0000;22.5000 --74.0000;23.0000 --74.0000;23.5000 --74.0000;24.0000 --74.0000;24.5000 --74.0000;25.0000 --74.0000;25.5000 --74.0000;26.0000 --74.0000;26.5000 --74.0000;27.0000 --74.0000;27.5000 --74.0000;28.0000 --74.0000;28.5000 --74.0000;29.0000 --74.0000;29.5000 --74.0000;30.0000 --74.0000;30.5000 --74.0000;31.0000 --74.0000;31.5000 --74.0000;32.0000 --74.0000;32.5000 --74.0000;33.0000 --74.0000;33.5000 --74.0000;34.0000 --74.0000;34.5000 --74.0000;35.0000 --74.0000;35.5000 --74.0000;36.0000 --74.0000;36.5000 --74.0000;37.0000 --73.5000;-287.0000 --73.5000;-286.5000 --73.5000;-286.0000 --73.5000;-285.5000 --73.5000;-285.0000 --73.5000;-284.5000 --73.5000;-284.0000 --73.5000;-283.5000 --73.5000;-283.0000 --73.5000;-282.5000 --73.5000;-282.0000 --73.5000;-281.5000 --73.5000;-281.0000 --73.5000;-280.5000 --73.5000;-280.0000 --73.5000;-279.5000 --73.5000;-279.0000 --73.5000;-278.5000 --73.5000;-278.0000 --73.5000;-277.5000 --73.5000;-277.0000 --73.5000;-276.5000 --73.5000;-276.0000 --73.5000;-275.5000 --73.5000;-275.0000 --73.5000;22.0000 --73.5000;22.5000 --73.5000;23.0000 --73.5000;23.5000 --73.5000;24.0000 --73.5000;24.5000 --73.5000;25.0000 --73.5000;25.5000 --73.5000;26.0000 --73.5000;26.5000 --73.5000;27.0000 --73.5000;27.5000 --73.5000;28.0000 --73.5000;28.5000 --73.5000;29.0000 --73.5000;29.5000 --73.5000;30.0000 --73.5000;30.5000 --73.5000;31.0000 --73.5000;31.5000 --73.5000;32.0000 --73.5000;32.5000 --73.5000;33.0000 --73.5000;33.5000 --73.5000;34.0000 --73.5000;34.5000 --73.5000;35.0000 --73.5000;35.5000 --73.5000;36.0000 --73.5000;36.5000 --73.0000;-287.0000 --73.0000;-286.5000 --73.0000;-286.0000 --73.0000;-285.5000 --73.0000;-285.0000 --73.0000;-284.5000 --73.0000;-284.0000 --73.0000;-283.5000 --73.0000;-283.0000 --73.0000;-282.5000 --73.0000;-282.0000 --73.0000;-281.5000 --73.0000;-281.0000 --73.0000;-280.5000 --73.0000;-280.0000 --73.0000;-279.5000 --73.0000;-279.0000 --73.0000;-278.5000 --73.0000;-278.0000 --73.0000;-277.5000 --73.0000;-277.0000 --73.0000;-276.5000 --73.0000;-276.0000 --73.0000;-275.5000 --73.0000;-275.0000 --73.0000;21.5000 --73.0000;22.0000 --73.0000;22.5000 --73.0000;23.0000 --73.0000;23.5000 --73.0000;24.0000 --73.0000;24.5000 --73.0000;25.0000 --73.0000;25.5000 --73.0000;26.0000 --73.0000;26.5000 --73.0000;27.0000 --73.0000;27.5000 --73.0000;28.0000 --73.0000;28.5000 --73.0000;29.0000 --73.0000;29.5000 --73.0000;30.0000 --73.0000;30.5000 --73.0000;31.0000 --73.0000;31.5000 --73.0000;32.0000 --73.0000;32.5000 --73.0000;33.0000 --73.0000;33.5000 --73.0000;34.0000 --73.0000;34.5000 --73.0000;35.0000 --73.0000;35.5000 --73.0000;36.0000 --73.0000;36.5000 --72.5000;-287.0000 --72.5000;-286.5000 --72.5000;-286.0000 --72.5000;-285.5000 --72.5000;-285.0000 --72.5000;-284.5000 --72.5000;-284.0000 --72.5000;-283.5000 --72.5000;-283.0000 --72.5000;-282.5000 --72.5000;-282.0000 --72.5000;-281.5000 --72.5000;-281.0000 --72.5000;-280.5000 --72.5000;-280.0000 --72.5000;-279.5000 --72.5000;-279.0000 --72.5000;-278.5000 --72.5000;-278.0000 --72.5000;-277.5000 --72.5000;-277.0000 --72.5000;-276.5000 --72.5000;-276.0000 --72.5000;-275.5000 --72.5000;-275.0000 --72.5000;-274.5000 --72.5000;21.0000 --72.5000;21.5000 --72.5000;22.0000 --72.5000;22.5000 --72.5000;23.0000 --72.5000;23.5000 --72.5000;24.0000 --72.5000;24.5000 --72.5000;25.0000 --72.5000;25.5000 --72.5000;26.0000 --72.5000;26.5000 --72.5000;27.0000 --72.5000;27.5000 --72.5000;28.0000 --72.5000;28.5000 --72.5000;29.0000 --72.5000;29.5000 --72.5000;30.0000 --72.5000;30.5000 --72.5000;31.0000 --72.5000;31.5000 --72.5000;32.0000 --72.5000;32.5000 --72.5000;33.0000 --72.5000;33.5000 --72.5000;34.0000 --72.5000;34.5000 --72.5000;35.0000 --72.5000;35.5000 --72.5000;36.0000 --72.0000;-287.0000 --72.0000;-286.5000 --72.0000;-286.0000 --72.0000;-285.5000 --72.0000;-285.0000 --72.0000;-284.5000 --72.0000;-284.0000 --72.0000;-283.5000 --72.0000;-283.0000 --72.0000;-282.5000 --72.0000;-282.0000 --72.0000;-281.5000 --72.0000;-281.0000 --72.0000;-280.5000 --72.0000;-280.0000 --72.0000;-279.5000 --72.0000;-279.0000 --72.0000;-278.5000 --72.0000;-278.0000 --72.0000;-277.5000 --72.0000;-277.0000 --72.0000;-276.5000 --72.0000;-276.0000 --72.0000;-275.5000 --72.0000;-275.0000 --72.0000;-274.5000 --72.0000;20.5000 --72.0000;21.0000 --72.0000;21.5000 --72.0000;22.0000 --72.0000;22.5000 --72.0000;23.0000 --72.0000;23.5000 --72.0000;24.0000 --72.0000;24.5000 --72.0000;25.0000 --72.0000;25.5000 --72.0000;26.0000 --72.0000;26.5000 --72.0000;27.0000 --72.0000;27.5000 --72.0000;28.0000 --72.0000;28.5000 --72.0000;29.0000 --72.0000;29.5000 --72.0000;30.0000 --72.0000;30.5000 --72.0000;31.0000 --72.0000;31.5000 --72.0000;32.0000 --72.0000;32.5000 --72.0000;33.0000 --72.0000;33.5000 --72.0000;34.0000 --72.0000;34.5000 --72.0000;35.0000 --72.0000;35.5000 --71.5000;-287.0000 --71.5000;-286.5000 --71.5000;-286.0000 --71.5000;-285.5000 --71.5000;-285.0000 --71.5000;-284.5000 --71.5000;-284.0000 --71.5000;-283.5000 --71.5000;-283.0000 --71.5000;-282.5000 --71.5000;-282.0000 --71.5000;-281.5000 --71.5000;-281.0000 --71.5000;-280.5000 --71.5000;-280.0000 --71.5000;-279.5000 --71.5000;-279.0000 --71.5000;-278.5000 --71.5000;-278.0000 --71.5000;-277.5000 --71.5000;-277.0000 --71.5000;-276.5000 --71.5000;-276.0000 --71.5000;-275.5000 --71.5000;-275.0000 --71.5000;-274.5000 --71.5000;20.5000 --71.5000;21.0000 --71.5000;21.5000 --71.5000;22.0000 --71.5000;22.5000 --71.5000;23.0000 --71.5000;23.5000 --71.5000;24.0000 --71.5000;24.5000 --71.5000;25.0000 --71.5000;25.5000 --71.5000;26.0000 --71.5000;26.5000 --71.5000;27.0000 --71.5000;27.5000 --71.5000;28.0000 --71.5000;28.5000 --71.5000;29.0000 --71.5000;29.5000 --71.5000;30.0000 --71.5000;30.5000 --71.5000;31.0000 --71.5000;31.5000 --71.5000;32.0000 --71.5000;32.5000 --71.5000;33.0000 --71.5000;33.5000 --71.5000;34.0000 --71.5000;34.5000 --71.5000;35.0000 --71.0000;-287.0000 --71.0000;-286.5000 --71.0000;-286.0000 --71.0000;-285.5000 --71.0000;-285.0000 --71.0000;-284.5000 --71.0000;-284.0000 --71.0000;-283.5000 --71.0000;-283.0000 --71.0000;-282.5000 --71.0000;-282.0000 --71.0000;-281.5000 --71.0000;-281.0000 --71.0000;-280.5000 --71.0000;-280.0000 --71.0000;-279.5000 --71.0000;-279.0000 --71.0000;-278.5000 --71.0000;-278.0000 --71.0000;-277.5000 --71.0000;-277.0000 --71.0000;-276.5000 --71.0000;-276.0000 --71.0000;-275.5000 --71.0000;-275.0000 --71.0000;-274.5000 --71.0000;20.0000 --71.0000;20.5000 --71.0000;21.0000 --71.0000;21.5000 --71.0000;22.0000 --71.0000;22.5000 --71.0000;23.0000 --71.0000;23.5000 --71.0000;24.0000 --71.0000;24.5000 --71.0000;25.0000 --71.0000;25.5000 --71.0000;26.0000 --71.0000;26.5000 --71.0000;27.0000 --71.0000;27.5000 --71.0000;28.0000 --71.0000;28.5000 --71.0000;29.0000 --71.0000;29.5000 --71.0000;30.0000 --71.0000;30.5000 --71.0000;31.0000 --71.0000;31.5000 --71.0000;32.0000 --71.0000;32.5000 --71.0000;33.0000 --71.0000;33.5000 --71.0000;34.0000 --71.0000;34.5000 --71.0000;35.0000 --70.5000;-287.0000 --70.5000;-286.5000 --70.5000;-286.0000 --70.5000;-285.5000 --70.5000;-285.0000 --70.5000;-284.5000 --70.5000;-284.0000 --70.5000;-283.5000 --70.5000;-283.0000 --70.5000;-282.5000 --70.5000;-282.0000 --70.5000;-281.5000 --70.5000;-281.0000 --70.5000;-280.5000 --70.5000;-280.0000 --70.5000;-279.5000 --70.5000;-279.0000 --70.5000;-278.5000 --70.5000;-278.0000 --70.5000;-277.5000 --70.5000;-277.0000 --70.5000;-276.5000 --70.5000;-276.0000 --70.5000;-275.5000 --70.5000;-275.0000 --70.5000;-274.5000 --70.5000;19.5000 --70.5000;20.0000 --70.5000;20.5000 --70.5000;21.0000 --70.5000;21.5000 --70.5000;22.0000 --70.5000;22.5000 --70.5000;23.0000 --70.5000;23.5000 --70.5000;24.0000 --70.5000;24.5000 --70.5000;25.0000 --70.5000;25.5000 --70.5000;26.0000 --70.5000;26.5000 --70.5000;27.0000 --70.5000;27.5000 --70.5000;28.0000 --70.5000;28.5000 --70.5000;29.0000 --70.5000;29.5000 --70.5000;30.0000 --70.5000;30.5000 --70.5000;31.0000 --70.5000;31.5000 --70.5000;32.0000 --70.5000;32.5000 --70.5000;33.0000 --70.5000;33.5000 --70.5000;34.0000 --70.5000;34.5000 --70.0000;-286.5000 --70.0000;-286.0000 --70.0000;-285.5000 --70.0000;-285.0000 --70.0000;-284.5000 --70.0000;-284.0000 --70.0000;-283.5000 --70.0000;-283.0000 --70.0000;-282.5000 --70.0000;-282.0000 --70.0000;-281.5000 --70.0000;-281.0000 --70.0000;-280.5000 --70.0000;-280.0000 --70.0000;-279.5000 --70.0000;-279.0000 --70.0000;-278.5000 --70.0000;-278.0000 --70.0000;-277.5000 --70.0000;-277.0000 --70.0000;-276.5000 --70.0000;-276.0000 --70.0000;-275.5000 --70.0000;-275.0000 --70.0000;-274.5000 --70.0000;19.0000 --70.0000;19.5000 --70.0000;20.0000 --70.0000;20.5000 --70.0000;21.0000 --70.0000;21.5000 --70.0000;22.0000 --70.0000;22.5000 --70.0000;23.0000 --70.0000;23.5000 --70.0000;24.0000 --70.0000;24.5000 --70.0000;25.0000 --70.0000;25.5000 --70.0000;26.0000 --70.0000;26.5000 --70.0000;27.0000 --70.0000;27.5000 --70.0000;28.0000 --70.0000;28.5000 --70.0000;29.0000 --70.0000;29.5000 --70.0000;30.0000 --70.0000;30.5000 --70.0000;31.0000 --70.0000;31.5000 --70.0000;32.0000 --70.0000;32.5000 --70.0000;33.0000 --70.0000;33.5000 --70.0000;34.0000 --69.5000;-286.5000 --69.5000;-286.0000 --69.5000;-285.5000 --69.5000;-285.0000 --69.5000;-284.5000 --69.5000;-284.0000 --69.5000;-283.5000 --69.5000;-283.0000 --69.5000;-282.5000 --69.5000;-282.0000 --69.5000;-281.5000 --69.5000;-281.0000 --69.5000;-280.5000 --69.5000;-280.0000 --69.5000;-279.5000 --69.5000;-279.0000 --69.5000;-278.5000 --69.5000;-278.0000 --69.5000;-277.5000 --69.5000;-277.0000 --69.5000;-276.5000 --69.5000;-276.0000 --69.5000;-275.5000 --69.5000;-275.0000 --69.5000;-274.5000 --69.5000;19.0000 --69.5000;19.5000 --69.5000;20.0000 --69.5000;20.5000 --69.5000;21.0000 --69.5000;21.5000 --69.5000;22.0000 --69.5000;22.5000 --69.5000;23.0000 --69.5000;23.5000 --69.5000;24.0000 --69.5000;24.5000 --69.5000;25.0000 --69.5000;25.5000 --69.5000;26.0000 --69.5000;26.5000 --69.5000;27.0000 --69.5000;27.5000 --69.5000;28.0000 --69.5000;28.5000 --69.5000;29.0000 --69.5000;29.5000 --69.5000;30.0000 --69.5000;30.5000 --69.5000;31.0000 --69.5000;31.5000 --69.5000;32.0000 --69.5000;32.5000 --69.5000;33.0000 --69.5000;33.5000 --69.0000;-286.5000 --69.0000;-286.0000 --69.0000;-285.5000 --69.0000;-285.0000 --69.0000;-284.5000 --69.0000;-284.0000 --69.0000;-283.5000 --69.0000;-283.0000 --69.0000;-282.5000 --69.0000;-282.0000 --69.0000;-281.5000 --69.0000;-281.0000 --69.0000;-280.5000 --69.0000;-280.0000 --69.0000;-279.5000 --69.0000;-279.0000 --69.0000;-278.5000 --69.0000;-278.0000 --69.0000;-277.5000 --69.0000;-277.0000 --69.0000;-276.5000 --69.0000;-276.0000 --69.0000;-275.5000 --69.0000;-275.0000 --69.0000;-274.5000 --69.0000;18.5000 --69.0000;19.0000 --69.0000;19.5000 --69.0000;20.0000 --69.0000;20.5000 --69.0000;21.0000 --69.0000;21.5000 --69.0000;22.0000 --69.0000;22.5000 --69.0000;23.0000 --69.0000;23.5000 --69.0000;24.0000 --69.0000;24.5000 --69.0000;25.0000 --69.0000;25.5000 --69.0000;26.0000 --69.0000;26.5000 --69.0000;27.0000 --69.0000;27.5000 --69.0000;28.0000 --69.0000;28.5000 --69.0000;29.0000 --69.0000;29.5000 --69.0000;30.0000 --69.0000;30.5000 --69.0000;31.0000 --69.0000;31.5000 --69.0000;32.0000 --69.0000;32.5000 --69.0000;33.0000 --69.0000;33.5000 --68.5000;-286.5000 --68.5000;-286.0000 --68.5000;-285.5000 --68.5000;-285.0000 --68.5000;-284.5000 --68.5000;-284.0000 --68.5000;-283.5000 --68.5000;-283.0000 --68.5000;-282.5000 --68.5000;-282.0000 --68.5000;-281.5000 --68.5000;-281.0000 --68.5000;-280.5000 --68.5000;-280.0000 --68.5000;-279.5000 --68.5000;-279.0000 --68.5000;-278.5000 --68.5000;-278.0000 --68.5000;-277.5000 --68.5000;-277.0000 --68.5000;-276.5000 --68.5000;-276.0000 --68.5000;-275.5000 --68.5000;-275.0000 --68.5000;-274.5000 --68.5000;18.0000 --68.5000;18.5000 --68.5000;19.0000 --68.5000;19.5000 --68.5000;20.0000 --68.5000;20.5000 --68.5000;21.0000 --68.5000;21.5000 --68.5000;22.0000 --68.5000;22.5000 --68.5000;23.0000 --68.5000;23.5000 --68.5000;24.0000 --68.5000;24.5000 --68.5000;25.0000 --68.5000;25.5000 --68.5000;26.0000 --68.5000;26.5000 --68.5000;27.0000 --68.5000;27.5000 --68.5000;28.0000 --68.5000;28.5000 --68.5000;29.0000 --68.5000;29.5000 --68.5000;30.0000 --68.5000;30.5000 --68.5000;31.0000 --68.5000;31.5000 --68.5000;32.0000 --68.5000;32.5000 --68.5000;33.0000 --68.0000;-286.5000 --68.0000;-286.0000 --68.0000;-285.5000 --68.0000;-285.0000 --68.0000;-284.5000 --68.0000;-284.0000 --68.0000;-283.5000 --68.0000;-283.0000 --68.0000;-282.5000 --68.0000;-282.0000 --68.0000;-281.5000 --68.0000;-281.0000 --68.0000;-280.5000 --68.0000;-280.0000 --68.0000;-279.5000 --68.0000;-279.0000 --68.0000;-278.5000 --68.0000;-278.0000 --68.0000;-277.5000 --68.0000;-277.0000 --68.0000;-276.5000 --68.0000;-276.0000 --68.0000;-275.5000 --68.0000;-275.0000 --68.0000;-274.5000 --68.0000;17.5000 --68.0000;18.0000 --68.0000;18.5000 --68.0000;19.0000 --68.0000;19.5000 --68.0000;20.0000 --68.0000;20.5000 --68.0000;21.0000 --68.0000;21.5000 --68.0000;22.0000 --68.0000;22.5000 --68.0000;23.0000 --68.0000;23.5000 --68.0000;24.0000 --68.0000;24.5000 --68.0000;25.0000 --68.0000;25.5000 --68.0000;26.0000 --68.0000;26.5000 --68.0000;27.0000 --68.0000;27.5000 --68.0000;28.0000 --68.0000;28.5000 --68.0000;29.0000 --68.0000;29.5000 --68.0000;30.0000 --68.0000;30.5000 --68.0000;31.0000 --68.0000;31.5000 --68.0000;32.0000 --68.0000;32.5000 --67.5000;-286.5000 --67.5000;-286.0000 --67.5000;-285.5000 --67.5000;-285.0000 --67.5000;-284.5000 --67.5000;-284.0000 --67.5000;-283.5000 --67.5000;-283.0000 --67.5000;-282.5000 --67.5000;-282.0000 --67.5000;-281.5000 --67.5000;-281.0000 --67.5000;-280.5000 --67.5000;-280.0000 --67.5000;-279.5000 --67.5000;-279.0000 --67.5000;-278.5000 --67.5000;-278.0000 --67.5000;-277.5000 --67.5000;-277.0000 --67.5000;-276.5000 --67.5000;-276.0000 --67.5000;-275.5000 --67.5000;-275.0000 --67.5000;-274.5000 --67.5000;17.5000 --67.5000;18.0000 --67.5000;18.5000 --67.5000;19.0000 --67.5000;19.5000 --67.5000;20.0000 --67.5000;20.5000 --67.5000;21.0000 --67.5000;21.5000 --67.5000;22.0000 --67.5000;22.5000 --67.5000;23.0000 --67.5000;23.5000 --67.5000;24.0000 --67.5000;24.5000 --67.5000;25.0000 --67.5000;25.5000 --67.5000;26.0000 --67.5000;26.5000 --67.5000;27.0000 --67.5000;27.5000 --67.5000;28.0000 --67.5000;28.5000 --67.5000;29.0000 --67.5000;29.5000 --67.5000;30.0000 --67.5000;30.5000 --67.5000;31.0000 --67.5000;31.5000 --67.5000;32.0000 --67.0000;-286.5000 --67.0000;-286.0000 --67.0000;-285.5000 --67.0000;-285.0000 --67.0000;-284.5000 --67.0000;-284.0000 --67.0000;-283.5000 --67.0000;-283.0000 --67.0000;-282.5000 --67.0000;-282.0000 --67.0000;-281.5000 --67.0000;-281.0000 --67.0000;-280.5000 --67.0000;-280.0000 --67.0000;-279.5000 --67.0000;-279.0000 --67.0000;-278.5000 --67.0000;-278.0000 --67.0000;-277.5000 --67.0000;-277.0000 --67.0000;-276.5000 --67.0000;-276.0000 --67.0000;-275.5000 --67.0000;-275.0000 --67.0000;-274.5000 --67.0000;-274.0000 --67.0000;17.0000 --67.0000;17.5000 --67.0000;18.0000 --67.0000;18.5000 --67.0000;19.0000 --67.0000;19.5000 --67.0000;20.0000 --67.0000;20.5000 --67.0000;21.0000 --67.0000;21.5000 --67.0000;22.0000 --67.0000;22.5000 --67.0000;23.0000 --67.0000;23.5000 --67.0000;24.0000 --67.0000;24.5000 --67.0000;25.0000 --67.0000;25.5000 --67.0000;26.0000 --67.0000;26.5000 --67.0000;27.0000 --67.0000;27.5000 --67.0000;28.0000 --67.0000;28.5000 --67.0000;29.0000 --67.0000;29.5000 --67.0000;30.0000 --67.0000;30.5000 --67.0000;31.0000 --67.0000;31.5000 --67.0000;32.0000 --66.5000;-286.5000 --66.5000;-286.0000 --66.5000;-285.5000 --66.5000;-285.0000 --66.5000;-284.5000 --66.5000;-284.0000 --66.5000;-283.5000 --66.5000;-283.0000 --66.5000;-282.5000 --66.5000;-282.0000 --66.5000;-281.5000 --66.5000;-281.0000 --66.5000;-280.5000 --66.5000;-280.0000 --66.5000;-279.5000 --66.5000;-279.0000 --66.5000;-278.5000 --66.5000;-278.0000 --66.5000;-277.5000 --66.5000;-277.0000 --66.5000;-276.5000 --66.5000;-276.0000 --66.5000;-275.5000 --66.5000;-275.0000 --66.5000;-274.5000 --66.5000;-274.0000 --66.5000;16.5000 --66.5000;17.0000 --66.5000;17.5000 --66.5000;18.0000 --66.5000;18.5000 --66.5000;19.0000 --66.5000;19.5000 --66.5000;20.0000 --66.5000;20.5000 --66.5000;21.0000 --66.5000;21.5000 --66.5000;22.0000 --66.5000;22.5000 --66.5000;23.0000 --66.5000;23.5000 --66.5000;24.0000 --66.5000;24.5000 --66.5000;25.0000 --66.5000;25.5000 --66.5000;26.0000 --66.5000;26.5000 --66.5000;27.0000 --66.5000;27.5000 --66.5000;28.0000 --66.5000;28.5000 --66.5000;29.0000 --66.5000;29.5000 --66.5000;30.0000 --66.5000;30.5000 --66.5000;31.0000 --66.5000;31.5000 --66.0000;-286.5000 --66.0000;-286.0000 --66.0000;-285.5000 --66.0000;-285.0000 --66.0000;-284.5000 --66.0000;-284.0000 --66.0000;-283.5000 --66.0000;-283.0000 --66.0000;-282.5000 --66.0000;-282.0000 --66.0000;-281.5000 --66.0000;-281.0000 --66.0000;-280.5000 --66.0000;-280.0000 --66.0000;-279.5000 --66.0000;-279.0000 --66.0000;-278.5000 --66.0000;-278.0000 --66.0000;-277.5000 --66.0000;-277.0000 --66.0000;-276.5000 --66.0000;-276.0000 --66.0000;-275.5000 --66.0000;-275.0000 --66.0000;-274.5000 --66.0000;-274.0000 --66.0000;16.0000 --66.0000;16.5000 --66.0000;17.0000 --66.0000;17.5000 --66.0000;18.0000 --66.0000;18.5000 --66.0000;19.0000 --66.0000;19.5000 --66.0000;20.0000 --66.0000;20.5000 --66.0000;21.0000 --66.0000;21.5000 --66.0000;22.0000 --66.0000;22.5000 --66.0000;23.0000 --66.0000;23.5000 --66.0000;24.0000 --66.0000;24.5000 --66.0000;25.0000 --66.0000;25.5000 --66.0000;26.0000 --66.0000;26.5000 --66.0000;27.0000 --66.0000;27.5000 --66.0000;28.0000 --66.0000;28.5000 --66.0000;29.0000 --66.0000;29.5000 --66.0000;30.0000 --66.0000;30.5000 --66.0000;31.0000 --65.5000;-286.0000 --65.5000;-285.5000 --65.5000;-285.0000 --65.5000;-284.5000 --65.5000;-284.0000 --65.5000;-283.5000 --65.5000;-283.0000 --65.5000;-282.5000 --65.5000;-282.0000 --65.5000;-281.5000 --65.5000;-281.0000 --65.5000;-280.5000 --65.5000;-280.0000 --65.5000;-279.5000 --65.5000;-279.0000 --65.5000;-278.5000 --65.5000;-278.0000 --65.5000;-277.5000 --65.5000;-277.0000 --65.5000;-276.5000 --65.5000;-276.0000 --65.5000;-275.5000 --65.5000;-275.0000 --65.5000;-274.5000 --65.5000;-274.0000 --65.5000;15.5000 --65.5000;16.0000 --65.5000;16.5000 --65.5000;17.0000 --65.5000;17.5000 --65.5000;18.0000 --65.5000;18.5000 --65.5000;19.0000 --65.5000;19.5000 --65.5000;20.0000 --65.5000;20.5000 --65.5000;21.0000 --65.5000;21.5000 --65.5000;22.0000 --65.5000;22.5000 --65.5000;23.0000 --65.5000;23.5000 --65.5000;24.0000 --65.5000;24.5000 --65.5000;25.0000 --65.5000;25.5000 --65.5000;26.0000 --65.5000;26.5000 --65.5000;27.0000 --65.5000;27.5000 --65.5000;28.0000 --65.5000;28.5000 --65.5000;29.0000 --65.5000;29.5000 --65.5000;30.0000 --65.5000;30.5000 --65.0000;-286.0000 --65.0000;-285.5000 --65.0000;-285.0000 --65.0000;-284.5000 --65.0000;-284.0000 --65.0000;-283.5000 --65.0000;-283.0000 --65.0000;-282.5000 --65.0000;-282.0000 --65.0000;-281.5000 --65.0000;-281.0000 --65.0000;-280.5000 --65.0000;-280.0000 --65.0000;-279.5000 --65.0000;-279.0000 --65.0000;-278.5000 --65.0000;-278.0000 --65.0000;-277.5000 --65.0000;-277.0000 --65.0000;-276.5000 --65.0000;-276.0000 --65.0000;-275.5000 --65.0000;-275.0000 --65.0000;-274.5000 --65.0000;-274.0000 --65.0000;15.5000 --65.0000;16.0000 --65.0000;16.5000 --65.0000;17.0000 --65.0000;17.5000 --65.0000;18.0000 --65.0000;18.5000 --65.0000;19.0000 --65.0000;19.5000 --65.0000;20.0000 --65.0000;20.5000 --65.0000;21.0000 --65.0000;21.5000 --65.0000;22.0000 --65.0000;22.5000 --65.0000;23.0000 --65.0000;23.5000 --65.0000;24.0000 --65.0000;24.5000 --65.0000;25.0000 --65.0000;25.5000 --65.0000;26.0000 --65.0000;26.5000 --65.0000;27.0000 --65.0000;27.5000 --65.0000;28.0000 --65.0000;28.5000 --65.0000;29.0000 --65.0000;29.5000 --65.0000;30.0000 --64.5000;-286.0000 --64.5000;-285.5000 --64.5000;-285.0000 --64.5000;-284.5000 --64.5000;-284.0000 --64.5000;-283.5000 --64.5000;-283.0000 --64.5000;-282.5000 --64.5000;-282.0000 --64.5000;-281.5000 --64.5000;-281.0000 --64.5000;-280.5000 --64.5000;-280.0000 --64.5000;-279.5000 --64.5000;-279.0000 --64.5000;-278.5000 --64.5000;-278.0000 --64.5000;-277.5000 --64.5000;-277.0000 --64.5000;-276.5000 --64.5000;-276.0000 --64.5000;-275.5000 --64.5000;-275.0000 --64.5000;-274.5000 --64.5000;-274.0000 --64.5000;15.0000 --64.5000;15.5000 --64.5000;16.0000 --64.5000;16.5000 --64.5000;17.0000 --64.5000;17.5000 --64.5000;18.0000 --64.5000;18.5000 --64.5000;19.0000 --64.5000;19.5000 --64.5000;20.0000 --64.5000;20.5000 --64.5000;21.0000 --64.5000;21.5000 --64.5000;22.0000 --64.5000;22.5000 --64.5000;23.0000 --64.5000;23.5000 --64.5000;24.0000 --64.5000;24.5000 --64.5000;25.0000 --64.5000;25.5000 --64.5000;26.0000 --64.5000;26.5000 --64.5000;27.0000 --64.5000;27.5000 --64.5000;28.0000 --64.5000;28.5000 --64.5000;29.0000 --64.5000;29.5000 --64.5000;30.0000 --64.0000;-286.0000 --64.0000;-285.5000 --64.0000;-285.0000 --64.0000;-284.5000 --64.0000;-284.0000 --64.0000;-283.5000 --64.0000;-283.0000 --64.0000;-282.5000 --64.0000;-282.0000 --64.0000;-281.5000 --64.0000;-281.0000 --64.0000;-280.5000 --64.0000;-280.0000 --64.0000;-279.5000 --64.0000;-279.0000 --64.0000;-278.5000 --64.0000;-278.0000 --64.0000;-277.5000 --64.0000;-277.0000 --64.0000;-276.5000 --64.0000;-276.0000 --64.0000;-275.5000 --64.0000;-275.0000 --64.0000;-274.5000 --64.0000;-274.0000 --64.0000;14.5000 --64.0000;15.0000 --64.0000;15.5000 --64.0000;16.0000 --64.0000;16.5000 --64.0000;17.0000 --64.0000;17.5000 --64.0000;18.0000 --64.0000;18.5000 --64.0000;19.0000 --64.0000;19.5000 --64.0000;20.0000 --64.0000;20.5000 --64.0000;21.0000 --64.0000;21.5000 --64.0000;22.0000 --64.0000;22.5000 --64.0000;23.0000 --64.0000;23.5000 --64.0000;24.0000 --64.0000;24.5000 --64.0000;25.0000 --64.0000;25.5000 --64.0000;26.0000 --64.0000;26.5000 --64.0000;27.0000 --64.0000;27.5000 --64.0000;28.0000 --64.0000;28.5000 --64.0000;29.0000 --64.0000;29.5000 --63.5000;-286.0000 --63.5000;-285.5000 --63.5000;-285.0000 --63.5000;-284.5000 --63.5000;-284.0000 --63.5000;-283.5000 --63.5000;-283.0000 --63.5000;-282.5000 --63.5000;-282.0000 --63.5000;-281.5000 --63.5000;-281.0000 --63.5000;-280.5000 --63.5000;-280.0000 --63.5000;-279.5000 --63.5000;-279.0000 --63.5000;-278.5000 --63.5000;-278.0000 --63.5000;-277.5000 --63.5000;-277.0000 --63.5000;-276.5000 --63.5000;-276.0000 --63.5000;-275.5000 --63.5000;-275.0000 --63.5000;-274.5000 --63.5000;-274.0000 --63.5000;-273.5000 --63.5000;14.0000 --63.5000;14.5000 --63.5000;15.0000 --63.5000;15.5000 --63.5000;16.0000 --63.5000;16.5000 --63.5000;17.0000 --63.5000;17.5000 --63.5000;18.0000 --63.5000;18.5000 --63.5000;19.0000 --63.5000;19.5000 --63.5000;20.0000 --63.5000;20.5000 --63.5000;21.0000 --63.5000;21.5000 --63.5000;22.0000 --63.5000;22.5000 --63.5000;23.0000 --63.5000;23.5000 --63.5000;24.0000 --63.5000;24.5000 --63.5000;25.0000 --63.5000;25.5000 --63.5000;26.0000 --63.5000;26.5000 --63.5000;27.0000 --63.5000;27.5000 --63.5000;28.0000 --63.5000;28.5000 --63.5000;29.0000 --63.0000;-286.0000 --63.0000;-285.5000 --63.0000;-285.0000 --63.0000;-284.5000 --63.0000;-284.0000 --63.0000;-283.5000 --63.0000;-283.0000 --63.0000;-282.5000 --63.0000;-282.0000 --63.0000;-281.5000 --63.0000;-281.0000 --63.0000;-280.5000 --63.0000;-280.0000 --63.0000;-279.5000 --63.0000;-279.0000 --63.0000;-278.5000 --63.0000;-278.0000 --63.0000;-277.5000 --63.0000;-277.0000 --63.0000;-276.5000 --63.0000;-276.0000 --63.0000;-275.5000 --63.0000;-275.0000 --63.0000;-274.5000 --63.0000;-274.0000 --63.0000;-273.5000 --63.0000;14.0000 --63.0000;14.5000 --63.0000;15.0000 --63.0000;15.5000 --63.0000;16.0000 --63.0000;16.5000 --63.0000;17.0000 --63.0000;17.5000 --63.0000;18.0000 --63.0000;18.5000 --63.0000;19.0000 --63.0000;19.5000 --63.0000;20.0000 --63.0000;20.5000 --63.0000;21.0000 --63.0000;21.5000 --63.0000;22.0000 --63.0000;22.5000 --63.0000;23.0000 --63.0000;23.5000 --63.0000;24.0000 --63.0000;24.5000 --63.0000;25.0000 --63.0000;25.5000 --63.0000;26.0000 --63.0000;26.5000 --63.0000;27.0000 --63.0000;27.5000 --63.0000;28.0000 --63.0000;28.5000 --62.5000;-285.5000 --62.5000;-285.0000 --62.5000;-284.5000 --62.5000;-284.0000 --62.5000;-283.5000 --62.5000;-283.0000 --62.5000;-282.5000 --62.5000;-282.0000 --62.5000;-281.5000 --62.5000;-281.0000 --62.5000;-280.5000 --62.5000;-280.0000 --62.5000;-279.5000 --62.5000;-279.0000 --62.5000;-278.5000 --62.5000;-278.0000 --62.5000;-277.5000 --62.5000;-277.0000 --62.5000;-276.5000 --62.5000;-276.0000 --62.5000;-275.5000 --62.5000;-275.0000 --62.5000;-274.5000 --62.5000;-274.0000 --62.5000;-273.5000 --62.5000;13.5000 --62.5000;14.0000 --62.5000;14.5000 --62.5000;15.0000 --62.5000;15.5000 --62.5000;16.0000 --62.5000;16.5000 --62.5000;17.0000 --62.5000;17.5000 --62.5000;18.0000 --62.5000;18.5000 --62.5000;19.0000 --62.5000;19.5000 --62.5000;20.0000 --62.5000;20.5000 --62.5000;21.0000 --62.5000;21.5000 --62.5000;22.0000 --62.5000;22.5000 --62.5000;23.0000 --62.5000;23.5000 --62.5000;24.0000 --62.5000;24.5000 --62.5000;25.0000 --62.5000;25.5000 --62.5000;26.0000 --62.5000;26.5000 --62.5000;27.0000 --62.5000;27.5000 --62.5000;28.0000 --62.5000;28.5000 --62.0000;-285.5000 --62.0000;-285.0000 --62.0000;-284.5000 --62.0000;-284.0000 --62.0000;-283.5000 --62.0000;-283.0000 --62.0000;-282.5000 --62.0000;-282.0000 --62.0000;-281.5000 --62.0000;-281.0000 --62.0000;-280.5000 --62.0000;-280.0000 --62.0000;-279.5000 --62.0000;-279.0000 --62.0000;-278.5000 --62.0000;-278.0000 --62.0000;-277.5000 --62.0000;-277.0000 --62.0000;-276.5000 --62.0000;-276.0000 --62.0000;-275.5000 --62.0000;-275.0000 --62.0000;-274.5000 --62.0000;-274.0000 --62.0000;-273.5000 --62.0000;13.0000 --62.0000;13.5000 --62.0000;14.0000 --62.0000;14.5000 --62.0000;15.0000 --62.0000;15.5000 --62.0000;16.0000 --62.0000;16.5000 --62.0000;17.0000 --62.0000;17.5000 --62.0000;18.0000 --62.0000;18.5000 --62.0000;19.0000 --62.0000;19.5000 --62.0000;20.0000 --62.0000;20.5000 --62.0000;21.0000 --62.0000;21.5000 --62.0000;22.0000 --62.0000;22.5000 --62.0000;23.0000 --62.0000;23.5000 --62.0000;24.0000 --62.0000;24.5000 --62.0000;25.0000 --62.0000;25.5000 --62.0000;26.0000 --62.0000;26.5000 --62.0000;27.0000 --62.0000;27.5000 --62.0000;28.0000 --61.5000;-285.5000 --61.5000;-285.0000 --61.5000;-284.5000 --61.5000;-284.0000 --61.5000;-283.5000 --61.5000;-283.0000 --61.5000;-282.5000 --61.5000;-282.0000 --61.5000;-281.5000 --61.5000;-281.0000 --61.5000;-280.5000 --61.5000;-280.0000 --61.5000;-279.5000 --61.5000;-279.0000 --61.5000;-278.5000 --61.5000;-278.0000 --61.5000;-277.5000 --61.5000;-277.0000 --61.5000;-276.5000 --61.5000;-276.0000 --61.5000;-275.5000 --61.5000;-275.0000 --61.5000;-274.5000 --61.5000;-274.0000 --61.5000;-273.5000 --61.5000;12.5000 --61.5000;13.0000 --61.5000;13.5000 --61.5000;14.0000 --61.5000;14.5000 --61.5000;15.0000 --61.5000;15.5000 --61.5000;16.0000 --61.5000;16.5000 --61.5000;17.0000 --61.5000;17.5000 --61.5000;18.0000 --61.5000;18.5000 --61.5000;19.0000 --61.5000;19.5000 --61.5000;20.0000 --61.5000;20.5000 --61.5000;21.0000 --61.5000;21.5000 --61.5000;22.0000 --61.5000;22.5000 --61.5000;23.0000 --61.5000;23.5000 --61.5000;24.0000 --61.5000;24.5000 --61.5000;25.0000 --61.5000;25.5000 --61.5000;26.0000 --61.5000;26.5000 --61.5000;27.0000 --61.5000;27.5000 --61.0000;-285.5000 --61.0000;-285.0000 --61.0000;-284.5000 --61.0000;-284.0000 --61.0000;-283.5000 --61.0000;-283.0000 --61.0000;-282.5000 --61.0000;-282.0000 --61.0000;-281.5000 --61.0000;-281.0000 --61.0000;-280.5000 --61.0000;-280.0000 --61.0000;-279.5000 --61.0000;-279.0000 --61.0000;-278.5000 --61.0000;-278.0000 --61.0000;-277.5000 --61.0000;-277.0000 --61.0000;-276.5000 --61.0000;-276.0000 --61.0000;-275.5000 --61.0000;-275.0000 --61.0000;-274.5000 --61.0000;-274.0000 --61.0000;-273.5000 --61.0000;-273.0000 --61.0000;12.5000 --61.0000;13.0000 --61.0000;13.5000 --61.0000;14.0000 --61.0000;14.5000 --61.0000;15.0000 --61.0000;15.5000 --61.0000;16.0000 --61.0000;16.5000 --61.0000;17.0000 --61.0000;17.5000 --61.0000;18.0000 --61.0000;18.5000 --61.0000;19.0000 --61.0000;19.5000 --61.0000;20.0000 --61.0000;20.5000 --61.0000;21.0000 --61.0000;21.5000 --61.0000;22.0000 --61.0000;22.5000 --61.0000;23.0000 --61.0000;23.5000 --61.0000;24.0000 --61.0000;24.5000 --61.0000;25.0000 --61.0000;25.5000 --61.0000;26.0000 --61.0000;26.5000 --61.0000;27.0000 --60.5000;-285.5000 --60.5000;-285.0000 --60.5000;-284.5000 --60.5000;-284.0000 --60.5000;-283.5000 --60.5000;-283.0000 --60.5000;-282.5000 --60.5000;-282.0000 --60.5000;-281.5000 --60.5000;-281.0000 --60.5000;-280.5000 --60.5000;-280.0000 --60.5000;-279.5000 --60.5000;-279.0000 --60.5000;-278.5000 --60.5000;-278.0000 --60.5000;-277.5000 --60.5000;-277.0000 --60.5000;-276.5000 --60.5000;-276.0000 --60.5000;-275.5000 --60.5000;-275.0000 --60.5000;-274.5000 --60.5000;-274.0000 --60.5000;-273.5000 --60.5000;-273.0000 --60.5000;12.0000 --60.5000;12.5000 --60.5000;13.0000 --60.5000;13.5000 --60.5000;14.0000 --60.5000;14.5000 --60.5000;15.0000 --60.5000;15.5000 --60.5000;16.0000 --60.5000;16.5000 --60.5000;17.0000 --60.5000;17.5000 --60.5000;18.0000 --60.5000;18.5000 --60.5000;19.0000 --60.5000;19.5000 --60.5000;20.0000 --60.5000;20.5000 --60.5000;21.0000 --60.5000;21.5000 --60.5000;22.0000 --60.5000;22.5000 --60.5000;23.0000 --60.5000;23.5000 --60.5000;24.0000 --60.5000;24.5000 --60.5000;25.0000 --60.5000;25.5000 --60.5000;26.0000 --60.5000;26.5000 --60.5000;27.0000 --60.0000;-285.0000 --60.0000;-284.5000 --60.0000;-284.0000 --60.0000;-283.5000 --60.0000;-283.0000 --60.0000;-282.5000 --60.0000;-282.0000 --60.0000;-281.5000 --60.0000;-281.0000 --60.0000;-280.5000 --60.0000;-280.0000 --60.0000;-279.5000 --60.0000;-279.0000 --60.0000;-278.5000 --60.0000;-278.0000 --60.0000;-277.5000 --60.0000;-277.0000 --60.0000;-276.5000 --60.0000;-276.0000 --60.0000;-275.5000 --60.0000;-275.0000 --60.0000;-274.5000 --60.0000;-274.0000 --60.0000;-273.5000 --60.0000;-273.0000 --60.0000;11.5000 --60.0000;12.0000 --60.0000;12.5000 --60.0000;13.0000 --60.0000;13.5000 --60.0000;14.0000 --60.0000;14.5000 --60.0000;15.0000 --60.0000;15.5000 --60.0000;16.0000 --60.0000;16.5000 --60.0000;17.0000 --60.0000;17.5000 --60.0000;18.0000 --60.0000;18.5000 --60.0000;19.0000 --60.0000;19.5000 --60.0000;20.0000 --60.0000;20.5000 --60.0000;21.0000 --60.0000;21.5000 --60.0000;22.0000 --60.0000;22.5000 --60.0000;23.0000 --60.0000;23.5000 --60.0000;24.0000 --60.0000;24.5000 --60.0000;25.0000 --60.0000;25.5000 --60.0000;26.0000 --60.0000;26.5000 --59.5000;-285.0000 --59.5000;-284.5000 --59.5000;-284.0000 --59.5000;-283.5000 --59.5000;-283.0000 --59.5000;-282.5000 --59.5000;-282.0000 --59.5000;-281.5000 --59.5000;-281.0000 --59.5000;-280.5000 --59.5000;-280.0000 --59.5000;-279.5000 --59.5000;-279.0000 --59.5000;-278.5000 --59.5000;-278.0000 --59.5000;-277.5000 --59.5000;-277.0000 --59.5000;-276.5000 --59.5000;-276.0000 --59.5000;-275.5000 --59.5000;-275.0000 --59.5000;-274.5000 --59.5000;-274.0000 --59.5000;-273.5000 --59.5000;-273.0000 --59.5000;-272.5000 --59.5000;11.0000 --59.5000;11.5000 --59.5000;12.0000 --59.5000;12.5000 --59.5000;13.0000 --59.5000;13.5000 --59.5000;14.0000 --59.5000;14.5000 --59.5000;15.0000 --59.5000;15.5000 --59.5000;16.0000 --59.5000;16.5000 --59.5000;17.0000 --59.5000;17.5000 --59.5000;18.0000 --59.5000;18.5000 --59.5000;19.0000 --59.5000;19.5000 --59.5000;20.0000 --59.5000;20.5000 --59.5000;21.0000 --59.5000;21.5000 --59.5000;22.0000 --59.5000;22.5000 --59.5000;23.0000 --59.5000;23.5000 --59.5000;24.0000 --59.5000;24.5000 --59.5000;25.0000 --59.5000;25.5000 --59.5000;26.0000 --59.0000;-285.0000 --59.0000;-284.5000 --59.0000;-284.0000 --59.0000;-283.5000 --59.0000;-283.0000 --59.0000;-282.5000 --59.0000;-282.0000 --59.0000;-281.5000 --59.0000;-281.0000 --59.0000;-280.5000 --59.0000;-280.0000 --59.0000;-279.5000 --59.0000;-279.0000 --59.0000;-278.5000 --59.0000;-278.0000 --59.0000;-277.5000 --59.0000;-277.0000 --59.0000;-276.5000 --59.0000;-276.0000 --59.0000;-275.5000 --59.0000;-275.0000 --59.0000;-274.5000 --59.0000;-274.0000 --59.0000;-273.5000 --59.0000;-273.0000 --59.0000;-272.5000 --59.0000;-237.0000 --59.0000;-236.5000 --59.0000;-236.0000 --59.0000;-235.5000 --59.0000;-235.0000 --59.0000;-234.5000 --59.0000;-234.0000 --59.0000;-233.5000 --59.0000;-233.0000 --59.0000;-232.5000 --59.0000;-232.0000 --59.0000;-231.5000 --59.0000;-231.0000 --59.0000;11.0000 --59.0000;11.5000 --59.0000;12.0000 --59.0000;12.5000 --59.0000;13.0000 --59.0000;13.5000 --59.0000;14.0000 --59.0000;14.5000 --59.0000;15.0000 --59.0000;15.5000 --59.0000;16.0000 --59.0000;16.5000 --59.0000;17.0000 --59.0000;17.5000 --59.0000;18.0000 --59.0000;18.5000 --59.0000;19.0000 --59.0000;19.5000 --59.0000;20.0000 --59.0000;20.5000 --59.0000;21.0000 --59.0000;21.5000 --59.0000;22.0000 --59.0000;22.5000 --59.0000;23.0000 --59.0000;23.5000 --59.0000;24.0000 --59.0000;24.5000 --59.0000;25.0000 --59.0000;25.5000 --58.5000;-285.0000 --58.5000;-284.5000 --58.5000;-284.0000 --58.5000;-283.5000 --58.5000;-283.0000 --58.5000;-282.5000 --58.5000;-282.0000 --58.5000;-281.5000 --58.5000;-281.0000 --58.5000;-280.5000 --58.5000;-280.0000 --58.5000;-279.5000 --58.5000;-279.0000 --58.5000;-278.5000 --58.5000;-278.0000 --58.5000;-277.5000 --58.5000;-277.0000 --58.5000;-276.5000 --58.5000;-276.0000 --58.5000;-275.5000 --58.5000;-275.0000 --58.5000;-274.5000 --58.5000;-274.0000 --58.5000;-273.5000 --58.5000;-273.0000 --58.5000;-272.5000 --58.5000;-239.5000 --58.5000;-239.0000 --58.5000;-238.5000 --58.5000;-238.0000 --58.5000;-237.5000 --58.5000;-237.0000 --58.5000;-236.5000 --58.5000;-236.0000 --58.5000;-235.5000 --58.5000;-235.0000 --58.5000;-234.5000 --58.5000;-234.0000 --58.5000;-233.5000 --58.5000;-233.0000 --58.5000;-232.5000 --58.5000;-232.0000 --58.5000;-231.5000 --58.5000;-231.0000 --58.5000;-230.5000 --58.5000;-230.0000 --58.5000;-229.5000 --58.5000;-229.0000 --58.5000;-228.5000 --58.5000;-228.0000 --58.5000;10.5000 --58.5000;11.0000 --58.5000;11.5000 --58.5000;12.0000 --58.5000;12.5000 --58.5000;13.0000 --58.5000;13.5000 --58.5000;14.0000 --58.5000;14.5000 --58.5000;15.0000 --58.5000;15.5000 --58.5000;16.0000 --58.5000;16.5000 --58.5000;17.0000 --58.5000;17.5000 --58.5000;18.0000 --58.5000;18.5000 --58.5000;19.0000 --58.5000;19.5000 --58.5000;20.0000 --58.5000;20.5000 --58.5000;21.0000 --58.5000;21.5000 --58.5000;22.0000 --58.5000;22.5000 --58.5000;23.0000 --58.5000;23.5000 --58.5000;24.0000 --58.5000;24.5000 --58.5000;25.0000 --58.5000;25.5000 --58.0000;-284.5000 --58.0000;-284.0000 --58.0000;-283.5000 --58.0000;-283.0000 --58.0000;-282.5000 --58.0000;-282.0000 --58.0000;-281.5000 --58.0000;-281.0000 --58.0000;-280.5000 --58.0000;-280.0000 --58.0000;-279.5000 --58.0000;-279.0000 --58.0000;-278.5000 --58.0000;-278.0000 --58.0000;-277.5000 --58.0000;-277.0000 --58.0000;-276.5000 --58.0000;-276.0000 --58.0000;-275.5000 --58.0000;-275.0000 --58.0000;-274.5000 --58.0000;-274.0000 --58.0000;-273.5000 --58.0000;-273.0000 --58.0000;-272.5000 --58.0000;-272.0000 --58.0000;-241.0000 --58.0000;-240.5000 --58.0000;-240.0000 --58.0000;-239.5000 --58.0000;-239.0000 --58.0000;-238.5000 --58.0000;-238.0000 --58.0000;-237.5000 --58.0000;-237.0000 --58.0000;-236.5000 --58.0000;-236.0000 --58.0000;-235.5000 --58.0000;-235.0000 --58.0000;-234.5000 --58.0000;-234.0000 --58.0000;-233.5000 --58.0000;-233.0000 --58.0000;-232.5000 --58.0000;-232.0000 --58.0000;-231.5000 --58.0000;-231.0000 --58.0000;-230.5000 --58.0000;-230.0000 --58.0000;-229.5000 --58.0000;-229.0000 --58.0000;-228.5000 --58.0000;-228.0000 --58.0000;-227.5000 --58.0000;-227.0000 --58.0000;-226.5000 --58.0000;10.0000 --58.0000;10.5000 --58.0000;11.0000 --58.0000;11.5000 --58.0000;12.0000 --58.0000;12.5000 --58.0000;13.0000 --58.0000;13.5000 --58.0000;14.0000 --58.0000;14.5000 --58.0000;15.0000 --58.0000;15.5000 --58.0000;16.0000 --58.0000;16.5000 --58.0000;17.0000 --58.0000;17.5000 --58.0000;18.0000 --58.0000;18.5000 --58.0000;19.0000 --58.0000;19.5000 --58.0000;20.0000 --58.0000;20.5000 --58.0000;21.0000 --58.0000;21.5000 --58.0000;22.0000 --58.0000;22.5000 --58.0000;23.0000 --58.0000;23.5000 --58.0000;24.0000 --58.0000;24.5000 --58.0000;25.0000 --57.5000;-284.5000 --57.5000;-284.0000 --57.5000;-283.5000 --57.5000;-283.0000 --57.5000;-282.5000 --57.5000;-282.0000 --57.5000;-281.5000 --57.5000;-281.0000 --57.5000;-280.5000 --57.5000;-280.0000 --57.5000;-279.5000 --57.5000;-279.0000 --57.5000;-278.5000 --57.5000;-278.0000 --57.5000;-277.5000 --57.5000;-277.0000 --57.5000;-276.5000 --57.5000;-276.0000 --57.5000;-275.5000 --57.5000;-275.0000 --57.5000;-274.5000 --57.5000;-274.0000 --57.5000;-273.5000 --57.5000;-273.0000 --57.5000;-272.5000 --57.5000;-272.0000 --57.5000;-242.0000 --57.5000;-241.5000 --57.5000;-241.0000 --57.5000;-240.5000 --57.5000;-240.0000 --57.5000;-239.5000 --57.5000;-239.0000 --57.5000;-238.5000 --57.5000;-238.0000 --57.5000;-237.5000 --57.5000;-237.0000 --57.5000;-236.5000 --57.5000;-236.0000 --57.5000;-235.5000 --57.5000;-235.0000 --57.5000;-234.5000 --57.5000;-234.0000 --57.5000;-233.5000 --57.5000;-233.0000 --57.5000;-232.5000 --57.5000;-232.0000 --57.5000;-231.5000 --57.5000;-231.0000 --57.5000;-230.5000 --57.5000;-230.0000 --57.5000;-229.5000 --57.5000;-229.0000 --57.5000;-228.5000 --57.5000;-228.0000 --57.5000;-227.5000 --57.5000;-227.0000 --57.5000;-226.5000 --57.5000;-226.0000 --57.5000;-225.5000 --57.5000;9.5000 --57.5000;10.0000 --57.5000;10.5000 --57.5000;11.0000 --57.5000;11.5000 --57.5000;12.0000 --57.5000;12.5000 --57.5000;13.0000 --57.5000;13.5000 --57.5000;14.0000 --57.5000;14.5000 --57.5000;15.0000 --57.5000;15.5000 --57.5000;16.0000 --57.5000;16.5000 --57.5000;17.0000 --57.5000;17.5000 --57.5000;18.0000 --57.5000;18.5000 --57.5000;19.0000 --57.5000;19.5000 --57.5000;20.0000 --57.5000;20.5000 --57.5000;21.0000 --57.5000;21.5000 --57.5000;22.0000 --57.5000;22.5000 --57.5000;23.0000 --57.5000;23.5000 --57.5000;24.0000 --57.5000;24.5000 --57.0000;-284.5000 --57.0000;-284.0000 --57.0000;-283.5000 --57.0000;-283.0000 --57.0000;-282.5000 --57.0000;-282.0000 --57.0000;-281.5000 --57.0000;-281.0000 --57.0000;-280.5000 --57.0000;-280.0000 --57.0000;-279.5000 --57.0000;-279.0000 --57.0000;-278.5000 --57.0000;-278.0000 --57.0000;-277.5000 --57.0000;-277.0000 --57.0000;-276.5000 --57.0000;-276.0000 --57.0000;-275.5000 --57.0000;-275.0000 --57.0000;-274.5000 --57.0000;-274.0000 --57.0000;-273.5000 --57.0000;-273.0000 --57.0000;-272.5000 --57.0000;-272.0000 --57.0000;-243.0000 --57.0000;-242.5000 --57.0000;-242.0000 --57.0000;-241.5000 --57.0000;-241.0000 --57.0000;-240.5000 --57.0000;-240.0000 --57.0000;-239.5000 --57.0000;-239.0000 --57.0000;-238.5000 --57.0000;-238.0000 --57.0000;-237.5000 --57.0000;-237.0000 --57.0000;-236.5000 --57.0000;-236.0000 --57.0000;-235.5000 --57.0000;-235.0000 --57.0000;-234.5000 --57.0000;-234.0000 --57.0000;-233.5000 --57.0000;-233.0000 --57.0000;-232.5000 --57.0000;-232.0000 --57.0000;-231.5000 --57.0000;-231.0000 --57.0000;-230.5000 --57.0000;-230.0000 --57.0000;-229.5000 --57.0000;-229.0000 --57.0000;-228.5000 --57.0000;-228.0000 --57.0000;-227.5000 --57.0000;-227.0000 --57.0000;-226.5000 --57.0000;-226.0000 --57.0000;-225.5000 --57.0000;-225.0000 --57.0000;-224.5000 --57.0000;9.5000 --57.0000;10.0000 --57.0000;10.5000 --57.0000;11.0000 --57.0000;11.5000 --57.0000;12.0000 --57.0000;12.5000 --57.0000;13.0000 --57.0000;13.5000 --57.0000;14.0000 --57.0000;14.5000 --57.0000;15.0000 --57.0000;15.5000 --57.0000;16.0000 --57.0000;16.5000 --57.0000;17.0000 --57.0000;17.5000 --57.0000;18.0000 --57.0000;18.5000 --57.0000;19.0000 --57.0000;19.5000 --57.0000;20.0000 --57.0000;20.5000 --57.0000;21.0000 --57.0000;21.5000 --57.0000;22.0000 --57.0000;22.5000 --57.0000;23.0000 --57.0000;23.5000 --57.0000;24.0000 --56.5000;-284.5000 --56.5000;-284.0000 --56.5000;-283.5000 --56.5000;-283.0000 --56.5000;-282.5000 --56.5000;-282.0000 --56.5000;-281.5000 --56.5000;-281.0000 --56.5000;-280.5000 --56.5000;-280.0000 --56.5000;-279.5000 --56.5000;-279.0000 --56.5000;-278.5000 --56.5000;-278.0000 --56.5000;-277.5000 --56.5000;-277.0000 --56.5000;-276.5000 --56.5000;-276.0000 --56.5000;-275.5000 --56.5000;-275.0000 --56.5000;-274.5000 --56.5000;-274.0000 --56.5000;-273.5000 --56.5000;-273.0000 --56.5000;-272.5000 --56.5000;-272.0000 --56.5000;-271.5000 --56.5000;-244.0000 --56.5000;-243.5000 --56.5000;-243.0000 --56.5000;-242.5000 --56.5000;-242.0000 --56.5000;-241.5000 --56.5000;-241.0000 --56.5000;-240.5000 --56.5000;-240.0000 --56.5000;-239.5000 --56.5000;-239.0000 --56.5000;-238.5000 --56.5000;-238.0000 --56.5000;-237.5000 --56.5000;-237.0000 --56.5000;-236.5000 --56.5000;-236.0000 --56.5000;-235.5000 --56.5000;-235.0000 --56.5000;-234.5000 --56.5000;-234.0000 --56.5000;-233.5000 --56.5000;-233.0000 --56.5000;-232.5000 --56.5000;-232.0000 --56.5000;-231.5000 --56.5000;-231.0000 --56.5000;-230.5000 --56.5000;-230.0000 --56.5000;-229.5000 --56.5000;-229.0000 --56.5000;-228.5000 --56.5000;-228.0000 --56.5000;-227.5000 --56.5000;-227.0000 --56.5000;-226.5000 --56.5000;-226.0000 --56.5000;-225.5000 --56.5000;-225.0000 --56.5000;-224.5000 --56.5000;-224.0000 --56.5000;-223.5000 --56.5000;9.0000 --56.5000;9.5000 --56.5000;10.0000 --56.5000;10.5000 --56.5000;11.0000 --56.5000;11.5000 --56.5000;12.0000 --56.5000;12.5000 --56.5000;13.0000 --56.5000;13.5000 --56.5000;14.0000 --56.5000;14.5000 --56.5000;15.0000 --56.5000;15.5000 --56.5000;16.0000 --56.5000;16.5000 --56.5000;17.0000 --56.5000;17.5000 --56.5000;18.0000 --56.5000;18.5000 --56.5000;19.0000 --56.5000;19.5000 --56.5000;20.0000 --56.5000;20.5000 --56.5000;21.0000 --56.5000;21.5000 --56.5000;22.0000 --56.5000;22.5000 --56.5000;23.0000 --56.5000;23.5000 --56.5000;24.0000 --56.0000;-284.0000 --56.0000;-283.5000 --56.0000;-283.0000 --56.0000;-282.5000 --56.0000;-282.0000 --56.0000;-281.5000 --56.0000;-281.0000 --56.0000;-280.5000 --56.0000;-280.0000 --56.0000;-279.5000 --56.0000;-279.0000 --56.0000;-278.5000 --56.0000;-278.0000 --56.0000;-277.5000 --56.0000;-277.0000 --56.0000;-276.5000 --56.0000;-276.0000 --56.0000;-275.5000 --56.0000;-275.0000 --56.0000;-274.5000 --56.0000;-274.0000 --56.0000;-273.5000 --56.0000;-273.0000 --56.0000;-272.5000 --56.0000;-272.0000 --56.0000;-271.5000 --56.0000;-245.0000 --56.0000;-244.5000 --56.0000;-244.0000 --56.0000;-243.5000 --56.0000;-243.0000 --56.0000;-242.5000 --56.0000;-242.0000 --56.0000;-241.5000 --56.0000;-241.0000 --56.0000;-240.5000 --56.0000;-240.0000 --56.0000;-239.5000 --56.0000;-239.0000 --56.0000;-238.5000 --56.0000;-238.0000 --56.0000;-237.5000 --56.0000;-237.0000 --56.0000;-236.5000 --56.0000;-236.0000 --56.0000;-235.5000 --56.0000;-235.0000 --56.0000;-234.5000 --56.0000;-234.0000 --56.0000;-233.5000 --56.0000;-233.0000 --56.0000;-232.5000 --56.0000;-232.0000 --56.0000;-231.5000 --56.0000;-231.0000 --56.0000;-230.5000 --56.0000;-230.0000 --56.0000;-229.5000 --56.0000;-229.0000 --56.0000;-228.5000 --56.0000;-228.0000 --56.0000;-227.5000 --56.0000;-227.0000 --56.0000;-226.5000 --56.0000;-226.0000 --56.0000;-225.5000 --56.0000;-225.0000 --56.0000;-224.5000 --56.0000;-224.0000 --56.0000;-223.5000 --56.0000;-223.0000 --56.0000;-222.5000 --56.0000;8.5000 --56.0000;9.0000 --56.0000;9.5000 --56.0000;10.0000 --56.0000;10.5000 --56.0000;11.0000 --56.0000;11.5000 --56.0000;12.0000 --56.0000;12.5000 --56.0000;13.0000 --56.0000;13.5000 --56.0000;14.0000 --56.0000;14.5000 --56.0000;15.0000 --56.0000;15.5000 --56.0000;16.0000 --56.0000;16.5000 --56.0000;17.0000 --56.0000;17.5000 --56.0000;18.0000 --56.0000;18.5000 --56.0000;19.0000 --56.0000;19.5000 --56.0000;20.0000 --56.0000;20.5000 --56.0000;21.0000 --56.0000;21.5000 --56.0000;22.0000 --56.0000;22.5000 --56.0000;23.0000 --56.0000;23.5000 --55.5000;-284.0000 --55.5000;-283.5000 --55.5000;-283.0000 --55.5000;-282.5000 --55.5000;-282.0000 --55.5000;-281.5000 --55.5000;-281.0000 --55.5000;-280.5000 --55.5000;-280.0000 --55.5000;-279.5000 --55.5000;-279.0000 --55.5000;-278.5000 --55.5000;-278.0000 --55.5000;-277.5000 --55.5000;-277.0000 --55.5000;-276.5000 --55.5000;-276.0000 --55.5000;-275.5000 --55.5000;-275.0000 --55.5000;-274.5000 --55.5000;-274.0000 --55.5000;-273.5000 --55.5000;-273.0000 --55.5000;-272.5000 --55.5000;-272.0000 --55.5000;-271.5000 --55.5000;-245.5000 --55.5000;-245.0000 --55.5000;-244.5000 --55.5000;-244.0000 --55.5000;-243.5000 --55.5000;-243.0000 --55.5000;-242.5000 --55.5000;-242.0000 --55.5000;-241.5000 --55.5000;-241.0000 --55.5000;-240.5000 --55.5000;-240.0000 --55.5000;-239.5000 --55.5000;-239.0000 --55.5000;-238.5000 --55.5000;-238.0000 --55.5000;-237.5000 --55.5000;-237.0000 --55.5000;-236.5000 --55.5000;-236.0000 --55.5000;-235.5000 --55.5000;-235.0000 --55.5000;-234.5000 --55.5000;-234.0000 --55.5000;-233.5000 --55.5000;-233.0000 --55.5000;-232.5000 --55.5000;-232.0000 --55.5000;-231.5000 --55.5000;-231.0000 --55.5000;-230.5000 --55.5000;-230.0000 --55.5000;-229.5000 --55.5000;-229.0000 --55.5000;-228.5000 --55.5000;-228.0000 --55.5000;-227.5000 --55.5000;-227.0000 --55.5000;-226.5000 --55.5000;-226.0000 --55.5000;-225.5000 --55.5000;-225.0000 --55.5000;-224.5000 --55.5000;-224.0000 --55.5000;-223.5000 --55.5000;-223.0000 --55.5000;-222.5000 --55.5000;-222.0000 --55.5000;8.0000 --55.5000;8.5000 --55.5000;9.0000 --55.5000;9.5000 --55.5000;10.0000 --55.5000;10.5000 --55.5000;11.0000 --55.5000;11.5000 --55.5000;12.0000 --55.5000;12.5000 --55.5000;13.0000 --55.5000;13.5000 --55.5000;14.0000 --55.5000;14.5000 --55.5000;15.0000 --55.5000;15.5000 --55.5000;16.0000 --55.5000;16.5000 --55.5000;17.0000 --55.5000;17.5000 --55.5000;18.0000 --55.5000;18.5000 --55.5000;19.0000 --55.5000;19.5000 --55.5000;20.0000 --55.5000;20.5000 --55.5000;21.0000 --55.5000;21.5000 --55.5000;22.0000 --55.5000;22.5000 --55.5000;23.0000 --55.0000;-284.0000 --55.0000;-283.5000 --55.0000;-283.0000 --55.0000;-282.5000 --55.0000;-282.0000 --55.0000;-281.5000 --55.0000;-281.0000 --55.0000;-280.5000 --55.0000;-280.0000 --55.0000;-279.5000 --55.0000;-279.0000 --55.0000;-278.5000 --55.0000;-278.0000 --55.0000;-277.5000 --55.0000;-277.0000 --55.0000;-276.5000 --55.0000;-276.0000 --55.0000;-275.5000 --55.0000;-275.0000 --55.0000;-274.5000 --55.0000;-274.0000 --55.0000;-273.5000 --55.0000;-273.0000 --55.0000;-272.5000 --55.0000;-272.0000 --55.0000;-271.5000 --55.0000;-271.0000 --55.0000;-246.5000 --55.0000;-246.0000 --55.0000;-245.5000 --55.0000;-245.0000 --55.0000;-244.5000 --55.0000;-244.0000 --55.0000;-243.5000 --55.0000;-243.0000 --55.0000;-242.5000 --55.0000;-242.0000 --55.0000;-241.5000 --55.0000;-241.0000 --55.0000;-240.5000 --55.0000;-240.0000 --55.0000;-239.5000 --55.0000;-239.0000 --55.0000;-238.5000 --55.0000;-238.0000 --55.0000;-237.5000 --55.0000;-237.0000 --55.0000;-236.5000 --55.0000;-236.0000 --55.0000;-235.5000 --55.0000;-235.0000 --55.0000;-234.5000 --55.0000;-234.0000 --55.0000;-233.5000 --55.0000;-233.0000 --55.0000;-232.5000 --55.0000;-232.0000 --55.0000;-231.5000 --55.0000;-231.0000 --55.0000;-230.5000 --55.0000;-230.0000 --55.0000;-229.5000 --55.0000;-229.0000 --55.0000;-228.5000 --55.0000;-228.0000 --55.0000;-227.5000 --55.0000;-227.0000 --55.0000;-226.5000 --55.0000;-226.0000 --55.0000;-225.5000 --55.0000;-225.0000 --55.0000;-224.5000 --55.0000;-224.0000 --55.0000;-223.5000 --55.0000;-223.0000 --55.0000;-222.5000 --55.0000;-222.0000 --55.0000;-221.5000 --55.0000;-221.0000 --55.0000;7.5000 --55.0000;8.0000 --55.0000;8.5000 --55.0000;9.0000 --55.0000;9.5000 --55.0000;10.0000 --55.0000;10.5000 --55.0000;11.0000 --55.0000;11.5000 --55.0000;12.0000 --55.0000;12.5000 --55.0000;13.0000 --55.0000;13.5000 --55.0000;14.0000 --55.0000;14.5000 --55.0000;15.0000 --55.0000;15.5000 --55.0000;16.0000 --55.0000;16.5000 --55.0000;17.0000 --55.0000;17.5000 --55.0000;18.0000 --55.0000;18.5000 --55.0000;19.0000 --55.0000;19.5000 --55.0000;20.0000 --55.0000;20.5000 --55.0000;21.0000 --55.0000;21.5000 --55.0000;22.0000 --55.0000;22.5000 --54.5000;-283.5000 --54.5000;-283.0000 --54.5000;-282.5000 --54.5000;-282.0000 --54.5000;-281.5000 --54.5000;-281.0000 --54.5000;-280.5000 --54.5000;-280.0000 --54.5000;-279.5000 --54.5000;-279.0000 --54.5000;-278.5000 --54.5000;-278.0000 --54.5000;-277.5000 --54.5000;-277.0000 --54.5000;-276.5000 --54.5000;-276.0000 --54.5000;-275.5000 --54.5000;-275.0000 --54.5000;-274.5000 --54.5000;-274.0000 --54.5000;-273.5000 --54.5000;-273.0000 --54.5000;-272.5000 --54.5000;-272.0000 --54.5000;-271.5000 --54.5000;-271.0000 --54.5000;-247.0000 --54.5000;-246.5000 --54.5000;-246.0000 --54.5000;-245.5000 --54.5000;-245.0000 --54.5000;-244.5000 --54.5000;-244.0000 --54.5000;-243.5000 --54.5000;-243.0000 --54.5000;-242.5000 --54.5000;-242.0000 --54.5000;-241.5000 --54.5000;-241.0000 --54.5000;-240.5000 --54.5000;-240.0000 --54.5000;-239.5000 --54.5000;-239.0000 --54.5000;-238.5000 --54.5000;-238.0000 --54.5000;-237.5000 --54.5000;-237.0000 --54.5000;-236.5000 --54.5000;-236.0000 --54.5000;-235.5000 --54.5000;-235.0000 --54.5000;-234.5000 --54.5000;-234.0000 --54.5000;-233.5000 --54.5000;-233.0000 --54.5000;-232.5000 --54.5000;-232.0000 --54.5000;-231.5000 --54.5000;-231.0000 --54.5000;-230.5000 --54.5000;-230.0000 --54.5000;-229.5000 --54.5000;-229.0000 --54.5000;-228.5000 --54.5000;-228.0000 --54.5000;-227.5000 --54.5000;-227.0000 --54.5000;-226.5000 --54.5000;-226.0000 --54.5000;-225.5000 --54.5000;-225.0000 --54.5000;-224.5000 --54.5000;-224.0000 --54.5000;-223.5000 --54.5000;-223.0000 --54.5000;-222.5000 --54.5000;-222.0000 --54.5000;-221.5000 --54.5000;-221.0000 --54.5000;-220.5000 --54.5000;7.5000 --54.5000;8.0000 --54.5000;8.5000 --54.5000;9.0000 --54.5000;9.5000 --54.5000;10.0000 --54.5000;10.5000 --54.5000;11.0000 --54.5000;11.5000 --54.5000;12.0000 --54.5000;12.5000 --54.5000;13.0000 --54.5000;13.5000 --54.5000;14.0000 --54.5000;14.5000 --54.5000;15.0000 --54.5000;15.5000 --54.5000;16.0000 --54.5000;16.5000 --54.5000;17.0000 --54.5000;17.5000 --54.5000;18.0000 --54.5000;18.5000 --54.5000;19.0000 --54.5000;19.5000 --54.5000;20.0000 --54.5000;20.5000 --54.5000;21.0000 --54.5000;21.5000 --54.5000;22.0000 --54.5000;22.5000 --54.0000;-283.5000 --54.0000;-283.0000 --54.0000;-282.5000 --54.0000;-282.0000 --54.0000;-281.5000 --54.0000;-281.0000 --54.0000;-280.5000 --54.0000;-280.0000 --54.0000;-279.5000 --54.0000;-279.0000 --54.0000;-278.5000 --54.0000;-278.0000 --54.0000;-277.5000 --54.0000;-277.0000 --54.0000;-276.5000 --54.0000;-276.0000 --54.0000;-275.5000 --54.0000;-275.0000 --54.0000;-274.5000 --54.0000;-274.0000 --54.0000;-273.5000 --54.0000;-273.0000 --54.0000;-272.5000 --54.0000;-272.0000 --54.0000;-271.5000 --54.0000;-271.0000 --54.0000;-270.5000 --54.0000;-247.5000 --54.0000;-247.0000 --54.0000;-246.5000 --54.0000;-246.0000 --54.0000;-245.5000 --54.0000;-245.0000 --54.0000;-244.5000 --54.0000;-244.0000 --54.0000;-243.5000 --54.0000;-243.0000 --54.0000;-242.5000 --54.0000;-242.0000 --54.0000;-241.5000 --54.0000;-241.0000 --54.0000;-240.5000 --54.0000;-240.0000 --54.0000;-239.5000 --54.0000;-239.0000 --54.0000;-238.5000 --54.0000;-238.0000 --54.0000;-237.5000 --54.0000;-237.0000 --54.0000;-236.5000 --54.0000;-236.0000 --54.0000;-235.5000 --54.0000;-235.0000 --54.0000;-234.5000 --54.0000;-234.0000 --54.0000;-233.5000 --54.0000;-233.0000 --54.0000;-232.5000 --54.0000;-232.0000 --54.0000;-231.5000 --54.0000;-231.0000 --54.0000;-230.5000 --54.0000;-230.0000 --54.0000;-229.5000 --54.0000;-229.0000 --54.0000;-228.5000 --54.0000;-228.0000 --54.0000;-227.5000 --54.0000;-227.0000 --54.0000;-226.5000 --54.0000;-226.0000 --54.0000;-225.5000 --54.0000;-225.0000 --54.0000;-224.5000 --54.0000;-224.0000 --54.0000;-223.5000 --54.0000;-223.0000 --54.0000;-222.5000 --54.0000;-222.0000 --54.0000;-221.5000 --54.0000;-221.0000 --54.0000;-220.5000 --54.0000;-220.0000 --54.0000;7.0000 --54.0000;7.5000 --54.0000;8.0000 --54.0000;8.5000 --54.0000;9.0000 --54.0000;9.5000 --54.0000;10.0000 --54.0000;10.5000 --54.0000;11.0000 --54.0000;11.5000 --54.0000;12.0000 --54.0000;12.5000 --54.0000;13.0000 --54.0000;13.5000 --54.0000;14.0000 --54.0000;14.5000 --54.0000;15.0000 --54.0000;15.5000 --54.0000;16.0000 --54.0000;16.5000 --54.0000;17.0000 --54.0000;17.5000 --54.0000;18.0000 --54.0000;18.5000 --54.0000;19.0000 --54.0000;19.5000 --54.0000;20.0000 --54.0000;20.5000 --54.0000;21.0000 --54.0000;21.5000 --54.0000;22.0000 --53.5000;-283.5000 --53.5000;-283.0000 --53.5000;-282.5000 --53.5000;-282.0000 --53.5000;-281.5000 --53.5000;-281.0000 --53.5000;-280.5000 --53.5000;-280.0000 --53.5000;-279.5000 --53.5000;-279.0000 --53.5000;-278.5000 --53.5000;-278.0000 --53.5000;-277.5000 --53.5000;-277.0000 --53.5000;-276.5000 --53.5000;-276.0000 --53.5000;-275.5000 --53.5000;-275.0000 --53.5000;-274.5000 --53.5000;-274.0000 --53.5000;-273.5000 --53.5000;-273.0000 --53.5000;-272.5000 --53.5000;-272.0000 --53.5000;-271.5000 --53.5000;-271.0000 --53.5000;-270.5000 --53.5000;-248.5000 --53.5000;-248.0000 --53.5000;-247.5000 --53.5000;-247.0000 --53.5000;-246.5000 --53.5000;-246.0000 --53.5000;-245.5000 --53.5000;-245.0000 --53.5000;-244.5000 --53.5000;-244.0000 --53.5000;-243.5000 --53.5000;-243.0000 --53.5000;-242.5000 --53.5000;-242.0000 --53.5000;-241.5000 --53.5000;-241.0000 --53.5000;-240.5000 --53.5000;-240.0000 --53.5000;-239.5000 --53.5000;-239.0000 --53.5000;-238.5000 --53.5000;-238.0000 --53.5000;-237.5000 --53.5000;-237.0000 --53.5000;-236.5000 --53.5000;-236.0000 --53.5000;-235.5000 --53.5000;-235.0000 --53.5000;-234.5000 --53.5000;-234.0000 --53.5000;-233.5000 --53.5000;-233.0000 --53.5000;-232.5000 --53.5000;-232.0000 --53.5000;-231.5000 --53.5000;-231.0000 --53.5000;-230.5000 --53.5000;-230.0000 --53.5000;-229.5000 --53.5000;-229.0000 --53.5000;-228.5000 --53.5000;-228.0000 --53.5000;-227.5000 --53.5000;-227.0000 --53.5000;-226.5000 --53.5000;-226.0000 --53.5000;-225.5000 --53.5000;-225.0000 --53.5000;-224.5000 --53.5000;-224.0000 --53.5000;-223.5000 --53.5000;-223.0000 --53.5000;-222.5000 --53.5000;-222.0000 --53.5000;-221.5000 --53.5000;-221.0000 --53.5000;-220.5000 --53.5000;-220.0000 --53.5000;-219.5000 --53.5000;6.5000 --53.5000;7.0000 --53.5000;7.5000 --53.5000;8.0000 --53.5000;8.5000 --53.5000;9.0000 --53.5000;9.5000 --53.5000;10.0000 --53.5000;10.5000 --53.5000;11.0000 --53.5000;11.5000 --53.5000;12.0000 --53.5000;12.5000 --53.5000;13.0000 --53.5000;13.5000 --53.5000;14.0000 --53.5000;14.5000 --53.5000;15.0000 --53.5000;15.5000 --53.5000;16.0000 --53.5000;16.5000 --53.5000;17.0000 --53.5000;17.5000 --53.5000;18.0000 --53.5000;18.5000 --53.5000;19.0000 --53.5000;19.5000 --53.5000;20.0000 --53.5000;20.5000 --53.5000;21.0000 --53.5000;21.5000 --53.0000;-283.0000 --53.0000;-282.5000 --53.0000;-282.0000 --53.0000;-281.5000 --53.0000;-281.0000 --53.0000;-280.5000 --53.0000;-280.0000 --53.0000;-279.5000 --53.0000;-279.0000 --53.0000;-278.5000 --53.0000;-278.0000 --53.0000;-277.5000 --53.0000;-277.0000 --53.0000;-276.5000 --53.0000;-276.0000 --53.0000;-275.5000 --53.0000;-275.0000 --53.0000;-274.5000 --53.0000;-274.0000 --53.0000;-273.5000 --53.0000;-273.0000 --53.0000;-272.5000 --53.0000;-272.0000 --53.0000;-271.5000 --53.0000;-271.0000 --53.0000;-270.5000 --53.0000;-270.0000 --53.0000;-249.0000 --53.0000;-248.5000 --53.0000;-248.0000 --53.0000;-247.5000 --53.0000;-247.0000 --53.0000;-246.5000 --53.0000;-246.0000 --53.0000;-245.5000 --53.0000;-245.0000 --53.0000;-244.5000 --53.0000;-244.0000 --53.0000;-243.5000 --53.0000;-243.0000 --53.0000;-242.5000 --53.0000;-242.0000 --53.0000;-241.5000 --53.0000;-241.0000 --53.0000;-240.5000 --53.0000;-240.0000 --53.0000;-239.5000 --53.0000;-239.0000 --53.0000;-238.5000 --53.0000;-238.0000 --53.0000;-237.5000 --53.0000;-237.0000 --53.0000;-236.5000 --53.0000;-236.0000 --53.0000;-235.5000 --53.0000;-235.0000 --53.0000;-234.5000 --53.0000;-234.0000 --53.0000;-233.5000 --53.0000;-233.0000 --53.0000;-232.5000 --53.0000;-232.0000 --53.0000;-231.5000 --53.0000;-231.0000 --53.0000;-230.5000 --53.0000;-230.0000 --53.0000;-229.5000 --53.0000;-229.0000 --53.0000;-228.5000 --53.0000;-228.0000 --53.0000;-227.5000 --53.0000;-227.0000 --53.0000;-226.5000 --53.0000;-226.0000 --53.0000;-225.5000 --53.0000;-225.0000 --53.0000;-224.5000 --53.0000;-224.0000 --53.0000;-223.5000 --53.0000;-223.0000 --53.0000;-222.5000 --53.0000;-222.0000 --53.0000;-221.5000 --53.0000;-221.0000 --53.0000;-220.5000 --53.0000;-220.0000 --53.0000;-219.5000 --53.0000;-219.0000 --53.0000;6.0000 --53.0000;6.5000 --53.0000;7.0000 --53.0000;7.5000 --53.0000;8.0000 --53.0000;8.5000 --53.0000;9.0000 --53.0000;9.5000 --53.0000;10.0000 --53.0000;10.5000 --53.0000;11.0000 --53.0000;11.5000 --53.0000;12.0000 --53.0000;12.5000 --53.0000;13.0000 --53.0000;13.5000 --53.0000;14.0000 --53.0000;14.5000 --53.0000;15.0000 --53.0000;15.5000 --53.0000;16.0000 --53.0000;16.5000 --53.0000;17.0000 --53.0000;17.5000 --53.0000;18.0000 --53.0000;18.5000 --53.0000;19.0000 --53.0000;19.5000 --53.0000;20.0000 --53.0000;20.5000 --53.0000;21.0000 --52.5000;-283.0000 --52.5000;-282.5000 --52.5000;-282.0000 --52.5000;-281.5000 --52.5000;-281.0000 --52.5000;-280.5000 --52.5000;-280.0000 --52.5000;-279.5000 --52.5000;-279.0000 --52.5000;-278.5000 --52.5000;-278.0000 --52.5000;-277.5000 --52.5000;-277.0000 --52.5000;-276.5000 --52.5000;-276.0000 --52.5000;-275.5000 --52.5000;-275.0000 --52.5000;-274.5000 --52.5000;-274.0000 --52.5000;-273.5000 --52.5000;-273.0000 --52.5000;-272.5000 --52.5000;-272.0000 --52.5000;-271.5000 --52.5000;-271.0000 --52.5000;-270.5000 --52.5000;-270.0000 --52.5000;-249.5000 --52.5000;-249.0000 --52.5000;-248.5000 --52.5000;-248.0000 --52.5000;-247.5000 --52.5000;-247.0000 --52.5000;-246.5000 --52.5000;-246.0000 --52.5000;-245.5000 --52.5000;-245.0000 --52.5000;-244.5000 --52.5000;-244.0000 --52.5000;-243.5000 --52.5000;-243.0000 --52.5000;-242.5000 --52.5000;-242.0000 --52.5000;-241.5000 --52.5000;-241.0000 --52.5000;-240.5000 --52.5000;-240.0000 --52.5000;-239.5000 --52.5000;-239.0000 --52.5000;-238.5000 --52.5000;-238.0000 --52.5000;-237.5000 --52.5000;-237.0000 --52.5000;-236.5000 --52.5000;-236.0000 --52.5000;-235.5000 --52.5000;-235.0000 --52.5000;-234.5000 --52.5000;-234.0000 --52.5000;-233.5000 --52.5000;-233.0000 --52.5000;-232.5000 --52.5000;-232.0000 --52.5000;-231.5000 --52.5000;-231.0000 --52.5000;-230.5000 --52.5000;-230.0000 --52.5000;-229.5000 --52.5000;-229.0000 --52.5000;-228.5000 --52.5000;-228.0000 --52.5000;-227.5000 --52.5000;-227.0000 --52.5000;-226.5000 --52.5000;-226.0000 --52.5000;-225.5000 --52.5000;-225.0000 --52.5000;-224.5000 --52.5000;-224.0000 --52.5000;-223.5000 --52.5000;-223.0000 --52.5000;-222.5000 --52.5000;-222.0000 --52.5000;-221.5000 --52.5000;-221.0000 --52.5000;-220.5000 --52.5000;-220.0000 --52.5000;-219.5000 --52.5000;-219.0000 --52.5000;-218.5000 --52.5000;6.0000 --52.5000;6.5000 --52.5000;7.0000 --52.5000;7.5000 --52.5000;8.0000 --52.5000;8.5000 --52.5000;9.0000 --52.5000;9.5000 --52.5000;10.0000 --52.5000;10.5000 --52.5000;11.0000 --52.5000;11.5000 --52.5000;12.0000 --52.5000;12.5000 --52.5000;13.0000 --52.5000;13.5000 --52.5000;14.0000 --52.5000;14.5000 --52.5000;15.0000 --52.5000;15.5000 --52.5000;16.0000 --52.5000;16.5000 --52.5000;17.0000 --52.5000;17.5000 --52.5000;18.0000 --52.5000;18.5000 --52.5000;19.0000 --52.5000;19.5000 --52.5000;20.0000 --52.5000;20.5000 --52.5000;21.0000 --52.0000;-283.0000 --52.0000;-282.5000 --52.0000;-282.0000 --52.0000;-281.5000 --52.0000;-281.0000 --52.0000;-280.5000 --52.0000;-280.0000 --52.0000;-279.5000 --52.0000;-279.0000 --52.0000;-278.5000 --52.0000;-278.0000 --52.0000;-277.5000 --52.0000;-277.0000 --52.0000;-276.5000 --52.0000;-276.0000 --52.0000;-275.5000 --52.0000;-275.0000 --52.0000;-274.5000 --52.0000;-274.0000 --52.0000;-273.5000 --52.0000;-273.0000 --52.0000;-272.5000 --52.0000;-272.0000 --52.0000;-271.5000 --52.0000;-271.0000 --52.0000;-270.5000 --52.0000;-270.0000 --52.0000;-269.5000 --52.0000;-250.0000 --52.0000;-249.5000 --52.0000;-249.0000 --52.0000;-248.5000 --52.0000;-248.0000 --52.0000;-247.5000 --52.0000;-247.0000 --52.0000;-246.5000 --52.0000;-246.0000 --52.0000;-245.5000 --52.0000;-245.0000 --52.0000;-244.5000 --52.0000;-244.0000 --52.0000;-243.5000 --52.0000;-243.0000 --52.0000;-242.5000 --52.0000;-242.0000 --52.0000;-241.5000 --52.0000;-241.0000 --52.0000;-240.5000 --52.0000;-240.0000 --52.0000;-239.5000 --52.0000;-239.0000 --52.0000;-238.5000 --52.0000;-238.0000 --52.0000;-237.5000 --52.0000;-237.0000 --52.0000;-236.5000 --52.0000;-236.0000 --52.0000;-235.5000 --52.0000;-235.0000 --52.0000;-234.5000 --52.0000;-234.0000 --52.0000;-233.5000 --52.0000;-233.0000 --52.0000;-232.5000 --52.0000;-232.0000 --52.0000;-231.5000 --52.0000;-231.0000 --52.0000;-230.5000 --52.0000;-230.0000 --52.0000;-229.5000 --52.0000;-229.0000 --52.0000;-228.5000 --52.0000;-228.0000 --52.0000;-227.5000 --52.0000;-227.0000 --52.0000;-226.5000 --52.0000;-226.0000 --52.0000;-225.5000 --52.0000;-225.0000 --52.0000;-224.5000 --52.0000;-224.0000 --52.0000;-223.5000 --52.0000;-223.0000 --52.0000;-222.5000 --52.0000;-222.0000 --52.0000;-221.5000 --52.0000;-221.0000 --52.0000;-220.5000 --52.0000;-220.0000 --52.0000;-219.5000 --52.0000;-219.0000 --52.0000;-218.5000 --52.0000;-218.0000 --52.0000;5.5000 --52.0000;6.0000 --52.0000;6.5000 --52.0000;7.0000 --52.0000;7.5000 --52.0000;8.0000 --52.0000;8.5000 --52.0000;9.0000 --52.0000;9.5000 --52.0000;10.0000 --52.0000;10.5000 --52.0000;11.0000 --52.0000;11.5000 --52.0000;12.0000 --52.0000;12.5000 --52.0000;13.0000 --52.0000;13.5000 --52.0000;14.0000 --52.0000;14.5000 --52.0000;15.0000 --52.0000;15.5000 --52.0000;16.0000 --52.0000;16.5000 --52.0000;17.0000 --52.0000;17.5000 --52.0000;18.0000 --52.0000;18.5000 --52.0000;19.0000 --52.0000;19.5000 --52.0000;20.0000 --52.0000;20.5000 --51.5000;-282.5000 --51.5000;-282.0000 --51.5000;-281.5000 --51.5000;-281.0000 --51.5000;-280.5000 --51.5000;-280.0000 --51.5000;-279.5000 --51.5000;-279.0000 --51.5000;-278.5000 --51.5000;-278.0000 --51.5000;-277.5000 --51.5000;-277.0000 --51.5000;-276.5000 --51.5000;-276.0000 --51.5000;-275.5000 --51.5000;-275.0000 --51.5000;-274.5000 --51.5000;-274.0000 --51.5000;-273.5000 --51.5000;-273.0000 --51.5000;-272.5000 --51.5000;-272.0000 --51.5000;-271.5000 --51.5000;-271.0000 --51.5000;-270.5000 --51.5000;-270.0000 --51.5000;-269.5000 --51.5000;-250.5000 --51.5000;-250.0000 --51.5000;-249.5000 --51.5000;-249.0000 --51.5000;-248.5000 --51.5000;-248.0000 --51.5000;-247.5000 --51.5000;-247.0000 --51.5000;-246.5000 --51.5000;-246.0000 --51.5000;-245.5000 --51.5000;-245.0000 --51.5000;-244.5000 --51.5000;-244.0000 --51.5000;-243.5000 --51.5000;-243.0000 --51.5000;-242.5000 --51.5000;-242.0000 --51.5000;-241.5000 --51.5000;-241.0000 --51.5000;-240.5000 --51.5000;-240.0000 --51.5000;-239.5000 --51.5000;-239.0000 --51.5000;-238.5000 --51.5000;-238.0000 --51.5000;-237.5000 --51.5000;-237.0000 --51.5000;-236.5000 --51.5000;-236.0000 --51.5000;-235.5000 --51.5000;-235.0000 --51.5000;-234.5000 --51.5000;-234.0000 --51.5000;-233.5000 --51.5000;-233.0000 --51.5000;-232.5000 --51.5000;-232.0000 --51.5000;-231.5000 --51.5000;-231.0000 --51.5000;-230.5000 --51.5000;-230.0000 --51.5000;-229.5000 --51.5000;-229.0000 --51.5000;-228.5000 --51.5000;-228.0000 --51.5000;-227.5000 --51.5000;-227.0000 --51.5000;-226.5000 --51.5000;-226.0000 --51.5000;-225.5000 --51.5000;-225.0000 --51.5000;-224.5000 --51.5000;-224.0000 --51.5000;-223.5000 --51.5000;-223.0000 --51.5000;-222.5000 --51.5000;-222.0000 --51.5000;-221.5000 --51.5000;-221.0000 --51.5000;-220.5000 --51.5000;-220.0000 --51.5000;-219.5000 --51.5000;-219.0000 --51.5000;-218.5000 --51.5000;-218.0000 --51.5000;-217.5000 --51.5000;5.0000 --51.5000;5.5000 --51.5000;6.0000 --51.5000;6.5000 --51.5000;7.0000 --51.5000;7.5000 --51.5000;8.0000 --51.5000;8.5000 --51.5000;9.0000 --51.5000;9.5000 --51.5000;10.0000 --51.5000;10.5000 --51.5000;11.0000 --51.5000;11.5000 --51.5000;12.0000 --51.5000;12.5000 --51.5000;13.0000 --51.5000;13.5000 --51.5000;14.0000 --51.5000;14.5000 --51.5000;15.0000 --51.5000;15.5000 --51.5000;16.0000 --51.5000;16.5000 --51.5000;17.0000 --51.5000;17.5000 --51.5000;18.0000 --51.5000;18.5000 --51.5000;19.0000 --51.5000;19.5000 --51.5000;20.0000 --51.0000;-282.5000 --51.0000;-282.0000 --51.0000;-281.5000 --51.0000;-281.0000 --51.0000;-280.5000 --51.0000;-280.0000 --51.0000;-279.5000 --51.0000;-279.0000 --51.0000;-278.5000 --51.0000;-278.0000 --51.0000;-277.5000 --51.0000;-277.0000 --51.0000;-276.5000 --51.0000;-276.0000 --51.0000;-275.5000 --51.0000;-275.0000 --51.0000;-274.5000 --51.0000;-274.0000 --51.0000;-273.5000 --51.0000;-273.0000 --51.0000;-272.5000 --51.0000;-272.0000 --51.0000;-271.5000 --51.0000;-271.0000 --51.0000;-270.5000 --51.0000;-270.0000 --51.0000;-269.5000 --51.0000;-269.0000 --51.0000;-251.0000 --51.0000;-250.5000 --51.0000;-250.0000 --51.0000;-249.5000 --51.0000;-249.0000 --51.0000;-248.5000 --51.0000;-248.0000 --51.0000;-247.5000 --51.0000;-247.0000 --51.0000;-246.5000 --51.0000;-246.0000 --51.0000;-245.5000 --51.0000;-245.0000 --51.0000;-244.5000 --51.0000;-244.0000 --51.0000;-243.5000 --51.0000;-243.0000 --51.0000;-242.5000 --51.0000;-242.0000 --51.0000;-241.5000 --51.0000;-241.0000 --51.0000;-240.5000 --51.0000;-240.0000 --51.0000;-239.5000 --51.0000;-239.0000 --51.0000;-238.5000 --51.0000;-238.0000 --51.0000;-237.5000 --51.0000;-237.0000 --51.0000;-236.5000 --51.0000;-236.0000 --51.0000;-235.5000 --51.0000;-235.0000 --51.0000;-234.5000 --51.0000;-234.0000 --51.0000;-233.5000 --51.0000;-233.0000 --51.0000;-232.5000 --51.0000;-232.0000 --51.0000;-231.5000 --51.0000;-231.0000 --51.0000;-230.5000 --51.0000;-230.0000 --51.0000;-229.5000 --51.0000;-229.0000 --51.0000;-228.5000 --51.0000;-228.0000 --51.0000;-227.5000 --51.0000;-227.0000 --51.0000;-226.5000 --51.0000;-226.0000 --51.0000;-225.5000 --51.0000;-225.0000 --51.0000;-224.5000 --51.0000;-224.0000 --51.0000;-223.5000 --51.0000;-223.0000 --51.0000;-222.5000 --51.0000;-222.0000 --51.0000;-221.5000 --51.0000;-221.0000 --51.0000;-220.5000 --51.0000;-220.0000 --51.0000;-219.5000 --51.0000;-219.0000 --51.0000;-218.5000 --51.0000;-218.0000 --51.0000;-217.5000 --51.0000;-217.0000 --51.0000;4.5000 --51.0000;5.0000 --51.0000;5.5000 --51.0000;6.0000 --51.0000;6.5000 --51.0000;7.0000 --51.0000;7.5000 --51.0000;8.0000 --51.0000;8.5000 --51.0000;9.0000 --51.0000;9.5000 --51.0000;10.0000 --51.0000;10.5000 --51.0000;11.0000 --51.0000;11.5000 --51.0000;12.0000 --51.0000;12.5000 --51.0000;13.0000 --51.0000;13.5000 --51.0000;14.0000 --51.0000;14.5000 --51.0000;15.0000 --51.0000;15.5000 --51.0000;16.0000 --51.0000;16.5000 --51.0000;17.0000 --51.0000;17.5000 --51.0000;18.0000 --51.0000;18.5000 --51.0000;19.0000 --51.0000;19.5000 --50.5000;-282.0000 --50.5000;-281.5000 --50.5000;-281.0000 --50.5000;-280.5000 --50.5000;-280.0000 --50.5000;-279.5000 --50.5000;-279.0000 --50.5000;-278.5000 --50.5000;-278.0000 --50.5000;-277.5000 --50.5000;-277.0000 --50.5000;-276.5000 --50.5000;-276.0000 --50.5000;-275.5000 --50.5000;-275.0000 --50.5000;-274.5000 --50.5000;-274.0000 --50.5000;-273.5000 --50.5000;-273.0000 --50.5000;-272.5000 --50.5000;-272.0000 --50.5000;-271.5000 --50.5000;-271.0000 --50.5000;-270.5000 --50.5000;-270.0000 --50.5000;-269.5000 --50.5000;-269.0000 --50.5000;-251.0000 --50.5000;-250.5000 --50.5000;-250.0000 --50.5000;-249.5000 --50.5000;-249.0000 --50.5000;-248.5000 --50.5000;-248.0000 --50.5000;-247.5000 --50.5000;-247.0000 --50.5000;-246.5000 --50.5000;-246.0000 --50.5000;-245.5000 --50.5000;-245.0000 --50.5000;-244.5000 --50.5000;-244.0000 --50.5000;-243.5000 --50.5000;-243.0000 --50.5000;-242.5000 --50.5000;-242.0000 --50.5000;-241.5000 --50.5000;-241.0000 --50.5000;-240.5000 --50.5000;-240.0000 --50.5000;-239.5000 --50.5000;-239.0000 --50.5000;-238.5000 --50.5000;-238.0000 --50.5000;-237.5000 --50.5000;-237.0000 --50.5000;-236.5000 --50.5000;-236.0000 --50.5000;-235.5000 --50.5000;-235.0000 --50.5000;-234.5000 --50.5000;-234.0000 --50.5000;-233.5000 --50.5000;-233.0000 --50.5000;-232.5000 --50.5000;-232.0000 --50.5000;-231.5000 --50.5000;-231.0000 --50.5000;-230.5000 --50.5000;-230.0000 --50.5000;-229.5000 --50.5000;-229.0000 --50.5000;-228.5000 --50.5000;-228.0000 --50.5000;-227.5000 --50.5000;-227.0000 --50.5000;-226.5000 --50.5000;-226.0000 --50.5000;-225.5000 --50.5000;-225.0000 --50.5000;-224.5000 --50.5000;-224.0000 --50.5000;-223.5000 --50.5000;-223.0000 --50.5000;-222.5000 --50.5000;-222.0000 --50.5000;-221.5000 --50.5000;-221.0000 --50.5000;-220.5000 --50.5000;-220.0000 --50.5000;-219.5000 --50.5000;-219.0000 --50.5000;-218.5000 --50.5000;-218.0000 --50.5000;-217.5000 --50.5000;-217.0000 --50.5000;-216.5000 --50.5000;4.5000 --50.5000;5.0000 --50.5000;5.5000 --50.5000;6.0000 --50.5000;6.5000 --50.5000;7.0000 --50.5000;7.5000 --50.5000;8.0000 --50.5000;8.5000 --50.5000;9.0000 --50.5000;9.5000 --50.5000;10.0000 --50.5000;10.5000 --50.5000;11.0000 --50.5000;11.5000 --50.5000;12.0000 --50.5000;12.5000 --50.5000;13.0000 --50.5000;13.5000 --50.5000;14.0000 --50.5000;14.5000 --50.5000;15.0000 --50.5000;15.5000 --50.5000;16.0000 --50.5000;16.5000 --50.5000;17.0000 --50.5000;17.5000 --50.5000;18.0000 --50.5000;18.5000 --50.5000;19.0000 --50.5000;19.5000 --50.0000;-282.0000 --50.0000;-281.5000 --50.0000;-281.0000 --50.0000;-280.5000 --50.0000;-280.0000 --50.0000;-279.5000 --50.0000;-279.0000 --50.0000;-278.5000 --50.0000;-278.0000 --50.0000;-277.5000 --50.0000;-277.0000 --50.0000;-276.5000 --50.0000;-276.0000 --50.0000;-275.5000 --50.0000;-275.0000 --50.0000;-274.5000 --50.0000;-274.0000 --50.0000;-273.5000 --50.0000;-273.0000 --50.0000;-272.5000 --50.0000;-272.0000 --50.0000;-271.5000 --50.0000;-271.0000 --50.0000;-270.5000 --50.0000;-270.0000 --50.0000;-269.5000 --50.0000;-269.0000 --50.0000;-268.5000 --50.0000;-251.5000 --50.0000;-251.0000 --50.0000;-250.5000 --50.0000;-250.0000 --50.0000;-249.5000 --50.0000;-249.0000 --50.0000;-248.5000 --50.0000;-248.0000 --50.0000;-247.5000 --50.0000;-247.0000 --50.0000;-246.5000 --50.0000;-246.0000 --50.0000;-245.5000 --50.0000;-245.0000 --50.0000;-244.5000 --50.0000;-244.0000 --50.0000;-243.5000 --50.0000;-243.0000 --50.0000;-242.5000 --50.0000;-242.0000 --50.0000;-241.5000 --50.0000;-241.0000 --50.0000;-240.5000 --50.0000;-240.0000 --50.0000;-239.5000 --50.0000;-239.0000 --50.0000;-238.5000 --50.0000;-238.0000 --50.0000;-237.5000 --50.0000;-237.0000 --50.0000;-236.5000 --50.0000;-236.0000 --50.0000;-235.5000 --50.0000;-235.0000 --50.0000;-234.5000 --50.0000;-234.0000 --50.0000;-233.5000 --50.0000;-233.0000 --50.0000;-232.5000 --50.0000;-232.0000 --50.0000;-231.5000 --50.0000;-231.0000 --50.0000;-230.5000 --50.0000;-230.0000 --50.0000;-229.5000 --50.0000;-229.0000 --50.0000;-228.5000 --50.0000;-228.0000 --50.0000;-227.5000 --50.0000;-227.0000 --50.0000;-226.5000 --50.0000;-226.0000 --50.0000;-225.5000 --50.0000;-225.0000 --50.0000;-224.5000 --50.0000;-224.0000 --50.0000;-223.5000 --50.0000;-223.0000 --50.0000;-222.5000 --50.0000;-222.0000 --50.0000;-221.5000 --50.0000;-221.0000 --50.0000;-220.5000 --50.0000;-220.0000 --50.0000;-219.5000 --50.0000;-219.0000 --50.0000;-218.5000 --50.0000;-218.0000 --50.0000;-217.5000 --50.0000;-217.0000 --50.0000;-216.5000 --50.0000;-216.0000 --50.0000;4.0000 --50.0000;4.5000 --50.0000;5.0000 --50.0000;5.5000 --50.0000;6.0000 --50.0000;6.5000 --50.0000;7.0000 --50.0000;7.5000 --50.0000;8.0000 --50.0000;8.5000 --50.0000;9.0000 --50.0000;9.5000 --50.0000;10.0000 --50.0000;10.5000 --50.0000;11.0000 --50.0000;11.5000 --50.0000;12.0000 --50.0000;12.5000 --50.0000;13.0000 --50.0000;13.5000 --50.0000;14.0000 --50.0000;14.5000 --50.0000;15.0000 --50.0000;15.5000 --50.0000;16.0000 --50.0000;16.5000 --50.0000;17.0000 --50.0000;17.5000 --50.0000;18.0000 --50.0000;18.5000 --50.0000;19.0000 --49.5000;-281.5000 --49.5000;-281.0000 --49.5000;-280.5000 --49.5000;-280.0000 --49.5000;-279.5000 --49.5000;-279.0000 --49.5000;-278.5000 --49.5000;-278.0000 --49.5000;-277.5000 --49.5000;-277.0000 --49.5000;-276.5000 --49.5000;-276.0000 --49.5000;-275.5000 --49.5000;-275.0000 --49.5000;-274.5000 --49.5000;-274.0000 --49.5000;-273.5000 --49.5000;-273.0000 --49.5000;-272.5000 --49.5000;-272.0000 --49.5000;-271.5000 --49.5000;-271.0000 --49.5000;-270.5000 --49.5000;-270.0000 --49.5000;-269.5000 --49.5000;-269.0000 --49.5000;-268.5000 --49.5000;-268.0000 --49.5000;-252.0000 --49.5000;-251.5000 --49.5000;-251.0000 --49.5000;-250.5000 --49.5000;-250.0000 --49.5000;-249.5000 --49.5000;-249.0000 --49.5000;-248.5000 --49.5000;-248.0000 --49.5000;-247.5000 --49.5000;-247.0000 --49.5000;-246.5000 --49.5000;-246.0000 --49.5000;-245.5000 --49.5000;-245.0000 --49.5000;-244.5000 --49.5000;-244.0000 --49.5000;-243.5000 --49.5000;-243.0000 --49.5000;-242.5000 --49.5000;-242.0000 --49.5000;-241.5000 --49.5000;-241.0000 --49.5000;-240.5000 --49.5000;-240.0000 --49.5000;-239.5000 --49.5000;-239.0000 --49.5000;-238.5000 --49.5000;-238.0000 --49.5000;-237.5000 --49.5000;-237.0000 --49.5000;-236.5000 --49.5000;-236.0000 --49.5000;-235.5000 --49.5000;-235.0000 --49.5000;-234.5000 --49.5000;-234.0000 --49.5000;-233.5000 --49.5000;-233.0000 --49.5000;-232.5000 --49.5000;-232.0000 --49.5000;-231.5000 --49.5000;-231.0000 --49.5000;-230.5000 --49.5000;-230.0000 --49.5000;-229.5000 --49.5000;-229.0000 --49.5000;-228.5000 --49.5000;-228.0000 --49.5000;-227.5000 --49.5000;-227.0000 --49.5000;-226.5000 --49.5000;-226.0000 --49.5000;-225.5000 --49.5000;-225.0000 --49.5000;-224.5000 --49.5000;-224.0000 --49.5000;-223.5000 --49.5000;-223.0000 --49.5000;-222.5000 --49.5000;-222.0000 --49.5000;-221.5000 --49.5000;-221.0000 --49.5000;-220.5000 --49.5000;-220.0000 --49.5000;-219.5000 --49.5000;-219.0000 --49.5000;-218.5000 --49.5000;-218.0000 --49.5000;-217.5000 --49.5000;-217.0000 --49.5000;-216.5000 --49.5000;-216.0000 --49.5000;3.5000 --49.5000;4.0000 --49.5000;4.5000 --49.5000;5.0000 --49.5000;5.5000 --49.5000;6.0000 --49.5000;6.5000 --49.5000;7.0000 --49.5000;7.5000 --49.5000;8.0000 --49.5000;8.5000 --49.5000;9.0000 --49.5000;9.5000 --49.5000;10.0000 --49.5000;10.5000 --49.5000;11.0000 --49.5000;11.5000 --49.5000;12.0000 --49.5000;12.5000 --49.5000;13.0000 --49.5000;13.5000 --49.5000;14.0000 --49.5000;14.5000 --49.5000;15.0000 --49.5000;15.5000 --49.5000;16.0000 --49.5000;16.5000 --49.5000;17.0000 --49.5000;17.5000 --49.5000;18.0000 --49.5000;18.5000 --49.0000;-281.5000 --49.0000;-281.0000 --49.0000;-280.5000 --49.0000;-280.0000 --49.0000;-279.5000 --49.0000;-279.0000 --49.0000;-278.5000 --49.0000;-278.0000 --49.0000;-277.5000 --49.0000;-277.0000 --49.0000;-276.5000 --49.0000;-276.0000 --49.0000;-275.5000 --49.0000;-275.0000 --49.0000;-274.5000 --49.0000;-274.0000 --49.0000;-273.5000 --49.0000;-273.0000 --49.0000;-272.5000 --49.0000;-272.0000 --49.0000;-271.5000 --49.0000;-271.0000 --49.0000;-270.5000 --49.0000;-270.0000 --49.0000;-269.5000 --49.0000;-269.0000 --49.0000;-268.5000 --49.0000;-268.0000 --49.0000;-252.5000 --49.0000;-252.0000 --49.0000;-251.5000 --49.0000;-251.0000 --49.0000;-250.5000 --49.0000;-250.0000 --49.0000;-249.5000 --49.0000;-249.0000 --49.0000;-248.5000 --49.0000;-248.0000 --49.0000;-247.5000 --49.0000;-247.0000 --49.0000;-246.5000 --49.0000;-246.0000 --49.0000;-245.5000 --49.0000;-245.0000 --49.0000;-244.5000 --49.0000;-244.0000 --49.0000;-243.5000 --49.0000;-243.0000 --49.0000;-242.5000 --49.0000;-242.0000 --49.0000;-241.5000 --49.0000;-241.0000 --49.0000;-240.5000 --49.0000;-240.0000 --49.0000;-239.5000 --49.0000;-239.0000 --49.0000;-238.5000 --49.0000;-238.0000 --49.0000;-237.5000 --49.0000;-237.0000 --49.0000;-236.5000 --49.0000;-236.0000 --49.0000;-235.5000 --49.0000;-235.0000 --49.0000;-234.5000 --49.0000;-234.0000 --49.0000;-233.5000 --49.0000;-233.0000 --49.0000;-232.5000 --49.0000;-232.0000 --49.0000;-231.5000 --49.0000;-231.0000 --49.0000;-230.5000 --49.0000;-230.0000 --49.0000;-229.5000 --49.0000;-229.0000 --49.0000;-228.5000 --49.0000;-228.0000 --49.0000;-227.5000 --49.0000;-227.0000 --49.0000;-226.5000 --49.0000;-226.0000 --49.0000;-225.5000 --49.0000;-225.0000 --49.0000;-224.5000 --49.0000;-224.0000 --49.0000;-223.5000 --49.0000;-223.0000 --49.0000;-222.5000 --49.0000;-222.0000 --49.0000;-221.5000 --49.0000;-221.0000 --49.0000;-220.5000 --49.0000;-220.0000 --49.0000;-219.5000 --49.0000;-219.0000 --49.0000;-218.5000 --49.0000;-218.0000 --49.0000;-217.5000 --49.0000;-217.0000 --49.0000;-216.5000 --49.0000;-216.0000 --49.0000;-215.5000 --49.0000;3.0000 --49.0000;3.5000 --49.0000;4.0000 --49.0000;4.5000 --49.0000;5.0000 --49.0000;5.5000 --49.0000;6.0000 --49.0000;6.5000 --49.0000;7.0000 --49.0000;7.5000 --49.0000;8.0000 --49.0000;8.5000 --49.0000;9.0000 --49.0000;9.5000 --49.0000;10.0000 --49.0000;10.5000 --49.0000;11.0000 --49.0000;11.5000 --49.0000;12.0000 --49.0000;12.5000 --49.0000;13.0000 --49.0000;13.5000 --49.0000;14.0000 --49.0000;14.5000 --49.0000;15.0000 --49.0000;15.5000 --49.0000;16.0000 --49.0000;16.5000 --49.0000;17.0000 --49.0000;17.5000 --49.0000;18.0000 --48.5000;-281.0000 --48.5000;-280.5000 --48.5000;-280.0000 --48.5000;-279.5000 --48.5000;-279.0000 --48.5000;-278.5000 --48.5000;-278.0000 --48.5000;-277.5000 --48.5000;-277.0000 --48.5000;-276.5000 --48.5000;-276.0000 --48.5000;-275.5000 --48.5000;-275.0000 --48.5000;-274.5000 --48.5000;-274.0000 --48.5000;-273.5000 --48.5000;-273.0000 --48.5000;-272.5000 --48.5000;-272.0000 --48.5000;-271.5000 --48.5000;-271.0000 --48.5000;-270.5000 --48.5000;-270.0000 --48.5000;-269.5000 --48.5000;-269.0000 --48.5000;-268.5000 --48.5000;-268.0000 --48.5000;-267.5000 --48.5000;-253.0000 --48.5000;-252.5000 --48.5000;-252.0000 --48.5000;-251.5000 --48.5000;-251.0000 --48.5000;-250.5000 --48.5000;-250.0000 --48.5000;-249.5000 --48.5000;-249.0000 --48.5000;-248.5000 --48.5000;-248.0000 --48.5000;-247.5000 --48.5000;-247.0000 --48.5000;-246.5000 --48.5000;-246.0000 --48.5000;-245.5000 --48.5000;-245.0000 --48.5000;-244.5000 --48.5000;-244.0000 --48.5000;-243.5000 --48.5000;-243.0000 --48.5000;-242.5000 --48.5000;-242.0000 --48.5000;-241.5000 --48.5000;-241.0000 --48.5000;-240.5000 --48.5000;-240.0000 --48.5000;-239.5000 --48.5000;-239.0000 --48.5000;-238.5000 --48.5000;-238.0000 --48.5000;-237.5000 --48.5000;-237.0000 --48.5000;-236.5000 --48.5000;-236.0000 --48.5000;-235.5000 --48.5000;-235.0000 --48.5000;-234.5000 --48.5000;-234.0000 --48.5000;-233.5000 --48.5000;-233.0000 --48.5000;-232.5000 --48.5000;-232.0000 --48.5000;-231.5000 --48.5000;-231.0000 --48.5000;-230.5000 --48.5000;-230.0000 --48.5000;-229.5000 --48.5000;-229.0000 --48.5000;-228.5000 --48.5000;-228.0000 --48.5000;-227.5000 --48.5000;-227.0000 --48.5000;-226.5000 --48.5000;-226.0000 --48.5000;-225.5000 --48.5000;-225.0000 --48.5000;-224.5000 --48.5000;-224.0000 --48.5000;-223.5000 --48.5000;-223.0000 --48.5000;-222.5000 --48.5000;-222.0000 --48.5000;-221.5000 --48.5000;-221.0000 --48.5000;-220.5000 --48.5000;-220.0000 --48.5000;-219.5000 --48.5000;-219.0000 --48.5000;-218.5000 --48.5000;-218.0000 --48.5000;-217.5000 --48.5000;-217.0000 --48.5000;-216.5000 --48.5000;-216.0000 --48.5000;-215.5000 --48.5000;-215.0000 --48.5000;3.0000 --48.5000;3.5000 --48.5000;4.0000 --48.5000;4.5000 --48.5000;5.0000 --48.5000;5.5000 --48.5000;6.0000 --48.5000;6.5000 --48.5000;7.0000 --48.5000;7.5000 --48.5000;8.0000 --48.5000;8.5000 --48.5000;9.0000 --48.5000;9.5000 --48.5000;10.0000 --48.5000;10.5000 --48.5000;11.0000 --48.5000;11.5000 --48.5000;12.0000 --48.5000;12.5000 --48.5000;13.0000 --48.5000;13.5000 --48.5000;14.0000 --48.5000;14.5000 --48.5000;15.0000 --48.5000;15.5000 --48.5000;16.0000 --48.5000;16.5000 --48.5000;17.0000 --48.5000;17.5000 --48.5000;18.0000 --48.0000;-281.0000 --48.0000;-280.5000 --48.0000;-280.0000 --48.0000;-279.5000 --48.0000;-279.0000 --48.0000;-278.5000 --48.0000;-278.0000 --48.0000;-277.5000 --48.0000;-277.0000 --48.0000;-276.5000 --48.0000;-276.0000 --48.0000;-275.5000 --48.0000;-275.0000 --48.0000;-274.5000 --48.0000;-274.0000 --48.0000;-273.5000 --48.0000;-273.0000 --48.0000;-272.5000 --48.0000;-272.0000 --48.0000;-271.5000 --48.0000;-271.0000 --48.0000;-270.5000 --48.0000;-270.0000 --48.0000;-269.5000 --48.0000;-269.0000 --48.0000;-268.5000 --48.0000;-268.0000 --48.0000;-267.5000 --48.0000;-267.0000 --48.0000;-253.5000 --48.0000;-253.0000 --48.0000;-252.5000 --48.0000;-252.0000 --48.0000;-251.5000 --48.0000;-251.0000 --48.0000;-250.5000 --48.0000;-250.0000 --48.0000;-249.5000 --48.0000;-249.0000 --48.0000;-248.5000 --48.0000;-248.0000 --48.0000;-247.5000 --48.0000;-247.0000 --48.0000;-246.5000 --48.0000;-246.0000 --48.0000;-245.5000 --48.0000;-245.0000 --48.0000;-244.5000 --48.0000;-244.0000 --48.0000;-243.5000 --48.0000;-243.0000 --48.0000;-242.5000 --48.0000;-242.0000 --48.0000;-241.5000 --48.0000;-241.0000 --48.0000;-240.5000 --48.0000;-240.0000 --48.0000;-239.5000 --48.0000;-239.0000 --48.0000;-238.5000 --48.0000;-238.0000 --48.0000;-237.5000 --48.0000;-237.0000 --48.0000;-236.5000 --48.0000;-236.0000 --48.0000;-235.5000 --48.0000;-235.0000 --48.0000;-234.5000 --48.0000;-234.0000 --48.0000;-233.5000 --48.0000;-233.0000 --48.0000;-232.5000 --48.0000;-232.0000 --48.0000;-231.5000 --48.0000;-231.0000 --48.0000;-230.5000 --48.0000;-230.0000 --48.0000;-229.5000 --48.0000;-229.0000 --48.0000;-228.5000 --48.0000;-228.0000 --48.0000;-227.5000 --48.0000;-227.0000 --48.0000;-226.5000 --48.0000;-226.0000 --48.0000;-225.5000 --48.0000;-225.0000 --48.0000;-224.5000 --48.0000;-224.0000 --48.0000;-223.5000 --48.0000;-223.0000 --48.0000;-222.5000 --48.0000;-222.0000 --48.0000;-221.5000 --48.0000;-221.0000 --48.0000;-220.5000 --48.0000;-220.0000 --48.0000;-219.5000 --48.0000;-219.0000 --48.0000;-218.5000 --48.0000;-218.0000 --48.0000;-217.5000 --48.0000;-217.0000 --48.0000;-216.5000 --48.0000;-216.0000 --48.0000;-215.5000 --48.0000;-215.0000 --48.0000;2.5000 --48.0000;3.0000 --48.0000;3.5000 --48.0000;4.0000 --48.0000;4.5000 --48.0000;5.0000 --48.0000;5.5000 --48.0000;6.0000 --48.0000;6.5000 --48.0000;7.0000 --48.0000;7.5000 --48.0000;8.0000 --48.0000;8.5000 --48.0000;9.0000 --48.0000;9.5000 --48.0000;10.0000 --48.0000;10.5000 --48.0000;11.0000 --48.0000;11.5000 --48.0000;12.0000 --48.0000;12.5000 --48.0000;13.0000 --48.0000;13.5000 --48.0000;14.0000 --48.0000;14.5000 --48.0000;15.0000 --48.0000;15.5000 --48.0000;16.0000 --48.0000;16.5000 --48.0000;17.0000 --48.0000;17.5000 --47.5000;-280.5000 --47.5000;-280.0000 --47.5000;-279.5000 --47.5000;-279.0000 --47.5000;-278.5000 --47.5000;-278.0000 --47.5000;-277.5000 --47.5000;-277.0000 --47.5000;-276.5000 --47.5000;-276.0000 --47.5000;-275.5000 --47.5000;-275.0000 --47.5000;-274.5000 --47.5000;-274.0000 --47.5000;-273.5000 --47.5000;-273.0000 --47.5000;-272.5000 --47.5000;-272.0000 --47.5000;-271.5000 --47.5000;-271.0000 --47.5000;-270.5000 --47.5000;-270.0000 --47.5000;-269.5000 --47.5000;-269.0000 --47.5000;-268.5000 --47.5000;-268.0000 --47.5000;-267.5000 --47.5000;-267.0000 --47.5000;-266.5000 --47.5000;-254.5000 --47.5000;-254.0000 --47.5000;-253.5000 --47.5000;-253.0000 --47.5000;-252.5000 --47.5000;-252.0000 --47.5000;-251.5000 --47.5000;-251.0000 --47.5000;-250.5000 --47.5000;-250.0000 --47.5000;-249.5000 --47.5000;-249.0000 --47.5000;-248.5000 --47.5000;-248.0000 --47.5000;-247.5000 --47.5000;-247.0000 --47.5000;-246.5000 --47.5000;-246.0000 --47.5000;-245.5000 --47.5000;-245.0000 --47.5000;-244.5000 --47.5000;-244.0000 --47.5000;-243.5000 --47.5000;-243.0000 --47.5000;-242.5000 --47.5000;-242.0000 --47.5000;-241.5000 --47.5000;-241.0000 --47.5000;-240.5000 --47.5000;-240.0000 --47.5000;-239.5000 --47.5000;-239.0000 --47.5000;-238.5000 --47.5000;-238.0000 --47.5000;-237.5000 --47.5000;-237.0000 --47.5000;-236.5000 --47.5000;-236.0000 --47.5000;-235.5000 --47.5000;-235.0000 --47.5000;-234.5000 --47.5000;-234.0000 --47.5000;-233.5000 --47.5000;-233.0000 --47.5000;-232.5000 --47.5000;-232.0000 --47.5000;-231.5000 --47.5000;-231.0000 --47.5000;-230.5000 --47.5000;-230.0000 --47.5000;-229.5000 --47.5000;-229.0000 --47.5000;-228.5000 --47.5000;-228.0000 --47.5000;-227.5000 --47.5000;-227.0000 --47.5000;-226.5000 --47.5000;-226.0000 --47.5000;-225.5000 --47.5000;-225.0000 --47.5000;-224.5000 --47.5000;-224.0000 --47.5000;-223.5000 --47.5000;-223.0000 --47.5000;-222.5000 --47.5000;-222.0000 --47.5000;-221.5000 --47.5000;-221.0000 --47.5000;-220.5000 --47.5000;-220.0000 --47.5000;-219.5000 --47.5000;-219.0000 --47.5000;-218.5000 --47.5000;-218.0000 --47.5000;-217.5000 --47.5000;-217.0000 --47.5000;-216.5000 --47.5000;-216.0000 --47.5000;-215.5000 --47.5000;-215.0000 --47.5000;-214.5000 --47.5000;2.0000 --47.5000;2.5000 --47.5000;3.0000 --47.5000;3.5000 --47.5000;4.0000 --47.5000;4.5000 --47.5000;5.0000 --47.5000;5.5000 --47.5000;6.0000 --47.5000;6.5000 --47.5000;7.0000 --47.5000;7.5000 --47.5000;8.0000 --47.5000;8.5000 --47.5000;9.0000 --47.5000;9.5000 --47.5000;10.0000 --47.5000;10.5000 --47.5000;11.0000 --47.5000;11.5000 --47.5000;12.0000 --47.5000;12.5000 --47.5000;13.0000 --47.5000;13.5000 --47.5000;14.0000 --47.5000;14.5000 --47.5000;15.0000 --47.5000;15.5000 --47.5000;16.0000 --47.5000;16.5000 --47.5000;17.0000 --47.0000;-280.5000 --47.0000;-280.0000 --47.0000;-279.5000 --47.0000;-279.0000 --47.0000;-278.5000 --47.0000;-278.0000 --47.0000;-277.5000 --47.0000;-277.0000 --47.0000;-276.5000 --47.0000;-276.0000 --47.0000;-275.5000 --47.0000;-275.0000 --47.0000;-274.5000 --47.0000;-274.0000 --47.0000;-273.5000 --47.0000;-273.0000 --47.0000;-272.5000 --47.0000;-272.0000 --47.0000;-271.5000 --47.0000;-271.0000 --47.0000;-270.5000 --47.0000;-270.0000 --47.0000;-269.5000 --47.0000;-269.0000 --47.0000;-268.5000 --47.0000;-268.0000 --47.0000;-267.5000 --47.0000;-267.0000 --47.0000;-266.5000 --47.0000;-266.0000 --47.0000;-255.0000 --47.0000;-254.5000 --47.0000;-254.0000 --47.0000;-253.5000 --47.0000;-253.0000 --47.0000;-252.5000 --47.0000;-252.0000 --47.0000;-251.5000 --47.0000;-251.0000 --47.0000;-250.5000 --47.0000;-250.0000 --47.0000;-249.5000 --47.0000;-249.0000 --47.0000;-248.5000 --47.0000;-248.0000 --47.0000;-247.5000 --47.0000;-247.0000 --47.0000;-246.5000 --47.0000;-246.0000 --47.0000;-245.5000 --47.0000;-245.0000 --47.0000;-244.5000 --47.0000;-244.0000 --47.0000;-243.5000 --47.0000;-243.0000 --47.0000;-242.5000 --47.0000;-242.0000 --47.0000;-241.5000 --47.0000;-241.0000 --47.0000;-240.5000 --47.0000;-240.0000 --47.0000;-239.5000 --47.0000;-239.0000 --47.0000;-238.5000 --47.0000;-238.0000 --47.0000;-237.5000 --47.0000;-237.0000 --47.0000;-236.5000 --47.0000;-236.0000 --47.0000;-235.5000 --47.0000;-232.5000 --47.0000;-232.0000 --47.0000;-231.5000 --47.0000;-231.0000 --47.0000;-230.5000 --47.0000;-230.0000 --47.0000;-229.5000 --47.0000;-229.0000 --47.0000;-228.5000 --47.0000;-228.0000 --47.0000;-227.5000 --47.0000;-227.0000 --47.0000;-226.5000 --47.0000;-226.0000 --47.0000;-225.5000 --47.0000;-225.0000 --47.0000;-224.5000 --47.0000;-224.0000 --47.0000;-223.5000 --47.0000;-223.0000 --47.0000;-222.5000 --47.0000;-222.0000 --47.0000;-221.5000 --47.0000;-221.0000 --47.0000;-220.5000 --47.0000;-220.0000 --47.0000;-219.5000 --47.0000;-219.0000 --47.0000;-218.5000 --47.0000;-218.0000 --47.0000;-217.5000 --47.0000;-217.0000 --47.0000;-216.5000 --47.0000;-216.0000 --47.0000;-215.5000 --47.0000;-215.0000 --47.0000;-214.5000 --47.0000;-214.0000 --47.0000;1.5000 --47.0000;2.0000 --47.0000;2.5000 --47.0000;3.0000 --47.0000;3.5000 --47.0000;4.0000 --47.0000;4.5000 --47.0000;5.0000 --47.0000;5.5000 --47.0000;6.0000 --47.0000;6.5000 --47.0000;7.0000 --47.0000;7.5000 --47.0000;8.0000 --47.0000;8.5000 --47.0000;9.0000 --47.0000;9.5000 --47.0000;10.0000 --47.0000;10.5000 --47.0000;11.0000 --47.0000;11.5000 --47.0000;12.0000 --47.0000;12.5000 --47.0000;13.0000 --47.0000;13.5000 --47.0000;14.0000 --47.0000;14.5000 --47.0000;15.0000 --47.0000;15.5000 --47.0000;16.0000 --47.0000;16.5000 --46.5000;-280.0000 --46.5000;-279.5000 --46.5000;-279.0000 --46.5000;-278.5000 --46.5000;-278.0000 --46.5000;-277.5000 --46.5000;-277.0000 --46.5000;-276.5000 --46.5000;-276.0000 --46.5000;-275.5000 --46.5000;-275.0000 --46.5000;-274.5000 --46.5000;-274.0000 --46.5000;-273.5000 --46.5000;-273.0000 --46.5000;-272.5000 --46.5000;-272.0000 --46.5000;-271.5000 --46.5000;-271.0000 --46.5000;-270.5000 --46.5000;-270.0000 --46.5000;-269.5000 --46.5000;-269.0000 --46.5000;-268.5000 --46.5000;-268.0000 --46.5000;-267.5000 --46.5000;-267.0000 --46.5000;-266.5000 --46.5000;-266.0000 --46.5000;-265.5000 --46.5000;-255.5000 --46.5000;-255.0000 --46.5000;-254.5000 --46.5000;-254.0000 --46.5000;-253.5000 --46.5000;-253.0000 --46.5000;-252.5000 --46.5000;-252.0000 --46.5000;-251.5000 --46.5000;-251.0000 --46.5000;-250.5000 --46.5000;-250.0000 --46.5000;-249.5000 --46.5000;-249.0000 --46.5000;-248.5000 --46.5000;-248.0000 --46.5000;-247.5000 --46.5000;-247.0000 --46.5000;-246.5000 --46.5000;-246.0000 --46.5000;-245.5000 --46.5000;-245.0000 --46.5000;-244.5000 --46.5000;-244.0000 --46.5000;-243.5000 --46.5000;-243.0000 --46.5000;-242.5000 --46.5000;-242.0000 --46.5000;-241.5000 --46.5000;-241.0000 --46.5000;-240.5000 --46.5000;-240.0000 --46.5000;-239.5000 --46.5000;-239.0000 --46.5000;-238.5000 --46.5000;-238.0000 --46.5000;-237.5000 --46.5000;-230.5000 --46.5000;-230.0000 --46.5000;-229.5000 --46.5000;-229.0000 --46.5000;-228.5000 --46.5000;-228.0000 --46.5000;-227.5000 --46.5000;-227.0000 --46.5000;-226.5000 --46.5000;-226.0000 --46.5000;-225.5000 --46.5000;-225.0000 --46.5000;-224.5000 --46.5000;-224.0000 --46.5000;-223.5000 --46.5000;-223.0000 --46.5000;-222.5000 --46.5000;-222.0000 --46.5000;-221.5000 --46.5000;-221.0000 --46.5000;-220.5000 --46.5000;-220.0000 --46.5000;-219.5000 --46.5000;-219.0000 --46.5000;-218.5000 --46.5000;-218.0000 --46.5000;-217.5000 --46.5000;-217.0000 --46.5000;-216.5000 --46.5000;-216.0000 --46.5000;-215.5000 --46.5000;-215.0000 --46.5000;-214.5000 --46.5000;-214.0000 --46.5000;1.5000 --46.5000;2.0000 --46.5000;2.5000 --46.5000;3.0000 --46.5000;3.5000 --46.5000;4.0000 --46.5000;4.5000 --46.5000;5.0000 --46.5000;5.5000 --46.5000;6.0000 --46.5000;6.5000 --46.5000;7.0000 --46.5000;7.5000 --46.5000;8.0000 --46.5000;8.5000 --46.5000;9.0000 --46.5000;9.5000 --46.5000;10.0000 --46.5000;10.5000 --46.5000;11.0000 --46.5000;11.5000 --46.5000;12.0000 --46.5000;12.5000 --46.5000;13.0000 --46.5000;13.5000 --46.5000;14.0000 --46.5000;14.5000 --46.5000;15.0000 --46.5000;15.5000 --46.5000;16.0000 --46.5000;16.5000 --46.0000;-280.0000 --46.0000;-279.5000 --46.0000;-279.0000 --46.0000;-278.5000 --46.0000;-278.0000 --46.0000;-277.5000 --46.0000;-277.0000 --46.0000;-276.5000 --46.0000;-276.0000 --46.0000;-275.5000 --46.0000;-275.0000 --46.0000;-274.5000 --46.0000;-274.0000 --46.0000;-273.5000 --46.0000;-273.0000 --46.0000;-272.5000 --46.0000;-272.0000 --46.0000;-271.5000 --46.0000;-271.0000 --46.0000;-270.5000 --46.0000;-270.0000 --46.0000;-269.5000 --46.0000;-269.0000 --46.0000;-268.5000 --46.0000;-268.0000 --46.0000;-267.5000 --46.0000;-267.0000 --46.0000;-266.5000 --46.0000;-266.0000 --46.0000;-265.5000 --46.0000;-265.0000 --46.0000;-264.5000 --46.0000;-256.5000 --46.0000;-256.0000 --46.0000;-255.5000 --46.0000;-255.0000 --46.0000;-254.5000 --46.0000;-254.0000 --46.0000;-253.5000 --46.0000;-253.0000 --46.0000;-252.5000 --46.0000;-252.0000 --46.0000;-251.5000 --46.0000;-251.0000 --46.0000;-250.5000 --46.0000;-250.0000 --46.0000;-249.5000 --46.0000;-249.0000 --46.0000;-248.5000 --46.0000;-248.0000 --46.0000;-247.5000 --46.0000;-247.0000 --46.0000;-246.5000 --46.0000;-246.0000 --46.0000;-245.5000 --46.0000;-245.0000 --46.0000;-244.5000 --46.0000;-244.0000 --46.0000;-243.5000 --46.0000;-243.0000 --46.0000;-242.5000 --46.0000;-242.0000 --46.0000;-241.5000 --46.0000;-241.0000 --46.0000;-240.5000 --46.0000;-240.0000 --46.0000;-239.5000 --46.0000;-239.0000 --46.0000;-238.5000 --46.0000;-229.5000 --46.0000;-229.0000 --46.0000;-228.5000 --46.0000;-228.0000 --46.0000;-227.5000 --46.0000;-227.0000 --46.0000;-226.5000 --46.0000;-226.0000 --46.0000;-225.5000 --46.0000;-225.0000 --46.0000;-224.5000 --46.0000;-224.0000 --46.0000;-223.5000 --46.0000;-223.0000 --46.0000;-222.5000 --46.0000;-222.0000 --46.0000;-221.5000 --46.0000;-221.0000 --46.0000;-220.5000 --46.0000;-220.0000 --46.0000;-219.5000 --46.0000;-219.0000 --46.0000;-218.5000 --46.0000;-218.0000 --46.0000;-217.5000 --46.0000;-217.0000 --46.0000;-216.5000 --46.0000;-216.0000 --46.0000;-215.5000 --46.0000;-215.0000 --46.0000;-214.5000 --46.0000;-214.0000 --46.0000;-213.5000 --46.0000;1.0000 --46.0000;1.5000 --46.0000;2.0000 --46.0000;2.5000 --46.0000;3.0000 --46.0000;3.5000 --46.0000;4.0000 --46.0000;4.5000 --46.0000;5.0000 --46.0000;5.5000 --46.0000;6.0000 --46.0000;6.5000 --46.0000;7.0000 --46.0000;7.5000 --46.0000;8.0000 --46.0000;8.5000 --46.0000;9.0000 --46.0000;9.5000 --46.0000;10.0000 --46.0000;10.5000 --46.0000;11.0000 --46.0000;11.5000 --46.0000;12.0000 --46.0000;12.5000 --46.0000;13.0000 --46.0000;13.5000 --46.0000;14.0000 --46.0000;14.5000 --46.0000;15.0000 --46.0000;15.5000 --46.0000;16.0000 --45.5000;-279.5000 --45.5000;-279.0000 --45.5000;-278.5000 --45.5000;-278.0000 --45.5000;-277.5000 --45.5000;-277.0000 --45.5000;-276.5000 --45.5000;-276.0000 --45.5000;-275.5000 --45.5000;-275.0000 --45.5000;-274.5000 --45.5000;-274.0000 --45.5000;-273.5000 --45.5000;-273.0000 --45.5000;-272.5000 --45.5000;-272.0000 --45.5000;-271.5000 --45.5000;-271.0000 --45.5000;-270.5000 --45.5000;-270.0000 --45.5000;-269.5000 --45.5000;-269.0000 --45.5000;-268.5000 --45.5000;-268.0000 --45.5000;-267.5000 --45.5000;-267.0000 --45.5000;-266.5000 --45.5000;-266.0000 --45.5000;-265.5000 --45.5000;-265.0000 --45.5000;-264.5000 --45.5000;-264.0000 --45.5000;-263.5000 --45.5000;-258.0000 --45.5000;-257.5000 --45.5000;-257.0000 --45.5000;-256.5000 --45.5000;-256.0000 --45.5000;-255.5000 --45.5000;-255.0000 --45.5000;-254.5000 --45.5000;-254.0000 --45.5000;-253.5000 --45.5000;-253.0000 --45.5000;-252.5000 --45.5000;-252.0000 --45.5000;-251.5000 --45.5000;-251.0000 --45.5000;-250.5000 --45.5000;-250.0000 --45.5000;-249.5000 --45.5000;-249.0000 --45.5000;-248.5000 --45.5000;-248.0000 --45.5000;-247.5000 --45.5000;-247.0000 --45.5000;-246.5000 --45.5000;-246.0000 --45.5000;-245.5000 --45.5000;-245.0000 --45.5000;-244.5000 --45.5000;-244.0000 --45.5000;-243.5000 --45.5000;-243.0000 --45.5000;-242.5000 --45.5000;-242.0000 --45.5000;-241.5000 --45.5000;-241.0000 --45.5000;-240.5000 --45.5000;-240.0000 --45.5000;-239.5000 --45.5000;-228.5000 --45.5000;-228.0000 --45.5000;-227.5000 --45.5000;-227.0000 --45.5000;-226.5000 --45.5000;-226.0000 --45.5000;-225.5000 --45.5000;-225.0000 --45.5000;-224.5000 --45.5000;-224.0000 --45.5000;-223.5000 --45.5000;-223.0000 --45.5000;-222.5000 --45.5000;-222.0000 --45.5000;-221.5000 --45.5000;-221.0000 --45.5000;-220.5000 --45.5000;-220.0000 --45.5000;-219.5000 --45.5000;-219.0000 --45.5000;-218.5000 --45.5000;-218.0000 --45.5000;-217.5000 --45.5000;-217.0000 --45.5000;-216.5000 --45.5000;-216.0000 --45.5000;-215.5000 --45.5000;-215.0000 --45.5000;-214.5000 --45.5000;-214.0000 --45.5000;-213.5000 --45.5000;0.5000 --45.5000;1.0000 --45.5000;1.5000 --45.5000;2.0000 --45.5000;2.5000 --45.5000;3.0000 --45.5000;3.5000 --45.5000;4.0000 --45.5000;4.5000 --45.5000;5.0000 --45.5000;5.5000 --45.5000;6.0000 --45.5000;6.5000 --45.5000;7.0000 --45.5000;7.5000 --45.5000;8.0000 --45.5000;8.5000 --45.5000;9.0000 --45.5000;9.5000 --45.5000;10.0000 --45.5000;10.5000 --45.5000;11.0000 --45.5000;11.5000 --45.5000;12.0000 --45.5000;12.5000 --45.5000;13.0000 --45.5000;13.5000 --45.5000;14.0000 --45.5000;14.5000 --45.5000;15.0000 --45.5000;15.5000 --45.0000;-279.5000 --45.0000;-279.0000 --45.0000;-278.5000 --45.0000;-278.0000 --45.0000;-277.5000 --45.0000;-277.0000 --45.0000;-276.5000 --45.0000;-276.0000 --45.0000;-275.5000 --45.0000;-275.0000 --45.0000;-274.5000 --45.0000;-274.0000 --45.0000;-273.5000 --45.0000;-273.0000 --45.0000;-272.5000 --45.0000;-272.0000 --45.0000;-271.5000 --45.0000;-271.0000 --45.0000;-270.5000 --45.0000;-270.0000 --45.0000;-269.5000 --45.0000;-269.0000 --45.0000;-268.5000 --45.0000;-268.0000 --45.0000;-267.5000 --45.0000;-267.0000 --45.0000;-266.5000 --45.0000;-266.0000 --45.0000;-265.5000 --45.0000;-265.0000 --45.0000;-264.5000 --45.0000;-264.0000 --45.0000;-263.5000 --45.0000;-263.0000 --45.0000;-262.5000 --45.0000;-262.0000 --45.0000;-261.5000 --45.0000;-261.0000 --45.0000;-260.5000 --45.0000;-260.0000 --45.0000;-259.5000 --45.0000;-259.0000 --45.0000;-258.5000 --45.0000;-258.0000 --45.0000;-257.5000 --45.0000;-257.0000 --45.0000;-256.5000 --45.0000;-256.0000 --45.0000;-255.5000 --45.0000;-255.0000 --45.0000;-254.5000 --45.0000;-254.0000 --45.0000;-253.5000 --45.0000;-253.0000 --45.0000;-252.5000 --45.0000;-252.0000 --45.0000;-251.5000 --45.0000;-251.0000 --45.0000;-250.5000 --45.0000;-250.0000 --45.0000;-249.5000 --45.0000;-249.0000 --45.0000;-248.5000 --45.0000;-248.0000 --45.0000;-247.5000 --45.0000;-247.0000 --45.0000;-246.5000 --45.0000;-246.0000 --45.0000;-245.5000 --45.0000;-245.0000 --45.0000;-244.5000 --45.0000;-244.0000 --45.0000;-243.5000 --45.0000;-243.0000 --45.0000;-242.5000 --45.0000;-242.0000 --45.0000;-241.5000 --45.0000;-241.0000 --45.0000;-240.5000 --45.0000;-240.0000 --45.0000;-227.5000 --45.0000;-227.0000 --45.0000;-226.5000 --45.0000;-226.0000 --45.0000;-225.5000 --45.0000;-225.0000 --45.0000;-224.5000 --45.0000;-224.0000 --45.0000;-223.5000 --45.0000;-223.0000 --45.0000;-222.5000 --45.0000;-222.0000 --45.0000;-221.5000 --45.0000;-221.0000 --45.0000;-220.5000 --45.0000;-220.0000 --45.0000;-219.5000 --45.0000;-219.0000 --45.0000;-218.5000 --45.0000;-218.0000 --45.0000;-217.5000 --45.0000;-217.0000 --45.0000;-216.5000 --45.0000;-216.0000 --45.0000;-215.5000 --45.0000;-215.0000 --45.0000;-214.5000 --45.0000;-214.0000 --45.0000;-213.5000 --45.0000;-213.0000 --45.0000;0.0000 --45.0000;0.5000 --45.0000;1.0000 --45.0000;1.5000 --45.0000;2.0000 --45.0000;2.5000 --45.0000;3.0000 --45.0000;3.5000 --45.0000;4.0000 --45.0000;4.5000 --45.0000;5.0000 --45.0000;5.5000 --45.0000;6.0000 --45.0000;6.5000 --45.0000;7.0000 --45.0000;7.5000 --45.0000;8.0000 --45.0000;8.5000 --45.0000;9.0000 --45.0000;9.5000 --45.0000;10.0000 --45.0000;10.5000 --45.0000;11.0000 --45.0000;11.5000 --45.0000;12.0000 --45.0000;12.5000 --45.0000;13.0000 --45.0000;13.5000 --45.0000;14.0000 --45.0000;14.5000 --45.0000;15.0000 --44.5000;-279.0000 --44.5000;-278.5000 --44.5000;-278.0000 --44.5000;-277.5000 --44.5000;-277.0000 --44.5000;-276.5000 --44.5000;-276.0000 --44.5000;-275.5000 --44.5000;-275.0000 --44.5000;-274.5000 --44.5000;-274.0000 --44.5000;-273.5000 --44.5000;-273.0000 --44.5000;-272.5000 --44.5000;-272.0000 --44.5000;-271.5000 --44.5000;-271.0000 --44.5000;-270.5000 --44.5000;-270.0000 --44.5000;-269.5000 --44.5000;-269.0000 --44.5000;-268.5000 --44.5000;-268.0000 --44.5000;-267.5000 --44.5000;-267.0000 --44.5000;-266.5000 --44.5000;-266.0000 --44.5000;-265.5000 --44.5000;-265.0000 --44.5000;-264.5000 --44.5000;-264.0000 --44.5000;-263.5000 --44.5000;-263.0000 --44.5000;-262.5000 --44.5000;-262.0000 --44.5000;-261.5000 --44.5000;-261.0000 --44.5000;-260.5000 --44.5000;-260.0000 --44.5000;-259.5000 --44.5000;-259.0000 --44.5000;-258.5000 --44.5000;-258.0000 --44.5000;-257.5000 --44.5000;-257.0000 --44.5000;-256.5000 --44.5000;-256.0000 --44.5000;-255.5000 --44.5000;-255.0000 --44.5000;-254.5000 --44.5000;-254.0000 --44.5000;-253.5000 --44.5000;-253.0000 --44.5000;-252.5000 --44.5000;-252.0000 --44.5000;-251.5000 --44.5000;-251.0000 --44.5000;-250.5000 --44.5000;-250.0000 --44.5000;-249.5000 --44.5000;-249.0000 --44.5000;-248.5000 --44.5000;-248.0000 --44.5000;-247.5000 --44.5000;-247.0000 --44.5000;-246.5000 --44.5000;-246.0000 --44.5000;-245.5000 --44.5000;-245.0000 --44.5000;-244.5000 --44.5000;-244.0000 --44.5000;-243.5000 --44.5000;-243.0000 --44.5000;-242.5000 --44.5000;-242.0000 --44.5000;-241.5000 --44.5000;-241.0000 --44.5000;-240.5000 --44.5000;-227.0000 --44.5000;-226.5000 --44.5000;-226.0000 --44.5000;-225.5000 --44.5000;-225.0000 --44.5000;-224.5000 --44.5000;-224.0000 --44.5000;-223.5000 --44.5000;-223.0000 --44.5000;-222.5000 --44.5000;-222.0000 --44.5000;-221.5000 --44.5000;-221.0000 --44.5000;-220.5000 --44.5000;-220.0000 --44.5000;-219.5000 --44.5000;-219.0000 --44.5000;-218.5000 --44.5000;-218.0000 --44.5000;-217.5000 --44.5000;-217.0000 --44.5000;-216.5000 --44.5000;-216.0000 --44.5000;-215.5000 --44.5000;-215.0000 --44.5000;-214.5000 --44.5000;-214.0000 --44.5000;-213.5000 --44.5000;-213.0000 --44.5000;0.0000 --44.5000;0.5000 --44.5000;1.0000 --44.5000;1.5000 --44.5000;2.0000 --44.5000;2.5000 --44.5000;3.0000 --44.5000;3.5000 --44.5000;4.0000 --44.5000;4.5000 --44.5000;5.0000 --44.5000;5.5000 --44.5000;6.0000 --44.5000;6.5000 --44.5000;7.0000 --44.5000;7.5000 --44.5000;8.0000 --44.5000;8.5000 --44.5000;9.0000 --44.5000;9.5000 --44.5000;10.0000 --44.5000;10.5000 --44.5000;11.0000 --44.5000;11.5000 --44.5000;12.0000 --44.5000;12.5000 --44.5000;13.0000 --44.5000;13.5000 --44.5000;14.0000 --44.5000;14.5000 --44.5000;15.0000 --44.0000;-279.0000 --44.0000;-278.5000 --44.0000;-278.0000 --44.0000;-277.5000 --44.0000;-277.0000 --44.0000;-276.5000 --44.0000;-276.0000 --44.0000;-275.5000 --44.0000;-275.0000 --44.0000;-274.5000 --44.0000;-274.0000 --44.0000;-273.5000 --44.0000;-273.0000 --44.0000;-272.5000 --44.0000;-272.0000 --44.0000;-271.5000 --44.0000;-271.0000 --44.0000;-270.5000 --44.0000;-270.0000 --44.0000;-269.5000 --44.0000;-269.0000 --44.0000;-268.5000 --44.0000;-268.0000 --44.0000;-267.5000 --44.0000;-267.0000 --44.0000;-266.5000 --44.0000;-266.0000 --44.0000;-265.5000 --44.0000;-265.0000 --44.0000;-264.5000 --44.0000;-264.0000 --44.0000;-263.5000 --44.0000;-263.0000 --44.0000;-262.5000 --44.0000;-262.0000 --44.0000;-261.5000 --44.0000;-261.0000 --44.0000;-260.5000 --44.0000;-260.0000 --44.0000;-259.5000 --44.0000;-259.0000 --44.0000;-258.5000 --44.0000;-258.0000 --44.0000;-257.5000 --44.0000;-257.0000 --44.0000;-256.5000 --44.0000;-256.0000 --44.0000;-255.5000 --44.0000;-255.0000 --44.0000;-254.5000 --44.0000;-254.0000 --44.0000;-253.5000 --44.0000;-253.0000 --44.0000;-252.5000 --44.0000;-252.0000 --44.0000;-251.5000 --44.0000;-251.0000 --44.0000;-250.5000 --44.0000;-250.0000 --44.0000;-249.5000 --44.0000;-249.0000 --44.0000;-248.5000 --44.0000;-248.0000 --44.0000;-247.5000 --44.0000;-247.0000 --44.0000;-246.5000 --44.0000;-246.0000 --44.0000;-245.5000 --44.0000;-245.0000 --44.0000;-244.5000 --44.0000;-244.0000 --44.0000;-243.5000 --44.0000;-243.0000 --44.0000;-242.5000 --44.0000;-242.0000 --44.0000;-241.5000 --44.0000;-241.0000 --44.0000;-226.5000 --44.0000;-226.0000 --44.0000;-225.5000 --44.0000;-225.0000 --44.0000;-224.5000 --44.0000;-224.0000 --44.0000;-223.5000 --44.0000;-223.0000 --44.0000;-222.5000 --44.0000;-222.0000 --44.0000;-221.5000 --44.0000;-221.0000 --44.0000;-220.5000 --44.0000;-220.0000 --44.0000;-219.5000 --44.0000;-219.0000 --44.0000;-218.5000 --44.0000;-218.0000 --44.0000;-217.5000 --44.0000;-217.0000 --44.0000;-216.5000 --44.0000;-216.0000 --44.0000;-215.5000 --44.0000;-215.0000 --44.0000;-214.5000 --44.0000;-214.0000 --44.0000;-213.5000 --44.0000;-213.0000 --44.0000;-212.5000 --44.0000;-0.5000 --44.0000;0.0000 --44.0000;0.5000 --44.0000;1.0000 --44.0000;1.5000 --44.0000;2.0000 --44.0000;2.5000 --44.0000;3.0000 --44.0000;3.5000 --44.0000;4.0000 --44.0000;4.5000 --44.0000;5.0000 --44.0000;5.5000 --44.0000;6.0000 --44.0000;6.5000 --44.0000;7.0000 --44.0000;7.5000 --44.0000;8.0000 --44.0000;8.5000 --44.0000;9.0000 --44.0000;9.5000 --44.0000;10.0000 --44.0000;10.5000 --44.0000;11.0000 --44.0000;11.5000 --44.0000;12.0000 --44.0000;12.5000 --44.0000;13.0000 --44.0000;13.5000 --44.0000;14.0000 --44.0000;14.5000 --43.5000;-278.5000 --43.5000;-278.0000 --43.5000;-277.5000 --43.5000;-277.0000 --43.5000;-276.5000 --43.5000;-276.0000 --43.5000;-275.5000 --43.5000;-275.0000 --43.5000;-274.5000 --43.5000;-274.0000 --43.5000;-273.5000 --43.5000;-273.0000 --43.5000;-272.5000 --43.5000;-272.0000 --43.5000;-271.5000 --43.5000;-271.0000 --43.5000;-270.5000 --43.5000;-270.0000 --43.5000;-269.5000 --43.5000;-269.0000 --43.5000;-268.5000 --43.5000;-268.0000 --43.5000;-267.5000 --43.5000;-267.0000 --43.5000;-266.5000 --43.5000;-266.0000 --43.5000;-265.5000 --43.5000;-265.0000 --43.5000;-264.5000 --43.5000;-264.0000 --43.5000;-263.5000 --43.5000;-263.0000 --43.5000;-262.5000 --43.5000;-262.0000 --43.5000;-261.5000 --43.5000;-261.0000 --43.5000;-260.5000 --43.5000;-260.0000 --43.5000;-259.5000 --43.5000;-259.0000 --43.5000;-258.5000 --43.5000;-258.0000 --43.5000;-257.5000 --43.5000;-257.0000 --43.5000;-256.5000 --43.5000;-256.0000 --43.5000;-255.5000 --43.5000;-255.0000 --43.5000;-254.5000 --43.5000;-254.0000 --43.5000;-253.5000 --43.5000;-253.0000 --43.5000;-252.5000 --43.5000;-252.0000 --43.5000;-251.5000 --43.5000;-251.0000 --43.5000;-250.5000 --43.5000;-250.0000 --43.5000;-249.5000 --43.5000;-249.0000 --43.5000;-248.5000 --43.5000;-248.0000 --43.5000;-247.5000 --43.5000;-247.0000 --43.5000;-246.5000 --43.5000;-246.0000 --43.5000;-245.5000 --43.5000;-245.0000 --43.5000;-244.5000 --43.5000;-244.0000 --43.5000;-243.5000 --43.5000;-243.0000 --43.5000;-242.5000 --43.5000;-242.0000 --43.5000;-241.5000 --43.5000;-226.0000 --43.5000;-225.5000 --43.5000;-225.0000 --43.5000;-224.5000 --43.5000;-224.0000 --43.5000;-223.5000 --43.5000;-223.0000 --43.5000;-222.5000 --43.5000;-222.0000 --43.5000;-221.5000 --43.5000;-221.0000 --43.5000;-220.5000 --43.5000;-220.0000 --43.5000;-219.5000 --43.5000;-219.0000 --43.5000;-218.5000 --43.5000;-218.0000 --43.5000;-217.5000 --43.5000;-217.0000 --43.5000;-216.5000 --43.5000;-216.0000 --43.5000;-215.5000 --43.5000;-215.0000 --43.5000;-214.5000 --43.5000;-214.0000 --43.5000;-213.5000 --43.5000;-213.0000 --43.5000;-212.5000 --43.5000;-1.0000 --43.5000;-0.5000 --43.5000;0.0000 --43.5000;0.5000 --43.5000;1.0000 --43.5000;1.5000 --43.5000;2.0000 --43.5000;2.5000 --43.5000;3.0000 --43.5000;3.5000 --43.5000;4.0000 --43.5000;4.5000 --43.5000;5.0000 --43.5000;5.5000 --43.5000;6.0000 --43.5000;6.5000 --43.5000;7.0000 --43.5000;7.5000 --43.5000;8.0000 --43.5000;8.5000 --43.5000;9.0000 --43.5000;9.5000 --43.5000;10.0000 --43.5000;10.5000 --43.5000;11.0000 --43.5000;11.5000 --43.5000;12.0000 --43.5000;12.5000 --43.5000;13.0000 --43.5000;13.5000 --43.5000;14.0000 --43.0000;-278.0000 --43.0000;-277.5000 --43.0000;-277.0000 --43.0000;-276.5000 --43.0000;-276.0000 --43.0000;-275.5000 --43.0000;-275.0000 --43.0000;-274.5000 --43.0000;-274.0000 --43.0000;-273.5000 --43.0000;-273.0000 --43.0000;-272.5000 --43.0000;-272.0000 --43.0000;-271.5000 --43.0000;-271.0000 --43.0000;-270.5000 --43.0000;-270.0000 --43.0000;-269.5000 --43.0000;-269.0000 --43.0000;-268.5000 --43.0000;-268.0000 --43.0000;-267.5000 --43.0000;-267.0000 --43.0000;-266.5000 --43.0000;-266.0000 --43.0000;-265.5000 --43.0000;-265.0000 --43.0000;-264.5000 --43.0000;-264.0000 --43.0000;-263.5000 --43.0000;-263.0000 --43.0000;-262.5000 --43.0000;-262.0000 --43.0000;-261.5000 --43.0000;-261.0000 --43.0000;-260.5000 --43.0000;-260.0000 --43.0000;-259.5000 --43.0000;-259.0000 --43.0000;-258.5000 --43.0000;-258.0000 --43.0000;-257.5000 --43.0000;-257.0000 --43.0000;-256.5000 --43.0000;-256.0000 --43.0000;-255.5000 --43.0000;-255.0000 --43.0000;-254.5000 --43.0000;-254.0000 --43.0000;-253.5000 --43.0000;-253.0000 --43.0000;-252.5000 --43.0000;-252.0000 --43.0000;-251.5000 --43.0000;-251.0000 --43.0000;-250.5000 --43.0000;-250.0000 --43.0000;-249.5000 --43.0000;-249.0000 --43.0000;-248.5000 --43.0000;-248.0000 --43.0000;-247.5000 --43.0000;-247.0000 --43.0000;-246.5000 --43.0000;-246.0000 --43.0000;-245.5000 --43.0000;-245.0000 --43.0000;-244.5000 --43.0000;-244.0000 --43.0000;-243.5000 --43.0000;-243.0000 --43.0000;-242.5000 --43.0000;-242.0000 --43.0000;-225.5000 --43.0000;-225.0000 --43.0000;-224.5000 --43.0000;-224.0000 --43.0000;-223.5000 --43.0000;-223.0000 --43.0000;-222.5000 --43.0000;-222.0000 --43.0000;-221.5000 --43.0000;-221.0000 --43.0000;-220.5000 --43.0000;-220.0000 --43.0000;-219.5000 --43.0000;-219.0000 --43.0000;-218.5000 --43.0000;-218.0000 --43.0000;-217.5000 --43.0000;-217.0000 --43.0000;-216.5000 --43.0000;-216.0000 --43.0000;-215.5000 --43.0000;-215.0000 --43.0000;-214.5000 --43.0000;-214.0000 --43.0000;-213.5000 --43.0000;-213.0000 --43.0000;-212.5000 --43.0000;-1.5000 --43.0000;-1.0000 --43.0000;-0.5000 --43.0000;0.0000 --43.0000;0.5000 --43.0000;1.0000 --43.0000;1.5000 --43.0000;2.0000 --43.0000;2.5000 --43.0000;3.0000 --43.0000;3.5000 --43.0000;4.0000 --43.0000;4.5000 --43.0000;5.0000 --43.0000;5.5000 --43.0000;6.0000 --43.0000;6.5000 --43.0000;7.0000 --43.0000;7.5000 --43.0000;8.0000 --43.0000;8.5000 --43.0000;9.0000 --43.0000;9.5000 --43.0000;10.0000 --43.0000;10.5000 --43.0000;11.0000 --43.0000;11.5000 --43.0000;12.0000 --43.0000;12.5000 --43.0000;13.0000 --43.0000;13.5000 --42.5000;-278.0000 --42.5000;-277.5000 --42.5000;-277.0000 --42.5000;-276.5000 --42.5000;-276.0000 --42.5000;-275.5000 --42.5000;-275.0000 --42.5000;-274.5000 --42.5000;-274.0000 --42.5000;-273.5000 --42.5000;-273.0000 --42.5000;-272.5000 --42.5000;-272.0000 --42.5000;-271.5000 --42.5000;-271.0000 --42.5000;-270.5000 --42.5000;-270.0000 --42.5000;-269.5000 --42.5000;-269.0000 --42.5000;-268.5000 --42.5000;-268.0000 --42.5000;-267.5000 --42.5000;-267.0000 --42.5000;-266.5000 --42.5000;-266.0000 --42.5000;-265.5000 --42.5000;-265.0000 --42.5000;-264.5000 --42.5000;-264.0000 --42.5000;-263.5000 --42.5000;-263.0000 --42.5000;-262.5000 --42.5000;-262.0000 --42.5000;-261.5000 --42.5000;-261.0000 --42.5000;-260.5000 --42.5000;-260.0000 --42.5000;-259.5000 --42.5000;-259.0000 --42.5000;-258.5000 --42.5000;-258.0000 --42.5000;-257.5000 --42.5000;-257.0000 --42.5000;-256.5000 --42.5000;-256.0000 --42.5000;-255.5000 --42.5000;-255.0000 --42.5000;-254.5000 --42.5000;-254.0000 --42.5000;-253.5000 --42.5000;-253.0000 --42.5000;-252.5000 --42.5000;-252.0000 --42.5000;-251.5000 --42.5000;-251.0000 --42.5000;-250.5000 --42.5000;-250.0000 --42.5000;-249.5000 --42.5000;-249.0000 --42.5000;-248.5000 --42.5000;-248.0000 --42.5000;-247.5000 --42.5000;-247.0000 --42.5000;-246.5000 --42.5000;-246.0000 --42.5000;-245.5000 --42.5000;-245.0000 --42.5000;-244.5000 --42.5000;-244.0000 --42.5000;-243.5000 --42.5000;-243.0000 --42.5000;-242.5000 --42.5000;-225.5000 --42.5000;-225.0000 --42.5000;-224.5000 --42.5000;-224.0000 --42.5000;-223.5000 --42.5000;-223.0000 --42.5000;-222.5000 --42.5000;-222.0000 --42.5000;-221.5000 --42.5000;-221.0000 --42.5000;-220.5000 --42.5000;-220.0000 --42.5000;-219.5000 --42.5000;-219.0000 --42.5000;-218.5000 --42.5000;-218.0000 --42.5000;-217.5000 --42.5000;-217.0000 --42.5000;-216.5000 --42.5000;-216.0000 --42.5000;-215.5000 --42.5000;-215.0000 --42.5000;-214.5000 --42.5000;-214.0000 --42.5000;-213.5000 --42.5000;-213.0000 --42.5000;-212.5000 --42.5000;-212.0000 --42.5000;-1.5000 --42.5000;-1.0000 --42.5000;-0.5000 --42.5000;0.0000 --42.5000;0.5000 --42.5000;1.0000 --42.5000;1.5000 --42.5000;2.0000 --42.5000;2.5000 --42.5000;3.0000 --42.5000;3.5000 --42.5000;4.0000 --42.5000;4.5000 --42.5000;5.0000 --42.5000;5.5000 --42.5000;6.0000 --42.5000;6.5000 --42.5000;7.0000 --42.5000;7.5000 --42.5000;8.0000 --42.5000;8.5000 --42.5000;9.0000 --42.5000;9.5000 --42.5000;10.0000 --42.5000;10.5000 --42.5000;11.0000 --42.5000;11.5000 --42.5000;12.0000 --42.5000;12.5000 --42.5000;13.0000 --42.5000;13.5000 --42.0000;-277.5000 --42.0000;-277.0000 --42.0000;-276.5000 --42.0000;-276.0000 --42.0000;-275.5000 --42.0000;-275.0000 --42.0000;-274.5000 --42.0000;-274.0000 --42.0000;-273.5000 --42.0000;-273.0000 --42.0000;-272.5000 --42.0000;-272.0000 --42.0000;-271.5000 --42.0000;-271.0000 --42.0000;-270.5000 --42.0000;-270.0000 --42.0000;-269.5000 --42.0000;-269.0000 --42.0000;-268.5000 --42.0000;-268.0000 --42.0000;-267.5000 --42.0000;-267.0000 --42.0000;-266.5000 --42.0000;-266.0000 --42.0000;-265.5000 --42.0000;-265.0000 --42.0000;-264.5000 --42.0000;-264.0000 --42.0000;-263.5000 --42.0000;-263.0000 --42.0000;-262.5000 --42.0000;-262.0000 --42.0000;-261.5000 --42.0000;-261.0000 --42.0000;-260.5000 --42.0000;-260.0000 --42.0000;-259.5000 --42.0000;-259.0000 --42.0000;-258.5000 --42.0000;-258.0000 --42.0000;-257.5000 --42.0000;-257.0000 --42.0000;-256.5000 --42.0000;-256.0000 --42.0000;-255.5000 --42.0000;-255.0000 --42.0000;-254.5000 --42.0000;-254.0000 --42.0000;-253.5000 --42.0000;-253.0000 --42.0000;-252.5000 --42.0000;-252.0000 --42.0000;-251.5000 --42.0000;-251.0000 --42.0000;-250.5000 --42.0000;-250.0000 --42.0000;-249.5000 --42.0000;-249.0000 --42.0000;-248.5000 --42.0000;-248.0000 --42.0000;-247.5000 --42.0000;-247.0000 --42.0000;-246.5000 --42.0000;-246.0000 --42.0000;-245.5000 --42.0000;-245.0000 --42.0000;-244.5000 --42.0000;-244.0000 --42.0000;-243.5000 --42.0000;-243.0000 --42.0000;-225.0000 --42.0000;-224.5000 --42.0000;-224.0000 --42.0000;-223.5000 --42.0000;-223.0000 --42.0000;-222.5000 --42.0000;-222.0000 --42.0000;-221.5000 --42.0000;-221.0000 --42.0000;-220.5000 --42.0000;-220.0000 --42.0000;-219.5000 --42.0000;-219.0000 --42.0000;-218.5000 --42.0000;-218.0000 --42.0000;-217.5000 --42.0000;-217.0000 --42.0000;-216.5000 --42.0000;-216.0000 --42.0000;-215.5000 --42.0000;-215.0000 --42.0000;-214.5000 --42.0000;-214.0000 --42.0000;-213.5000 --42.0000;-213.0000 --42.0000;-212.5000 --42.0000;-212.0000 --42.0000;-2.0000 --42.0000;-1.5000 --42.0000;-1.0000 --42.0000;-0.5000 --42.0000;0.0000 --42.0000;0.5000 --42.0000;1.0000 --42.0000;1.5000 --42.0000;2.0000 --42.0000;2.5000 --42.0000;3.0000 --42.0000;3.5000 --42.0000;4.0000 --42.0000;4.5000 --42.0000;5.0000 --42.0000;5.5000 --42.0000;6.0000 --42.0000;6.5000 --42.0000;7.0000 --42.0000;7.5000 --42.0000;8.0000 --42.0000;8.5000 --42.0000;9.0000 --42.0000;9.5000 --42.0000;10.0000 --42.0000;10.5000 --42.0000;11.0000 --42.0000;11.5000 --42.0000;12.0000 --42.0000;12.5000 --42.0000;13.0000 --41.5000;-277.0000 --41.5000;-276.5000 --41.5000;-276.0000 --41.5000;-275.5000 --41.5000;-275.0000 --41.5000;-274.5000 --41.5000;-274.0000 --41.5000;-273.5000 --41.5000;-273.0000 --41.5000;-272.5000 --41.5000;-272.0000 --41.5000;-271.5000 --41.5000;-271.0000 --41.5000;-270.5000 --41.5000;-270.0000 --41.5000;-269.5000 --41.5000;-269.0000 --41.5000;-268.5000 --41.5000;-268.0000 --41.5000;-267.5000 --41.5000;-267.0000 --41.5000;-266.5000 --41.5000;-266.0000 --41.5000;-265.5000 --41.5000;-265.0000 --41.5000;-264.5000 --41.5000;-264.0000 --41.5000;-263.5000 --41.5000;-263.0000 --41.5000;-262.5000 --41.5000;-262.0000 --41.5000;-261.5000 --41.5000;-261.0000 --41.5000;-260.5000 --41.5000;-260.0000 --41.5000;-259.5000 --41.5000;-259.0000 --41.5000;-258.5000 --41.5000;-258.0000 --41.5000;-257.5000 --41.5000;-257.0000 --41.5000;-256.5000 --41.5000;-256.0000 --41.5000;-255.5000 --41.5000;-255.0000 --41.5000;-254.5000 --41.5000;-254.0000 --41.5000;-253.5000 --41.5000;-253.0000 --41.5000;-252.5000 --41.5000;-252.0000 --41.5000;-251.5000 --41.5000;-251.0000 --41.5000;-250.5000 --41.5000;-250.0000 --41.5000;-249.5000 --41.5000;-249.0000 --41.5000;-248.5000 --41.5000;-248.0000 --41.5000;-247.5000 --41.5000;-247.0000 --41.5000;-246.5000 --41.5000;-246.0000 --41.5000;-245.5000 --41.5000;-245.0000 --41.5000;-244.5000 --41.5000;-244.0000 --41.5000;-243.5000 --41.5000;-224.5000 --41.5000;-224.0000 --41.5000;-223.5000 --41.5000;-223.0000 --41.5000;-222.5000 --41.5000;-222.0000 --41.5000;-221.5000 --41.5000;-221.0000 --41.5000;-220.5000 --41.5000;-220.0000 --41.5000;-219.5000 --41.5000;-219.0000 --41.5000;-218.5000 --41.5000;-218.0000 --41.5000;-217.5000 --41.5000;-217.0000 --41.5000;-216.5000 --41.5000;-216.0000 --41.5000;-215.5000 --41.5000;-215.0000 --41.5000;-214.5000 --41.5000;-214.0000 --41.5000;-213.5000 --41.5000;-213.0000 --41.5000;-212.5000 --41.5000;-212.0000 --41.5000;-2.5000 --41.5000;-2.0000 --41.5000;-1.5000 --41.5000;-1.0000 --41.5000;-0.5000 --41.5000;0.0000 --41.5000;0.5000 --41.5000;1.0000 --41.5000;1.5000 --41.5000;2.0000 --41.5000;2.5000 --41.5000;3.0000 --41.5000;3.5000 --41.5000;4.0000 --41.5000;4.5000 --41.5000;5.0000 --41.5000;5.5000 --41.5000;6.0000 --41.5000;6.5000 --41.5000;7.0000 --41.5000;7.5000 --41.5000;8.0000 --41.5000;8.5000 --41.5000;9.0000 --41.5000;9.5000 --41.5000;10.0000 --41.5000;10.5000 --41.5000;11.0000 --41.5000;11.5000 --41.5000;12.0000 --41.5000;12.5000 --41.0000;-277.0000 --41.0000;-276.5000 --41.0000;-276.0000 --41.0000;-275.5000 --41.0000;-275.0000 --41.0000;-274.5000 --41.0000;-274.0000 --41.0000;-273.5000 --41.0000;-273.0000 --41.0000;-272.5000 --41.0000;-272.0000 --41.0000;-271.5000 --41.0000;-271.0000 --41.0000;-270.5000 --41.0000;-270.0000 --41.0000;-269.5000 --41.0000;-269.0000 --41.0000;-268.5000 --41.0000;-268.0000 --41.0000;-267.5000 --41.0000;-267.0000 --41.0000;-266.5000 --41.0000;-266.0000 --41.0000;-265.5000 --41.0000;-265.0000 --41.0000;-264.5000 --41.0000;-264.0000 --41.0000;-263.5000 --41.0000;-263.0000 --41.0000;-262.5000 --41.0000;-262.0000 --41.0000;-261.5000 --41.0000;-261.0000 --41.0000;-260.5000 --41.0000;-260.0000 --41.0000;-259.5000 --41.0000;-259.0000 --41.0000;-258.5000 --41.0000;-258.0000 --41.0000;-257.5000 --41.0000;-257.0000 --41.0000;-256.5000 --41.0000;-256.0000 --41.0000;-255.5000 --41.0000;-255.0000 --41.0000;-254.5000 --41.0000;-254.0000 --41.0000;-253.5000 --41.0000;-253.0000 --41.0000;-252.5000 --41.0000;-252.0000 --41.0000;-251.5000 --41.0000;-251.0000 --41.0000;-250.5000 --41.0000;-250.0000 --41.0000;-249.5000 --41.0000;-249.0000 --41.0000;-248.5000 --41.0000;-248.0000 --41.0000;-247.5000 --41.0000;-247.0000 --41.0000;-246.5000 --41.0000;-246.0000 --41.0000;-245.5000 --41.0000;-245.0000 --41.0000;-244.5000 --41.0000;-244.0000 --41.0000;-224.5000 --41.0000;-224.0000 --41.0000;-223.5000 --41.0000;-223.0000 --41.0000;-222.5000 --41.0000;-222.0000 --41.0000;-221.5000 --41.0000;-221.0000 --41.0000;-220.5000 --41.0000;-220.0000 --41.0000;-219.5000 --41.0000;-219.0000 --41.0000;-218.5000 --41.0000;-218.0000 --41.0000;-217.5000 --41.0000;-217.0000 --41.0000;-216.5000 --41.0000;-216.0000 --41.0000;-215.5000 --41.0000;-215.0000 --41.0000;-214.5000 --41.0000;-214.0000 --41.0000;-213.5000 --41.0000;-213.0000 --41.0000;-212.5000 --41.0000;-212.0000 --41.0000;-211.5000 --41.0000;-3.0000 --41.0000;-2.5000 --41.0000;-2.0000 --41.0000;-1.5000 --41.0000;-1.0000 --41.0000;-0.5000 --41.0000;0.0000 --41.0000;0.5000 --41.0000;1.0000 --41.0000;1.5000 --41.0000;2.0000 --41.0000;2.5000 --41.0000;3.0000 --41.0000;3.5000 --41.0000;4.0000 --41.0000;4.5000 --41.0000;5.0000 --41.0000;5.5000 --41.0000;6.0000 --41.0000;6.5000 --41.0000;7.0000 --41.0000;7.5000 --41.0000;8.0000 --41.0000;8.5000 --41.0000;9.0000 --41.0000;9.5000 --41.0000;10.0000 --41.0000;10.5000 --41.0000;11.0000 --41.0000;11.5000 --41.0000;12.0000 --40.5000;-276.5000 --40.5000;-276.0000 --40.5000;-275.5000 --40.5000;-275.0000 --40.5000;-274.5000 --40.5000;-274.0000 --40.5000;-273.5000 --40.5000;-273.0000 --40.5000;-272.5000 --40.5000;-272.0000 --40.5000;-271.5000 --40.5000;-271.0000 --40.5000;-270.5000 --40.5000;-270.0000 --40.5000;-269.5000 --40.5000;-269.0000 --40.5000;-268.5000 --40.5000;-268.0000 --40.5000;-267.5000 --40.5000;-267.0000 --40.5000;-266.5000 --40.5000;-266.0000 --40.5000;-265.5000 --40.5000;-265.0000 --40.5000;-264.5000 --40.5000;-264.0000 --40.5000;-263.5000 --40.5000;-263.0000 --40.5000;-262.5000 --40.5000;-262.0000 --40.5000;-261.5000 --40.5000;-261.0000 --40.5000;-260.5000 --40.5000;-260.0000 --40.5000;-259.5000 --40.5000;-259.0000 --40.5000;-258.5000 --40.5000;-258.0000 --40.5000;-257.5000 --40.5000;-257.0000 --40.5000;-256.5000 --40.5000;-256.0000 --40.5000;-255.5000 --40.5000;-255.0000 --40.5000;-254.5000 --40.5000;-254.0000 --40.5000;-253.5000 --40.5000;-253.0000 --40.5000;-252.5000 --40.5000;-252.0000 --40.5000;-251.5000 --40.5000;-251.0000 --40.5000;-250.5000 --40.5000;-250.0000 --40.5000;-249.5000 --40.5000;-249.0000 --40.5000;-248.5000 --40.5000;-248.0000 --40.5000;-247.5000 --40.5000;-247.0000 --40.5000;-246.5000 --40.5000;-246.0000 --40.5000;-245.5000 --40.5000;-245.0000 --40.5000;-244.5000 --40.5000;-224.0000 --40.5000;-223.5000 --40.5000;-223.0000 --40.5000;-222.5000 --40.5000;-222.0000 --40.5000;-221.5000 --40.5000;-221.0000 --40.5000;-220.5000 --40.5000;-220.0000 --40.5000;-219.5000 --40.5000;-219.0000 --40.5000;-218.5000 --40.5000;-218.0000 --40.5000;-217.5000 --40.5000;-217.0000 --40.5000;-216.5000 --40.5000;-216.0000 --40.5000;-215.5000 --40.5000;-215.0000 --40.5000;-214.5000 --40.5000;-214.0000 --40.5000;-213.5000 --40.5000;-213.0000 --40.5000;-212.5000 --40.5000;-212.0000 --40.5000;-211.5000 --40.5000;-3.0000 --40.5000;-2.5000 --40.5000;-2.0000 --40.5000;-1.5000 --40.5000;-1.0000 --40.5000;-0.5000 --40.5000;0.0000 --40.5000;0.5000 --40.5000;1.0000 --40.5000;1.5000 --40.5000;2.0000 --40.5000;2.5000 --40.5000;3.0000 --40.5000;3.5000 --40.5000;4.0000 --40.5000;4.5000 --40.5000;5.0000 --40.5000;5.5000 --40.5000;6.0000 --40.5000;6.5000 --40.5000;7.0000 --40.5000;7.5000 --40.5000;8.0000 --40.5000;8.5000 --40.5000;9.0000 --40.5000;9.5000 --40.5000;10.0000 --40.5000;10.5000 --40.5000;11.0000 --40.5000;11.5000 --40.0000;-276.0000 --40.0000;-275.5000 --40.0000;-275.0000 --40.0000;-274.5000 --40.0000;-274.0000 --40.0000;-273.5000 --40.0000;-273.0000 --40.0000;-272.5000 --40.0000;-272.0000 --40.0000;-271.5000 --40.0000;-271.0000 --40.0000;-270.5000 --40.0000;-270.0000 --40.0000;-269.5000 --40.0000;-269.0000 --40.0000;-268.5000 --40.0000;-268.0000 --40.0000;-267.5000 --40.0000;-267.0000 --40.0000;-266.5000 --40.0000;-266.0000 --40.0000;-265.5000 --40.0000;-265.0000 --40.0000;-264.5000 --40.0000;-264.0000 --40.0000;-263.5000 --40.0000;-263.0000 --40.0000;-262.5000 --40.0000;-262.0000 --40.0000;-261.5000 --40.0000;-261.0000 --40.0000;-260.5000 --40.0000;-260.0000 --40.0000;-259.5000 --40.0000;-259.0000 --40.0000;-258.5000 --40.0000;-258.0000 --40.0000;-257.5000 --40.0000;-257.0000 --40.0000;-256.5000 --40.0000;-256.0000 --40.0000;-255.5000 --40.0000;-255.0000 --40.0000;-254.5000 --40.0000;-254.0000 --40.0000;-253.5000 --40.0000;-253.0000 --40.0000;-252.5000 --40.0000;-252.0000 --40.0000;-251.5000 --40.0000;-251.0000 --40.0000;-250.5000 --40.0000;-250.0000 --40.0000;-249.5000 --40.0000;-249.0000 --40.0000;-248.5000 --40.0000;-248.0000 --40.0000;-247.5000 --40.0000;-247.0000 --40.0000;-246.5000 --40.0000;-246.0000 --40.0000;-245.5000 --40.0000;-245.0000 --40.0000;-224.0000 --40.0000;-223.5000 --40.0000;-223.0000 --40.0000;-222.5000 --40.0000;-222.0000 --40.0000;-221.5000 --40.0000;-221.0000 --40.0000;-220.5000 --40.0000;-220.0000 --40.0000;-219.5000 --40.0000;-219.0000 --40.0000;-218.5000 --40.0000;-218.0000 --40.0000;-217.5000 --40.0000;-217.0000 --40.0000;-216.5000 --40.0000;-216.0000 --40.0000;-215.5000 --40.0000;-215.0000 --40.0000;-214.5000 --40.0000;-214.0000 --40.0000;-213.5000 --40.0000;-213.0000 --40.0000;-212.5000 --40.0000;-212.0000 --40.0000;-211.5000 --40.0000;-3.5000 --40.0000;-3.0000 --40.0000;-2.5000 --40.0000;-2.0000 --40.0000;-1.5000 --40.0000;-1.0000 --40.0000;-0.5000 --40.0000;0.0000 --40.0000;0.5000 --40.0000;1.0000 --40.0000;1.5000 --40.0000;2.0000 --40.0000;2.5000 --40.0000;3.0000 --40.0000;3.5000 --40.0000;4.0000 --40.0000;4.5000 --40.0000;5.0000 --40.0000;5.5000 --40.0000;6.0000 --40.0000;6.5000 --40.0000;7.0000 --40.0000;7.5000 --40.0000;8.0000 --40.0000;8.5000 --40.0000;9.0000 --40.0000;9.5000 --40.0000;10.0000 --40.0000;10.5000 --40.0000;11.0000 --40.0000;11.5000 --39.5000;-275.5000 --39.5000;-275.0000 --39.5000;-274.5000 --39.5000;-274.0000 --39.5000;-273.5000 --39.5000;-273.0000 --39.5000;-272.5000 --39.5000;-272.0000 --39.5000;-271.5000 --39.5000;-271.0000 --39.5000;-270.5000 --39.5000;-270.0000 --39.5000;-269.5000 --39.5000;-269.0000 --39.5000;-268.5000 --39.5000;-268.0000 --39.5000;-267.5000 --39.5000;-267.0000 --39.5000;-266.5000 --39.5000;-266.0000 --39.5000;-265.5000 --39.5000;-265.0000 --39.5000;-264.5000 --39.5000;-264.0000 --39.5000;-263.5000 --39.5000;-263.0000 --39.5000;-262.5000 --39.5000;-262.0000 --39.5000;-261.5000 --39.5000;-261.0000 --39.5000;-260.5000 --39.5000;-260.0000 --39.5000;-259.5000 --39.5000;-259.0000 --39.5000;-258.5000 --39.5000;-258.0000 --39.5000;-257.5000 --39.5000;-257.0000 --39.5000;-256.5000 --39.5000;-256.0000 --39.5000;-255.5000 --39.5000;-255.0000 --39.5000;-254.5000 --39.5000;-254.0000 --39.5000;-253.5000 --39.5000;-253.0000 --39.5000;-252.5000 --39.5000;-252.0000 --39.5000;-251.5000 --39.5000;-251.0000 --39.5000;-250.5000 --39.5000;-250.0000 --39.5000;-249.5000 --39.5000;-249.0000 --39.5000;-248.5000 --39.5000;-248.0000 --39.5000;-247.5000 --39.5000;-247.0000 --39.5000;-246.5000 --39.5000;-246.0000 --39.5000;-245.5000 --39.5000;-223.5000 --39.5000;-223.0000 --39.5000;-222.5000 --39.5000;-222.0000 --39.5000;-221.5000 --39.5000;-221.0000 --39.5000;-220.5000 --39.5000;-220.0000 --39.5000;-219.5000 --39.5000;-219.0000 --39.5000;-218.5000 --39.5000;-218.0000 --39.5000;-217.5000 --39.5000;-217.0000 --39.5000;-216.5000 --39.5000;-216.0000 --39.5000;-215.5000 --39.5000;-215.0000 --39.5000;-214.5000 --39.5000;-214.0000 --39.5000;-213.5000 --39.5000;-213.0000 --39.5000;-212.5000 --39.5000;-212.0000 --39.5000;-211.5000 --39.5000;-211.0000 --39.5000;-4.0000 --39.5000;-3.5000 --39.5000;-3.0000 --39.5000;-2.5000 --39.5000;-2.0000 --39.5000;-1.5000 --39.5000;-1.0000 --39.5000;-0.5000 --39.5000;0.0000 --39.5000;0.5000 --39.5000;1.0000 --39.5000;1.5000 --39.5000;2.0000 --39.5000;2.5000 --39.5000;3.0000 --39.5000;3.5000 --39.5000;4.0000 --39.5000;4.5000 --39.5000;5.0000 --39.5000;5.5000 --39.5000;6.0000 --39.5000;6.5000 --39.5000;7.0000 --39.5000;7.5000 --39.5000;8.0000 --39.5000;8.5000 --39.5000;9.0000 --39.5000;9.5000 --39.5000;10.0000 --39.5000;10.5000 --39.5000;11.0000 --39.0000;-275.0000 --39.0000;-274.5000 --39.0000;-274.0000 --39.0000;-273.5000 --39.0000;-273.0000 --39.0000;-272.5000 --39.0000;-272.0000 --39.0000;-271.5000 --39.0000;-271.0000 --39.0000;-270.5000 --39.0000;-270.0000 --39.0000;-269.5000 --39.0000;-269.0000 --39.0000;-268.5000 --39.0000;-268.0000 --39.0000;-267.5000 --39.0000;-267.0000 --39.0000;-266.5000 --39.0000;-266.0000 --39.0000;-265.5000 --39.0000;-265.0000 --39.0000;-264.5000 --39.0000;-264.0000 --39.0000;-263.5000 --39.0000;-263.0000 --39.0000;-262.5000 --39.0000;-262.0000 --39.0000;-261.5000 --39.0000;-261.0000 --39.0000;-260.5000 --39.0000;-260.0000 --39.0000;-259.5000 --39.0000;-259.0000 --39.0000;-258.5000 --39.0000;-258.0000 --39.0000;-257.5000 --39.0000;-257.0000 --39.0000;-256.5000 --39.0000;-256.0000 --39.0000;-255.5000 --39.0000;-255.0000 --39.0000;-254.5000 --39.0000;-254.0000 --39.0000;-253.5000 --39.0000;-253.0000 --39.0000;-252.5000 --39.0000;-252.0000 --39.0000;-251.5000 --39.0000;-251.0000 --39.0000;-250.5000 --39.0000;-250.0000 --39.0000;-249.5000 --39.0000;-249.0000 --39.0000;-248.5000 --39.0000;-248.0000 --39.0000;-247.5000 --39.0000;-247.0000 --39.0000;-246.5000 --39.0000;-246.0000 --39.0000;-223.5000 --39.0000;-223.0000 --39.0000;-222.5000 --39.0000;-222.0000 --39.0000;-221.5000 --39.0000;-221.0000 --39.0000;-220.5000 --39.0000;-220.0000 --39.0000;-219.5000 --39.0000;-219.0000 --39.0000;-218.5000 --39.0000;-218.0000 --39.0000;-217.5000 --39.0000;-217.0000 --39.0000;-216.5000 --39.0000;-216.0000 --39.0000;-215.5000 --39.0000;-215.0000 --39.0000;-214.5000 --39.0000;-214.0000 --39.0000;-213.5000 --39.0000;-213.0000 --39.0000;-212.5000 --39.0000;-212.0000 --39.0000;-211.5000 --39.0000;-211.0000 --39.0000;-4.5000 --39.0000;-4.0000 --39.0000;-3.5000 --39.0000;-3.0000 --39.0000;-2.5000 --39.0000;-2.0000 --39.0000;-1.5000 --39.0000;-1.0000 --39.0000;-0.5000 --39.0000;0.0000 --39.0000;0.5000 --39.0000;1.0000 --39.0000;1.5000 --39.0000;2.0000 --39.0000;2.5000 --39.0000;3.0000 --39.0000;3.5000 --39.0000;4.0000 --39.0000;4.5000 --39.0000;5.0000 --39.0000;5.5000 --39.0000;6.0000 --39.0000;6.5000 --39.0000;7.0000 --39.0000;7.5000 --39.0000;8.0000 --39.0000;8.5000 --39.0000;9.0000 --39.0000;9.5000 --39.0000;10.0000 --39.0000;10.5000 --38.5000;-274.5000 --38.5000;-274.0000 --38.5000;-273.5000 --38.5000;-273.0000 --38.5000;-272.5000 --38.5000;-272.0000 --38.5000;-271.5000 --38.5000;-271.0000 --38.5000;-270.5000 --38.5000;-270.0000 --38.5000;-269.5000 --38.5000;-269.0000 --38.5000;-268.5000 --38.5000;-268.0000 --38.5000;-267.5000 --38.5000;-267.0000 --38.5000;-266.5000 --38.5000;-266.0000 --38.5000;-265.5000 --38.5000;-265.0000 --38.5000;-264.5000 --38.5000;-264.0000 --38.5000;-263.5000 --38.5000;-263.0000 --38.5000;-262.5000 --38.5000;-262.0000 --38.5000;-261.5000 --38.5000;-261.0000 --38.5000;-260.5000 --38.5000;-260.0000 --38.5000;-259.5000 --38.5000;-259.0000 --38.5000;-258.5000 --38.5000;-258.0000 --38.5000;-257.5000 --38.5000;-257.0000 --38.5000;-256.5000 --38.5000;-256.0000 --38.5000;-255.5000 --38.5000;-255.0000 --38.5000;-254.5000 --38.5000;-254.0000 --38.5000;-253.5000 --38.5000;-253.0000 --38.5000;-252.5000 --38.5000;-252.0000 --38.5000;-251.5000 --38.5000;-251.0000 --38.5000;-250.5000 --38.5000;-250.0000 --38.5000;-249.5000 --38.5000;-249.0000 --38.5000;-248.5000 --38.5000;-248.0000 --38.5000;-247.5000 --38.5000;-247.0000 --38.5000;-246.5000 --38.5000;-223.0000 --38.5000;-222.5000 --38.5000;-222.0000 --38.5000;-221.5000 --38.5000;-221.0000 --38.5000;-220.5000 --38.5000;-220.0000 --38.5000;-219.5000 --38.5000;-219.0000 --38.5000;-218.5000 --38.5000;-218.0000 --38.5000;-217.5000 --38.5000;-217.0000 --38.5000;-216.5000 --38.5000;-216.0000 --38.5000;-215.5000 --38.5000;-215.0000 --38.5000;-214.5000 --38.5000;-214.0000 --38.5000;-213.5000 --38.5000;-213.0000 --38.5000;-212.5000 --38.5000;-212.0000 --38.5000;-211.5000 --38.5000;-211.0000 --38.5000;-4.5000 --38.5000;-4.0000 --38.5000;-3.5000 --38.5000;-3.0000 --38.5000;-2.5000 --38.5000;-2.0000 --38.5000;-1.5000 --38.5000;-1.0000 --38.5000;-0.5000 --38.5000;0.0000 --38.5000;0.5000 --38.5000;1.0000 --38.5000;1.5000 --38.5000;2.0000 --38.5000;2.5000 --38.5000;3.0000 --38.5000;3.5000 --38.5000;4.0000 --38.5000;4.5000 --38.5000;5.0000 --38.5000;5.5000 --38.5000;6.0000 --38.5000;6.5000 --38.5000;7.0000 --38.5000;7.5000 --38.5000;8.0000 --38.5000;8.5000 --38.5000;9.0000 --38.5000;9.5000 --38.5000;10.0000 --38.0000;-274.0000 --38.0000;-273.5000 --38.0000;-273.0000 --38.0000;-272.5000 --38.0000;-272.0000 --38.0000;-271.5000 --38.0000;-271.0000 --38.0000;-270.5000 --38.0000;-270.0000 --38.0000;-269.5000 --38.0000;-269.0000 --38.0000;-268.5000 --38.0000;-268.0000 --38.0000;-267.5000 --38.0000;-267.0000 --38.0000;-266.5000 --38.0000;-266.0000 --38.0000;-265.5000 --38.0000;-265.0000 --38.0000;-264.5000 --38.0000;-264.0000 --38.0000;-263.5000 --38.0000;-263.0000 --38.0000;-262.5000 --38.0000;-262.0000 --38.0000;-261.5000 --38.0000;-261.0000 --38.0000;-260.5000 --38.0000;-260.0000 --38.0000;-259.5000 --38.0000;-259.0000 --38.0000;-258.5000 --38.0000;-258.0000 --38.0000;-257.5000 --38.0000;-257.0000 --38.0000;-256.5000 --38.0000;-256.0000 --38.0000;-255.5000 --38.0000;-255.0000 --38.0000;-254.5000 --38.0000;-254.0000 --38.0000;-253.5000 --38.0000;-253.0000 --38.0000;-252.5000 --38.0000;-252.0000 --38.0000;-251.5000 --38.0000;-251.0000 --38.0000;-250.5000 --38.0000;-250.0000 --38.0000;-249.5000 --38.0000;-249.0000 --38.0000;-248.5000 --38.0000;-248.0000 --38.0000;-247.5000 --38.0000;-247.0000 --38.0000;-223.0000 --38.0000;-222.5000 --38.0000;-222.0000 --38.0000;-221.5000 --38.0000;-221.0000 --38.0000;-220.5000 --38.0000;-220.0000 --38.0000;-219.5000 --38.0000;-219.0000 --38.0000;-218.5000 --38.0000;-218.0000 --38.0000;-217.5000 --38.0000;-217.0000 --38.0000;-216.5000 --38.0000;-216.0000 --38.0000;-215.5000 --38.0000;-215.0000 --38.0000;-214.5000 --38.0000;-214.0000 --38.0000;-213.5000 --38.0000;-213.0000 --38.0000;-212.5000 --38.0000;-212.0000 --38.0000;-211.5000 --38.0000;-211.0000 --38.0000;-210.5000 --38.0000;-5.0000 --38.0000;-4.5000 --38.0000;-4.0000 --38.0000;-3.5000 --38.0000;-3.0000 --38.0000;-2.5000 --38.0000;-2.0000 --38.0000;-1.5000 --38.0000;-1.0000 --38.0000;-0.5000 --38.0000;0.0000 --38.0000;0.5000 --38.0000;1.0000 --38.0000;1.5000 --38.0000;2.0000 --38.0000;2.5000 --38.0000;3.0000 --38.0000;3.5000 --38.0000;4.0000 --38.0000;4.5000 --38.0000;5.0000 --38.0000;5.5000 --38.0000;6.0000 --38.0000;6.5000 --38.0000;7.0000 --38.0000;7.5000 --38.0000;8.0000 --38.0000;8.5000 --38.0000;9.0000 --38.0000;9.5000 --38.0000;10.0000 --37.5000;-273.5000 --37.5000;-273.0000 --37.5000;-272.5000 --37.5000;-272.0000 --37.5000;-271.5000 --37.5000;-271.0000 --37.5000;-270.5000 --37.5000;-270.0000 --37.5000;-269.5000 --37.5000;-269.0000 --37.5000;-268.5000 --37.5000;-268.0000 --37.5000;-267.5000 --37.5000;-267.0000 --37.5000;-266.5000 --37.5000;-266.0000 --37.5000;-265.5000 --37.5000;-265.0000 --37.5000;-264.5000 --37.5000;-264.0000 --37.5000;-263.5000 --37.5000;-263.0000 --37.5000;-262.5000 --37.5000;-262.0000 --37.5000;-261.5000 --37.5000;-261.0000 --37.5000;-260.5000 --37.5000;-260.0000 --37.5000;-259.5000 --37.5000;-259.0000 --37.5000;-258.5000 --37.5000;-258.0000 --37.5000;-257.5000 --37.5000;-257.0000 --37.5000;-256.5000 --37.5000;-256.0000 --37.5000;-255.5000 --37.5000;-255.0000 --37.5000;-254.5000 --37.5000;-254.0000 --37.5000;-253.5000 --37.5000;-253.0000 --37.5000;-252.5000 --37.5000;-252.0000 --37.5000;-251.5000 --37.5000;-251.0000 --37.5000;-250.5000 --37.5000;-250.0000 --37.5000;-249.5000 --37.5000;-249.0000 --37.5000;-248.5000 --37.5000;-248.0000 --37.5000;-247.5000 --37.5000;-223.0000 --37.5000;-222.5000 --37.5000;-222.0000 --37.5000;-221.5000 --37.5000;-221.0000 --37.5000;-220.5000 --37.5000;-220.0000 --37.5000;-219.5000 --37.5000;-219.0000 --37.5000;-218.5000 --37.5000;-218.0000 --37.5000;-217.5000 --37.5000;-217.0000 --37.5000;-216.5000 --37.5000;-216.0000 --37.5000;-215.5000 --37.5000;-215.0000 --37.5000;-214.5000 --37.5000;-214.0000 --37.5000;-213.5000 --37.5000;-213.0000 --37.5000;-212.5000 --37.5000;-212.0000 --37.5000;-211.5000 --37.5000;-211.0000 --37.5000;-210.5000 --37.5000;-5.5000 --37.5000;-5.0000 --37.5000;-4.5000 --37.5000;-4.0000 --37.5000;-3.5000 --37.5000;-3.0000 --37.5000;-2.5000 --37.5000;-2.0000 --37.5000;-1.5000 --37.5000;-1.0000 --37.5000;-0.5000 --37.5000;0.0000 --37.5000;0.5000 --37.5000;1.0000 --37.5000;1.5000 --37.5000;2.0000 --37.5000;2.5000 --37.5000;3.0000 --37.5000;3.5000 --37.5000;4.0000 --37.5000;4.5000 --37.5000;5.0000 --37.5000;5.5000 --37.5000;6.0000 --37.5000;6.5000 --37.5000;7.0000 --37.5000;7.5000 --37.5000;8.0000 --37.5000;8.5000 --37.5000;9.0000 --37.5000;9.5000 --37.0000;-273.0000 --37.0000;-272.5000 --37.0000;-272.0000 --37.0000;-271.5000 --37.0000;-271.0000 --37.0000;-270.5000 --37.0000;-270.0000 --37.0000;-269.5000 --37.0000;-269.0000 --37.0000;-268.5000 --37.0000;-268.0000 --37.0000;-267.5000 --37.0000;-267.0000 --37.0000;-266.5000 --37.0000;-266.0000 --37.0000;-265.5000 --37.0000;-265.0000 --37.0000;-264.5000 --37.0000;-264.0000 --37.0000;-263.5000 --37.0000;-263.0000 --37.0000;-262.5000 --37.0000;-262.0000 --37.0000;-261.5000 --37.0000;-261.0000 --37.0000;-260.5000 --37.0000;-260.0000 --37.0000;-259.5000 --37.0000;-259.0000 --37.0000;-258.5000 --37.0000;-258.0000 --37.0000;-257.5000 --37.0000;-257.0000 --37.0000;-256.5000 --37.0000;-256.0000 --37.0000;-255.5000 --37.0000;-255.0000 --37.0000;-254.5000 --37.0000;-254.0000 --37.0000;-253.5000 --37.0000;-253.0000 --37.0000;-252.5000 --37.0000;-252.0000 --37.0000;-251.5000 --37.0000;-251.0000 --37.0000;-250.5000 --37.0000;-250.0000 --37.0000;-249.5000 --37.0000;-249.0000 --37.0000;-248.5000 --37.0000;-248.0000 --37.0000;-222.5000 --37.0000;-222.0000 --37.0000;-221.5000 --37.0000;-221.0000 --37.0000;-220.5000 --37.0000;-220.0000 --37.0000;-219.5000 --37.0000;-219.0000 --37.0000;-218.5000 --37.0000;-218.0000 --37.0000;-217.5000 --37.0000;-217.0000 --37.0000;-216.5000 --37.0000;-216.0000 --37.0000;-215.5000 --37.0000;-215.0000 --37.0000;-214.5000 --37.0000;-214.0000 --37.0000;-213.5000 --37.0000;-213.0000 --37.0000;-212.5000 --37.0000;-212.0000 --37.0000;-211.5000 --37.0000;-211.0000 --37.0000;-210.5000 --37.0000;-6.0000 --37.0000;-5.5000 --37.0000;-5.0000 --37.0000;-4.5000 --37.0000;-4.0000 --37.0000;-3.5000 --37.0000;-3.0000 --37.0000;-2.5000 --37.0000;-2.0000 --37.0000;-1.5000 --37.0000;-1.0000 --37.0000;-0.5000 --37.0000;0.0000 --37.0000;0.5000 --37.0000;1.0000 --37.0000;1.5000 --37.0000;2.0000 --37.0000;2.5000 --37.0000;3.0000 --37.0000;3.5000 --37.0000;4.0000 --37.0000;4.5000 --37.0000;5.0000 --37.0000;5.5000 --37.0000;6.0000 --37.0000;6.5000 --37.0000;7.0000 --37.0000;7.5000 --37.0000;8.0000 --37.0000;8.5000 --37.0000;9.0000 --36.5000;-272.5000 --36.5000;-272.0000 --36.5000;-271.5000 --36.5000;-271.0000 --36.5000;-270.5000 --36.5000;-270.0000 --36.5000;-269.5000 --36.5000;-269.0000 --36.5000;-268.5000 --36.5000;-268.0000 --36.5000;-267.5000 --36.5000;-267.0000 --36.5000;-266.5000 --36.5000;-266.0000 --36.5000;-265.5000 --36.5000;-265.0000 --36.5000;-264.5000 --36.5000;-264.0000 --36.5000;-263.5000 --36.5000;-263.0000 --36.5000;-262.5000 --36.5000;-262.0000 --36.5000;-261.5000 --36.5000;-261.0000 --36.5000;-260.5000 --36.5000;-260.0000 --36.5000;-259.5000 --36.5000;-259.0000 --36.5000;-258.5000 --36.5000;-258.0000 --36.5000;-257.5000 --36.5000;-257.0000 --36.5000;-256.5000 --36.5000;-256.0000 --36.5000;-255.5000 --36.5000;-255.0000 --36.5000;-254.5000 --36.5000;-254.0000 --36.5000;-253.5000 --36.5000;-253.0000 --36.5000;-252.5000 --36.5000;-252.0000 --36.5000;-251.5000 --36.5000;-251.0000 --36.5000;-250.5000 --36.5000;-250.0000 --36.5000;-249.5000 --36.5000;-249.0000 --36.5000;-248.5000 --36.5000;-222.5000 --36.5000;-222.0000 --36.5000;-221.5000 --36.5000;-221.0000 --36.5000;-220.5000 --36.5000;-220.0000 --36.5000;-219.5000 --36.5000;-219.0000 --36.5000;-218.5000 --36.5000;-218.0000 --36.5000;-217.5000 --36.5000;-217.0000 --36.5000;-216.5000 --36.5000;-216.0000 --36.5000;-215.5000 --36.5000;-215.0000 --36.5000;-214.5000 --36.5000;-214.0000 --36.5000;-213.5000 --36.5000;-213.0000 --36.5000;-212.5000 --36.5000;-212.0000 --36.5000;-211.5000 --36.5000;-211.0000 --36.5000;-210.5000 --36.5000;-6.0000 --36.5000;-5.5000 --36.5000;-5.0000 --36.5000;-4.5000 --36.5000;-4.0000 --36.5000;-3.5000 --36.5000;-3.0000 --36.5000;-2.5000 --36.5000;-2.0000 --36.5000;-1.5000 --36.5000;-1.0000 --36.5000;-0.5000 --36.5000;0.0000 --36.5000;0.5000 --36.5000;1.0000 --36.5000;1.5000 --36.5000;2.0000 --36.5000;2.5000 --36.5000;3.0000 --36.5000;3.5000 --36.5000;4.0000 --36.5000;4.5000 --36.5000;5.0000 --36.5000;5.5000 --36.5000;6.0000 --36.5000;6.5000 --36.5000;7.0000 --36.5000;7.5000 --36.5000;8.0000 --36.5000;8.5000 --36.0000;-272.0000 --36.0000;-271.5000 --36.0000;-271.0000 --36.0000;-270.5000 --36.0000;-270.0000 --36.0000;-269.5000 --36.0000;-269.0000 --36.0000;-268.5000 --36.0000;-268.0000 --36.0000;-267.5000 --36.0000;-267.0000 --36.0000;-266.5000 --36.0000;-266.0000 --36.0000;-265.5000 --36.0000;-265.0000 --36.0000;-264.5000 --36.0000;-264.0000 --36.0000;-263.5000 --36.0000;-263.0000 --36.0000;-262.5000 --36.0000;-262.0000 --36.0000;-261.5000 --36.0000;-261.0000 --36.0000;-260.5000 --36.0000;-260.0000 --36.0000;-259.5000 --36.0000;-259.0000 --36.0000;-258.5000 --36.0000;-258.0000 --36.0000;-257.5000 --36.0000;-257.0000 --36.0000;-256.5000 --36.0000;-256.0000 --36.0000;-255.5000 --36.0000;-255.0000 --36.0000;-254.5000 --36.0000;-254.0000 --36.0000;-253.5000 --36.0000;-253.0000 --36.0000;-252.5000 --36.0000;-252.0000 --36.0000;-251.5000 --36.0000;-251.0000 --36.0000;-250.5000 --36.0000;-250.0000 --36.0000;-249.5000 --36.0000;-222.5000 --36.0000;-222.0000 --36.0000;-221.5000 --36.0000;-221.0000 --36.0000;-220.5000 --36.0000;-220.0000 --36.0000;-219.5000 --36.0000;-219.0000 --36.0000;-218.5000 --36.0000;-218.0000 --36.0000;-217.5000 --36.0000;-217.0000 --36.0000;-216.5000 --36.0000;-216.0000 --36.0000;-215.5000 --36.0000;-215.0000 --36.0000;-214.5000 --36.0000;-214.0000 --36.0000;-213.5000 --36.0000;-213.0000 --36.0000;-212.5000 --36.0000;-212.0000 --36.0000;-211.5000 --36.0000;-211.0000 --36.0000;-210.5000 --36.0000;-210.0000 --36.0000;-6.5000 --36.0000;-6.0000 --36.0000;-5.5000 --36.0000;-5.0000 --36.0000;-4.5000 --36.0000;-4.0000 --36.0000;-3.5000 --36.0000;-3.0000 --36.0000;-2.5000 --36.0000;-2.0000 --36.0000;-1.5000 --36.0000;-1.0000 --36.0000;-0.5000 --36.0000;0.0000 --36.0000;0.5000 --36.0000;1.0000 --36.0000;1.5000 --36.0000;2.0000 --36.0000;2.5000 --36.0000;3.0000 --36.0000;3.5000 --36.0000;4.0000 --36.0000;4.5000 --36.0000;5.0000 --36.0000;5.5000 --36.0000;6.0000 --36.0000;6.5000 --36.0000;7.0000 --36.0000;7.5000 --36.0000;8.0000 --36.0000;8.5000 --35.5000;-271.0000 --35.5000;-270.5000 --35.5000;-270.0000 --35.5000;-269.5000 --35.5000;-269.0000 --35.5000;-268.5000 --35.5000;-268.0000 --35.5000;-267.5000 --35.5000;-267.0000 --35.5000;-266.5000 --35.5000;-266.0000 --35.5000;-265.5000 --35.5000;-265.0000 --35.5000;-264.5000 --35.5000;-264.0000 --35.5000;-263.5000 --35.5000;-263.0000 --35.5000;-262.5000 --35.5000;-262.0000 --35.5000;-261.5000 --35.5000;-261.0000 --35.5000;-260.5000 --35.5000;-260.0000 --35.5000;-259.5000 --35.5000;-259.0000 --35.5000;-258.5000 --35.5000;-258.0000 --35.5000;-257.5000 --35.5000;-257.0000 --35.5000;-256.5000 --35.5000;-256.0000 --35.5000;-255.5000 --35.5000;-255.0000 --35.5000;-254.5000 --35.5000;-254.0000 --35.5000;-253.5000 --35.5000;-253.0000 --35.5000;-252.5000 --35.5000;-252.0000 --35.5000;-251.5000 --35.5000;-251.0000 --35.5000;-250.5000 --35.5000;-250.0000 --35.5000;-222.0000 --35.5000;-221.5000 --35.5000;-221.0000 --35.5000;-220.5000 --35.5000;-220.0000 --35.5000;-219.5000 --35.5000;-219.0000 --35.5000;-218.5000 --35.5000;-218.0000 --35.5000;-217.5000 --35.5000;-217.0000 --35.5000;-216.5000 --35.5000;-216.0000 --35.5000;-215.5000 --35.5000;-215.0000 --35.5000;-214.5000 --35.5000;-214.0000 --35.5000;-213.5000 --35.5000;-213.0000 --35.5000;-212.5000 --35.5000;-212.0000 --35.5000;-211.5000 --35.5000;-211.0000 --35.5000;-210.5000 --35.5000;-210.0000 --35.5000;-7.0000 --35.5000;-6.5000 --35.5000;-6.0000 --35.5000;-5.5000 --35.5000;-5.0000 --35.5000;-4.5000 --35.5000;-4.0000 --35.5000;-3.5000 --35.5000;-3.0000 --35.5000;-2.5000 --35.5000;-2.0000 --35.5000;-1.5000 --35.5000;-1.0000 --35.5000;-0.5000 --35.5000;0.0000 --35.5000;0.5000 --35.5000;1.0000 --35.5000;1.5000 --35.5000;2.0000 --35.5000;2.5000 --35.5000;3.0000 --35.5000;3.5000 --35.5000;4.0000 --35.5000;4.5000 --35.5000;5.0000 --35.5000;5.5000 --35.5000;6.0000 --35.5000;6.5000 --35.5000;7.0000 --35.5000;7.5000 --35.5000;8.0000 --35.0000;-270.0000 --35.0000;-269.5000 --35.0000;-269.0000 --35.0000;-268.5000 --35.0000;-268.0000 --35.0000;-267.5000 --35.0000;-267.0000 --35.0000;-266.5000 --35.0000;-266.0000 --35.0000;-265.5000 --35.0000;-265.0000 --35.0000;-264.5000 --35.0000;-264.0000 --35.0000;-263.5000 --35.0000;-263.0000 --35.0000;-262.5000 --35.0000;-262.0000 --35.0000;-261.5000 --35.0000;-261.0000 --35.0000;-260.5000 --35.0000;-260.0000 --35.0000;-259.5000 --35.0000;-259.0000 --35.0000;-258.5000 --35.0000;-258.0000 --35.0000;-257.5000 --35.0000;-257.0000 --35.0000;-256.5000 --35.0000;-256.0000 --35.0000;-255.5000 --35.0000;-255.0000 --35.0000;-254.5000 --35.0000;-254.0000 --35.0000;-253.5000 --35.0000;-253.0000 --35.0000;-252.5000 --35.0000;-252.0000 --35.0000;-251.5000 --35.0000;-251.0000 --35.0000;-222.0000 --35.0000;-221.5000 --35.0000;-221.0000 --35.0000;-220.5000 --35.0000;-220.0000 --35.0000;-219.5000 --35.0000;-219.0000 --35.0000;-218.5000 --35.0000;-218.0000 --35.0000;-217.5000 --35.0000;-217.0000 --35.0000;-216.5000 --35.0000;-216.0000 --35.0000;-215.5000 --35.0000;-215.0000 --35.0000;-214.5000 --35.0000;-214.0000 --35.0000;-213.5000 --35.0000;-213.0000 --35.0000;-212.5000 --35.0000;-212.0000 --35.0000;-211.5000 --35.0000;-211.0000 --35.0000;-210.5000 --35.0000;-210.0000 --35.0000;-7.5000 --35.0000;-7.0000 --35.0000;-6.5000 --35.0000;-6.0000 --35.0000;-5.5000 --35.0000;-5.0000 --35.0000;-4.5000 --35.0000;-4.0000 --35.0000;-3.5000 --35.0000;-3.0000 --35.0000;-2.5000 --35.0000;-2.0000 --35.0000;-1.5000 --35.0000;-1.0000 --35.0000;-0.5000 --35.0000;0.0000 --35.0000;0.5000 --35.0000;1.0000 --35.0000;1.5000 --35.0000;2.0000 --35.0000;2.5000 --35.0000;3.0000 --35.0000;3.5000 --35.0000;4.0000 --35.0000;4.5000 --35.0000;5.0000 --35.0000;5.5000 --35.0000;6.0000 --35.0000;6.5000 --35.0000;7.0000 --35.0000;7.5000 --34.5000;-269.0000 --34.5000;-268.5000 --34.5000;-268.0000 --34.5000;-267.5000 --34.5000;-267.0000 --34.5000;-266.5000 --34.5000;-266.0000 --34.5000;-265.5000 --34.5000;-265.0000 --34.5000;-264.5000 --34.5000;-264.0000 --34.5000;-263.5000 --34.5000;-263.0000 --34.5000;-262.5000 --34.5000;-262.0000 --34.5000;-261.5000 --34.5000;-261.0000 --34.5000;-260.5000 --34.5000;-260.0000 --34.5000;-259.5000 --34.5000;-259.0000 --34.5000;-258.5000 --34.5000;-258.0000 --34.5000;-257.5000 --34.5000;-257.0000 --34.5000;-256.5000 --34.5000;-256.0000 --34.5000;-255.5000 --34.5000;-255.0000 --34.5000;-254.5000 --34.5000;-254.0000 --34.5000;-253.5000 --34.5000;-253.0000 --34.5000;-252.5000 --34.5000;-252.0000 --34.5000;-222.0000 --34.5000;-221.5000 --34.5000;-221.0000 --34.5000;-220.5000 --34.5000;-220.0000 --34.5000;-219.5000 --34.5000;-219.0000 --34.5000;-218.5000 --34.5000;-218.0000 --34.5000;-217.5000 --34.5000;-217.0000 --34.5000;-216.5000 --34.5000;-216.0000 --34.5000;-215.5000 --34.5000;-215.0000 --34.5000;-214.5000 --34.5000;-214.0000 --34.5000;-213.5000 --34.5000;-213.0000 --34.5000;-212.5000 --34.5000;-212.0000 --34.5000;-211.5000 --34.5000;-211.0000 --34.5000;-210.5000 --34.5000;-210.0000 --34.5000;-7.5000 --34.5000;-7.0000 --34.5000;-6.5000 --34.5000;-6.0000 --34.5000;-5.5000 --34.5000;-5.0000 --34.5000;-4.5000 --34.5000;-4.0000 --34.5000;-3.5000 --34.5000;-3.0000 --34.5000;-2.5000 --34.5000;-2.0000 --34.5000;-1.5000 --34.5000;-1.0000 --34.5000;-0.5000 --34.5000;0.0000 --34.5000;0.5000 --34.5000;1.0000 --34.5000;1.5000 --34.5000;2.0000 --34.5000;2.5000 --34.5000;3.0000 --34.5000;3.5000 --34.5000;4.0000 --34.5000;4.5000 --34.5000;5.0000 --34.5000;5.5000 --34.5000;6.0000 --34.5000;6.5000 --34.5000;7.0000 --34.0000;-268.0000 --34.0000;-267.5000 --34.0000;-267.0000 --34.0000;-266.5000 --34.0000;-266.0000 --34.0000;-265.5000 --34.0000;-265.0000 --34.0000;-264.5000 --34.0000;-264.0000 --34.0000;-263.5000 --34.0000;-263.0000 --34.0000;-262.5000 --34.0000;-262.0000 --34.0000;-261.5000 --34.0000;-261.0000 --34.0000;-260.5000 --34.0000;-260.0000 --34.0000;-259.5000 --34.0000;-259.0000 --34.0000;-258.5000 --34.0000;-258.0000 --34.0000;-257.5000 --34.0000;-257.0000 --34.0000;-256.5000 --34.0000;-256.0000 --34.0000;-255.5000 --34.0000;-255.0000 --34.0000;-254.5000 --34.0000;-254.0000 --34.0000;-253.5000 --34.0000;-253.0000 --34.0000;-222.0000 --34.0000;-221.5000 --34.0000;-221.0000 --34.0000;-220.5000 --34.0000;-220.0000 --34.0000;-219.5000 --34.0000;-219.0000 --34.0000;-218.5000 --34.0000;-218.0000 --34.0000;-217.5000 --34.0000;-217.0000 --34.0000;-216.5000 --34.0000;-216.0000 --34.0000;-215.5000 --34.0000;-215.0000 --34.0000;-214.5000 --34.0000;-214.0000 --34.0000;-213.5000 --34.0000;-213.0000 --34.0000;-212.5000 --34.0000;-212.0000 --34.0000;-211.5000 --34.0000;-211.0000 --34.0000;-210.5000 --34.0000;-210.0000 --34.0000;-209.5000 --34.0000;-8.0000 --34.0000;-7.5000 --34.0000;-7.0000 --34.0000;-6.5000 --34.0000;-6.0000 --34.0000;-5.5000 --34.0000;-5.0000 --34.0000;-4.5000 --34.0000;-4.0000 --34.0000;-3.5000 --34.0000;-3.0000 --34.0000;-2.5000 --34.0000;-2.0000 --34.0000;-1.5000 --34.0000;-1.0000 --34.0000;-0.5000 --34.0000;0.0000 --34.0000;0.5000 --34.0000;1.0000 --34.0000;1.5000 --34.0000;2.0000 --34.0000;2.5000 --34.0000;3.0000 --34.0000;3.5000 --34.0000;4.0000 --34.0000;4.5000 --34.0000;5.0000 --34.0000;5.5000 --34.0000;6.0000 --34.0000;6.5000 --34.0000;7.0000 --33.5000;-266.5000 --33.5000;-266.0000 --33.5000;-265.5000 --33.5000;-265.0000 --33.5000;-264.5000 --33.5000;-264.0000 --33.5000;-263.5000 --33.5000;-263.0000 --33.5000;-262.5000 --33.5000;-262.0000 --33.5000;-261.5000 --33.5000;-261.0000 --33.5000;-260.5000 --33.5000;-260.0000 --33.5000;-259.5000 --33.5000;-259.0000 --33.5000;-258.5000 --33.5000;-258.0000 --33.5000;-257.5000 --33.5000;-257.0000 --33.5000;-256.5000 --33.5000;-256.0000 --33.5000;-255.5000 --33.5000;-255.0000 --33.5000;-254.5000 --33.5000;-221.5000 --33.5000;-221.0000 --33.5000;-220.5000 --33.5000;-220.0000 --33.5000;-219.5000 --33.5000;-219.0000 --33.5000;-218.5000 --33.5000;-218.0000 --33.5000;-217.5000 --33.5000;-217.0000 --33.5000;-216.5000 --33.5000;-216.0000 --33.5000;-215.5000 --33.5000;-215.0000 --33.5000;-214.5000 --33.5000;-214.0000 --33.5000;-213.5000 --33.5000;-213.0000 --33.5000;-212.5000 --33.5000;-212.0000 --33.5000;-211.5000 --33.5000;-211.0000 --33.5000;-210.5000 --33.5000;-210.0000 --33.5000;-209.5000 --33.5000;-8.5000 --33.5000;-8.0000 --33.5000;-7.5000 --33.5000;-7.0000 --33.5000;-6.5000 --33.5000;-6.0000 --33.5000;-5.5000 --33.5000;-5.0000 --33.5000;-4.5000 --33.5000;-4.0000 --33.5000;-3.5000 --33.5000;-3.0000 --33.5000;-2.5000 --33.5000;-2.0000 --33.5000;-1.5000 --33.5000;-1.0000 --33.5000;-0.5000 --33.5000;0.0000 --33.5000;0.5000 --33.5000;1.0000 --33.5000;1.5000 --33.5000;2.0000 --33.5000;2.5000 --33.5000;3.0000 --33.5000;3.5000 --33.5000;4.0000 --33.5000;4.5000 --33.5000;5.0000 --33.5000;5.5000 --33.5000;6.0000 --33.5000;6.5000 --33.0000;-264.5000 --33.0000;-264.0000 --33.0000;-263.5000 --33.0000;-263.0000 --33.0000;-262.5000 --33.0000;-262.0000 --33.0000;-261.5000 --33.0000;-261.0000 --33.0000;-260.5000 --33.0000;-260.0000 --33.0000;-259.5000 --33.0000;-259.0000 --33.0000;-258.5000 --33.0000;-258.0000 --33.0000;-257.5000 --33.0000;-257.0000 --33.0000;-256.5000 --33.0000;-221.5000 --33.0000;-221.0000 --33.0000;-220.5000 --33.0000;-220.0000 --33.0000;-219.5000 --33.0000;-219.0000 --33.0000;-218.5000 --33.0000;-218.0000 --33.0000;-217.5000 --33.0000;-217.0000 --33.0000;-216.5000 --33.0000;-216.0000 --33.0000;-215.5000 --33.0000;-215.0000 --33.0000;-214.5000 --33.0000;-214.0000 --33.0000;-213.5000 --33.0000;-213.0000 --33.0000;-212.5000 --33.0000;-212.0000 --33.0000;-211.5000 --33.0000;-211.0000 --33.0000;-210.5000 --33.0000;-210.0000 --33.0000;-209.5000 --33.0000;-9.0000 --33.0000;-8.5000 --33.0000;-8.0000 --33.0000;-7.5000 --33.0000;-7.0000 --33.0000;-6.5000 --33.0000;-6.0000 --33.0000;-5.5000 --33.0000;-5.0000 --33.0000;-4.5000 --33.0000;-4.0000 --33.0000;-3.5000 --33.0000;-3.0000 --33.0000;-2.5000 --33.0000;-2.0000 --33.0000;-1.5000 --33.0000;-1.0000 --33.0000;-0.5000 --33.0000;0.0000 --33.0000;0.5000 --33.0000;1.0000 --33.0000;1.5000 --33.0000;2.0000 --33.0000;2.5000 --33.0000;3.0000 --33.0000;3.5000 --33.0000;4.0000 --33.0000;4.5000 --33.0000;5.0000 --33.0000;5.5000 --33.0000;6.0000 --32.5000;-221.5000 --32.5000;-221.0000 --32.5000;-220.5000 --32.5000;-220.0000 --32.5000;-219.5000 --32.5000;-219.0000 --32.5000;-218.5000 --32.5000;-218.0000 --32.5000;-217.5000 --32.5000;-217.0000 --32.5000;-216.5000 --32.5000;-216.0000 --32.5000;-215.5000 --32.5000;-215.0000 --32.5000;-214.5000 --32.5000;-214.0000 --32.5000;-213.5000 --32.5000;-213.0000 --32.5000;-212.5000 --32.5000;-212.0000 --32.5000;-211.5000 --32.5000;-211.0000 --32.5000;-210.5000 --32.5000;-210.0000 --32.5000;-209.5000 --32.5000;-9.0000 --32.5000;-8.5000 --32.5000;-8.0000 --32.5000;-7.5000 --32.5000;-7.0000 --32.5000;-6.5000 --32.5000;-6.0000 --32.5000;-5.5000 --32.5000;-5.0000 --32.5000;-4.5000 --32.5000;-4.0000 --32.5000;-3.5000 --32.5000;-3.0000 --32.5000;-2.5000 --32.5000;-2.0000 --32.5000;-1.5000 --32.5000;-1.0000 --32.5000;-0.5000 --32.5000;0.0000 --32.5000;0.5000 --32.5000;1.0000 --32.5000;1.5000 --32.5000;2.0000 --32.5000;2.5000 --32.5000;3.0000 --32.5000;3.5000 --32.5000;4.0000 --32.5000;4.5000 --32.5000;5.0000 --32.5000;5.5000 --32.0000;-221.5000 --32.0000;-221.0000 --32.0000;-220.5000 --32.0000;-220.0000 --32.0000;-219.5000 --32.0000;-219.0000 --32.0000;-218.5000 --32.0000;-218.0000 --32.0000;-217.5000 --32.0000;-217.0000 --32.0000;-216.5000 --32.0000;-216.0000 --32.0000;-215.5000 --32.0000;-215.0000 --32.0000;-214.5000 --32.0000;-214.0000 --32.0000;-213.5000 --32.0000;-213.0000 --32.0000;-212.5000 --32.0000;-212.0000 --32.0000;-211.5000 --32.0000;-211.0000 --32.0000;-210.5000 --32.0000;-210.0000 --32.0000;-209.5000 --32.0000;-209.0000 --32.0000;-9.5000 --32.0000;-9.0000 --32.0000;-8.5000 --32.0000;-8.0000 --32.0000;-7.5000 --32.0000;-7.0000 --32.0000;-6.5000 --32.0000;-6.0000 --32.0000;-5.5000 --32.0000;-5.0000 --32.0000;-4.5000 --32.0000;-4.0000 --32.0000;-3.5000 --32.0000;-3.0000 --32.0000;-2.5000 --32.0000;-2.0000 --32.0000;-1.5000 --32.0000;-1.0000 --32.0000;-0.5000 --32.0000;0.0000 --32.0000;0.5000 --32.0000;1.0000 --32.0000;1.5000 --32.0000;2.0000 --32.0000;2.5000 --32.0000;3.0000 --32.0000;3.5000 --32.0000;4.0000 --32.0000;4.5000 --32.0000;5.0000 --32.0000;5.5000 --31.5000;-221.0000 --31.5000;-220.5000 --31.5000;-220.0000 --31.5000;-219.5000 --31.5000;-219.0000 --31.5000;-218.5000 --31.5000;-218.0000 --31.5000;-217.5000 --31.5000;-217.0000 --31.5000;-216.5000 --31.5000;-216.0000 --31.5000;-215.5000 --31.5000;-215.0000 --31.5000;-214.5000 --31.5000;-214.0000 --31.5000;-213.5000 --31.5000;-213.0000 --31.5000;-212.5000 --31.5000;-212.0000 --31.5000;-211.5000 --31.5000;-211.0000 --31.5000;-210.5000 --31.5000;-210.0000 --31.5000;-209.5000 --31.5000;-209.0000 --31.5000;-10.0000 --31.5000;-9.5000 --31.5000;-9.0000 --31.5000;-8.5000 --31.5000;-8.0000 --31.5000;-7.5000 --31.5000;-7.0000 --31.5000;-6.5000 --31.5000;-6.0000 --31.5000;-5.5000 --31.5000;-5.0000 --31.5000;-4.5000 --31.5000;-4.0000 --31.5000;-3.5000 --31.5000;-3.0000 --31.5000;-2.5000 --31.5000;-2.0000 --31.5000;-1.5000 --31.5000;-1.0000 --31.5000;-0.5000 --31.5000;0.0000 --31.5000;0.5000 --31.5000;1.0000 --31.5000;1.5000 --31.5000;2.0000 --31.5000;2.5000 --31.5000;3.0000 --31.5000;3.5000 --31.5000;4.0000 --31.5000;4.5000 --31.5000;5.0000 --31.0000;-221.0000 --31.0000;-220.5000 --31.0000;-220.0000 --31.0000;-219.5000 --31.0000;-219.0000 --31.0000;-218.5000 --31.0000;-218.0000 --31.0000;-217.5000 --31.0000;-217.0000 --31.0000;-216.5000 --31.0000;-216.0000 --31.0000;-215.5000 --31.0000;-215.0000 --31.0000;-214.5000 --31.0000;-214.0000 --31.0000;-213.5000 --31.0000;-213.0000 --31.0000;-212.5000 --31.0000;-212.0000 --31.0000;-211.5000 --31.0000;-211.0000 --31.0000;-210.5000 --31.0000;-210.0000 --31.0000;-209.5000 --31.0000;-209.0000 --31.0000;-10.5000 --31.0000;-10.0000 --31.0000;-9.5000 --31.0000;-9.0000 --31.0000;-8.5000 --31.0000;-8.0000 --31.0000;-7.5000 --31.0000;-7.0000 --31.0000;-6.5000 --31.0000;-6.0000 --31.0000;-5.5000 --31.0000;-5.0000 --31.0000;-4.5000 --31.0000;-4.0000 --31.0000;-3.5000 --31.0000;-3.0000 --31.0000;-2.5000 --31.0000;-2.0000 --31.0000;-1.5000 --31.0000;-1.0000 --31.0000;-0.5000 --31.0000;0.0000 --31.0000;0.5000 --31.0000;1.0000 --31.0000;1.5000 --31.0000;2.0000 --31.0000;2.5000 --31.0000;3.0000 --31.0000;3.5000 --31.0000;4.0000 --31.0000;4.5000 --30.5000;-221.0000 --30.5000;-220.5000 --30.5000;-220.0000 --30.5000;-219.5000 --30.5000;-219.0000 --30.5000;-218.5000 --30.5000;-218.0000 --30.5000;-217.5000 --30.5000;-217.0000 --30.5000;-216.5000 --30.5000;-216.0000 --30.5000;-215.5000 --30.5000;-215.0000 --30.5000;-214.5000 --30.5000;-214.0000 --30.5000;-213.5000 --30.5000;-213.0000 --30.5000;-212.5000 --30.5000;-212.0000 --30.5000;-211.5000 --30.5000;-211.0000 --30.5000;-210.5000 --30.5000;-210.0000 --30.5000;-209.5000 --30.5000;-209.0000 --30.5000;-10.5000 --30.5000;-10.0000 --30.5000;-9.5000 --30.5000;-9.0000 --30.5000;-8.5000 --30.5000;-8.0000 --30.5000;-7.5000 --30.5000;-7.0000 --30.5000;-6.5000 --30.5000;-6.0000 --30.5000;-5.5000 --30.5000;-5.0000 --30.5000;-4.5000 --30.5000;-4.0000 --30.5000;-3.5000 --30.5000;-3.0000 --30.5000;-2.5000 --30.5000;-2.0000 --30.5000;-1.5000 --30.5000;-1.0000 --30.5000;-0.5000 --30.5000;0.0000 --30.5000;0.5000 --30.5000;1.0000 --30.5000;1.5000 --30.5000;2.0000 --30.5000;2.5000 --30.5000;3.0000 --30.5000;3.5000 --30.5000;4.0000 --30.0000;-221.0000 --30.0000;-220.5000 --30.0000;-220.0000 --30.0000;-219.5000 --30.0000;-219.0000 --30.0000;-218.5000 --30.0000;-218.0000 --30.0000;-217.5000 --30.0000;-217.0000 --30.0000;-216.5000 --30.0000;-216.0000 --30.0000;-215.5000 --30.0000;-215.0000 --30.0000;-214.5000 --30.0000;-214.0000 --30.0000;-213.5000 --30.0000;-213.0000 --30.0000;-212.5000 --30.0000;-212.0000 --30.0000;-211.5000 --30.0000;-211.0000 --30.0000;-210.5000 --30.0000;-210.0000 --30.0000;-209.5000 --30.0000;-209.0000 --30.0000;-11.0000 --30.0000;-10.5000 --30.0000;-10.0000 --30.0000;-9.5000 --30.0000;-9.0000 --30.0000;-8.5000 --30.0000;-8.0000 --30.0000;-7.5000 --30.0000;-7.0000 --30.0000;-6.5000 --30.0000;-6.0000 --30.0000;-5.5000 --30.0000;-5.0000 --30.0000;-4.5000 --30.0000;-4.0000 --30.0000;-3.5000 --30.0000;-3.0000 --30.0000;-2.5000 --30.0000;-2.0000 --30.0000;-1.5000 --30.0000;-1.0000 --30.0000;-0.5000 --30.0000;0.0000 --30.0000;0.5000 --30.0000;1.0000 --30.0000;1.5000 --30.0000;2.0000 --30.0000;2.5000 --30.0000;3.0000 --30.0000;3.5000 --29.5000;-221.0000 --29.5000;-220.5000 --29.5000;-220.0000 --29.5000;-219.5000 --29.5000;-219.0000 --29.5000;-218.5000 --29.5000;-218.0000 --29.5000;-217.5000 --29.5000;-217.0000 --29.5000;-216.5000 --29.5000;-216.0000 --29.5000;-215.5000 --29.5000;-215.0000 --29.5000;-214.5000 --29.5000;-214.0000 --29.5000;-213.5000 --29.5000;-213.0000 --29.5000;-212.5000 --29.5000;-212.0000 --29.5000;-211.5000 --29.5000;-211.0000 --29.5000;-210.5000 --29.5000;-210.0000 --29.5000;-209.5000 --29.5000;-209.0000 --29.5000;-208.5000 --29.5000;-11.5000 --29.5000;-11.0000 --29.5000;-10.5000 --29.5000;-10.0000 --29.5000;-9.5000 --29.5000;-9.0000 --29.5000;-8.5000 --29.5000;-8.0000 --29.5000;-7.5000 --29.5000;-7.0000 --29.5000;-6.5000 --29.5000;-6.0000 --29.5000;-5.5000 --29.5000;-5.0000 --29.5000;-4.5000 --29.5000;-4.0000 --29.5000;-3.5000 --29.5000;-3.0000 --29.5000;-2.5000 --29.5000;-2.0000 --29.5000;-1.5000 --29.5000;-1.0000 --29.5000;-0.5000 --29.5000;0.0000 --29.5000;0.5000 --29.5000;1.0000 --29.5000;1.5000 --29.5000;2.0000 --29.5000;2.5000 --29.5000;3.0000 --29.5000;3.5000 --29.0000;-220.5000 --29.0000;-220.0000 --29.0000;-219.5000 --29.0000;-219.0000 --29.0000;-218.5000 --29.0000;-218.0000 --29.0000;-217.5000 --29.0000;-217.0000 --29.0000;-216.5000 --29.0000;-216.0000 --29.0000;-215.5000 --29.0000;-215.0000 --29.0000;-214.5000 --29.0000;-214.0000 --29.0000;-213.5000 --29.0000;-213.0000 --29.0000;-212.5000 --29.0000;-212.0000 --29.0000;-211.5000 --29.0000;-211.0000 --29.0000;-210.5000 --29.0000;-210.0000 --29.0000;-209.5000 --29.0000;-209.0000 --29.0000;-208.5000 --29.0000;-12.0000 --29.0000;-11.5000 --29.0000;-11.0000 --29.0000;-10.5000 --29.0000;-10.0000 --29.0000;-9.5000 --29.0000;-9.0000 --29.0000;-8.5000 --29.0000;-8.0000 --29.0000;-7.5000 --29.0000;-7.0000 --29.0000;-6.5000 --29.0000;-6.0000 --29.0000;-5.5000 --29.0000;-5.0000 --29.0000;-4.5000 --29.0000;-4.0000 --29.0000;-3.5000 --29.0000;-3.0000 --29.0000;-2.5000 --29.0000;-2.0000 --29.0000;-1.5000 --29.0000;-1.0000 --29.0000;-0.5000 --29.0000;0.0000 --29.0000;0.5000 --29.0000;1.0000 --29.0000;1.5000 --29.0000;2.0000 --29.0000;2.5000 --29.0000;3.0000 --28.5000;-220.5000 --28.5000;-220.0000 --28.5000;-219.5000 --28.5000;-219.0000 --28.5000;-218.5000 --28.5000;-218.0000 --28.5000;-217.5000 --28.5000;-217.0000 --28.5000;-216.5000 --28.5000;-216.0000 --28.5000;-215.5000 --28.5000;-215.0000 --28.5000;-214.5000 --28.5000;-214.0000 --28.5000;-213.5000 --28.5000;-213.0000 --28.5000;-212.5000 --28.5000;-212.0000 --28.5000;-211.5000 --28.5000;-211.0000 --28.5000;-210.5000 --28.5000;-210.0000 --28.5000;-209.5000 --28.5000;-209.0000 --28.5000;-208.5000 --28.5000;-12.0000 --28.5000;-11.5000 --28.5000;-11.0000 --28.5000;-10.5000 --28.5000;-10.0000 --28.5000;-9.5000 --28.5000;-9.0000 --28.5000;-8.5000 --28.5000;-8.0000 --28.5000;-7.5000 --28.5000;-7.0000 --28.5000;-6.5000 --28.5000;-6.0000 --28.5000;-5.5000 --28.5000;-5.0000 --28.5000;-4.5000 --28.5000;-4.0000 --28.5000;-3.5000 --28.5000;-3.0000 --28.5000;-2.5000 --28.5000;-2.0000 --28.5000;-1.5000 --28.5000;-1.0000 --28.5000;-0.5000 --28.5000;0.0000 --28.5000;0.5000 --28.5000;1.0000 --28.5000;1.5000 --28.5000;2.0000 --28.5000;2.5000 --28.0000;-220.5000 --28.0000;-220.0000 --28.0000;-219.5000 --28.0000;-219.0000 --28.0000;-218.5000 --28.0000;-218.0000 --28.0000;-217.5000 --28.0000;-217.0000 --28.0000;-216.5000 --28.0000;-216.0000 --28.0000;-215.5000 --28.0000;-215.0000 --28.0000;-214.5000 --28.0000;-214.0000 --28.0000;-213.5000 --28.0000;-213.0000 --28.0000;-212.5000 --28.0000;-212.0000 --28.0000;-211.5000 --28.0000;-211.0000 --28.0000;-210.5000 --28.0000;-210.0000 --28.0000;-209.5000 --28.0000;-209.0000 --28.0000;-208.5000 --28.0000;-12.5000 --28.0000;-12.0000 --28.0000;-11.5000 --28.0000;-11.0000 --28.0000;-10.5000 --28.0000;-10.0000 --28.0000;-9.5000 --28.0000;-9.0000 --28.0000;-8.5000 --28.0000;-8.0000 --28.0000;-7.5000 --28.0000;-7.0000 --28.0000;-6.5000 --28.0000;-6.0000 --28.0000;-5.5000 --28.0000;-5.0000 --28.0000;-4.5000 --28.0000;-4.0000 --28.0000;-3.5000 --28.0000;-3.0000 --28.0000;-2.5000 --28.0000;-2.0000 --28.0000;-1.5000 --28.0000;-1.0000 --28.0000;-0.5000 --28.0000;0.0000 --28.0000;0.5000 --28.0000;1.0000 --28.0000;1.5000 --28.0000;2.0000 --27.5000;-220.5000 --27.5000;-220.0000 --27.5000;-219.5000 --27.5000;-219.0000 --27.5000;-218.5000 --27.5000;-218.0000 --27.5000;-217.5000 --27.5000;-217.0000 --27.5000;-216.5000 --27.5000;-216.0000 --27.5000;-215.5000 --27.5000;-215.0000 --27.5000;-214.5000 --27.5000;-214.0000 --27.5000;-213.5000 --27.5000;-213.0000 --27.5000;-212.5000 --27.5000;-212.0000 --27.5000;-211.5000 --27.5000;-211.0000 --27.5000;-210.5000 --27.5000;-210.0000 --27.5000;-209.5000 --27.5000;-209.0000 --27.5000;-208.5000 --27.5000;-13.0000 --27.5000;-12.5000 --27.5000;-12.0000 --27.5000;-11.5000 --27.5000;-11.0000 --27.5000;-10.5000 --27.5000;-10.0000 --27.5000;-9.5000 --27.5000;-9.0000 --27.5000;-8.5000 --27.5000;-8.0000 --27.5000;-7.5000 --27.5000;-7.0000 --27.5000;-6.5000 --27.5000;-6.0000 --27.5000;-5.5000 --27.5000;-5.0000 --27.5000;-4.5000 --27.5000;-4.0000 --27.5000;-3.5000 --27.5000;-3.0000 --27.5000;-2.5000 --27.5000;-2.0000 --27.5000;-1.5000 --27.5000;-1.0000 --27.5000;-0.5000 --27.5000;0.0000 --27.5000;0.5000 --27.5000;1.0000 --27.5000;1.5000 --27.5000;2.0000 --27.0000;-220.5000 --27.0000;-220.0000 --27.0000;-219.5000 --27.0000;-219.0000 --27.0000;-218.5000 --27.0000;-218.0000 --27.0000;-217.5000 --27.0000;-217.0000 --27.0000;-216.5000 --27.0000;-216.0000 --27.0000;-215.5000 --27.0000;-215.0000 --27.0000;-214.5000 --27.0000;-214.0000 --27.0000;-213.5000 --27.0000;-213.0000 --27.0000;-212.5000 --27.0000;-212.0000 --27.0000;-211.5000 --27.0000;-211.0000 --27.0000;-210.5000 --27.0000;-210.0000 --27.0000;-209.5000 --27.0000;-209.0000 --27.0000;-208.5000 --27.0000;-13.5000 --27.0000;-13.0000 --27.0000;-12.5000 --27.0000;-12.0000 --27.0000;-11.5000 --27.0000;-11.0000 --27.0000;-10.5000 --27.0000;-10.0000 --27.0000;-9.5000 --27.0000;-9.0000 --27.0000;-8.5000 --27.0000;-8.0000 --27.0000;-7.5000 --27.0000;-7.0000 --27.0000;-6.5000 --27.0000;-6.0000 --27.0000;-5.5000 --27.0000;-5.0000 --27.0000;-4.5000 --27.0000;-4.0000 --27.0000;-3.5000 --27.0000;-3.0000 --27.0000;-2.5000 --27.0000;-2.0000 --27.0000;-1.5000 --27.0000;-1.0000 --27.0000;-0.5000 --27.0000;0.0000 --27.0000;0.5000 --27.0000;1.0000 --27.0000;1.5000 --26.5000;-220.5000 --26.5000;-220.0000 --26.5000;-219.5000 --26.5000;-219.0000 --26.5000;-218.5000 --26.5000;-218.0000 --26.5000;-217.5000 --26.5000;-217.0000 --26.5000;-216.5000 --26.5000;-216.0000 --26.5000;-215.5000 --26.5000;-215.0000 --26.5000;-214.5000 --26.5000;-214.0000 --26.5000;-213.5000 --26.5000;-213.0000 --26.5000;-212.5000 --26.5000;-212.0000 --26.5000;-211.5000 --26.5000;-211.0000 --26.5000;-210.5000 --26.5000;-210.0000 --26.5000;-209.5000 --26.5000;-209.0000 --26.5000;-208.5000 --26.5000;-208.0000 --26.5000;-13.5000 --26.5000;-13.0000 --26.5000;-12.5000 --26.5000;-12.0000 --26.5000;-11.5000 --26.5000;-11.0000 --26.5000;-10.5000 --26.5000;-10.0000 --26.5000;-9.5000 --26.5000;-9.0000 --26.5000;-8.5000 --26.5000;-8.0000 --26.5000;-7.5000 --26.5000;-7.0000 --26.5000;-6.5000 --26.5000;-6.0000 --26.5000;-5.5000 --26.5000;-5.0000 --26.5000;-4.5000 --26.5000;-4.0000 --26.5000;-3.5000 --26.5000;-3.0000 --26.5000;-2.5000 --26.5000;-2.0000 --26.5000;-1.5000 --26.5000;-1.0000 --26.5000;-0.5000 --26.5000;0.0000 --26.5000;0.5000 --26.5000;1.0000 --26.0000;-220.0000 --26.0000;-219.5000 --26.0000;-219.0000 --26.0000;-218.5000 --26.0000;-218.0000 --26.0000;-217.5000 --26.0000;-217.0000 --26.0000;-216.5000 --26.0000;-216.0000 --26.0000;-215.5000 --26.0000;-215.0000 --26.0000;-214.5000 --26.0000;-214.0000 --26.0000;-213.5000 --26.0000;-213.0000 --26.0000;-212.5000 --26.0000;-212.0000 --26.0000;-211.5000 --26.0000;-211.0000 --26.0000;-210.5000 --26.0000;-210.0000 --26.0000;-209.5000 --26.0000;-209.0000 --26.0000;-208.5000 --26.0000;-208.0000 --26.0000;-14.0000 --26.0000;-13.5000 --26.0000;-13.0000 --26.0000;-12.5000 --26.0000;-12.0000 --26.0000;-11.5000 --26.0000;-11.0000 --26.0000;-10.5000 --26.0000;-10.0000 --26.0000;-9.5000 --26.0000;-9.0000 --26.0000;-8.5000 --26.0000;-8.0000 --26.0000;-7.5000 --26.0000;-7.0000 --26.0000;-6.5000 --26.0000;-6.0000 --26.0000;-5.5000 --26.0000;-5.0000 --26.0000;-4.5000 --26.0000;-4.0000 --26.0000;-3.5000 --26.0000;-3.0000 --26.0000;-2.5000 --26.0000;-2.0000 --26.0000;-1.5000 --26.0000;-1.0000 --26.0000;-0.5000 --26.0000;0.0000 --26.0000;0.5000 --25.5000;-220.0000 --25.5000;-219.5000 --25.5000;-219.0000 --25.5000;-218.5000 --25.5000;-218.0000 --25.5000;-217.5000 --25.5000;-217.0000 --25.5000;-216.5000 --25.5000;-216.0000 --25.5000;-215.5000 --25.5000;-215.0000 --25.5000;-214.5000 --25.5000;-214.0000 --25.5000;-213.5000 --25.5000;-213.0000 --25.5000;-212.5000 --25.5000;-212.0000 --25.5000;-211.5000 --25.5000;-211.0000 --25.5000;-210.5000 --25.5000;-210.0000 --25.5000;-209.5000 --25.5000;-209.0000 --25.5000;-208.5000 --25.5000;-208.0000 --25.5000;-14.5000 --25.5000;-14.0000 --25.5000;-13.5000 --25.5000;-13.0000 --25.5000;-12.5000 --25.5000;-12.0000 --25.5000;-11.5000 --25.5000;-11.0000 --25.5000;-10.5000 --25.5000;-10.0000 --25.5000;-9.5000 --25.5000;-9.0000 --25.5000;-8.5000 --25.5000;-8.0000 --25.5000;-7.5000 --25.5000;-7.0000 --25.5000;-6.5000 --25.5000;-6.0000 --25.5000;-5.5000 --25.5000;-5.0000 --25.5000;-4.5000 --25.5000;-4.0000 --25.5000;-3.5000 --25.5000;-3.0000 --25.5000;-2.5000 --25.5000;-2.0000 --25.5000;-1.5000 --25.5000;-1.0000 --25.5000;-0.5000 --25.5000;0.0000 --25.5000;0.5000 --25.0000;-220.0000 --25.0000;-219.5000 --25.0000;-219.0000 --25.0000;-218.5000 --25.0000;-218.0000 --25.0000;-217.5000 --25.0000;-217.0000 --25.0000;-216.5000 --25.0000;-216.0000 --25.0000;-215.5000 --25.0000;-215.0000 --25.0000;-214.5000 --25.0000;-214.0000 --25.0000;-213.5000 --25.0000;-213.0000 --25.0000;-212.5000 --25.0000;-212.0000 --25.0000;-211.5000 --25.0000;-211.0000 --25.0000;-210.5000 --25.0000;-210.0000 --25.0000;-209.5000 --25.0000;-209.0000 --25.0000;-208.5000 --25.0000;-208.0000 --25.0000;-15.0000 --25.0000;-14.5000 --25.0000;-14.0000 --25.0000;-13.5000 --25.0000;-13.0000 --25.0000;-12.5000 --25.0000;-12.0000 --25.0000;-11.5000 --25.0000;-11.0000 --25.0000;-10.5000 --25.0000;-10.0000 --25.0000;-9.5000 --25.0000;-9.0000 --25.0000;-8.5000 --25.0000;-8.0000 --25.0000;-7.5000 --25.0000;-7.0000 --25.0000;-6.5000 --25.0000;-6.0000 --25.0000;-5.5000 --25.0000;-5.0000 --25.0000;-4.5000 --25.0000;-4.0000 --25.0000;-3.5000 --25.0000;-3.0000 --25.0000;-2.5000 --25.0000;-2.0000 --25.0000;-1.5000 --25.0000;-1.0000 --25.0000;-0.5000 --25.0000;0.0000 --24.5000;-220.0000 --24.5000;-219.5000 --24.5000;-219.0000 --24.5000;-218.5000 --24.5000;-218.0000 --24.5000;-217.5000 --24.5000;-217.0000 --24.5000;-216.5000 --24.5000;-216.0000 --24.5000;-215.5000 --24.5000;-215.0000 --24.5000;-214.5000 --24.5000;-214.0000 --24.5000;-213.5000 --24.5000;-213.0000 --24.5000;-212.5000 --24.5000;-212.0000 --24.5000;-211.5000 --24.5000;-211.0000 --24.5000;-210.5000 --24.5000;-210.0000 --24.5000;-209.5000 --24.5000;-209.0000 --24.5000;-208.5000 --24.5000;-208.0000 --24.5000;-15.0000 --24.5000;-14.5000 --24.5000;-14.0000 --24.5000;-13.5000 --24.5000;-13.0000 --24.5000;-12.5000 --24.5000;-12.0000 --24.5000;-11.5000 --24.5000;-11.0000 --24.5000;-10.5000 --24.5000;-10.0000 --24.5000;-9.5000 --24.5000;-9.0000 --24.5000;-8.5000 --24.5000;-8.0000 --24.5000;-7.5000 --24.5000;-7.0000 --24.5000;-6.5000 --24.5000;-6.0000 --24.5000;-5.5000 --24.5000;-5.0000 --24.5000;-4.5000 --24.5000;-4.0000 --24.5000;-3.5000 --24.5000;-3.0000 --24.5000;-2.5000 --24.5000;-2.0000 --24.5000;-1.5000 --24.5000;-1.0000 --24.5000;-0.5000 --24.0000;-220.0000 --24.0000;-219.5000 --24.0000;-219.0000 --24.0000;-218.5000 --24.0000;-218.0000 --24.0000;-217.5000 --24.0000;-217.0000 --24.0000;-216.5000 --24.0000;-216.0000 --24.0000;-215.5000 --24.0000;-215.0000 --24.0000;-214.5000 --24.0000;-214.0000 --24.0000;-213.5000 --24.0000;-213.0000 --24.0000;-212.5000 --24.0000;-212.0000 --24.0000;-211.5000 --24.0000;-211.0000 --24.0000;-210.5000 --24.0000;-210.0000 --24.0000;-209.5000 --24.0000;-209.0000 --24.0000;-208.5000 --24.0000;-208.0000 --24.0000;-15.5000 --24.0000;-15.0000 --24.0000;-14.5000 --24.0000;-14.0000 --24.0000;-13.5000 --24.0000;-13.0000 --24.0000;-12.5000 --24.0000;-12.0000 --24.0000;-11.5000 --24.0000;-11.0000 --24.0000;-10.5000 --24.0000;-10.0000 --24.0000;-9.5000 --24.0000;-9.0000 --24.0000;-8.5000 --24.0000;-8.0000 --24.0000;-7.5000 --24.0000;-7.0000 --24.0000;-6.5000 --24.0000;-6.0000 --24.0000;-5.5000 --24.0000;-5.0000 --24.0000;-4.5000 --24.0000;-4.0000 --24.0000;-3.5000 --24.0000;-3.0000 --24.0000;-2.5000 --24.0000;-2.0000 --24.0000;-1.5000 --24.0000;-1.0000 --23.5000;-219.5000 --23.5000;-219.0000 --23.5000;-218.5000 --23.5000;-218.0000 --23.5000;-217.5000 --23.5000;-217.0000 --23.5000;-216.5000 --23.5000;-216.0000 --23.5000;-215.5000 --23.5000;-215.0000 --23.5000;-214.5000 --23.5000;-214.0000 --23.5000;-213.5000 --23.5000;-213.0000 --23.5000;-212.5000 --23.5000;-212.0000 --23.5000;-211.5000 --23.5000;-211.0000 --23.5000;-210.5000 --23.5000;-210.0000 --23.5000;-209.5000 --23.5000;-209.0000 --23.5000;-208.5000 --23.5000;-208.0000 --23.5000;-207.5000 --23.5000;-16.0000 --23.5000;-15.5000 --23.5000;-15.0000 --23.5000;-14.5000 --23.5000;-14.0000 --23.5000;-13.5000 --23.5000;-13.0000 --23.5000;-12.5000 --23.5000;-12.0000 --23.5000;-11.5000 --23.5000;-11.0000 --23.5000;-10.5000 --23.5000;-10.0000 --23.5000;-9.5000 --23.5000;-9.0000 --23.5000;-8.5000 --23.5000;-8.0000 --23.5000;-7.5000 --23.5000;-7.0000 --23.5000;-6.5000 --23.5000;-6.0000 --23.5000;-5.5000 --23.5000;-5.0000 --23.5000;-4.5000 --23.5000;-4.0000 --23.5000;-3.5000 --23.5000;-3.0000 --23.5000;-2.5000 --23.5000;-2.0000 --23.5000;-1.5000 --23.5000;-1.0000 --23.0000;-219.5000 --23.0000;-219.0000 --23.0000;-218.5000 --23.0000;-218.0000 --23.0000;-217.5000 --23.0000;-217.0000 --23.0000;-216.5000 --23.0000;-216.0000 --23.0000;-215.5000 --23.0000;-215.0000 --23.0000;-214.5000 --23.0000;-214.0000 --23.0000;-213.5000 --23.0000;-213.0000 --23.0000;-212.5000 --23.0000;-212.0000 --23.0000;-211.5000 --23.0000;-211.0000 --23.0000;-210.5000 --23.0000;-210.0000 --23.0000;-209.5000 --23.0000;-209.0000 --23.0000;-208.5000 --23.0000;-208.0000 --23.0000;-207.5000 --23.0000;-16.5000 --23.0000;-16.0000 --23.0000;-15.5000 --23.0000;-15.0000 --23.0000;-14.5000 --23.0000;-14.0000 --23.0000;-13.5000 --23.0000;-13.0000 --23.0000;-12.5000 --23.0000;-12.0000 --23.0000;-11.5000 --23.0000;-11.0000 --23.0000;-10.5000 --23.0000;-10.0000 --23.0000;-9.5000 --23.0000;-9.0000 --23.0000;-8.5000 --23.0000;-8.0000 --23.0000;-7.5000 --23.0000;-7.0000 --23.0000;-6.5000 --23.0000;-6.0000 --23.0000;-5.5000 --23.0000;-5.0000 --23.0000;-4.5000 --23.0000;-4.0000 --23.0000;-3.5000 --23.0000;-3.0000 --23.0000;-2.5000 --23.0000;-2.0000 --23.0000;-1.5000 --22.5000;-219.5000 --22.5000;-219.0000 --22.5000;-218.5000 --22.5000;-218.0000 --22.5000;-217.5000 --22.5000;-217.0000 --22.5000;-216.5000 --22.5000;-216.0000 --22.5000;-215.5000 --22.5000;-215.0000 --22.5000;-214.5000 --22.5000;-214.0000 --22.5000;-213.5000 --22.5000;-213.0000 --22.5000;-212.5000 --22.5000;-212.0000 --22.5000;-211.5000 --22.5000;-211.0000 --22.5000;-210.5000 --22.5000;-210.0000 --22.5000;-209.5000 --22.5000;-209.0000 --22.5000;-208.5000 --22.5000;-208.0000 --22.5000;-207.5000 --22.5000;-16.5000 --22.5000;-16.0000 --22.5000;-15.5000 --22.5000;-15.0000 --22.5000;-14.5000 --22.5000;-14.0000 --22.5000;-13.5000 --22.5000;-13.0000 --22.5000;-12.5000 --22.5000;-12.0000 --22.5000;-11.5000 --22.5000;-11.0000 --22.5000;-10.5000 --22.5000;-10.0000 --22.5000;-9.5000 --22.5000;-9.0000 --22.5000;-8.5000 --22.5000;-8.0000 --22.5000;-7.5000 --22.5000;-7.0000 --22.5000;-6.5000 --22.5000;-6.0000 --22.5000;-5.5000 --22.5000;-5.0000 --22.5000;-4.5000 --22.5000;-4.0000 --22.5000;-3.5000 --22.5000;-3.0000 --22.5000;-2.5000 --22.5000;-2.0000 --22.0000;-219.5000 --22.0000;-219.0000 --22.0000;-218.5000 --22.0000;-218.0000 --22.0000;-217.5000 --22.0000;-217.0000 --22.0000;-216.5000 --22.0000;-216.0000 --22.0000;-215.5000 --22.0000;-215.0000 --22.0000;-214.5000 --22.0000;-214.0000 --22.0000;-213.5000 --22.0000;-213.0000 --22.0000;-212.5000 --22.0000;-212.0000 --22.0000;-211.5000 --22.0000;-211.0000 --22.0000;-210.5000 --22.0000;-210.0000 --22.0000;-209.5000 --22.0000;-209.0000 --22.0000;-208.5000 --22.0000;-208.0000 --22.0000;-207.5000 --22.0000;-17.0000 --22.0000;-16.5000 --22.0000;-16.0000 --22.0000;-15.5000 --22.0000;-15.0000 --22.0000;-14.5000 --22.0000;-14.0000 --22.0000;-13.5000 --22.0000;-13.0000 --22.0000;-12.5000 --22.0000;-12.0000 --22.0000;-11.5000 --22.0000;-11.0000 --22.0000;-10.5000 --22.0000;-10.0000 --22.0000;-9.5000 --22.0000;-9.0000 --22.0000;-8.5000 --22.0000;-8.0000 --22.0000;-7.5000 --22.0000;-7.0000 --22.0000;-6.5000 --22.0000;-6.0000 --22.0000;-5.5000 --22.0000;-5.0000 --22.0000;-4.5000 --22.0000;-4.0000 --22.0000;-3.5000 --22.0000;-3.0000 --22.0000;-2.5000 --21.5000;-219.5000 --21.5000;-219.0000 --21.5000;-218.5000 --21.5000;-218.0000 --21.5000;-217.5000 --21.5000;-217.0000 --21.5000;-216.5000 --21.5000;-216.0000 --21.5000;-215.5000 --21.5000;-215.0000 --21.5000;-214.5000 --21.5000;-214.0000 --21.5000;-213.5000 --21.5000;-213.0000 --21.5000;-212.5000 --21.5000;-212.0000 --21.5000;-211.5000 --21.5000;-211.0000 --21.5000;-210.5000 --21.5000;-210.0000 --21.5000;-209.5000 --21.5000;-209.0000 --21.5000;-208.5000 --21.5000;-208.0000 --21.5000;-207.5000 --21.5000;-17.5000 --21.5000;-17.0000 --21.5000;-16.5000 --21.5000;-16.0000 --21.5000;-15.5000 --21.5000;-15.0000 --21.5000;-14.5000 --21.5000;-14.0000 --21.5000;-13.5000 --21.5000;-13.0000 --21.5000;-12.5000 --21.5000;-12.0000 --21.5000;-11.5000 --21.5000;-11.0000 --21.5000;-10.5000 --21.5000;-10.0000 --21.5000;-9.5000 --21.5000;-9.0000 --21.5000;-8.5000 --21.5000;-8.0000 --21.5000;-7.5000 --21.5000;-7.0000 --21.5000;-6.5000 --21.5000;-6.0000 --21.5000;-5.5000 --21.5000;-5.0000 --21.5000;-4.5000 --21.5000;-4.0000 --21.5000;-3.5000 --21.5000;-3.0000 --21.5000;-2.5000 --21.0000;-219.5000 --21.0000;-219.0000 --21.0000;-218.5000 --21.0000;-218.0000 --21.0000;-217.5000 --21.0000;-217.0000 --21.0000;-216.5000 --21.0000;-216.0000 --21.0000;-215.5000 --21.0000;-215.0000 --21.0000;-214.5000 --21.0000;-214.0000 --21.0000;-213.5000 --21.0000;-213.0000 --21.0000;-212.5000 --21.0000;-212.0000 --21.0000;-211.5000 --21.0000;-211.0000 --21.0000;-210.5000 --21.0000;-210.0000 --21.0000;-209.5000 --21.0000;-209.0000 --21.0000;-208.5000 --21.0000;-208.0000 --21.0000;-207.5000 --21.0000;-18.0000 --21.0000;-17.5000 --21.0000;-17.0000 --21.0000;-16.5000 --21.0000;-16.0000 --21.0000;-15.5000 --21.0000;-15.0000 --21.0000;-14.5000 --21.0000;-14.0000 --21.0000;-13.5000 --21.0000;-13.0000 --21.0000;-12.5000 --21.0000;-12.0000 --21.0000;-11.5000 --21.0000;-11.0000 --21.0000;-10.5000 --21.0000;-10.0000 --21.0000;-9.5000 --21.0000;-9.0000 --21.0000;-8.5000 --21.0000;-8.0000 --21.0000;-7.5000 --21.0000;-7.0000 --21.0000;-6.5000 --21.0000;-6.0000 --21.0000;-5.5000 --21.0000;-5.0000 --21.0000;-4.5000 --21.0000;-4.0000 --21.0000;-3.5000 --21.0000;-3.0000 --20.5000;-219.5000 --20.5000;-219.0000 --20.5000;-218.5000 --20.5000;-218.0000 --20.5000;-217.5000 --20.5000;-217.0000 --20.5000;-216.5000 --20.5000;-216.0000 --20.5000;-215.5000 --20.5000;-215.0000 --20.5000;-214.5000 --20.5000;-214.0000 --20.5000;-213.5000 --20.5000;-213.0000 --20.5000;-212.5000 --20.5000;-212.0000 --20.5000;-211.5000 --20.5000;-211.0000 --20.5000;-210.5000 --20.5000;-210.0000 --20.5000;-209.5000 --20.5000;-209.0000 --20.5000;-208.5000 --20.5000;-208.0000 --20.5000;-207.5000 --20.5000;-18.0000 --20.5000;-17.5000 --20.5000;-17.0000 --20.5000;-16.5000 --20.5000;-16.0000 --20.5000;-15.5000 --20.5000;-15.0000 --20.5000;-14.5000 --20.5000;-14.0000 --20.5000;-13.5000 --20.5000;-13.0000 --20.5000;-12.5000 --20.5000;-12.0000 --20.5000;-11.5000 --20.5000;-11.0000 --20.5000;-10.5000 --20.5000;-10.0000 --20.5000;-9.5000 --20.5000;-9.0000 --20.5000;-8.5000 --20.5000;-8.0000 --20.5000;-7.5000 --20.5000;-7.0000 --20.5000;-6.5000 --20.5000;-6.0000 --20.5000;-5.5000 --20.5000;-5.0000 --20.5000;-4.5000 --20.5000;-4.0000 --20.5000;-3.5000 --20.0000;-219.0000 --20.0000;-218.5000 --20.0000;-218.0000 --20.0000;-217.5000 --20.0000;-217.0000 --20.0000;-216.5000 --20.0000;-216.0000 --20.0000;-215.5000 --20.0000;-215.0000 --20.0000;-214.5000 --20.0000;-214.0000 --20.0000;-213.5000 --20.0000;-213.0000 --20.0000;-212.5000 --20.0000;-212.0000 --20.0000;-211.5000 --20.0000;-211.0000 --20.0000;-210.5000 --20.0000;-210.0000 --20.0000;-209.5000 --20.0000;-209.0000 --20.0000;-208.5000 --20.0000;-208.0000 --20.0000;-207.5000 --20.0000;-18.5000 --20.0000;-18.0000 --20.0000;-17.5000 --20.0000;-17.0000 --20.0000;-16.5000 --20.0000;-16.0000 --20.0000;-15.5000 --20.0000;-15.0000 --20.0000;-14.5000 --20.0000;-14.0000 --20.0000;-13.5000 --20.0000;-13.0000 --20.0000;-12.5000 --20.0000;-12.0000 --20.0000;-11.5000 --20.0000;-11.0000 --20.0000;-10.5000 --20.0000;-10.0000 --20.0000;-9.5000 --20.0000;-9.0000 --20.0000;-8.5000 --20.0000;-8.0000 --20.0000;-7.5000 --20.0000;-7.0000 --20.0000;-6.5000 --20.0000;-6.0000 --20.0000;-5.5000 --20.0000;-5.0000 --20.0000;-4.5000 --20.0000;-4.0000 --19.5000;-219.0000 --19.5000;-218.5000 --19.5000;-218.0000 --19.5000;-217.5000 --19.5000;-217.0000 --19.5000;-216.5000 --19.5000;-216.0000 --19.5000;-215.5000 --19.5000;-215.0000 --19.5000;-214.5000 --19.5000;-214.0000 --19.5000;-213.5000 --19.5000;-213.0000 --19.5000;-212.5000 --19.5000;-212.0000 --19.5000;-211.5000 --19.5000;-211.0000 --19.5000;-210.5000 --19.5000;-210.0000 --19.5000;-209.5000 --19.5000;-209.0000 --19.5000;-208.5000 --19.5000;-208.0000 --19.5000;-207.5000 --19.5000;-207.0000 --19.5000;-19.0000 --19.5000;-18.5000 --19.5000;-18.0000 --19.5000;-17.5000 --19.5000;-17.0000 --19.5000;-16.5000 --19.5000;-16.0000 --19.5000;-15.5000 --19.5000;-15.0000 --19.5000;-14.5000 --19.5000;-14.0000 --19.5000;-13.5000 --19.5000;-13.0000 --19.5000;-12.5000 --19.5000;-12.0000 --19.5000;-11.5000 --19.5000;-11.0000 --19.5000;-10.5000 --19.5000;-10.0000 --19.5000;-9.5000 --19.5000;-9.0000 --19.5000;-8.5000 --19.5000;-8.0000 --19.5000;-7.5000 --19.5000;-7.0000 --19.5000;-6.5000 --19.5000;-6.0000 --19.5000;-5.5000 --19.5000;-5.0000 --19.5000;-4.5000 --19.5000;-4.0000 --19.0000;-219.0000 --19.0000;-218.5000 --19.0000;-218.0000 --19.0000;-217.5000 --19.0000;-217.0000 --19.0000;-216.5000 --19.0000;-216.0000 --19.0000;-215.5000 --19.0000;-215.0000 --19.0000;-214.5000 --19.0000;-214.0000 --19.0000;-213.5000 --19.0000;-213.0000 --19.0000;-212.5000 --19.0000;-212.0000 --19.0000;-211.5000 --19.0000;-211.0000 --19.0000;-210.5000 --19.0000;-210.0000 --19.0000;-209.5000 --19.0000;-209.0000 --19.0000;-208.5000 --19.0000;-208.0000 --19.0000;-207.5000 --19.0000;-207.0000 --19.0000;-19.5000 --19.0000;-19.0000 --19.0000;-18.5000 --19.0000;-18.0000 --19.0000;-17.5000 --19.0000;-17.0000 --19.0000;-16.5000 --19.0000;-16.0000 --19.0000;-15.5000 --19.0000;-15.0000 --19.0000;-14.5000 --19.0000;-14.0000 --19.0000;-13.5000 --19.0000;-13.0000 --19.0000;-12.5000 --19.0000;-12.0000 --19.0000;-11.5000 --19.0000;-11.0000 --19.0000;-10.5000 --19.0000;-10.0000 --19.0000;-9.5000 --19.0000;-9.0000 --19.0000;-8.5000 --19.0000;-8.0000 --19.0000;-7.5000 --19.0000;-7.0000 --19.0000;-6.5000 --19.0000;-6.0000 --19.0000;-5.5000 --19.0000;-5.0000 --19.0000;-4.5000 --18.5000;-219.0000 --18.5000;-218.5000 --18.5000;-218.0000 --18.5000;-217.5000 --18.5000;-217.0000 --18.5000;-216.5000 --18.5000;-216.0000 --18.5000;-215.5000 --18.5000;-215.0000 --18.5000;-214.5000 --18.5000;-214.0000 --18.5000;-213.5000 --18.5000;-213.0000 --18.5000;-212.5000 --18.5000;-212.0000 --18.5000;-211.5000 --18.5000;-211.0000 --18.5000;-210.5000 --18.5000;-210.0000 --18.5000;-209.5000 --18.5000;-209.0000 --18.5000;-208.5000 --18.5000;-208.0000 --18.5000;-207.5000 --18.5000;-207.0000 --18.5000;-20.0000 --18.5000;-19.5000 --18.5000;-19.0000 --18.5000;-18.5000 --18.5000;-18.0000 --18.5000;-17.5000 --18.5000;-17.0000 --18.5000;-16.5000 --18.5000;-16.0000 --18.5000;-15.5000 --18.5000;-15.0000 --18.5000;-14.5000 --18.5000;-14.0000 --18.5000;-13.5000 --18.5000;-13.0000 --18.5000;-12.5000 --18.5000;-12.0000 --18.5000;-11.5000 --18.5000;-11.0000 --18.5000;-10.5000 --18.5000;-10.0000 --18.5000;-9.5000 --18.5000;-9.0000 --18.5000;-8.5000 --18.5000;-8.0000 --18.5000;-7.5000 --18.5000;-7.0000 --18.5000;-6.5000 --18.5000;-6.0000 --18.5000;-5.5000 --18.5000;-5.0000 --18.0000;-219.0000 --18.0000;-218.5000 --18.0000;-218.0000 --18.0000;-217.5000 --18.0000;-217.0000 --18.0000;-216.5000 --18.0000;-216.0000 --18.0000;-215.5000 --18.0000;-215.0000 --18.0000;-214.5000 --18.0000;-214.0000 --18.0000;-213.5000 --18.0000;-213.0000 --18.0000;-212.5000 --18.0000;-212.0000 --18.0000;-211.5000 --18.0000;-211.0000 --18.0000;-210.5000 --18.0000;-210.0000 --18.0000;-209.5000 --18.0000;-209.0000 --18.0000;-208.5000 --18.0000;-208.0000 --18.0000;-207.5000 --18.0000;-207.0000 --18.0000;-20.0000 --18.0000;-19.5000 --18.0000;-19.0000 --18.0000;-18.5000 --18.0000;-18.0000 --18.0000;-17.5000 --18.0000;-17.0000 --18.0000;-16.5000 --18.0000;-16.0000 --18.0000;-15.5000 --18.0000;-15.0000 --18.0000;-14.5000 --18.0000;-14.0000 --18.0000;-13.5000 --18.0000;-13.0000 --18.0000;-12.5000 --18.0000;-12.0000 --18.0000;-11.5000 --18.0000;-11.0000 --18.0000;-10.5000 --18.0000;-10.0000 --18.0000;-9.5000 --18.0000;-9.0000 --18.0000;-8.5000 --18.0000;-8.0000 --18.0000;-7.5000 --18.0000;-7.0000 --18.0000;-6.5000 --18.0000;-6.0000 --18.0000;-5.5000 --17.5000;-219.0000 --17.5000;-218.5000 --17.5000;-218.0000 --17.5000;-217.5000 --17.5000;-217.0000 --17.5000;-216.5000 --17.5000;-216.0000 --17.5000;-215.5000 --17.5000;-215.0000 --17.5000;-214.5000 --17.5000;-214.0000 --17.5000;-213.5000 --17.5000;-213.0000 --17.5000;-212.5000 --17.5000;-212.0000 --17.5000;-211.5000 --17.5000;-211.0000 --17.5000;-210.5000 --17.5000;-210.0000 --17.5000;-209.5000 --17.5000;-209.0000 --17.5000;-208.5000 --17.5000;-208.0000 --17.5000;-207.5000 --17.5000;-207.0000 --17.5000;-20.5000 --17.5000;-20.0000 --17.5000;-19.5000 --17.5000;-19.0000 --17.5000;-18.5000 --17.5000;-18.0000 --17.5000;-17.5000 --17.5000;-17.0000 --17.5000;-16.5000 --17.5000;-16.0000 --17.5000;-15.5000 --17.5000;-15.0000 --17.5000;-14.5000 --17.5000;-14.0000 --17.5000;-13.5000 --17.5000;-13.0000 --17.5000;-12.5000 --17.5000;-12.0000 --17.5000;-11.5000 --17.5000;-11.0000 --17.5000;-10.5000 --17.5000;-10.0000 --17.5000;-9.5000 --17.5000;-9.0000 --17.5000;-8.5000 --17.5000;-8.0000 --17.5000;-7.5000 --17.5000;-7.0000 --17.5000;-6.5000 --17.5000;-6.0000 --17.5000;-5.5000 --17.0000;-219.0000 --17.0000;-218.5000 --17.0000;-218.0000 --17.0000;-217.5000 --17.0000;-217.0000 --17.0000;-216.5000 --17.0000;-216.0000 --17.0000;-215.5000 --17.0000;-215.0000 --17.0000;-214.5000 --17.0000;-214.0000 --17.0000;-213.5000 --17.0000;-213.0000 --17.0000;-212.5000 --17.0000;-212.0000 --17.0000;-211.5000 --17.0000;-211.0000 --17.0000;-210.5000 --17.0000;-210.0000 --17.0000;-209.5000 --17.0000;-209.0000 --17.0000;-208.5000 --17.0000;-208.0000 --17.0000;-207.5000 --17.0000;-207.0000 --17.0000;-21.0000 --17.0000;-20.5000 --17.0000;-20.0000 --17.0000;-19.5000 --17.0000;-19.0000 --17.0000;-18.5000 --17.0000;-18.0000 --17.0000;-17.5000 --17.0000;-17.0000 --17.0000;-16.5000 --17.0000;-16.0000 --17.0000;-15.5000 --17.0000;-15.0000 --17.0000;-14.5000 --17.0000;-14.0000 --17.0000;-13.5000 --17.0000;-13.0000 --17.0000;-12.5000 --17.0000;-12.0000 --17.0000;-11.5000 --17.0000;-11.0000 --17.0000;-10.5000 --17.0000;-10.0000 --17.0000;-9.5000 --17.0000;-9.0000 --17.0000;-8.5000 --17.0000;-8.0000 --17.0000;-7.5000 --17.0000;-7.0000 --17.0000;-6.5000 --17.0000;-6.0000 --16.5000;-219.0000 --16.5000;-218.5000 --16.5000;-218.0000 --16.5000;-217.5000 --16.5000;-217.0000 --16.5000;-216.5000 --16.5000;-216.0000 --16.5000;-215.5000 --16.5000;-215.0000 --16.5000;-214.5000 --16.5000;-214.0000 --16.5000;-213.5000 --16.5000;-213.0000 --16.5000;-212.5000 --16.5000;-212.0000 --16.5000;-211.5000 --16.5000;-211.0000 --16.5000;-210.5000 --16.5000;-210.0000 --16.5000;-209.5000 --16.5000;-209.0000 --16.5000;-208.5000 --16.5000;-208.0000 --16.5000;-207.5000 --16.5000;-207.0000 --16.5000;-21.5000 --16.5000;-21.0000 --16.5000;-20.5000 --16.5000;-20.0000 --16.5000;-19.5000 --16.5000;-19.0000 --16.5000;-18.5000 --16.5000;-18.0000 --16.5000;-17.5000 --16.5000;-17.0000 --16.5000;-16.5000 --16.5000;-16.0000 --16.5000;-15.5000 --16.5000;-15.0000 --16.5000;-14.5000 --16.5000;-14.0000 --16.5000;-13.5000 --16.5000;-13.0000 --16.5000;-12.5000 --16.5000;-12.0000 --16.5000;-11.5000 --16.5000;-11.0000 --16.5000;-10.5000 --16.5000;-10.0000 --16.5000;-9.5000 --16.5000;-9.0000 --16.5000;-8.5000 --16.5000;-8.0000 --16.5000;-7.5000 --16.5000;-7.0000 --16.5000;-6.5000 --16.0000;-219.0000 --16.0000;-218.5000 --16.0000;-218.0000 --16.0000;-217.5000 --16.0000;-217.0000 --16.0000;-216.5000 --16.0000;-216.0000 --16.0000;-215.5000 --16.0000;-215.0000 --16.0000;-214.5000 --16.0000;-214.0000 --16.0000;-213.5000 --16.0000;-213.0000 --16.0000;-212.5000 --16.0000;-212.0000 --16.0000;-211.5000 --16.0000;-211.0000 --16.0000;-210.5000 --16.0000;-210.0000 --16.0000;-209.5000 --16.0000;-209.0000 --16.0000;-208.5000 --16.0000;-208.0000 --16.0000;-207.5000 --16.0000;-207.0000 --16.0000;-21.5000 --16.0000;-21.0000 --16.0000;-20.5000 --16.0000;-20.0000 --16.0000;-19.5000 --16.0000;-19.0000 --16.0000;-18.5000 --16.0000;-18.0000 --16.0000;-17.5000 --16.0000;-17.0000 --16.0000;-16.5000 --16.0000;-16.0000 --16.0000;-15.5000 --16.0000;-15.0000 --16.0000;-14.5000 --16.0000;-14.0000 --16.0000;-13.5000 --16.0000;-13.0000 --16.0000;-12.5000 --16.0000;-12.0000 --16.0000;-11.5000 --16.0000;-11.0000 --16.0000;-10.5000 --16.0000;-10.0000 --16.0000;-9.5000 --16.0000;-9.0000 --16.0000;-8.5000 --16.0000;-8.0000 --16.0000;-7.5000 --16.0000;-7.0000 --15.5000;-219.0000 --15.5000;-218.5000 --15.5000;-218.0000 --15.5000;-217.5000 --15.5000;-217.0000 --15.5000;-216.5000 --15.5000;-216.0000 --15.5000;-215.5000 --15.5000;-215.0000 --15.5000;-214.5000 --15.5000;-214.0000 --15.5000;-213.5000 --15.5000;-213.0000 --15.5000;-212.5000 --15.5000;-212.0000 --15.5000;-211.5000 --15.5000;-211.0000 --15.5000;-210.5000 --15.5000;-210.0000 --15.5000;-209.5000 --15.5000;-209.0000 --15.5000;-208.5000 --15.5000;-208.0000 --15.5000;-207.5000 --15.5000;-207.0000 --15.5000;-22.0000 --15.5000;-21.5000 --15.5000;-21.0000 --15.5000;-20.5000 --15.5000;-20.0000 --15.5000;-19.5000 --15.5000;-19.0000 --15.5000;-18.5000 --15.5000;-18.0000 --15.5000;-17.5000 --15.5000;-17.0000 --15.5000;-16.5000 --15.5000;-16.0000 --15.5000;-15.5000 --15.5000;-15.0000 --15.5000;-14.5000 --15.5000;-14.0000 --15.5000;-13.5000 --15.5000;-13.0000 --15.5000;-12.5000 --15.5000;-12.0000 --15.5000;-11.5000 --15.5000;-11.0000 --15.5000;-10.5000 --15.5000;-10.0000 --15.5000;-9.5000 --15.5000;-9.0000 --15.5000;-8.5000 --15.5000;-8.0000 --15.5000;-7.5000 --15.0000;-219.0000 --15.0000;-218.5000 --15.0000;-218.0000 --15.0000;-217.5000 --15.0000;-217.0000 --15.0000;-216.5000 --15.0000;-216.0000 --15.0000;-215.5000 --15.0000;-215.0000 --15.0000;-214.5000 --15.0000;-214.0000 --15.0000;-213.5000 --15.0000;-213.0000 --15.0000;-212.5000 --15.0000;-212.0000 --15.0000;-211.5000 --15.0000;-211.0000 --15.0000;-210.5000 --15.0000;-210.0000 --15.0000;-209.5000 --15.0000;-209.0000 --15.0000;-208.5000 --15.0000;-208.0000 --15.0000;-207.5000 --15.0000;-207.0000 --15.0000;-22.5000 --15.0000;-22.0000 --15.0000;-21.5000 --15.0000;-21.0000 --15.0000;-20.5000 --15.0000;-20.0000 --15.0000;-19.5000 --15.0000;-19.0000 --15.0000;-18.5000 --15.0000;-18.0000 --15.0000;-17.5000 --15.0000;-17.0000 --15.0000;-16.5000 --15.0000;-16.0000 --15.0000;-15.5000 --15.0000;-15.0000 --15.0000;-14.5000 --15.0000;-14.0000 --15.0000;-13.5000 --15.0000;-13.0000 --15.0000;-12.5000 --15.0000;-12.0000 --15.0000;-11.5000 --15.0000;-11.0000 --15.0000;-10.5000 --15.0000;-10.0000 --15.0000;-9.5000 --15.0000;-9.0000 --15.0000;-8.5000 --15.0000;-8.0000 --15.0000;-7.5000 --14.5000;-218.5000 --14.5000;-218.0000 --14.5000;-217.5000 --14.5000;-217.0000 --14.5000;-216.5000 --14.5000;-216.0000 --14.5000;-215.5000 --14.5000;-215.0000 --14.5000;-214.5000 --14.5000;-214.0000 --14.5000;-213.5000 --14.5000;-213.0000 --14.5000;-212.5000 --14.5000;-212.0000 --14.5000;-211.5000 --14.5000;-211.0000 --14.5000;-210.5000 --14.5000;-210.0000 --14.5000;-209.5000 --14.5000;-209.0000 --14.5000;-208.5000 --14.5000;-208.0000 --14.5000;-207.5000 --14.5000;-207.0000 --14.5000;-23.0000 --14.5000;-22.5000 --14.5000;-22.0000 --14.5000;-21.5000 --14.5000;-21.0000 --14.5000;-20.5000 --14.5000;-20.0000 --14.5000;-19.5000 --14.5000;-19.0000 --14.5000;-18.5000 --14.5000;-18.0000 --14.5000;-17.5000 --14.5000;-17.0000 --14.5000;-16.5000 --14.5000;-16.0000 --14.5000;-15.5000 --14.5000;-15.0000 --14.5000;-14.5000 --14.5000;-14.0000 --14.5000;-13.5000 --14.5000;-13.0000 --14.5000;-12.5000 --14.5000;-12.0000 --14.5000;-11.5000 --14.5000;-11.0000 --14.5000;-10.5000 --14.5000;-10.0000 --14.5000;-9.5000 --14.5000;-9.0000 --14.5000;-8.5000 --14.5000;-8.0000 --14.0000;-218.5000 --14.0000;-218.0000 --14.0000;-217.5000 --14.0000;-217.0000 --14.0000;-216.5000 --14.0000;-216.0000 --14.0000;-215.5000 --14.0000;-215.0000 --14.0000;-214.5000 --14.0000;-214.0000 --14.0000;-213.5000 --14.0000;-213.0000 --14.0000;-212.5000 --14.0000;-212.0000 --14.0000;-211.5000 --14.0000;-211.0000 --14.0000;-210.5000 --14.0000;-210.0000 --14.0000;-209.5000 --14.0000;-209.0000 --14.0000;-208.5000 --14.0000;-208.0000 --14.0000;-207.5000 --14.0000;-207.0000 --14.0000;-23.0000 --14.0000;-22.5000 --14.0000;-22.0000 --14.0000;-21.5000 --14.0000;-21.0000 --14.0000;-20.5000 --14.0000;-20.0000 --14.0000;-19.5000 --14.0000;-19.0000 --14.0000;-18.5000 --14.0000;-18.0000 --14.0000;-17.5000 --14.0000;-17.0000 --14.0000;-16.5000 --14.0000;-16.0000 --14.0000;-15.5000 --14.0000;-15.0000 --14.0000;-14.5000 --14.0000;-14.0000 --14.0000;-13.5000 --14.0000;-13.0000 --14.0000;-12.5000 --14.0000;-12.0000 --14.0000;-11.5000 --14.0000;-11.0000 --14.0000;-10.5000 --14.0000;-10.0000 --14.0000;-9.5000 --14.0000;-9.0000 --14.0000;-8.5000 --13.5000;-218.5000 --13.5000;-218.0000 --13.5000;-217.5000 --13.5000;-217.0000 --13.5000;-216.5000 --13.5000;-216.0000 --13.5000;-215.5000 --13.5000;-215.0000 --13.5000;-214.5000 --13.5000;-214.0000 --13.5000;-213.5000 --13.5000;-213.0000 --13.5000;-212.5000 --13.5000;-212.0000 --13.5000;-211.5000 --13.5000;-211.0000 --13.5000;-210.5000 --13.5000;-210.0000 --13.5000;-209.5000 --13.5000;-209.0000 --13.5000;-208.5000 --13.5000;-208.0000 --13.5000;-207.5000 --13.5000;-207.0000 --13.5000;-23.5000 --13.5000;-23.0000 --13.5000;-22.5000 --13.5000;-22.0000 --13.5000;-21.5000 --13.5000;-21.0000 --13.5000;-20.5000 --13.5000;-20.0000 --13.5000;-19.5000 --13.5000;-19.0000 --13.5000;-18.5000 --13.5000;-18.0000 --13.5000;-17.5000 --13.5000;-17.0000 --13.5000;-16.5000 --13.5000;-16.0000 --13.5000;-15.5000 --13.5000;-15.0000 --13.5000;-14.5000 --13.5000;-14.0000 --13.5000;-13.5000 --13.5000;-13.0000 --13.5000;-12.5000 --13.5000;-12.0000 --13.5000;-11.5000 --13.5000;-11.0000 --13.5000;-10.5000 --13.5000;-10.0000 --13.5000;-9.5000 --13.5000;-9.0000 --13.0000;-218.5000 --13.0000;-218.0000 --13.0000;-217.5000 --13.0000;-217.0000 --13.0000;-216.5000 --13.0000;-216.0000 --13.0000;-215.5000 --13.0000;-215.0000 --13.0000;-214.5000 --13.0000;-214.0000 --13.0000;-213.5000 --13.0000;-213.0000 --13.0000;-212.5000 --13.0000;-212.0000 --13.0000;-211.5000 --13.0000;-211.0000 --13.0000;-210.5000 --13.0000;-210.0000 --13.0000;-209.5000 --13.0000;-209.0000 --13.0000;-208.5000 --13.0000;-208.0000 --13.0000;-207.5000 --13.0000;-207.0000 --13.0000;-24.0000 --13.0000;-23.5000 --13.0000;-23.0000 --13.0000;-22.5000 --13.0000;-22.0000 --13.0000;-21.5000 --13.0000;-21.0000 --13.0000;-20.5000 --13.0000;-20.0000 --13.0000;-19.5000 --13.0000;-19.0000 --13.0000;-18.5000 --13.0000;-18.0000 --13.0000;-17.5000 --13.0000;-17.0000 --13.0000;-16.5000 --13.0000;-16.0000 --13.0000;-15.5000 --13.0000;-15.0000 --13.0000;-14.5000 --13.0000;-14.0000 --13.0000;-13.5000 --13.0000;-13.0000 --13.0000;-12.5000 --13.0000;-12.0000 --13.0000;-11.5000 --13.0000;-11.0000 --13.0000;-10.5000 --13.0000;-10.0000 --13.0000;-9.5000 --13.0000;-9.0000 --12.5000;-218.5000 --12.5000;-218.0000 --12.5000;-217.5000 --12.5000;-217.0000 --12.5000;-216.5000 --12.5000;-216.0000 --12.5000;-215.5000 --12.5000;-215.0000 --12.5000;-214.5000 --12.5000;-214.0000 --12.5000;-213.5000 --12.5000;-213.0000 --12.5000;-212.5000 --12.5000;-212.0000 --12.5000;-211.5000 --12.5000;-211.0000 --12.5000;-210.5000 --12.5000;-210.0000 --12.5000;-209.5000 --12.5000;-209.0000 --12.5000;-208.5000 --12.5000;-208.0000 --12.5000;-207.5000 --12.5000;-207.0000 --12.5000;-24.5000 --12.5000;-24.0000 --12.5000;-23.5000 --12.5000;-23.0000 --12.5000;-22.5000 --12.5000;-22.0000 --12.5000;-21.5000 --12.5000;-21.0000 --12.5000;-20.5000 --12.5000;-20.0000 --12.5000;-19.5000 --12.5000;-19.0000 --12.5000;-18.5000 --12.5000;-18.0000 --12.5000;-17.5000 --12.5000;-17.0000 --12.5000;-16.5000 --12.5000;-16.0000 --12.5000;-15.5000 --12.5000;-15.0000 --12.5000;-14.5000 --12.5000;-14.0000 --12.5000;-13.5000 --12.5000;-13.0000 --12.5000;-12.5000 --12.5000;-12.0000 --12.5000;-11.5000 --12.5000;-11.0000 --12.5000;-10.5000 --12.5000;-10.0000 --12.5000;-9.5000 --12.0000;-218.5000 --12.0000;-218.0000 --12.0000;-217.5000 --12.0000;-217.0000 --12.0000;-216.5000 --12.0000;-216.0000 --12.0000;-215.5000 --12.0000;-215.0000 --12.0000;-214.5000 --12.0000;-214.0000 --12.0000;-213.5000 --12.0000;-213.0000 --12.0000;-212.5000 --12.0000;-212.0000 --12.0000;-211.5000 --12.0000;-211.0000 --12.0000;-210.5000 --12.0000;-210.0000 --12.0000;-209.5000 --12.0000;-209.0000 --12.0000;-208.5000 --12.0000;-208.0000 --12.0000;-207.5000 --12.0000;-207.0000 --12.0000;-24.5000 --12.0000;-24.0000 --12.0000;-23.5000 --12.0000;-23.0000 --12.0000;-22.5000 --12.0000;-22.0000 --12.0000;-21.5000 --12.0000;-21.0000 --12.0000;-20.5000 --12.0000;-20.0000 --12.0000;-19.5000 --12.0000;-19.0000 --12.0000;-18.5000 --12.0000;-18.0000 --12.0000;-17.5000 --12.0000;-17.0000 --12.0000;-16.5000 --12.0000;-16.0000 --12.0000;-15.5000 --12.0000;-15.0000 --12.0000;-14.5000 --12.0000;-14.0000 --12.0000;-13.5000 --12.0000;-13.0000 --12.0000;-12.5000 --12.0000;-12.0000 --12.0000;-11.5000 --12.0000;-11.0000 --12.0000;-10.5000 --12.0000;-10.0000 --11.5000;-218.5000 --11.5000;-218.0000 --11.5000;-217.5000 --11.5000;-217.0000 --11.5000;-216.5000 --11.5000;-216.0000 --11.5000;-215.5000 --11.5000;-215.0000 --11.5000;-214.5000 --11.5000;-214.0000 --11.5000;-213.5000 --11.5000;-213.0000 --11.5000;-212.5000 --11.5000;-212.0000 --11.5000;-211.5000 --11.5000;-211.0000 --11.5000;-210.5000 --11.5000;-210.0000 --11.5000;-209.5000 --11.5000;-209.0000 --11.5000;-208.5000 --11.5000;-208.0000 --11.5000;-207.5000 --11.5000;-207.0000 --11.5000;-25.0000 --11.5000;-24.5000 --11.5000;-24.0000 --11.5000;-23.5000 --11.5000;-23.0000 --11.5000;-22.5000 --11.5000;-22.0000 --11.5000;-21.5000 --11.5000;-21.0000 --11.5000;-20.5000 --11.5000;-20.0000 --11.5000;-19.5000 --11.5000;-19.0000 --11.5000;-18.5000 --11.5000;-18.0000 --11.5000;-17.5000 --11.5000;-17.0000 --11.5000;-16.5000 --11.5000;-16.0000 --11.5000;-15.5000 --11.5000;-15.0000 --11.5000;-14.5000 --11.5000;-14.0000 --11.5000;-13.5000 --11.5000;-13.0000 --11.5000;-12.5000 --11.5000;-12.0000 --11.5000;-11.5000 --11.5000;-11.0000 --11.5000;-10.5000 --11.0000;-218.5000 --11.0000;-218.0000 --11.0000;-217.5000 --11.0000;-217.0000 --11.0000;-216.5000 --11.0000;-216.0000 --11.0000;-215.5000 --11.0000;-215.0000 --11.0000;-214.5000 --11.0000;-214.0000 --11.0000;-213.5000 --11.0000;-213.0000 --11.0000;-212.5000 --11.0000;-212.0000 --11.0000;-211.5000 --11.0000;-211.0000 --11.0000;-210.5000 --11.0000;-210.0000 --11.0000;-209.5000 --11.0000;-209.0000 --11.0000;-208.5000 --11.0000;-208.0000 --11.0000;-207.5000 --11.0000;-207.0000 --11.0000;-25.5000 --11.0000;-25.0000 --11.0000;-24.5000 --11.0000;-24.0000 --11.0000;-23.5000 --11.0000;-23.0000 --11.0000;-22.5000 --11.0000;-22.0000 --11.0000;-21.5000 --11.0000;-21.0000 --11.0000;-20.5000 --11.0000;-20.0000 --11.0000;-19.5000 --11.0000;-19.0000 --11.0000;-18.5000 --11.0000;-18.0000 --11.0000;-17.5000 --11.0000;-17.0000 --11.0000;-16.5000 --11.0000;-16.0000 --11.0000;-15.5000 --11.0000;-15.0000 --11.0000;-14.5000 --11.0000;-14.0000 --11.0000;-13.5000 --11.0000;-13.0000 --11.0000;-12.5000 --11.0000;-12.0000 --11.0000;-11.5000 --11.0000;-11.0000 --11.0000;-10.5000 --10.5000;-218.5000 --10.5000;-218.0000 --10.5000;-217.5000 --10.5000;-217.0000 --10.5000;-216.5000 --10.5000;-216.0000 --10.5000;-215.5000 --10.5000;-215.0000 --10.5000;-214.5000 --10.5000;-214.0000 --10.5000;-213.5000 --10.5000;-213.0000 --10.5000;-212.5000 --10.5000;-212.0000 --10.5000;-211.5000 --10.5000;-211.0000 --10.5000;-210.5000 --10.5000;-210.0000 --10.5000;-209.5000 --10.5000;-209.0000 --10.5000;-208.5000 --10.5000;-208.0000 --10.5000;-207.5000 --10.5000;-207.0000 --10.5000;-26.0000 --10.5000;-25.5000 --10.5000;-25.0000 --10.5000;-24.5000 --10.5000;-24.0000 --10.5000;-23.5000 --10.5000;-23.0000 --10.5000;-22.5000 --10.5000;-22.0000 --10.5000;-21.5000 --10.5000;-21.0000 --10.5000;-20.5000 --10.5000;-20.0000 --10.5000;-19.5000 --10.5000;-19.0000 --10.5000;-18.5000 --10.5000;-18.0000 --10.5000;-17.5000 --10.5000;-17.0000 --10.5000;-16.5000 --10.5000;-16.0000 --10.5000;-15.5000 --10.5000;-15.0000 --10.5000;-14.5000 --10.5000;-14.0000 --10.5000;-13.5000 --10.5000;-13.0000 --10.5000;-12.5000 --10.5000;-12.0000 --10.5000;-11.5000 --10.5000;-11.0000 --10.0000;-218.5000 --10.0000;-218.0000 --10.0000;-217.5000 --10.0000;-217.0000 --10.0000;-216.5000 --10.0000;-216.0000 --10.0000;-215.5000 --10.0000;-215.0000 --10.0000;-214.5000 --10.0000;-214.0000 --10.0000;-213.5000 --10.0000;-213.0000 --10.0000;-212.5000 --10.0000;-212.0000 --10.0000;-211.5000 --10.0000;-211.0000 --10.0000;-210.5000 --10.0000;-210.0000 --10.0000;-209.5000 --10.0000;-209.0000 --10.0000;-208.5000 --10.0000;-208.0000 --10.0000;-207.5000 --10.0000;-207.0000 --10.0000;-26.5000 --10.0000;-26.0000 --10.0000;-25.5000 --10.0000;-25.0000 --10.0000;-24.5000 --10.0000;-24.0000 --10.0000;-23.5000 --10.0000;-23.0000 --10.0000;-22.5000 --10.0000;-22.0000 --10.0000;-21.5000 --10.0000;-21.0000 --10.0000;-20.5000 --10.0000;-20.0000 --10.0000;-19.5000 --10.0000;-19.0000 --10.0000;-18.5000 --10.0000;-18.0000 --10.0000;-17.5000 --10.0000;-17.0000 --10.0000;-16.5000 --10.0000;-16.0000 --10.0000;-15.5000 --10.0000;-15.0000 --10.0000;-14.5000 --10.0000;-14.0000 --10.0000;-13.5000 --10.0000;-13.0000 --10.0000;-12.5000 --10.0000;-12.0000 --10.0000;-11.5000 --9.5000;-218.5000 --9.5000;-218.0000 --9.5000;-217.5000 --9.5000;-217.0000 --9.5000;-216.5000 --9.5000;-216.0000 --9.5000;-215.5000 --9.5000;-215.0000 --9.5000;-214.5000 --9.5000;-214.0000 --9.5000;-213.5000 --9.5000;-213.0000 --9.5000;-212.5000 --9.5000;-212.0000 --9.5000;-211.5000 --9.5000;-211.0000 --9.5000;-210.5000 --9.5000;-210.0000 --9.5000;-209.5000 --9.5000;-209.0000 --9.5000;-208.5000 --9.5000;-208.0000 --9.5000;-207.5000 --9.5000;-207.0000 --9.5000;-26.5000 --9.5000;-26.0000 --9.5000;-25.5000 --9.5000;-25.0000 --9.5000;-24.5000 --9.5000;-24.0000 --9.5000;-23.5000 --9.5000;-23.0000 --9.5000;-22.5000 --9.5000;-22.0000 --9.5000;-21.5000 --9.5000;-21.0000 --9.5000;-20.5000 --9.5000;-20.0000 --9.5000;-19.5000 --9.5000;-19.0000 --9.5000;-18.5000 --9.5000;-18.0000 --9.5000;-17.5000 --9.5000;-17.0000 --9.5000;-16.5000 --9.5000;-16.0000 --9.5000;-15.5000 --9.5000;-15.0000 --9.5000;-14.5000 --9.5000;-14.0000 --9.5000;-13.5000 --9.5000;-13.0000 --9.5000;-12.5000 --9.5000;-12.0000 --9.0000;-218.5000 --9.0000;-218.0000 --9.0000;-217.5000 --9.0000;-217.0000 --9.0000;-216.5000 --9.0000;-216.0000 --9.0000;-215.5000 --9.0000;-215.0000 --9.0000;-214.5000 --9.0000;-214.0000 --9.0000;-213.5000 --9.0000;-213.0000 --9.0000;-212.5000 --9.0000;-212.0000 --9.0000;-211.5000 --9.0000;-211.0000 --9.0000;-210.5000 --9.0000;-210.0000 --9.0000;-209.5000 --9.0000;-209.0000 --9.0000;-208.5000 --9.0000;-208.0000 --9.0000;-207.5000 --9.0000;-207.0000 --9.0000;-27.0000 --9.0000;-26.5000 --9.0000;-26.0000 --9.0000;-25.5000 --9.0000;-25.0000 --9.0000;-24.5000 --9.0000;-24.0000 --9.0000;-23.5000 --9.0000;-23.0000 --9.0000;-22.5000 --9.0000;-22.0000 --9.0000;-21.5000 --9.0000;-21.0000 --9.0000;-20.5000 --9.0000;-20.0000 --9.0000;-19.5000 --9.0000;-19.0000 --9.0000;-18.5000 --9.0000;-18.0000 --9.0000;-17.5000 --9.0000;-17.0000 --9.0000;-16.5000 --9.0000;-16.0000 --9.0000;-15.5000 --9.0000;-15.0000 --9.0000;-14.5000 --9.0000;-14.0000 --9.0000;-13.5000 --9.0000;-13.0000 --9.0000;-12.5000 --9.0000;-12.0000 --8.5000;-218.5000 --8.5000;-218.0000 --8.5000;-217.5000 --8.5000;-217.0000 --8.5000;-216.5000 --8.5000;-216.0000 --8.5000;-215.5000 --8.5000;-215.0000 --8.5000;-214.5000 --8.5000;-214.0000 --8.5000;-213.5000 --8.5000;-213.0000 --8.5000;-212.5000 --8.5000;-212.0000 --8.5000;-211.5000 --8.5000;-211.0000 --8.5000;-210.5000 --8.5000;-210.0000 --8.5000;-209.5000 --8.5000;-209.0000 --8.5000;-208.5000 --8.5000;-208.0000 --8.5000;-207.5000 --8.5000;-207.0000 --8.5000;-27.5000 --8.5000;-27.0000 --8.5000;-26.5000 --8.5000;-26.0000 --8.5000;-25.5000 --8.5000;-25.0000 --8.5000;-24.5000 --8.5000;-24.0000 --8.5000;-23.5000 --8.5000;-23.0000 --8.5000;-22.5000 --8.5000;-22.0000 --8.5000;-21.5000 --8.5000;-21.0000 --8.5000;-20.5000 --8.5000;-20.0000 --8.5000;-19.5000 --8.5000;-19.0000 --8.5000;-18.5000 --8.5000;-18.0000 --8.5000;-17.5000 --8.5000;-17.0000 --8.5000;-16.5000 --8.5000;-16.0000 --8.5000;-15.5000 --8.5000;-15.0000 --8.5000;-14.5000 --8.5000;-14.0000 --8.5000;-13.5000 --8.5000;-13.0000 --8.5000;-12.5000 --8.0000;-218.5000 --8.0000;-218.0000 --8.0000;-217.5000 --8.0000;-217.0000 --8.0000;-216.5000 --8.0000;-216.0000 --8.0000;-215.5000 --8.0000;-215.0000 --8.0000;-214.5000 --8.0000;-214.0000 --8.0000;-213.5000 --8.0000;-213.0000 --8.0000;-212.5000 --8.0000;-212.0000 --8.0000;-211.5000 --8.0000;-211.0000 --8.0000;-210.5000 --8.0000;-210.0000 --8.0000;-209.5000 --8.0000;-209.0000 --8.0000;-208.5000 --8.0000;-208.0000 --8.0000;-207.5000 --8.0000;-207.0000 --8.0000;-28.0000 --8.0000;-27.5000 --8.0000;-27.0000 --8.0000;-26.5000 --8.0000;-26.0000 --8.0000;-25.5000 --8.0000;-25.0000 --8.0000;-24.5000 --8.0000;-24.0000 --8.0000;-23.5000 --8.0000;-23.0000 --8.0000;-22.5000 --8.0000;-22.0000 --8.0000;-21.5000 --8.0000;-21.0000 --8.0000;-20.5000 --8.0000;-20.0000 --8.0000;-19.5000 --8.0000;-19.0000 --8.0000;-18.5000 --8.0000;-18.0000 --8.0000;-17.5000 --8.0000;-17.0000 --8.0000;-16.5000 --8.0000;-16.0000 --8.0000;-15.5000 --8.0000;-15.0000 --8.0000;-14.5000 --8.0000;-14.0000 --8.0000;-13.5000 --8.0000;-13.0000 --7.5000;-219.0000 --7.5000;-218.5000 --7.5000;-218.0000 --7.5000;-217.5000 --7.5000;-217.0000 --7.5000;-216.5000 --7.5000;-216.0000 --7.5000;-215.5000 --7.5000;-215.0000 --7.5000;-214.5000 --7.5000;-214.0000 --7.5000;-213.5000 --7.5000;-213.0000 --7.5000;-212.5000 --7.5000;-212.0000 --7.5000;-211.5000 --7.5000;-211.0000 --7.5000;-210.5000 --7.5000;-210.0000 --7.5000;-209.5000 --7.5000;-209.0000 --7.5000;-208.5000 --7.5000;-208.0000 --7.5000;-207.5000 --7.5000;-207.0000 --7.5000;-28.0000 --7.5000;-27.5000 --7.5000;-27.0000 --7.5000;-26.5000 --7.5000;-26.0000 --7.5000;-25.5000 --7.5000;-25.0000 --7.5000;-24.5000 --7.5000;-24.0000 --7.5000;-23.5000 --7.5000;-23.0000 --7.5000;-22.5000 --7.5000;-22.0000 --7.5000;-21.5000 --7.5000;-21.0000 --7.5000;-20.5000 --7.5000;-20.0000 --7.5000;-19.5000 --7.5000;-19.0000 --7.5000;-18.5000 --7.5000;-18.0000 --7.5000;-17.5000 --7.5000;-17.0000 --7.5000;-16.5000 --7.5000;-16.0000 --7.5000;-15.5000 --7.5000;-15.0000 --7.5000;-14.5000 --7.5000;-14.0000 --7.5000;-13.5000 --7.0000;-219.0000 --7.0000;-218.5000 --7.0000;-218.0000 --7.0000;-217.5000 --7.0000;-217.0000 --7.0000;-216.5000 --7.0000;-216.0000 --7.0000;-215.5000 --7.0000;-215.0000 --7.0000;-214.5000 --7.0000;-214.0000 --7.0000;-213.5000 --7.0000;-213.0000 --7.0000;-212.5000 --7.0000;-212.0000 --7.0000;-211.5000 --7.0000;-211.0000 --7.0000;-210.5000 --7.0000;-210.0000 --7.0000;-209.5000 --7.0000;-209.0000 --7.0000;-208.5000 --7.0000;-208.0000 --7.0000;-207.5000 --7.0000;-207.0000 --7.0000;-28.5000 --7.0000;-28.0000 --7.0000;-27.5000 --7.0000;-27.0000 --7.0000;-26.5000 --7.0000;-26.0000 --7.0000;-25.5000 --7.0000;-25.0000 --7.0000;-24.5000 --7.0000;-24.0000 --7.0000;-23.5000 --7.0000;-23.0000 --7.0000;-22.5000 --7.0000;-22.0000 --7.0000;-21.5000 --7.0000;-21.0000 --7.0000;-20.5000 --7.0000;-20.0000 --7.0000;-19.5000 --7.0000;-19.0000 --7.0000;-18.5000 --7.0000;-18.0000 --7.0000;-17.5000 --7.0000;-17.0000 --7.0000;-16.5000 --7.0000;-16.0000 --7.0000;-15.5000 --7.0000;-15.0000 --7.0000;-14.5000 --7.0000;-14.0000 --7.0000;-13.5000 --6.5000;-219.0000 --6.5000;-218.5000 --6.5000;-218.0000 --6.5000;-217.5000 --6.5000;-217.0000 --6.5000;-216.5000 --6.5000;-216.0000 --6.5000;-215.5000 --6.5000;-215.0000 --6.5000;-214.5000 --6.5000;-214.0000 --6.5000;-213.5000 --6.5000;-213.0000 --6.5000;-212.5000 --6.5000;-212.0000 --6.5000;-211.5000 --6.5000;-211.0000 --6.5000;-210.5000 --6.5000;-210.0000 --6.5000;-209.5000 --6.5000;-209.0000 --6.5000;-208.5000 --6.5000;-208.0000 --6.5000;-207.5000 --6.5000;-207.0000 --6.5000;-29.0000 --6.5000;-28.5000 --6.5000;-28.0000 --6.5000;-27.5000 --6.5000;-27.0000 --6.5000;-26.5000 --6.5000;-26.0000 --6.5000;-25.5000 --6.5000;-25.0000 --6.5000;-24.5000 --6.5000;-24.0000 --6.5000;-23.5000 --6.5000;-23.0000 --6.5000;-22.5000 --6.5000;-22.0000 --6.5000;-21.5000 --6.5000;-21.0000 --6.5000;-20.5000 --6.5000;-20.0000 --6.5000;-19.5000 --6.5000;-19.0000 --6.5000;-18.5000 --6.5000;-18.0000 --6.5000;-17.5000 --6.5000;-17.0000 --6.5000;-16.5000 --6.5000;-16.0000 --6.5000;-15.5000 --6.5000;-15.0000 --6.5000;-14.5000 --6.5000;-14.0000 --6.0000;-219.0000 --6.0000;-218.5000 --6.0000;-218.0000 --6.0000;-217.5000 --6.0000;-217.0000 --6.0000;-216.5000 --6.0000;-216.0000 --6.0000;-215.5000 --6.0000;-215.0000 --6.0000;-214.5000 --6.0000;-214.0000 --6.0000;-213.5000 --6.0000;-213.0000 --6.0000;-212.5000 --6.0000;-212.0000 --6.0000;-211.5000 --6.0000;-211.0000 --6.0000;-210.5000 --6.0000;-210.0000 --6.0000;-209.5000 --6.0000;-209.0000 --6.0000;-208.5000 --6.0000;-208.0000 --6.0000;-207.5000 --6.0000;-207.0000 --6.0000;-29.5000 --6.0000;-29.0000 --6.0000;-28.5000 --6.0000;-28.0000 --6.0000;-27.5000 --6.0000;-27.0000 --6.0000;-26.5000 --6.0000;-26.0000 --6.0000;-25.5000 --6.0000;-25.0000 --6.0000;-24.5000 --6.0000;-24.0000 --6.0000;-23.5000 --6.0000;-23.0000 --6.0000;-22.5000 --6.0000;-22.0000 --6.0000;-21.5000 --6.0000;-21.0000 --6.0000;-20.5000 --6.0000;-20.0000 --6.0000;-19.5000 --6.0000;-19.0000 --6.0000;-18.5000 --6.0000;-18.0000 --6.0000;-17.5000 --6.0000;-17.0000 --6.0000;-16.5000 --6.0000;-16.0000 --6.0000;-15.5000 --6.0000;-15.0000 --6.0000;-14.5000 --5.5000;-219.0000 --5.5000;-218.5000 --5.5000;-218.0000 --5.5000;-217.5000 --5.5000;-217.0000 --5.5000;-216.5000 --5.5000;-216.0000 --5.5000;-215.5000 --5.5000;-215.0000 --5.5000;-214.5000 --5.5000;-214.0000 --5.5000;-213.5000 --5.5000;-213.0000 --5.5000;-212.5000 --5.5000;-212.0000 --5.5000;-211.5000 --5.5000;-211.0000 --5.5000;-210.5000 --5.5000;-210.0000 --5.5000;-209.5000 --5.5000;-209.0000 --5.5000;-208.5000 --5.5000;-208.0000 --5.5000;-207.5000 --5.5000;-207.0000 --5.5000;-29.5000 --5.5000;-29.0000 --5.5000;-28.5000 --5.5000;-28.0000 --5.5000;-27.5000 --5.5000;-27.0000 --5.5000;-26.5000 --5.5000;-26.0000 --5.5000;-25.5000 --5.5000;-25.0000 --5.5000;-24.5000 --5.5000;-24.0000 --5.5000;-23.5000 --5.5000;-23.0000 --5.5000;-22.5000 --5.5000;-22.0000 --5.5000;-21.5000 --5.5000;-21.0000 --5.5000;-20.5000 --5.5000;-20.0000 --5.5000;-19.5000 --5.5000;-19.0000 --5.5000;-18.5000 --5.5000;-18.0000 --5.5000;-17.5000 --5.5000;-17.0000 --5.5000;-16.5000 --5.5000;-16.0000 --5.5000;-15.5000 --5.5000;-15.0000 --5.0000;-219.0000 --5.0000;-218.5000 --5.0000;-218.0000 --5.0000;-217.5000 --5.0000;-217.0000 --5.0000;-216.5000 --5.0000;-216.0000 --5.0000;-215.5000 --5.0000;-215.0000 --5.0000;-214.5000 --5.0000;-214.0000 --5.0000;-213.5000 --5.0000;-213.0000 --5.0000;-212.5000 --5.0000;-212.0000 --5.0000;-211.5000 --5.0000;-211.0000 --5.0000;-210.5000 --5.0000;-210.0000 --5.0000;-209.5000 --5.0000;-209.0000 --5.0000;-208.5000 --5.0000;-208.0000 --5.0000;-207.5000 --5.0000;-207.0000 --5.0000;-30.0000 --5.0000;-29.5000 --5.0000;-29.0000 --5.0000;-28.5000 --5.0000;-28.0000 --5.0000;-27.5000 --5.0000;-27.0000 --5.0000;-26.5000 --5.0000;-26.0000 --5.0000;-25.5000 --5.0000;-25.0000 --5.0000;-24.5000 --5.0000;-24.0000 --5.0000;-23.5000 --5.0000;-23.0000 --5.0000;-22.5000 --5.0000;-22.0000 --5.0000;-21.5000 --5.0000;-21.0000 --5.0000;-20.5000 --5.0000;-20.0000 --5.0000;-19.5000 --5.0000;-19.0000 --5.0000;-18.5000 --5.0000;-18.0000 --5.0000;-17.5000 --5.0000;-17.0000 --5.0000;-16.5000 --5.0000;-16.0000 --5.0000;-15.5000 --4.5000;-219.0000 --4.5000;-218.5000 --4.5000;-218.0000 --4.5000;-217.5000 --4.5000;-217.0000 --4.5000;-216.5000 --4.5000;-216.0000 --4.5000;-215.5000 --4.5000;-215.0000 --4.5000;-214.5000 --4.5000;-214.0000 --4.5000;-213.5000 --4.5000;-213.0000 --4.5000;-212.5000 --4.5000;-212.0000 --4.5000;-211.5000 --4.5000;-211.0000 --4.5000;-210.5000 --4.5000;-210.0000 --4.5000;-209.5000 --4.5000;-209.0000 --4.5000;-208.5000 --4.5000;-208.0000 --4.5000;-207.5000 --4.5000;-207.0000 --4.5000;-30.5000 --4.5000;-30.0000 --4.5000;-29.5000 --4.5000;-29.0000 --4.5000;-28.5000 --4.5000;-28.0000 --4.5000;-27.5000 --4.5000;-27.0000 --4.5000;-26.5000 --4.5000;-26.0000 --4.5000;-25.5000 --4.5000;-25.0000 --4.5000;-24.5000 --4.5000;-24.0000 --4.5000;-23.5000 --4.5000;-23.0000 --4.5000;-22.5000 --4.5000;-22.0000 --4.5000;-21.5000 --4.5000;-21.0000 --4.5000;-20.5000 --4.5000;-20.0000 --4.5000;-19.5000 --4.5000;-19.0000 --4.5000;-18.5000 --4.5000;-18.0000 --4.5000;-17.5000 --4.5000;-17.0000 --4.5000;-16.5000 --4.5000;-16.0000 --4.5000;-15.5000 --4.0000;-219.0000 --4.0000;-218.5000 --4.0000;-218.0000 --4.0000;-217.5000 --4.0000;-217.0000 --4.0000;-216.5000 --4.0000;-216.0000 --4.0000;-215.5000 --4.0000;-215.0000 --4.0000;-214.5000 --4.0000;-214.0000 --4.0000;-213.5000 --4.0000;-213.0000 --4.0000;-212.5000 --4.0000;-212.0000 --4.0000;-211.5000 --4.0000;-211.0000 --4.0000;-210.5000 --4.0000;-210.0000 --4.0000;-209.5000 --4.0000;-209.0000 --4.0000;-208.5000 --4.0000;-208.0000 --4.0000;-207.5000 --4.0000;-207.0000 --4.0000;-31.0000 --4.0000;-30.5000 --4.0000;-30.0000 --4.0000;-29.5000 --4.0000;-29.0000 --4.0000;-28.5000 --4.0000;-28.0000 --4.0000;-27.5000 --4.0000;-27.0000 --4.0000;-26.5000 --4.0000;-26.0000 --4.0000;-25.5000 --4.0000;-25.0000 --4.0000;-24.5000 --4.0000;-24.0000 --4.0000;-23.5000 --4.0000;-23.0000 --4.0000;-22.5000 --4.0000;-22.0000 --4.0000;-21.5000 --4.0000;-21.0000 --4.0000;-20.5000 --4.0000;-20.0000 --4.0000;-19.5000 --4.0000;-19.0000 --4.0000;-18.5000 --4.0000;-18.0000 --4.0000;-17.5000 --4.0000;-17.0000 --4.0000;-16.5000 --4.0000;-16.0000 --3.5000;-219.0000 --3.5000;-218.5000 --3.5000;-218.0000 --3.5000;-217.5000 --3.5000;-217.0000 --3.5000;-216.5000 --3.5000;-216.0000 --3.5000;-215.5000 --3.5000;-215.0000 --3.5000;-214.5000 --3.5000;-214.0000 --3.5000;-213.5000 --3.5000;-213.0000 --3.5000;-212.5000 --3.5000;-212.0000 --3.5000;-211.5000 --3.5000;-211.0000 --3.5000;-210.5000 --3.5000;-210.0000 --3.5000;-209.5000 --3.5000;-209.0000 --3.5000;-208.5000 --3.5000;-208.0000 --3.5000;-207.5000 --3.5000;-207.0000 --3.5000;-31.0000 --3.5000;-30.5000 --3.5000;-30.0000 --3.5000;-29.5000 --3.5000;-29.0000 --3.5000;-28.5000 --3.5000;-28.0000 --3.5000;-27.5000 --3.5000;-27.0000 --3.5000;-26.5000 --3.5000;-26.0000 --3.5000;-25.5000 --3.5000;-25.0000 --3.5000;-24.5000 --3.5000;-24.0000 --3.5000;-23.5000 --3.5000;-23.0000 --3.5000;-22.5000 --3.5000;-22.0000 --3.5000;-21.5000 --3.5000;-21.0000 --3.5000;-20.5000 --3.5000;-20.0000 --3.5000;-19.5000 --3.5000;-19.0000 --3.5000;-18.5000 --3.5000;-18.0000 --3.5000;-17.5000 --3.5000;-17.0000 --3.5000;-16.5000 --3.0000;-219.0000 --3.0000;-218.5000 --3.0000;-218.0000 --3.0000;-217.5000 --3.0000;-217.0000 --3.0000;-216.5000 --3.0000;-216.0000 --3.0000;-215.5000 --3.0000;-215.0000 --3.0000;-214.5000 --3.0000;-214.0000 --3.0000;-213.5000 --3.0000;-213.0000 --3.0000;-212.5000 --3.0000;-212.0000 --3.0000;-211.5000 --3.0000;-211.0000 --3.0000;-210.5000 --3.0000;-210.0000 --3.0000;-209.5000 --3.0000;-209.0000 --3.0000;-208.5000 --3.0000;-208.0000 --3.0000;-207.5000 --3.0000;-207.0000 --3.0000;-31.5000 --3.0000;-31.0000 --3.0000;-30.5000 --3.0000;-30.0000 --3.0000;-29.5000 --3.0000;-29.0000 --3.0000;-28.5000 --3.0000;-28.0000 --3.0000;-27.5000 --3.0000;-27.0000 --3.0000;-26.5000 --3.0000;-26.0000 --3.0000;-25.5000 --3.0000;-25.0000 --3.0000;-24.5000 --3.0000;-24.0000 --3.0000;-23.5000 --3.0000;-23.0000 --3.0000;-22.5000 --3.0000;-22.0000 --3.0000;-21.5000 --3.0000;-21.0000 --3.0000;-20.5000 --3.0000;-20.0000 --3.0000;-19.5000 --3.0000;-19.0000 --3.0000;-18.5000 --3.0000;-18.0000 --3.0000;-17.5000 --3.0000;-17.0000 --2.5000;-219.0000 --2.5000;-218.5000 --2.5000;-218.0000 --2.5000;-217.5000 --2.5000;-217.0000 --2.5000;-216.5000 --2.5000;-216.0000 --2.5000;-215.5000 --2.5000;-215.0000 --2.5000;-214.5000 --2.5000;-214.0000 --2.5000;-213.5000 --2.5000;-213.0000 --2.5000;-212.5000 --2.5000;-212.0000 --2.5000;-211.5000 --2.5000;-211.0000 --2.5000;-210.5000 --2.5000;-210.0000 --2.5000;-209.5000 --2.5000;-209.0000 --2.5000;-208.5000 --2.5000;-208.0000 --2.5000;-207.5000 --2.5000;-32.0000 --2.5000;-31.5000 --2.5000;-31.0000 --2.5000;-30.5000 --2.5000;-30.0000 --2.5000;-29.5000 --2.5000;-29.0000 --2.5000;-28.5000 --2.5000;-28.0000 --2.5000;-27.5000 --2.5000;-27.0000 --2.5000;-26.5000 --2.5000;-26.0000 --2.5000;-25.5000 --2.5000;-25.0000 --2.5000;-24.5000 --2.5000;-24.0000 --2.5000;-23.5000 --2.5000;-23.0000 --2.5000;-22.5000 --2.5000;-22.0000 --2.5000;-21.5000 --2.5000;-21.0000 --2.5000;-20.5000 --2.5000;-20.0000 --2.5000;-19.5000 --2.5000;-19.0000 --2.5000;-18.5000 --2.5000;-18.0000 --2.5000;-17.5000 --2.5000;-17.0000 --2.0000;-219.0000 --2.0000;-218.5000 --2.0000;-218.0000 --2.0000;-217.5000 --2.0000;-217.0000 --2.0000;-216.5000 --2.0000;-216.0000 --2.0000;-215.5000 --2.0000;-215.0000 --2.0000;-214.5000 --2.0000;-214.0000 --2.0000;-213.5000 --2.0000;-213.0000 --2.0000;-212.5000 --2.0000;-212.0000 --2.0000;-211.5000 --2.0000;-211.0000 --2.0000;-210.5000 --2.0000;-210.0000 --2.0000;-209.5000 --2.0000;-209.0000 --2.0000;-208.5000 --2.0000;-208.0000 --2.0000;-207.5000 --2.0000;-32.5000 --2.0000;-32.0000 --2.0000;-31.5000 --2.0000;-31.0000 --2.0000;-30.5000 --2.0000;-30.0000 --2.0000;-29.5000 --2.0000;-29.0000 --2.0000;-28.5000 --2.0000;-28.0000 --2.0000;-27.5000 --2.0000;-27.0000 --2.0000;-26.5000 --2.0000;-26.0000 --2.0000;-25.5000 --2.0000;-25.0000 --2.0000;-24.5000 --2.0000;-24.0000 --2.0000;-23.5000 --2.0000;-23.0000 --2.0000;-22.5000 --2.0000;-22.0000 --2.0000;-21.5000 --2.0000;-21.0000 --2.0000;-20.5000 --2.0000;-20.0000 --2.0000;-19.5000 --2.0000;-19.0000 --2.0000;-18.5000 --2.0000;-18.0000 --2.0000;-17.5000 --1.5000;-219.5000 --1.5000;-219.0000 --1.5000;-218.5000 --1.5000;-218.0000 --1.5000;-217.5000 --1.5000;-217.0000 --1.5000;-216.5000 --1.5000;-216.0000 --1.5000;-215.5000 --1.5000;-215.0000 --1.5000;-214.5000 --1.5000;-214.0000 --1.5000;-213.5000 --1.5000;-213.0000 --1.5000;-212.5000 --1.5000;-212.0000 --1.5000;-211.5000 --1.5000;-211.0000 --1.5000;-210.5000 --1.5000;-210.0000 --1.5000;-209.5000 --1.5000;-209.0000 --1.5000;-208.5000 --1.5000;-208.0000 --1.5000;-207.5000 --1.5000;-32.5000 --1.5000;-32.0000 --1.5000;-31.5000 --1.5000;-31.0000 --1.5000;-30.5000 --1.5000;-30.0000 --1.5000;-29.5000 --1.5000;-29.0000 --1.5000;-28.5000 --1.5000;-28.0000 --1.5000;-27.5000 --1.5000;-27.0000 --1.5000;-26.5000 --1.5000;-26.0000 --1.5000;-25.5000 --1.5000;-25.0000 --1.5000;-24.5000 --1.5000;-24.0000 --1.5000;-23.5000 --1.5000;-23.0000 --1.5000;-22.5000 --1.5000;-22.0000 --1.5000;-21.5000 --1.5000;-21.0000 --1.5000;-20.5000 --1.5000;-20.0000 --1.5000;-19.5000 --1.5000;-19.0000 --1.5000;-18.5000 --1.5000;-18.0000 --1.0000;-219.5000 --1.0000;-219.0000 --1.0000;-218.5000 --1.0000;-218.0000 --1.0000;-217.5000 --1.0000;-217.0000 --1.0000;-216.5000 --1.0000;-216.0000 --1.0000;-215.5000 --1.0000;-215.0000 --1.0000;-214.5000 --1.0000;-214.0000 --1.0000;-213.5000 --1.0000;-213.0000 --1.0000;-212.5000 --1.0000;-212.0000 --1.0000;-211.5000 --1.0000;-211.0000 --1.0000;-210.5000 --1.0000;-210.0000 --1.0000;-209.5000 --1.0000;-209.0000 --1.0000;-208.5000 --1.0000;-208.0000 --1.0000;-207.5000 --1.0000;-33.0000 --1.0000;-32.5000 --1.0000;-32.0000 --1.0000;-31.5000 --1.0000;-31.0000 --1.0000;-30.5000 --1.0000;-30.0000 --1.0000;-29.5000 --1.0000;-29.0000 --1.0000;-28.5000 --1.0000;-28.0000 --1.0000;-27.5000 --1.0000;-27.0000 --1.0000;-26.5000 --1.0000;-26.0000 --1.0000;-25.5000 --1.0000;-25.0000 --1.0000;-24.5000 --1.0000;-24.0000 --1.0000;-23.5000 --1.0000;-23.0000 --1.0000;-22.5000 --1.0000;-22.0000 --1.0000;-21.5000 --1.0000;-21.0000 --1.0000;-20.5000 --1.0000;-20.0000 --1.0000;-19.5000 --1.0000;-19.0000 --1.0000;-18.5000 --0.5000;-219.5000 --0.5000;-219.0000 --0.5000;-218.5000 --0.5000;-218.0000 --0.5000;-217.5000 --0.5000;-217.0000 --0.5000;-216.5000 --0.5000;-216.0000 --0.5000;-215.5000 --0.5000;-215.0000 --0.5000;-214.5000 --0.5000;-214.0000 --0.5000;-213.5000 --0.5000;-213.0000 --0.5000;-212.5000 --0.5000;-212.0000 --0.5000;-211.5000 --0.5000;-211.0000 --0.5000;-210.5000 --0.5000;-210.0000 --0.5000;-209.5000 --0.5000;-209.0000 --0.5000;-208.5000 --0.5000;-208.0000 --0.5000;-207.5000 --0.5000;-33.5000 --0.5000;-33.0000 --0.5000;-32.5000 --0.5000;-32.0000 --0.5000;-31.5000 --0.5000;-31.0000 --0.5000;-30.5000 --0.5000;-30.0000 --0.5000;-29.5000 --0.5000;-29.0000 --0.5000;-28.5000 --0.5000;-28.0000 --0.5000;-27.5000 --0.5000;-27.0000 --0.5000;-26.5000 --0.5000;-26.0000 --0.5000;-25.5000 --0.5000;-25.0000 --0.5000;-24.5000 --0.5000;-24.0000 --0.5000;-23.5000 --0.5000;-23.0000 --0.5000;-22.5000 --0.5000;-22.0000 --0.5000;-21.5000 --0.5000;-21.0000 --0.5000;-20.5000 --0.5000;-20.0000 --0.5000;-19.5000 --0.5000;-19.0000 --0.5000;-18.5000 -0.0000;-219.5000 -0.0000;-219.0000 -0.0000;-218.5000 -0.0000;-218.0000 -0.0000;-217.5000 -0.0000;-217.0000 -0.0000;-216.5000 -0.0000;-216.0000 -0.0000;-215.5000 -0.0000;-215.0000 -0.0000;-214.5000 -0.0000;-214.0000 -0.0000;-213.5000 -0.0000;-213.0000 -0.0000;-212.5000 -0.0000;-212.0000 -0.0000;-211.5000 -0.0000;-211.0000 -0.0000;-210.5000 -0.0000;-210.0000 -0.0000;-209.5000 -0.0000;-209.0000 -0.0000;-208.5000 -0.0000;-208.0000 -0.0000;-207.5000 -0.0000;-34.0000 -0.0000;-33.5000 -0.0000;-33.0000 -0.0000;-32.5000 -0.0000;-32.0000 -0.0000;-31.5000 -0.0000;-31.0000 -0.0000;-30.5000 -0.0000;-30.0000 -0.0000;-29.5000 -0.0000;-29.0000 -0.0000;-28.5000 -0.0000;-28.0000 -0.0000;-27.5000 -0.0000;-27.0000 -0.0000;-26.5000 -0.0000;-26.0000 -0.0000;-25.5000 -0.0000;-25.0000 -0.0000;-24.5000 -0.0000;-24.0000 -0.0000;-23.5000 -0.0000;-23.0000 -0.0000;-22.5000 -0.0000;-22.0000 -0.0000;-21.5000 -0.0000;-21.0000 -0.0000;-20.5000 -0.0000;-20.0000 -0.0000;-19.5000 -0.0000;-19.0000 -0.5000;-219.5000 -0.5000;-219.0000 -0.5000;-218.5000 -0.5000;-218.0000 -0.5000;-217.5000 -0.5000;-217.0000 -0.5000;-216.5000 -0.5000;-216.0000 -0.5000;-215.5000 -0.5000;-215.0000 -0.5000;-214.5000 -0.5000;-214.0000 -0.5000;-213.5000 -0.5000;-213.0000 -0.5000;-212.5000 -0.5000;-212.0000 -0.5000;-211.5000 -0.5000;-211.0000 -0.5000;-210.5000 -0.5000;-210.0000 -0.5000;-209.5000 -0.5000;-209.0000 -0.5000;-208.5000 -0.5000;-208.0000 -0.5000;-207.5000 -0.5000;-34.0000 -0.5000;-33.5000 -0.5000;-33.0000 -0.5000;-32.5000 -0.5000;-32.0000 -0.5000;-31.5000 -0.5000;-31.0000 -0.5000;-30.5000 -0.5000;-30.0000 -0.5000;-29.5000 -0.5000;-29.0000 -0.5000;-28.5000 -0.5000;-28.0000 -0.5000;-27.5000 -0.5000;-27.0000 -0.5000;-26.5000 -0.5000;-26.0000 -0.5000;-25.5000 -0.5000;-25.0000 -0.5000;-24.5000 -0.5000;-24.0000 -0.5000;-23.5000 -0.5000;-23.0000 -0.5000;-22.5000 -0.5000;-22.0000 -0.5000;-21.5000 -0.5000;-21.0000 -0.5000;-20.5000 -0.5000;-20.0000 -0.5000;-19.5000 -1.0000;-219.5000 -1.0000;-219.0000 -1.0000;-218.5000 -1.0000;-218.0000 -1.0000;-217.5000 -1.0000;-217.0000 -1.0000;-216.5000 -1.0000;-216.0000 -1.0000;-215.5000 -1.0000;-215.0000 -1.0000;-214.5000 -1.0000;-214.0000 -1.0000;-213.5000 -1.0000;-213.0000 -1.0000;-212.5000 -1.0000;-212.0000 -1.0000;-211.5000 -1.0000;-211.0000 -1.0000;-210.5000 -1.0000;-210.0000 -1.0000;-209.5000 -1.0000;-209.0000 -1.0000;-208.5000 -1.0000;-208.0000 -1.0000;-34.5000 -1.0000;-34.0000 -1.0000;-33.5000 -1.0000;-33.0000 -1.0000;-32.5000 -1.0000;-32.0000 -1.0000;-31.5000 -1.0000;-31.0000 -1.0000;-30.5000 -1.0000;-30.0000 -1.0000;-29.5000 -1.0000;-29.0000 -1.0000;-28.5000 -1.0000;-28.0000 -1.0000;-27.5000 -1.0000;-27.0000 -1.0000;-26.5000 -1.0000;-26.0000 -1.0000;-25.5000 -1.0000;-25.0000 -1.0000;-24.5000 -1.0000;-24.0000 -1.0000;-23.5000 -1.0000;-23.0000 -1.0000;-22.5000 -1.0000;-22.0000 -1.0000;-21.5000 -1.0000;-21.0000 -1.0000;-20.5000 -1.0000;-20.0000 -1.5000;-220.0000 -1.5000;-219.5000 -1.5000;-219.0000 -1.5000;-218.5000 -1.5000;-218.0000 -1.5000;-217.5000 -1.5000;-217.0000 -1.5000;-216.5000 -1.5000;-216.0000 -1.5000;-215.5000 -1.5000;-215.0000 -1.5000;-214.5000 -1.5000;-214.0000 -1.5000;-213.5000 -1.5000;-213.0000 -1.5000;-212.5000 -1.5000;-212.0000 -1.5000;-211.5000 -1.5000;-211.0000 -1.5000;-210.5000 -1.5000;-210.0000 -1.5000;-209.5000 -1.5000;-209.0000 -1.5000;-208.5000 -1.5000;-208.0000 -1.5000;-35.0000 -1.5000;-34.5000 -1.5000;-34.0000 -1.5000;-33.5000 -1.5000;-33.0000 -1.5000;-32.5000 -1.5000;-32.0000 -1.5000;-31.5000 -1.5000;-31.0000 -1.5000;-30.5000 -1.5000;-30.0000 -1.5000;-29.5000 -1.5000;-29.0000 -1.5000;-28.5000 -1.5000;-28.0000 -1.5000;-27.5000 -1.5000;-27.0000 -1.5000;-26.5000 -1.5000;-26.0000 -1.5000;-25.5000 -1.5000;-25.0000 -1.5000;-24.5000 -1.5000;-24.0000 -1.5000;-23.5000 -1.5000;-23.0000 -1.5000;-22.5000 -1.5000;-22.0000 -1.5000;-21.5000 -1.5000;-21.0000 -1.5000;-20.5000 -1.5000;-20.0000 -2.0000;-220.0000 -2.0000;-219.5000 -2.0000;-219.0000 -2.0000;-218.5000 -2.0000;-218.0000 -2.0000;-217.5000 -2.0000;-217.0000 -2.0000;-216.5000 -2.0000;-216.0000 -2.0000;-215.5000 -2.0000;-215.0000 -2.0000;-214.5000 -2.0000;-214.0000 -2.0000;-213.5000 -2.0000;-213.0000 -2.0000;-212.5000 -2.0000;-212.0000 -2.0000;-211.5000 -2.0000;-211.0000 -2.0000;-210.5000 -2.0000;-210.0000 -2.0000;-209.5000 -2.0000;-209.0000 -2.0000;-208.5000 -2.0000;-208.0000 -2.0000;-35.5000 -2.0000;-35.0000 -2.0000;-34.5000 -2.0000;-34.0000 -2.0000;-33.5000 -2.0000;-33.0000 -2.0000;-32.5000 -2.0000;-32.0000 -2.0000;-31.5000 -2.0000;-31.0000 -2.0000;-30.5000 -2.0000;-30.0000 -2.0000;-29.5000 -2.0000;-29.0000 -2.0000;-28.5000 -2.0000;-28.0000 -2.0000;-27.5000 -2.0000;-27.0000 -2.0000;-26.5000 -2.0000;-26.0000 -2.0000;-25.5000 -2.0000;-25.0000 -2.0000;-24.5000 -2.0000;-24.0000 -2.0000;-23.5000 -2.0000;-23.0000 -2.0000;-22.5000 -2.0000;-22.0000 -2.0000;-21.5000 -2.0000;-21.0000 -2.0000;-20.5000 -2.5000;-220.0000 -2.5000;-219.5000 -2.5000;-219.0000 -2.5000;-218.5000 -2.5000;-218.0000 -2.5000;-217.5000 -2.5000;-217.0000 -2.5000;-216.5000 -2.5000;-216.0000 -2.5000;-215.5000 -2.5000;-215.0000 -2.5000;-214.5000 -2.5000;-214.0000 -2.5000;-213.5000 -2.5000;-213.0000 -2.5000;-212.5000 -2.5000;-212.0000 -2.5000;-211.5000 -2.5000;-211.0000 -2.5000;-210.5000 -2.5000;-210.0000 -2.5000;-209.5000 -2.5000;-209.0000 -2.5000;-208.5000 -2.5000;-208.0000 -2.5000;-35.5000 -2.5000;-35.0000 -2.5000;-34.5000 -2.5000;-34.0000 -2.5000;-33.5000 -2.5000;-33.0000 -2.5000;-32.5000 -2.5000;-32.0000 -2.5000;-31.5000 -2.5000;-31.0000 -2.5000;-30.5000 -2.5000;-30.0000 -2.5000;-29.5000 -2.5000;-29.0000 -2.5000;-28.5000 -2.5000;-28.0000 -2.5000;-27.5000 -2.5000;-27.0000 -2.5000;-26.5000 -2.5000;-26.0000 -2.5000;-25.5000 -2.5000;-25.0000 -2.5000;-24.5000 -2.5000;-24.0000 -2.5000;-23.5000 -2.5000;-23.0000 -2.5000;-22.5000 -2.5000;-22.0000 -2.5000;-21.5000 -2.5000;-21.0000 -3.0000;-220.0000 -3.0000;-219.5000 -3.0000;-219.0000 -3.0000;-218.5000 -3.0000;-218.0000 -3.0000;-217.5000 -3.0000;-217.0000 -3.0000;-216.5000 -3.0000;-216.0000 -3.0000;-215.5000 -3.0000;-215.0000 -3.0000;-214.5000 -3.0000;-214.0000 -3.0000;-213.5000 -3.0000;-213.0000 -3.0000;-212.5000 -3.0000;-212.0000 -3.0000;-211.5000 -3.0000;-211.0000 -3.0000;-210.5000 -3.0000;-210.0000 -3.0000;-209.5000 -3.0000;-209.0000 -3.0000;-208.5000 -3.0000;-208.0000 -3.0000;-36.0000 -3.0000;-35.5000 -3.0000;-35.0000 -3.0000;-34.5000 -3.0000;-34.0000 -3.0000;-33.5000 -3.0000;-33.0000 -3.0000;-32.5000 -3.0000;-32.0000 -3.0000;-31.5000 -3.0000;-31.0000 -3.0000;-30.5000 -3.0000;-30.0000 -3.0000;-29.5000 -3.0000;-29.0000 -3.0000;-28.5000 -3.0000;-28.0000 -3.0000;-27.5000 -3.0000;-27.0000 -3.0000;-26.5000 -3.0000;-26.0000 -3.0000;-25.5000 -3.0000;-25.0000 -3.0000;-24.5000 -3.0000;-24.0000 -3.0000;-23.5000 -3.0000;-23.0000 -3.0000;-22.5000 -3.0000;-22.0000 -3.0000;-21.5000 -3.5000;-220.0000 -3.5000;-219.5000 -3.5000;-219.0000 -3.5000;-218.5000 -3.5000;-218.0000 -3.5000;-217.5000 -3.5000;-217.0000 -3.5000;-216.5000 -3.5000;-216.0000 -3.5000;-215.5000 -3.5000;-215.0000 -3.5000;-214.5000 -3.5000;-214.0000 -3.5000;-213.5000 -3.5000;-213.0000 -3.5000;-212.5000 -3.5000;-212.0000 -3.5000;-211.5000 -3.5000;-211.0000 -3.5000;-210.5000 -3.5000;-210.0000 -3.5000;-209.5000 -3.5000;-209.0000 -3.5000;-208.5000 -3.5000;-208.0000 -3.5000;-36.5000 -3.5000;-36.0000 -3.5000;-35.5000 -3.5000;-35.0000 -3.5000;-34.5000 -3.5000;-34.0000 -3.5000;-33.5000 -3.5000;-33.0000 -3.5000;-32.5000 -3.5000;-32.0000 -3.5000;-31.5000 -3.5000;-31.0000 -3.5000;-30.5000 -3.5000;-30.0000 -3.5000;-29.5000 -3.5000;-29.0000 -3.5000;-28.5000 -3.5000;-28.0000 -3.5000;-27.5000 -3.5000;-27.0000 -3.5000;-26.5000 -3.5000;-26.0000 -3.5000;-25.5000 -3.5000;-25.0000 -3.5000;-24.5000 -3.5000;-24.0000 -3.5000;-23.5000 -3.5000;-23.0000 -3.5000;-22.5000 -3.5000;-22.0000 -3.5000;-21.5000 -4.0000;-220.0000 -4.0000;-219.5000 -4.0000;-219.0000 -4.0000;-218.5000 -4.0000;-218.0000 -4.0000;-217.5000 -4.0000;-217.0000 -4.0000;-216.5000 -4.0000;-216.0000 -4.0000;-215.5000 -4.0000;-215.0000 -4.0000;-214.5000 -4.0000;-214.0000 -4.0000;-213.5000 -4.0000;-213.0000 -4.0000;-212.5000 -4.0000;-212.0000 -4.0000;-211.5000 -4.0000;-211.0000 -4.0000;-210.5000 -4.0000;-210.0000 -4.0000;-209.5000 -4.0000;-209.0000 -4.0000;-208.5000 -4.0000;-37.0000 -4.0000;-36.5000 -4.0000;-36.0000 -4.0000;-35.5000 -4.0000;-35.0000 -4.0000;-34.5000 -4.0000;-34.0000 -4.0000;-33.5000 -4.0000;-33.0000 -4.0000;-32.5000 -4.0000;-32.0000 -4.0000;-31.5000 -4.0000;-31.0000 -4.0000;-30.5000 -4.0000;-30.0000 -4.0000;-29.5000 -4.0000;-29.0000 -4.0000;-28.5000 -4.0000;-28.0000 -4.0000;-27.5000 -4.0000;-27.0000 -4.0000;-26.5000 -4.0000;-26.0000 -4.0000;-25.5000 -4.0000;-25.0000 -4.0000;-24.5000 -4.0000;-24.0000 -4.0000;-23.5000 -4.0000;-23.0000 -4.0000;-22.5000 -4.0000;-22.0000 -4.5000;-220.5000 -4.5000;-220.0000 -4.5000;-219.5000 -4.5000;-219.0000 -4.5000;-218.5000 -4.5000;-218.0000 -4.5000;-217.5000 -4.5000;-217.0000 -4.5000;-216.5000 -4.5000;-216.0000 -4.5000;-215.5000 -4.5000;-215.0000 -4.5000;-214.5000 -4.5000;-214.0000 -4.5000;-213.5000 -4.5000;-213.0000 -4.5000;-212.5000 -4.5000;-212.0000 -4.5000;-211.5000 -4.5000;-211.0000 -4.5000;-210.5000 -4.5000;-210.0000 -4.5000;-209.5000 -4.5000;-209.0000 -4.5000;-208.5000 -4.5000;-37.5000 -4.5000;-37.0000 -4.5000;-36.5000 -4.5000;-36.0000 -4.5000;-35.5000 -4.5000;-35.0000 -4.5000;-34.5000 -4.5000;-34.0000 -4.5000;-33.5000 -4.5000;-33.0000 -4.5000;-32.5000 -4.5000;-32.0000 -4.5000;-31.5000 -4.5000;-31.0000 -4.5000;-30.5000 -4.5000;-30.0000 -4.5000;-29.5000 -4.5000;-29.0000 -4.5000;-28.5000 -4.5000;-28.0000 -4.5000;-27.5000 -4.5000;-27.0000 -4.5000;-26.5000 -4.5000;-26.0000 -4.5000;-25.5000 -4.5000;-25.0000 -4.5000;-24.5000 -4.5000;-24.0000 -4.5000;-23.5000 -4.5000;-23.0000 -4.5000;-22.5000 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--49.0000;27.5000 --49.0000;28.0000 --49.0000;28.5000 --49.0000;29.0000 --49.0000;29.5000 --49.0000;30.0000 --49.0000;30.5000 --49.0000;31.0000 --49.0000;31.5000 --49.0000;32.0000 --49.0000;32.5000 --49.0000;33.0000 --49.0000;33.5000 --49.0000;34.0000 --49.0000;34.5000 --49.0000;35.0000 --49.0000;35.5000 --49.0000;36.0000 --49.0000;36.5000 --49.0000;37.0000 --49.0000;37.5000 --49.0000;38.0000 --49.0000;38.5000 --49.0000;39.0000 --49.0000;39.5000 --49.0000;40.0000 --49.0000;40.5000 --49.0000;41.0000 --49.0000;41.5000 --49.0000;42.0000 --49.0000;42.5000 --49.0000;43.0000 --49.0000;43.5000 --49.0000;44.0000 --49.0000;44.5000 --49.0000;45.0000 --49.0000;45.5000 --49.0000;46.0000 --49.0000;46.5000 --49.0000;47.0000 --49.0000;47.5000 --49.0000;48.0000 --49.0000;48.5000 --49.0000;49.0000 --49.0000;49.5000 --49.0000;50.0000 --49.0000;50.5000 --49.0000;51.0000 --49.0000;51.5000 --49.0000;52.0000 --49.0000;52.5000 --49.0000;53.0000 --49.0000;53.5000 --49.0000;54.0000 --49.0000;54.5000 --49.0000;55.0000 --49.0000;55.5000 --49.0000;56.0000 --49.0000;56.5000 --49.0000;57.0000 --49.0000;57.5000 --49.0000;58.0000 --49.0000;58.5000 --49.0000;59.0000 --49.0000;59.5000 --49.0000;60.0000 --49.0000;60.5000 --49.0000;61.0000 --49.0000;61.5000 --49.0000;62.0000 --49.0000;62.5000 --49.0000;63.0000 --49.0000;63.5000 --49.0000;64.0000 --49.0000;64.5000 --49.0000;65.0000 --49.0000;65.5000 --49.0000;66.0000 --49.0000;66.5000 --49.0000;67.0000 --49.0000;67.5000 --49.0000;68.0000 --49.0000;68.5000 --49.0000;69.0000 --49.0000;69.5000 --49.0000;70.0000 --49.0000;70.5000 --49.0000;71.0000 --49.0000;71.5000 --49.0000;72.0000 --49.0000;72.5000 --49.0000;73.0000 --49.0000;73.5000 --49.0000;74.0000 --49.0000;74.5000 --49.0000;75.0000 --49.0000;75.5000 --49.0000;76.0000 --49.0000;76.5000 --49.0000;77.0000 --49.0000;77.5000 --49.0000;78.0000 --49.0000;78.5000 --49.0000;79.0000 --49.0000;79.5000 --49.0000;80.0000 --49.0000;80.5000 --49.0000;81.0000 --49.0000;81.5000 --49.0000;82.0000 --49.0000;82.5000 --49.0000;83.0000 --49.0000;83.5000 --49.0000;84.0000 --49.0000;84.5000 --49.0000;85.0000 --49.0000;85.5000 --49.0000;86.0000 --49.0000;86.5000 --49.0000;87.0000 --49.0000;87.5000 --49.0000;88.0000 --49.0000;88.5000 --49.0000;89.0000 --49.0000;89.5000 --49.0000;90.0000 --49.0000;90.5000 --49.0000;91.0000 --49.0000;91.5000 --49.0000;92.0000 --49.0000;92.5000 --49.0000;93.0000 --49.0000;93.5000 --49.0000;94.0000 --49.0000;94.5000 --49.0000;95.0000 --49.0000;95.5000 --49.0000;96.0000 --49.0000;96.5000 --49.0000;97.0000 --49.0000;97.5000 --49.0000;98.0000 --49.0000;98.5000 --49.0000;99.0000 --49.0000;99.5000 --49.0000;100.0000 --49.0000;100.5000 --49.0000;101.0000 --49.0000;101.5000 --49.0000;102.0000 --49.0000;102.5000 --49.0000;103.0000 --49.0000;103.5000 --48.5000;-4.5000 --48.5000;-4.0000 --48.5000;-3.5000 --48.5000;-3.0000 --48.5000;-2.5000 --48.5000;-2.0000 --48.5000;-1.5000 --48.5000;-1.0000 --48.5000;-0.5000 --48.5000;0.0000 --48.5000;0.5000 --48.5000;1.0000 --48.5000;1.5000 --48.5000;2.0000 --48.5000;2.5000 --48.5000;3.0000 --48.5000;3.5000 --48.5000;4.0000 --48.5000;4.5000 --48.5000;5.0000 --48.5000;5.5000 --48.5000;6.0000 --48.5000;6.5000 --48.5000;7.0000 --48.5000;7.5000 --48.5000;8.0000 --48.5000;8.5000 --48.5000;9.0000 --48.5000;9.5000 --48.5000;10.0000 --48.5000;10.5000 --48.5000;11.0000 --48.5000;11.5000 --48.5000;12.0000 --48.5000;12.5000 --48.5000;13.0000 --48.5000;13.5000 --48.5000;14.0000 --48.5000;14.5000 --48.5000;15.0000 --48.5000;15.5000 --48.5000;16.0000 --48.5000;16.5000 --48.5000;17.0000 --48.5000;17.5000 --48.5000;18.0000 --48.5000;18.5000 --48.5000;19.0000 --48.5000;19.5000 --48.5000;20.0000 --48.5000;20.5000 --48.5000;21.0000 --48.5000;21.5000 --48.5000;22.0000 --48.5000;22.5000 --48.5000;23.0000 --48.5000;23.5000 --48.5000;24.0000 --48.5000;24.5000 --48.5000;25.0000 --48.5000;25.5000 --48.5000;26.0000 --48.5000;26.5000 --48.5000;27.0000 --48.5000;27.5000 --48.5000;28.0000 --48.5000;28.5000 --48.5000;29.0000 --48.5000;29.5000 --48.5000;30.0000 --48.5000;30.5000 --48.5000;31.0000 --48.5000;31.5000 --48.5000;32.0000 --48.5000;32.5000 --48.5000;33.0000 --48.5000;33.5000 --48.5000;34.0000 --48.5000;34.5000 --48.5000;35.0000 --48.5000;35.5000 --48.5000;36.0000 --48.5000;36.5000 --48.5000;37.0000 --48.5000;37.5000 --48.5000;38.0000 --48.5000;38.5000 --48.5000;39.0000 --48.5000;39.5000 --48.5000;40.0000 --48.5000;40.5000 --48.5000;41.0000 --48.5000;41.5000 --48.5000;42.0000 --48.5000;42.5000 --48.5000;43.0000 --48.5000;43.5000 --48.5000;44.0000 --48.5000;44.5000 --48.5000;45.0000 --48.5000;45.5000 --48.5000;46.0000 --48.5000;46.5000 --48.5000;47.0000 --48.5000;47.5000 --48.5000;48.0000 --48.5000;48.5000 --48.5000;49.0000 --48.5000;49.5000 --48.5000;50.0000 --48.5000;50.5000 --48.5000;51.0000 --48.5000;51.5000 --48.5000;52.0000 --48.5000;52.5000 --48.5000;53.0000 --48.5000;53.5000 --48.5000;54.0000 --48.5000;54.5000 --48.5000;55.0000 --48.5000;55.5000 --48.5000;56.0000 --48.5000;56.5000 --48.5000;57.0000 --48.5000;57.5000 --48.5000;58.0000 --48.5000;58.5000 --48.5000;59.0000 --48.5000;59.5000 --48.5000;60.0000 --48.5000;60.5000 --48.5000;61.0000 --48.5000;61.5000 --48.5000;62.0000 --48.5000;62.5000 --48.5000;63.0000 --48.5000;63.5000 --48.5000;64.0000 --48.5000;64.5000 --48.5000;65.0000 --48.5000;65.5000 --48.5000;66.0000 --48.5000;66.5000 --48.5000;67.0000 --48.5000;67.5000 --48.5000;68.0000 --48.5000;68.5000 --48.5000;69.0000 --48.5000;69.5000 --48.5000;70.0000 --48.5000;70.5000 --48.5000;71.0000 --48.5000;71.5000 --48.5000;72.0000 --48.5000;72.5000 --48.5000;73.0000 --48.5000;73.5000 --48.5000;74.0000 --48.5000;74.5000 --48.5000;75.0000 --48.5000;75.5000 --48.5000;76.0000 --48.5000;76.5000 --48.5000;77.0000 --48.5000;77.5000 --48.5000;78.0000 --48.5000;78.5000 --48.5000;79.0000 --48.5000;79.5000 --48.5000;80.0000 --48.5000;80.5000 --48.5000;81.0000 --48.5000;81.5000 --48.5000;82.0000 --48.5000;82.5000 --48.5000;83.0000 --48.5000;83.5000 --48.5000;84.0000 --48.5000;84.5000 --48.5000;85.0000 --48.5000;85.5000 --48.5000;86.0000 --48.5000;86.5000 --48.5000;87.0000 --48.5000;87.5000 --48.5000;88.0000 --48.5000;88.5000 --48.5000;89.0000 --48.5000;89.5000 --48.5000;90.0000 --48.5000;90.5000 --48.5000;91.0000 --48.5000;91.5000 --48.5000;92.0000 --48.5000;92.5000 --48.5000;93.0000 --48.5000;93.5000 --48.5000;94.0000 --48.5000;94.5000 --48.5000;95.0000 --48.5000;95.5000 --48.5000;96.0000 --48.5000;96.5000 --48.5000;97.0000 --48.5000;97.5000 --48.5000;98.0000 --48.5000;98.5000 --48.5000;99.0000 --48.5000;99.5000 --48.5000;100.0000 --48.5000;100.5000 --48.5000;101.0000 --48.5000;101.5000 --48.5000;102.0000 --48.5000;102.5000 --48.5000;103.0000 --48.5000;103.5000 --48.5000;104.0000 --48.5000;104.5000 --48.5000;105.0000 --48.5000;105.5000 --48.0000;-6.0000 --48.0000;-5.5000 --48.0000;-5.0000 --48.0000;-4.5000 --48.0000;-4.0000 --48.0000;-3.5000 --48.0000;-3.0000 --48.0000;-2.5000 --48.0000;-2.0000 --48.0000;-1.5000 --48.0000;-1.0000 --48.0000;-0.5000 --48.0000;0.0000 --48.0000;0.5000 --48.0000;1.0000 --48.0000;1.5000 --48.0000;2.0000 --48.0000;2.5000 --48.0000;3.0000 --48.0000;3.5000 --48.0000;4.0000 --48.0000;4.5000 --48.0000;5.0000 --48.0000;5.5000 --48.0000;6.0000 --48.0000;6.5000 --48.0000;7.0000 --48.0000;7.5000 --48.0000;8.0000 --48.0000;8.5000 --48.0000;9.0000 --48.0000;9.5000 --48.0000;10.0000 --48.0000;10.5000 --48.0000;11.0000 --48.0000;11.5000 --48.0000;12.0000 --48.0000;12.5000 --48.0000;13.0000 --48.0000;13.5000 --48.0000;14.0000 --48.0000;14.5000 --48.0000;15.0000 --48.0000;15.5000 --48.0000;16.0000 --48.0000;16.5000 --48.0000;17.0000 --48.0000;17.5000 --48.0000;18.0000 --48.0000;18.5000 --48.0000;19.0000 --48.0000;19.5000 --48.0000;20.0000 --48.0000;20.5000 --48.0000;21.0000 --48.0000;21.5000 --48.0000;22.0000 --48.0000;22.5000 --48.0000;23.0000 --48.0000;23.5000 --48.0000;24.0000 --48.0000;24.5000 --48.0000;25.0000 --48.0000;25.5000 --48.0000;26.0000 --48.0000;26.5000 --48.0000;27.0000 --48.0000;27.5000 --48.0000;28.0000 --48.0000;28.5000 --48.0000;29.0000 --48.0000;29.5000 --48.0000;30.0000 --48.0000;30.5000 --48.0000;31.0000 --48.0000;31.5000 --48.0000;32.0000 --48.0000;32.5000 --48.0000;33.0000 --48.0000;33.5000 --48.0000;34.0000 --48.0000;34.5000 --48.0000;35.0000 --48.0000;35.5000 --48.0000;36.0000 --48.0000;36.5000 --48.0000;37.0000 --48.0000;37.5000 --48.0000;38.0000 --48.0000;38.5000 --48.0000;39.0000 --48.0000;39.5000 --48.0000;40.0000 --48.0000;40.5000 --48.0000;41.0000 --48.0000;41.5000 --48.0000;42.0000 --48.0000;42.5000 --48.0000;43.0000 --48.0000;43.5000 --48.0000;44.0000 --48.0000;44.5000 --48.0000;45.0000 --48.0000;45.5000 --48.0000;46.0000 --48.0000;46.5000 --48.0000;47.0000 --48.0000;47.5000 --48.0000;48.0000 --48.0000;48.5000 --48.0000;49.0000 --48.0000;49.5000 --48.0000;50.0000 --48.0000;50.5000 --48.0000;51.0000 --48.0000;51.5000 --48.0000;52.0000 --48.0000;52.5000 --48.0000;53.0000 --48.0000;53.5000 --48.0000;54.0000 --48.0000;54.5000 --48.0000;55.0000 --48.0000;55.5000 --48.0000;56.0000 --48.0000;56.5000 --48.0000;57.0000 --48.0000;57.5000 --48.0000;58.0000 --48.0000;58.5000 --48.0000;59.0000 --48.0000;59.5000 --48.0000;60.0000 --48.0000;60.5000 --48.0000;61.0000 --48.0000;61.5000 --48.0000;62.0000 --48.0000;62.5000 --48.0000;63.0000 --48.0000;63.5000 --48.0000;64.0000 --48.0000;64.5000 --48.0000;65.0000 --48.0000;65.5000 --48.0000;66.0000 --48.0000;66.5000 --48.0000;67.0000 --48.0000;67.5000 --48.0000;68.0000 --48.0000;68.5000 --48.0000;69.0000 --48.0000;69.5000 --48.0000;70.0000 --48.0000;70.5000 --48.0000;71.0000 --48.0000;71.5000 --48.0000;72.0000 --48.0000;72.5000 --48.0000;73.0000 --48.0000;73.5000 --48.0000;74.0000 --48.0000;74.5000 --48.0000;75.0000 --48.0000;75.5000 --48.0000;76.0000 --48.0000;76.5000 --48.0000;77.0000 --48.0000;77.5000 --48.0000;78.0000 --48.0000;78.5000 --48.0000;79.0000 --48.0000;79.5000 --48.0000;80.0000 --48.0000;80.5000 --48.0000;81.0000 --48.0000;81.5000 --48.0000;82.0000 --48.0000;82.5000 --48.0000;83.0000 --48.0000;83.5000 --48.0000;84.0000 --48.0000;84.5000 --48.0000;85.0000 --48.0000;85.5000 --48.0000;86.0000 --48.0000;86.5000 --48.0000;87.0000 --48.0000;87.5000 --48.0000;88.0000 --48.0000;88.5000 --48.0000;89.0000 --48.0000;89.5000 --48.0000;90.0000 --48.0000;90.5000 --48.0000;91.0000 --48.0000;91.5000 --48.0000;92.0000 --48.0000;92.5000 --48.0000;93.0000 --48.0000;93.5000 --48.0000;94.0000 --48.0000;94.5000 --48.0000;95.0000 --48.0000;95.5000 --48.0000;96.0000 --48.0000;96.5000 --48.0000;97.0000 --48.0000;97.5000 --48.0000;98.0000 --48.0000;98.5000 --48.0000;99.0000 --48.0000;99.5000 --48.0000;100.0000 --48.0000;100.5000 --48.0000;101.0000 --48.0000;101.5000 --48.0000;102.0000 --48.0000;102.5000 --48.0000;103.0000 --48.0000;103.5000 --48.0000;104.0000 --48.0000;104.5000 --48.0000;105.0000 --48.0000;105.5000 --48.0000;106.0000 --48.0000;106.5000 --47.5000;-7.0000 --47.5000;-6.5000 --47.5000;-6.0000 --47.5000;-5.5000 --47.5000;-5.0000 --47.5000;-4.5000 --47.5000;-4.0000 --47.5000;-3.5000 --47.5000;-3.0000 --47.5000;-2.5000 --47.5000;-2.0000 --47.5000;-1.5000 --47.5000;-1.0000 --47.5000;-0.5000 --47.5000;0.0000 --47.5000;0.5000 --47.5000;1.0000 --47.5000;1.5000 --47.5000;2.0000 --47.5000;2.5000 --47.5000;3.0000 --47.5000;3.5000 --47.5000;4.0000 --47.5000;4.5000 --47.5000;5.0000 --47.5000;5.5000 --47.5000;6.0000 --47.5000;6.5000 --47.5000;7.0000 --47.5000;7.5000 --47.5000;8.0000 --47.5000;8.5000 --47.5000;9.0000 --47.5000;9.5000 --47.5000;10.0000 --47.5000;10.5000 --47.5000;11.0000 --47.5000;11.5000 --47.5000;12.0000 --47.5000;12.5000 --47.5000;13.0000 --47.5000;13.5000 --47.5000;14.0000 --47.5000;14.5000 --47.5000;15.0000 --47.5000;15.5000 --47.5000;16.0000 --47.5000;16.5000 --47.5000;17.0000 --47.5000;17.5000 --47.5000;18.0000 --47.5000;18.5000 --47.5000;19.0000 --47.5000;19.5000 --47.5000;20.0000 --47.5000;20.5000 --47.5000;21.0000 --47.5000;21.5000 --47.5000;22.0000 --47.5000;22.5000 --47.5000;23.0000 --47.5000;23.5000 --47.5000;24.0000 --47.5000;24.5000 --47.5000;25.0000 --47.5000;25.5000 --47.5000;26.0000 --47.5000;26.5000 --47.5000;27.0000 --47.5000;27.5000 --47.5000;28.0000 --47.5000;28.5000 --47.5000;29.0000 --47.5000;29.5000 --47.5000;30.0000 --47.5000;30.5000 --47.5000;31.0000 --47.5000;31.5000 --47.5000;32.0000 --47.5000;32.5000 --47.5000;33.0000 --47.5000;33.5000 --47.5000;34.0000 --47.5000;34.5000 --47.5000;35.0000 --47.5000;35.5000 --47.5000;36.0000 --47.5000;36.5000 --47.5000;37.0000 --47.5000;37.5000 --47.5000;38.0000 --47.5000;38.5000 --47.5000;39.0000 --47.5000;39.5000 --47.5000;40.0000 --47.5000;40.5000 --47.5000;41.0000 --47.5000;41.5000 --47.5000;42.0000 --47.5000;42.5000 --47.5000;43.0000 --47.5000;43.5000 --47.5000;44.0000 --47.5000;44.5000 --47.5000;45.0000 --47.5000;45.5000 --47.5000;46.0000 --47.5000;46.5000 --47.5000;47.0000 --47.5000;47.5000 --47.5000;48.0000 --47.5000;48.5000 --47.5000;49.0000 --47.5000;49.5000 --47.5000;50.0000 --47.5000;50.5000 --47.5000;51.0000 --47.5000;51.5000 --47.5000;52.0000 --47.5000;52.5000 --47.5000;53.0000 --47.5000;53.5000 --47.5000;54.0000 --47.5000;54.5000 --47.5000;55.0000 --47.5000;55.5000 --47.5000;56.0000 --47.5000;56.5000 --47.5000;57.0000 --47.5000;57.5000 --47.5000;58.0000 --47.5000;58.5000 --47.5000;59.0000 --47.5000;59.5000 --47.5000;60.0000 --47.5000;60.5000 --47.5000;61.0000 --47.5000;61.5000 --47.5000;62.0000 --47.5000;62.5000 --47.5000;63.0000 --47.5000;63.5000 --47.5000;64.0000 --47.5000;64.5000 --47.5000;65.0000 --47.5000;65.5000 --47.5000;66.0000 --47.5000;66.5000 --47.5000;67.0000 --47.5000;67.5000 --47.5000;68.0000 --47.5000;68.5000 --47.5000;69.0000 --47.5000;69.5000 --47.5000;70.0000 --47.5000;70.5000 --47.5000;71.0000 --47.5000;71.5000 --47.5000;72.0000 --47.5000;72.5000 --47.5000;73.0000 --47.5000;73.5000 --47.5000;74.0000 --47.5000;74.5000 --47.5000;75.0000 --47.5000;75.5000 --47.5000;76.0000 --47.5000;76.5000 --47.5000;77.0000 --47.5000;77.5000 --47.5000;78.0000 --47.5000;78.5000 --47.5000;79.0000 --47.5000;79.5000 --47.5000;80.0000 --47.5000;80.5000 --47.5000;81.0000 --47.5000;81.5000 --47.5000;82.0000 --47.5000;82.5000 --47.5000;83.0000 --47.5000;83.5000 --47.5000;84.0000 --47.5000;84.5000 --47.5000;85.0000 --47.5000;85.5000 --47.5000;86.0000 --47.5000;86.5000 --47.5000;87.0000 --47.5000;87.5000 --47.5000;88.0000 --47.5000;88.5000 --47.5000;89.0000 --47.5000;89.5000 --47.5000;90.0000 --47.5000;90.5000 --47.5000;91.0000 --47.5000;91.5000 --47.5000;92.0000 --47.5000;92.5000 --47.5000;93.0000 --47.5000;93.5000 --47.5000;94.0000 --47.5000;94.5000 --47.5000;95.0000 --47.5000;95.5000 --47.5000;96.0000 --47.5000;96.5000 --47.5000;97.0000 --47.5000;97.5000 --47.5000;98.0000 --47.5000;98.5000 --47.5000;99.0000 --47.5000;99.5000 --47.5000;100.0000 --47.5000;100.5000 --47.5000;101.0000 --47.5000;101.5000 --47.5000;102.0000 --47.5000;102.5000 --47.5000;103.0000 --47.5000;103.5000 --47.5000;104.0000 --47.5000;104.5000 --47.5000;105.0000 --47.5000;105.5000 --47.5000;106.0000 --47.5000;106.5000 --47.5000;107.0000 --47.5000;107.5000 --47.0000;-8.0000 --47.0000;-7.5000 --47.0000;-7.0000 --47.0000;-6.5000 --47.0000;-6.0000 --47.0000;-5.5000 --47.0000;-5.0000 --47.0000;-4.5000 --47.0000;-4.0000 --47.0000;-3.5000 --47.0000;-3.0000 --47.0000;-2.5000 --47.0000;-2.0000 --47.0000;-1.5000 --47.0000;-1.0000 --47.0000;-0.5000 --47.0000;0.0000 --47.0000;0.5000 --47.0000;1.0000 --47.0000;1.5000 --47.0000;2.0000 --47.0000;2.5000 --47.0000;3.0000 --47.0000;3.5000 --47.0000;4.0000 --47.0000;4.5000 --47.0000;5.0000 --47.0000;5.5000 --47.0000;6.0000 --47.0000;6.5000 --47.0000;7.0000 --47.0000;7.5000 --47.0000;8.0000 --47.0000;8.5000 --47.0000;9.0000 --47.0000;9.5000 --47.0000;10.0000 --47.0000;10.5000 --47.0000;11.0000 --47.0000;11.5000 --47.0000;12.0000 --47.0000;12.5000 --47.0000;13.0000 --47.0000;13.5000 --47.0000;14.0000 --47.0000;14.5000 --47.0000;15.0000 --47.0000;15.5000 --47.0000;16.0000 --47.0000;16.5000 --47.0000;17.0000 --47.0000;17.5000 --47.0000;18.0000 --47.0000;18.5000 --47.0000;19.0000 --47.0000;19.5000 --47.0000;20.0000 --47.0000;20.5000 --47.0000;21.0000 --47.0000;21.5000 --47.0000;22.0000 --47.0000;22.5000 --47.0000;23.0000 --47.0000;23.5000 --47.0000;24.0000 --47.0000;24.5000 --47.0000;25.0000 --47.0000;25.5000 --47.0000;26.0000 --47.0000;26.5000 --47.0000;27.0000 --47.0000;27.5000 --47.0000;28.0000 --47.0000;28.5000 --47.0000;29.0000 --47.0000;29.5000 --47.0000;30.0000 --47.0000;30.5000 --47.0000;31.0000 --47.0000;31.5000 --47.0000;32.0000 --47.0000;32.5000 --47.0000;33.0000 --47.0000;33.5000 --47.0000;34.0000 --47.0000;34.5000 --47.0000;35.0000 --47.0000;35.5000 --47.0000;36.0000 --47.0000;36.5000 --47.0000;37.0000 --47.0000;37.5000 --47.0000;38.0000 --47.0000;38.5000 --47.0000;39.0000 --47.0000;39.5000 --47.0000;40.0000 --47.0000;40.5000 --47.0000;41.0000 --47.0000;41.5000 --47.0000;42.0000 --47.0000;42.5000 --47.0000;43.0000 --47.0000;43.5000 --47.0000;44.0000 --47.0000;44.5000 --47.0000;45.0000 --47.0000;45.5000 --47.0000;46.0000 --47.0000;46.5000 --47.0000;47.0000 --47.0000;47.5000 --47.0000;48.0000 --47.0000;48.5000 --47.0000;49.0000 --47.0000;49.5000 --47.0000;50.0000 --47.0000;50.5000 --47.0000;51.0000 --47.0000;51.5000 --47.0000;52.0000 --47.0000;52.5000 --47.0000;53.0000 --47.0000;53.5000 --47.0000;54.0000 --47.0000;54.5000 --47.0000;55.0000 --47.0000;55.5000 --47.0000;56.0000 --47.0000;56.5000 --47.0000;57.0000 --47.0000;57.5000 --47.0000;58.0000 --47.0000;58.5000 --47.0000;59.0000 --47.0000;59.5000 --47.0000;60.0000 --47.0000;60.5000 --47.0000;61.0000 --47.0000;61.5000 --47.0000;62.0000 --47.0000;62.5000 --47.0000;63.0000 --47.0000;63.5000 --47.0000;64.0000 --47.0000;64.5000 --47.0000;65.0000 --47.0000;65.5000 --47.0000;66.0000 --47.0000;66.5000 --47.0000;67.0000 --47.0000;67.5000 --47.0000;68.0000 --47.0000;68.5000 --47.0000;69.0000 --47.0000;69.5000 --47.0000;70.0000 --47.0000;70.5000 --47.0000;71.0000 --47.0000;71.5000 --47.0000;72.0000 --47.0000;72.5000 --47.0000;73.0000 --47.0000;73.5000 --47.0000;74.0000 --47.0000;74.5000 --47.0000;75.0000 --47.0000;75.5000 --47.0000;76.0000 --47.0000;76.5000 --47.0000;77.0000 --47.0000;77.5000 --47.0000;78.0000 --47.0000;78.5000 --47.0000;79.0000 --47.0000;79.5000 --47.0000;80.0000 --47.0000;80.5000 --47.0000;81.0000 --47.0000;81.5000 --47.0000;82.0000 --47.0000;82.5000 --47.0000;83.0000 --47.0000;83.5000 --47.0000;84.0000 --47.0000;84.5000 --47.0000;85.0000 --47.0000;85.5000 --47.0000;86.0000 --47.0000;86.5000 --47.0000;87.0000 --47.0000;87.5000 --47.0000;88.0000 --47.0000;88.5000 --47.0000;89.0000 --47.0000;89.5000 --47.0000;90.0000 --47.0000;90.5000 --47.0000;91.0000 --47.0000;91.5000 --47.0000;92.0000 --47.0000;92.5000 --47.0000;93.0000 --47.0000;93.5000 --47.0000;94.0000 --47.0000;94.5000 --47.0000;95.0000 --47.0000;95.5000 --47.0000;96.0000 --47.0000;96.5000 --47.0000;97.0000 --47.0000;97.5000 --47.0000;98.0000 --47.0000;98.5000 --47.0000;99.0000 --47.0000;99.5000 --47.0000;100.0000 --47.0000;100.5000 --47.0000;101.0000 --47.0000;101.5000 --47.0000;102.0000 --47.0000;102.5000 --47.0000;103.0000 --47.0000;103.5000 --47.0000;104.0000 --47.0000;104.5000 --47.0000;105.0000 --47.0000;105.5000 --47.0000;106.0000 --47.0000;106.5000 --47.0000;107.0000 --47.0000;107.5000 --47.0000;108.0000 --47.0000;108.5000 --46.5000;-8.5000 --46.5000;-8.0000 --46.5000;-7.5000 --46.5000;-7.0000 --46.5000;-6.5000 --46.5000;-6.0000 --46.5000;-5.5000 --46.5000;-5.0000 --46.5000;-4.5000 --46.5000;-4.0000 --46.5000;-3.5000 --46.5000;-3.0000 --46.5000;-2.5000 --46.5000;-2.0000 --46.5000;-1.5000 --46.5000;-1.0000 --46.5000;-0.5000 --46.5000;0.0000 --46.5000;0.5000 --46.5000;1.0000 --46.5000;1.5000 --46.5000;2.0000 --46.5000;2.5000 --46.5000;3.0000 --46.5000;3.5000 --46.5000;4.0000 --46.5000;4.5000 --46.5000;5.0000 --46.5000;5.5000 --46.5000;6.0000 --46.5000;6.5000 --46.5000;7.0000 --46.5000;7.5000 --46.5000;8.0000 --46.5000;8.5000 --46.5000;9.0000 --46.5000;9.5000 --46.5000;10.0000 --46.5000;10.5000 --46.5000;11.0000 --46.5000;11.5000 --46.5000;12.0000 --46.5000;12.5000 --46.5000;13.0000 --46.5000;13.5000 --46.5000;14.0000 --46.5000;14.5000 --46.5000;15.0000 --46.5000;15.5000 --46.5000;16.0000 --46.5000;16.5000 --46.5000;17.0000 --46.5000;17.5000 --46.5000;18.0000 --46.5000;18.5000 --46.5000;19.0000 --46.5000;19.5000 --46.5000;20.0000 --46.5000;20.5000 --46.5000;21.0000 --46.5000;21.5000 --46.5000;22.0000 --46.5000;22.5000 --46.5000;23.0000 --46.5000;23.5000 --46.5000;24.0000 --46.5000;24.5000 --46.5000;25.0000 --46.5000;25.5000 --46.5000;26.0000 --46.5000;26.5000 --46.5000;27.0000 --46.5000;27.5000 --46.5000;28.0000 --46.5000;28.5000 --46.5000;29.0000 --46.5000;29.5000 --46.5000;30.0000 --46.5000;30.5000 --46.5000;31.0000 --46.5000;31.5000 --46.5000;32.0000 --46.5000;32.5000 --46.5000;33.0000 --46.5000;33.5000 --46.5000;34.0000 --46.5000;34.5000 --46.5000;35.0000 --46.5000;35.5000 --46.5000;36.0000 --46.5000;36.5000 --46.5000;37.0000 --46.5000;37.5000 --46.5000;38.0000 --46.5000;38.5000 --46.5000;39.0000 --46.5000;39.5000 --46.5000;40.0000 --46.5000;40.5000 --46.5000;41.0000 --46.5000;41.5000 --46.5000;42.0000 --46.5000;42.5000 --46.5000;43.0000 --46.5000;43.5000 --46.5000;44.0000 --46.5000;44.5000 --46.5000;45.0000 --46.5000;45.5000 --46.5000;46.0000 --46.5000;46.5000 --46.5000;47.0000 --46.5000;47.5000 --46.5000;48.0000 --46.5000;48.5000 --46.5000;49.0000 --46.5000;49.5000 --46.5000;50.0000 --46.5000;50.5000 --46.5000;51.0000 --46.5000;51.5000 --46.5000;52.0000 --46.5000;52.5000 --46.5000;53.0000 --46.5000;53.5000 --46.5000;54.0000 --46.5000;54.5000 --46.5000;55.0000 --46.5000;55.5000 --46.5000;56.0000 --46.5000;56.5000 --46.5000;57.0000 --46.5000;57.5000 --46.5000;58.0000 --46.5000;58.5000 --46.5000;59.0000 --46.5000;59.5000 --46.5000;60.0000 --46.5000;60.5000 --46.5000;61.0000 --46.5000;61.5000 --46.5000;62.0000 --46.5000;62.5000 --46.5000;63.0000 --46.5000;63.5000 --46.5000;64.0000 --46.5000;64.5000 --46.5000;65.0000 --46.5000;65.5000 --46.5000;66.0000 --46.5000;66.5000 --46.5000;67.0000 --46.5000;67.5000 --46.5000;68.0000 --46.5000;68.5000 --46.5000;69.0000 --46.5000;69.5000 --46.5000;70.0000 --46.5000;70.5000 --46.5000;71.0000 --46.5000;71.5000 --46.5000;72.0000 --46.5000;72.5000 --46.5000;73.0000 --46.5000;73.5000 --46.5000;74.0000 --46.5000;74.5000 --46.5000;75.0000 --46.5000;75.5000 --46.5000;76.0000 --46.5000;76.5000 --46.5000;77.0000 --46.5000;77.5000 --46.5000;78.0000 --46.5000;78.5000 --46.5000;79.0000 --46.5000;79.5000 --46.5000;80.0000 --46.5000;80.5000 --46.5000;81.0000 --46.5000;81.5000 --46.5000;82.0000 --46.5000;82.5000 --46.5000;83.0000 --46.5000;83.5000 --46.5000;84.0000 --46.5000;84.5000 --46.5000;85.0000 --46.5000;85.5000 --46.5000;86.0000 --46.5000;86.5000 --46.5000;87.0000 --46.5000;87.5000 --46.5000;88.0000 --46.5000;88.5000 --46.5000;89.0000 --46.5000;89.5000 --46.5000;90.0000 --46.5000;90.5000 --46.5000;91.0000 --46.5000;91.5000 --46.5000;92.0000 --46.5000;92.5000 --46.5000;93.0000 --46.5000;93.5000 --46.5000;94.0000 --46.5000;94.5000 --46.5000;95.0000 --46.5000;95.5000 --46.5000;96.0000 --46.5000;96.5000 --46.5000;97.0000 --46.5000;97.5000 --46.5000;98.0000 --46.5000;98.5000 --46.5000;99.0000 --46.5000;99.5000 --46.5000;100.0000 --46.5000;100.5000 --46.5000;101.0000 --46.5000;101.5000 --46.5000;102.0000 --46.5000;102.5000 --46.5000;103.0000 --46.5000;103.5000 --46.5000;104.0000 --46.5000;104.5000 --46.5000;105.0000 --46.5000;105.5000 --46.5000;106.0000 --46.5000;106.5000 --46.5000;107.0000 --46.5000;107.5000 --46.5000;108.0000 --46.5000;108.5000 --46.5000;109.0000 --46.5000;109.5000 --46.0000;-9.5000 --46.0000;-9.0000 --46.0000;-8.5000 --46.0000;-8.0000 --46.0000;-7.5000 --46.0000;-7.0000 --46.0000;-6.5000 --46.0000;-6.0000 --46.0000;-5.5000 --46.0000;-5.0000 --46.0000;-4.5000 --46.0000;-4.0000 --46.0000;-3.5000 --46.0000;-3.0000 --46.0000;-2.5000 --46.0000;-2.0000 --46.0000;-1.5000 --46.0000;-1.0000 --46.0000;-0.5000 --46.0000;0.0000 --46.0000;0.5000 --46.0000;1.0000 --46.0000;1.5000 --46.0000;2.0000 --46.0000;2.5000 --46.0000;3.0000 --46.0000;3.5000 --46.0000;4.0000 --46.0000;4.5000 --46.0000;5.0000 --46.0000;5.5000 --46.0000;6.0000 --46.0000;6.5000 --46.0000;7.0000 --46.0000;7.5000 --46.0000;8.0000 --46.0000;8.5000 --46.0000;9.0000 --46.0000;9.5000 --46.0000;10.0000 --46.0000;10.5000 --46.0000;11.0000 --46.0000;11.5000 --46.0000;12.0000 --46.0000;12.5000 --46.0000;13.0000 --46.0000;13.5000 --46.0000;14.0000 --46.0000;14.5000 --46.0000;15.0000 --46.0000;15.5000 --46.0000;16.0000 --46.0000;16.5000 --46.0000;17.0000 --46.0000;17.5000 --46.0000;18.0000 --46.0000;18.5000 --46.0000;19.0000 --46.0000;19.5000 --46.0000;20.0000 --46.0000;20.5000 --46.0000;21.0000 --46.0000;21.5000 --46.0000;22.0000 --46.0000;22.5000 --46.0000;23.0000 --46.0000;23.5000 --46.0000;24.0000 --46.0000;24.5000 --46.0000;25.0000 --46.0000;25.5000 --46.0000;26.0000 --46.0000;26.5000 --46.0000;27.0000 --46.0000;27.5000 --46.0000;28.0000 --46.0000;28.5000 --46.0000;29.0000 --46.0000;29.5000 --46.0000;30.0000 --46.0000;30.5000 --46.0000;31.0000 --46.0000;31.5000 --46.0000;32.0000 --46.0000;32.5000 --46.0000;33.0000 --46.0000;33.5000 --46.0000;34.0000 --46.0000;34.5000 --46.0000;35.0000 --46.0000;35.5000 --46.0000;36.0000 --46.0000;36.5000 --46.0000;37.0000 --46.0000;37.5000 --46.0000;38.0000 --46.0000;38.5000 --46.0000;39.0000 --46.0000;39.5000 --46.0000;40.0000 --46.0000;40.5000 --46.0000;41.0000 --46.0000;41.5000 --46.0000;42.0000 --46.0000;42.5000 --46.0000;43.0000 --46.0000;43.5000 --46.0000;44.0000 --46.0000;44.5000 --46.0000;45.0000 --46.0000;45.5000 --46.0000;46.0000 --46.0000;46.5000 --46.0000;47.0000 --46.0000;47.5000 --46.0000;48.0000 --46.0000;48.5000 --46.0000;49.0000 --46.0000;49.5000 --46.0000;50.0000 --46.0000;50.5000 --46.0000;51.0000 --46.0000;51.5000 --46.0000;52.0000 --46.0000;52.5000 --46.0000;53.0000 --46.0000;53.5000 --46.0000;54.0000 --46.0000;54.5000 --46.0000;55.0000 --46.0000;55.5000 --46.0000;56.0000 --46.0000;56.5000 --46.0000;57.0000 --46.0000;57.5000 --46.0000;58.0000 --46.0000;58.5000 --46.0000;59.0000 --46.0000;59.5000 --46.0000;60.0000 --46.0000;60.5000 --46.0000;61.0000 --46.0000;61.5000 --46.0000;62.0000 --46.0000;62.5000 --46.0000;63.0000 --46.0000;63.5000 --46.0000;64.0000 --46.0000;64.5000 --46.0000;65.0000 --46.0000;65.5000 --46.0000;66.0000 --46.0000;66.5000 --46.0000;67.0000 --46.0000;67.5000 --46.0000;68.0000 --46.0000;68.5000 --46.0000;69.0000 --46.0000;69.5000 --46.0000;70.0000 --46.0000;70.5000 --46.0000;71.0000 --46.0000;71.5000 --46.0000;72.0000 --46.0000;72.5000 --46.0000;73.0000 --46.0000;73.5000 --46.0000;74.0000 --46.0000;74.5000 --46.0000;75.0000 --46.0000;75.5000 --46.0000;76.0000 --46.0000;76.5000 --46.0000;77.0000 --46.0000;77.5000 --46.0000;78.0000 --46.0000;78.5000 --46.0000;79.0000 --46.0000;79.5000 --46.0000;80.0000 --46.0000;80.5000 --46.0000;81.0000 --46.0000;81.5000 --46.0000;82.0000 --46.0000;82.5000 --46.0000;83.0000 --46.0000;83.5000 --46.0000;84.0000 --46.0000;84.5000 --46.0000;85.0000 --46.0000;85.5000 --46.0000;86.0000 --46.0000;86.5000 --46.0000;87.0000 --46.0000;87.5000 --46.0000;88.0000 --46.0000;88.5000 --46.0000;89.0000 --46.0000;89.5000 --46.0000;90.0000 --46.0000;90.5000 --46.0000;91.0000 --46.0000;91.5000 --46.0000;92.0000 --46.0000;92.5000 --46.0000;93.0000 --46.0000;93.5000 --46.0000;94.0000 --46.0000;94.5000 --46.0000;95.0000 --46.0000;95.5000 --46.0000;96.0000 --46.0000;96.5000 --46.0000;97.0000 --46.0000;97.5000 --46.0000;98.0000 --46.0000;98.5000 --46.0000;99.0000 --46.0000;99.5000 --46.0000;100.0000 --46.0000;100.5000 --46.0000;101.0000 --46.0000;101.5000 --46.0000;102.0000 --46.0000;102.5000 --46.0000;103.0000 --46.0000;103.5000 --46.0000;104.0000 --46.0000;104.5000 --46.0000;105.0000 --46.0000;105.5000 --46.0000;106.0000 --46.0000;106.5000 --46.0000;107.0000 --46.0000;107.5000 --46.0000;108.0000 --46.0000;108.5000 --46.0000;109.0000 --46.0000;109.5000 --46.0000;110.0000 --45.5000;-10.0000 --45.5000;-9.5000 --45.5000;-9.0000 --45.5000;-8.5000 --45.5000;-8.0000 --45.5000;-7.5000 --45.5000;-7.0000 --45.5000;-6.5000 --45.5000;-6.0000 --45.5000;-5.5000 --45.5000;-5.0000 --45.5000;-4.5000 --45.5000;-4.0000 --45.5000;-3.5000 --45.5000;-3.0000 --45.5000;-2.5000 --45.5000;-2.0000 --45.5000;-1.5000 --45.5000;-1.0000 --45.5000;-0.5000 --45.5000;0.0000 --45.5000;0.5000 --45.5000;1.0000 --45.5000;1.5000 --45.5000;2.0000 --45.5000;2.5000 --45.5000;3.0000 --45.5000;3.5000 --45.5000;4.0000 --45.5000;4.5000 --45.5000;5.0000 --45.5000;5.5000 --45.5000;6.0000 --45.5000;6.5000 --45.5000;7.0000 --45.5000;7.5000 --45.5000;8.0000 --45.5000;8.5000 --45.5000;9.0000 --45.5000;9.5000 --45.5000;10.0000 --45.5000;10.5000 --45.5000;11.0000 --45.5000;11.5000 --45.5000;12.0000 --45.5000;12.5000 --45.5000;13.0000 --45.5000;13.5000 --45.5000;14.0000 --45.5000;14.5000 --45.5000;15.0000 --45.5000;15.5000 --45.5000;16.0000 --45.5000;16.5000 --45.5000;17.0000 --45.5000;17.5000 --45.5000;18.0000 --45.5000;18.5000 --45.5000;19.0000 --45.5000;19.5000 --45.5000;20.0000 --45.5000;20.5000 --45.5000;21.0000 --45.5000;21.5000 --45.5000;22.0000 --45.5000;22.5000 --45.5000;23.0000 --45.5000;23.5000 --45.5000;24.0000 --45.5000;24.5000 --45.5000;25.0000 --45.5000;25.5000 --45.5000;26.0000 --45.5000;26.5000 --45.5000;27.0000 --45.5000;27.5000 --45.5000;28.0000 --45.5000;28.5000 --45.5000;29.0000 --45.5000;29.5000 --45.5000;30.0000 --45.5000;30.5000 --45.5000;31.0000 --45.5000;31.5000 --45.5000;32.0000 --45.5000;32.5000 --45.5000;33.0000 --45.5000;33.5000 --45.5000;34.0000 --45.5000;34.5000 --45.5000;35.0000 --45.5000;35.5000 --45.5000;36.0000 --45.5000;36.5000 --45.5000;37.0000 --45.5000;37.5000 --45.5000;38.0000 --45.5000;38.5000 --45.5000;39.0000 --45.5000;39.5000 --45.5000;40.0000 --45.5000;40.5000 --45.5000;41.0000 --45.5000;41.5000 --45.5000;42.0000 --45.5000;42.5000 --45.5000;43.0000 --45.5000;43.5000 --45.5000;44.0000 --45.5000;44.5000 --45.5000;45.0000 --45.5000;45.5000 --45.5000;46.0000 --45.5000;46.5000 --45.5000;47.0000 --45.5000;47.5000 --45.5000;48.0000 --45.5000;48.5000 --45.5000;49.0000 --45.5000;49.5000 --45.5000;50.0000 --45.5000;50.5000 --45.5000;51.0000 --45.5000;51.5000 --45.5000;52.0000 --45.5000;52.5000 --45.5000;53.0000 --45.5000;53.5000 --45.5000;54.0000 --45.5000;54.5000 --45.5000;55.0000 --45.5000;55.5000 --45.5000;56.0000 --45.5000;56.5000 --45.5000;57.0000 --45.5000;57.5000 --45.5000;58.0000 --45.5000;58.5000 --45.5000;59.0000 --45.5000;59.5000 --45.5000;60.0000 --45.5000;60.5000 --45.5000;61.0000 --45.5000;61.5000 --45.5000;62.0000 --45.5000;62.5000 --45.5000;63.0000 --45.5000;63.5000 --45.5000;64.0000 --45.5000;64.5000 --45.5000;65.0000 --45.5000;65.5000 --45.5000;66.0000 --45.5000;66.5000 --45.5000;67.0000 --45.5000;67.5000 --45.5000;68.0000 --45.5000;68.5000 --45.5000;69.0000 --45.5000;69.5000 --45.5000;70.0000 --45.5000;70.5000 --45.5000;71.0000 --45.5000;71.5000 --45.5000;72.0000 --45.5000;72.5000 --45.5000;73.0000 --45.5000;73.5000 --45.5000;74.0000 --45.5000;74.5000 --45.5000;75.0000 --45.5000;75.5000 --45.5000;76.0000 --45.5000;76.5000 --45.5000;77.0000 --45.5000;77.5000 --45.5000;78.0000 --45.5000;78.5000 --45.5000;79.0000 --45.5000;79.5000 --45.5000;80.0000 --45.5000;80.5000 --45.5000;81.0000 --45.5000;81.5000 --45.5000;82.0000 --45.5000;82.5000 --45.5000;83.0000 --45.5000;83.5000 --45.5000;84.0000 --45.5000;84.5000 --45.5000;85.0000 --45.5000;85.5000 --45.5000;86.0000 --45.5000;86.5000 --45.5000;87.0000 --45.5000;87.5000 --45.5000;88.0000 --45.5000;88.5000 --45.5000;89.0000 --45.5000;89.5000 --45.5000;90.0000 --45.5000;90.5000 --45.5000;91.0000 --45.5000;91.5000 --45.5000;92.0000 --45.5000;92.5000 --45.5000;93.0000 --45.5000;93.5000 --45.5000;94.0000 --45.5000;94.5000 --45.5000;95.0000 --45.5000;95.5000 --45.5000;96.0000 --45.5000;96.5000 --45.5000;97.0000 --45.5000;97.5000 --45.5000;98.0000 --45.5000;98.5000 --45.5000;99.0000 --45.5000;99.5000 --45.5000;100.0000 --45.5000;100.5000 --45.5000;101.0000 --45.5000;101.5000 --45.5000;102.0000 --45.5000;102.5000 --45.5000;103.0000 --45.5000;103.5000 --45.5000;104.0000 --45.5000;104.5000 --45.5000;105.0000 --45.5000;105.5000 --45.5000;106.0000 --45.5000;106.5000 --45.5000;107.0000 --45.5000;107.5000 --45.5000;108.0000 --45.5000;108.5000 --45.5000;109.0000 --45.5000;109.5000 --45.5000;110.0000 --45.5000;110.5000 --45.5000;111.0000 --45.0000;-10.5000 --45.0000;-10.0000 --45.0000;-9.5000 --45.0000;-9.0000 --45.0000;-8.5000 --45.0000;-8.0000 --45.0000;-7.5000 --45.0000;-7.0000 --45.0000;-6.5000 --45.0000;-6.0000 --45.0000;-5.5000 --45.0000;-5.0000 --45.0000;-4.5000 --45.0000;-4.0000 --45.0000;-3.5000 --45.0000;-3.0000 --45.0000;-2.5000 --45.0000;-2.0000 --45.0000;-1.5000 --45.0000;-1.0000 --45.0000;-0.5000 --45.0000;0.0000 --45.0000;0.5000 --45.0000;1.0000 --45.0000;1.5000 --45.0000;2.0000 --45.0000;2.5000 --45.0000;3.0000 --45.0000;3.5000 --45.0000;4.0000 --45.0000;4.5000 --45.0000;5.0000 --45.0000;5.5000 --45.0000;6.0000 --45.0000;6.5000 --45.0000;7.0000 --45.0000;7.5000 --45.0000;8.0000 --45.0000;8.5000 --45.0000;9.0000 --45.0000;9.5000 --45.0000;10.0000 --45.0000;10.5000 --45.0000;11.0000 --45.0000;11.5000 --45.0000;12.0000 --45.0000;12.5000 --45.0000;13.0000 --45.0000;13.5000 --45.0000;14.0000 --45.0000;14.5000 --45.0000;15.0000 --45.0000;15.5000 --45.0000;16.0000 --45.0000;16.5000 --45.0000;17.0000 --45.0000;17.5000 --45.0000;18.0000 --45.0000;18.5000 --45.0000;19.0000 --45.0000;19.5000 --45.0000;20.0000 --45.0000;20.5000 --45.0000;21.0000 --45.0000;21.5000 --45.0000;22.0000 --45.0000;22.5000 --45.0000;23.0000 --45.0000;23.5000 --45.0000;24.0000 --45.0000;24.5000 --45.0000;25.0000 --45.0000;25.5000 --45.0000;26.0000 --45.0000;26.5000 --45.0000;27.0000 --45.0000;27.5000 --45.0000;28.0000 --45.0000;28.5000 --45.0000;29.0000 --45.0000;29.5000 --45.0000;30.0000 --45.0000;30.5000 --45.0000;31.0000 --45.0000;31.5000 --45.0000;32.0000 --45.0000;32.5000 --45.0000;33.0000 --45.0000;33.5000 --45.0000;34.0000 --45.0000;34.5000 --45.0000;35.0000 --45.0000;35.5000 --45.0000;36.0000 --45.0000;36.5000 --45.0000;37.0000 --45.0000;37.5000 --45.0000;38.0000 --45.0000;38.5000 --45.0000;39.0000 --45.0000;39.5000 --45.0000;40.0000 --45.0000;40.5000 --45.0000;41.0000 --45.0000;41.5000 --45.0000;42.0000 --45.0000;42.5000 --45.0000;43.0000 --45.0000;43.5000 --45.0000;44.0000 --45.0000;44.5000 --45.0000;45.0000 --45.0000;45.5000 --45.0000;46.0000 --45.0000;46.5000 --45.0000;47.0000 --45.0000;47.5000 --45.0000;48.0000 --45.0000;48.5000 --45.0000;49.0000 --45.0000;49.5000 --45.0000;50.0000 --45.0000;50.5000 --45.0000;51.0000 --45.0000;51.5000 --45.0000;52.0000 --45.0000;52.5000 --45.0000;53.0000 --45.0000;53.5000 --45.0000;54.0000 --45.0000;54.5000 --45.0000;55.0000 --45.0000;55.5000 --45.0000;56.0000 --45.0000;56.5000 --45.0000;57.0000 --45.0000;57.5000 --45.0000;58.0000 --45.0000;58.5000 --45.0000;59.0000 --45.0000;59.5000 --45.0000;60.0000 --45.0000;60.5000 --45.0000;61.0000 --45.0000;61.5000 --45.0000;62.0000 --45.0000;62.5000 --45.0000;63.0000 --45.0000;63.5000 --45.0000;64.0000 --45.0000;64.5000 --45.0000;65.0000 --45.0000;65.5000 --45.0000;66.0000 --45.0000;66.5000 --45.0000;67.0000 --45.0000;67.5000 --45.0000;68.0000 --45.0000;68.5000 --45.0000;69.0000 --45.0000;69.5000 --45.0000;70.0000 --45.0000;70.5000 --45.0000;71.0000 --45.0000;71.5000 --45.0000;72.0000 --45.0000;72.5000 --45.0000;73.0000 --45.0000;73.5000 --45.0000;74.0000 --45.0000;74.5000 --45.0000;75.0000 --45.0000;75.5000 --45.0000;76.0000 --45.0000;76.5000 --45.0000;77.0000 --45.0000;77.5000 --45.0000;78.0000 --45.0000;78.5000 --45.0000;79.0000 --45.0000;79.5000 --45.0000;80.0000 --45.0000;80.5000 --45.0000;81.0000 --45.0000;81.5000 --45.0000;82.0000 --45.0000;82.5000 --45.0000;83.0000 --45.0000;83.5000 --45.0000;84.0000 --45.0000;84.5000 --45.0000;85.0000 --45.0000;85.5000 --45.0000;86.0000 --45.0000;86.5000 --45.0000;87.0000 --45.0000;87.5000 --45.0000;88.0000 --45.0000;88.5000 --45.0000;89.0000 --45.0000;89.5000 --45.0000;90.0000 --45.0000;90.5000 --45.0000;91.0000 --45.0000;91.5000 --45.0000;92.0000 --45.0000;92.5000 --45.0000;93.0000 --45.0000;93.5000 --45.0000;94.0000 --45.0000;94.5000 --45.0000;95.0000 --45.0000;95.5000 --45.0000;96.0000 --45.0000;96.5000 --45.0000;97.0000 --45.0000;97.5000 --45.0000;98.0000 --45.0000;98.5000 --45.0000;99.0000 --45.0000;99.5000 --45.0000;100.0000 --45.0000;100.5000 --45.0000;101.0000 --45.0000;101.5000 --45.0000;102.0000 --45.0000;102.5000 --45.0000;103.0000 --45.0000;103.5000 --45.0000;104.0000 --45.0000;104.5000 --45.0000;105.0000 --45.0000;105.5000 --45.0000;106.0000 --45.0000;106.5000 --45.0000;107.0000 --45.0000;107.5000 --45.0000;108.0000 --45.0000;108.5000 --45.0000;109.0000 --45.0000;109.5000 --45.0000;110.0000 --45.0000;110.5000 --45.0000;111.0000 --45.0000;111.5000 --44.5000;-11.0000 --44.5000;-10.5000 --44.5000;-10.0000 --44.5000;-9.5000 --44.5000;-9.0000 --44.5000;-8.5000 --44.5000;-8.0000 --44.5000;-7.5000 --44.5000;-7.0000 --44.5000;-6.5000 --44.5000;-6.0000 --44.5000;-5.5000 --44.5000;-5.0000 --44.5000;-4.5000 --44.5000;-4.0000 --44.5000;-3.5000 --44.5000;-3.0000 --44.5000;-2.5000 --44.5000;-2.0000 --44.5000;-1.5000 --44.5000;-1.0000 --44.5000;-0.5000 --44.5000;0.0000 --44.5000;0.5000 --44.5000;1.0000 --44.5000;1.5000 --44.5000;2.0000 --44.5000;2.5000 --44.5000;3.0000 --44.5000;3.5000 --44.5000;4.0000 --44.5000;4.5000 --44.5000;5.0000 --44.5000;5.5000 --44.5000;6.0000 --44.5000;6.5000 --44.5000;7.0000 --44.5000;7.5000 --44.5000;8.0000 --44.5000;8.5000 --44.5000;9.0000 --44.5000;9.5000 --44.5000;10.0000 --44.5000;10.5000 --44.5000;11.0000 --44.5000;11.5000 --44.5000;12.0000 --44.5000;12.5000 --44.5000;13.0000 --44.5000;13.5000 --44.5000;14.0000 --44.5000;14.5000 --44.5000;15.0000 --44.5000;15.5000 --44.5000;16.0000 --44.5000;16.5000 --44.5000;17.0000 --44.5000;17.5000 --44.5000;18.0000 --44.5000;18.5000 --44.5000;19.0000 --44.5000;19.5000 --44.5000;20.0000 --44.5000;20.5000 --44.5000;21.0000 --44.5000;21.5000 --44.5000;22.0000 --44.5000;22.5000 --44.5000;23.0000 --44.5000;23.5000 --44.5000;24.0000 --44.5000;24.5000 --44.5000;25.0000 --44.5000;25.5000 --44.5000;26.0000 --44.5000;26.5000 --44.5000;27.0000 --44.5000;27.5000 --44.5000;28.0000 --44.5000;28.5000 --44.5000;29.0000 --44.5000;29.5000 --44.5000;30.0000 --44.5000;30.5000 --44.5000;31.0000 --44.5000;31.5000 --44.5000;32.0000 --44.5000;32.5000 --44.5000;33.0000 --44.5000;33.5000 --44.5000;34.0000 --44.5000;34.5000 --44.5000;35.0000 --44.5000;35.5000 --44.5000;36.0000 --44.5000;36.5000 --44.5000;37.0000 --44.5000;37.5000 --44.5000;38.0000 --44.5000;38.5000 --44.5000;39.0000 --44.5000;39.5000 --44.5000;40.0000 --44.5000;40.5000 --44.5000;41.0000 --44.5000;41.5000 --44.5000;42.0000 --44.5000;42.5000 --44.5000;43.0000 --44.5000;43.5000 --44.5000;44.0000 --44.5000;44.5000 --44.5000;45.0000 --44.5000;45.5000 --44.5000;46.0000 --44.5000;46.5000 --44.5000;47.0000 --44.5000;47.5000 --44.5000;48.0000 --44.5000;48.5000 --44.5000;49.0000 --44.5000;49.5000 --44.5000;50.0000 --44.5000;50.5000 --44.5000;51.0000 --44.5000;51.5000 --44.5000;52.0000 --44.5000;52.5000 --44.5000;53.0000 --44.5000;53.5000 --44.5000;54.0000 --44.5000;54.5000 --44.5000;55.0000 --44.5000;55.5000 --44.5000;56.0000 --44.5000;56.5000 --44.5000;57.0000 --44.5000;57.5000 --44.5000;58.0000 --44.5000;58.5000 --44.5000;59.0000 --44.5000;59.5000 --44.5000;60.0000 --44.5000;60.5000 --44.5000;61.0000 --44.5000;61.5000 --44.5000;62.0000 --44.5000;62.5000 --44.5000;63.0000 --44.5000;63.5000 --44.5000;64.0000 --44.5000;64.5000 --44.5000;65.0000 --44.5000;65.5000 --44.5000;66.0000 --44.5000;66.5000 --44.5000;67.0000 --44.5000;67.5000 --44.5000;68.0000 --44.5000;68.5000 --44.5000;69.0000 --44.5000;69.5000 --44.5000;70.0000 --44.5000;70.5000 --44.5000;71.0000 --44.5000;71.5000 --44.5000;72.0000 --44.5000;72.5000 --44.5000;73.0000 --44.5000;73.5000 --44.5000;74.0000 --44.5000;74.5000 --44.5000;75.0000 --44.5000;75.5000 --44.5000;76.0000 --44.5000;76.5000 --44.5000;77.0000 --44.5000;77.5000 --44.5000;78.0000 --44.5000;78.5000 --44.5000;79.0000 --44.5000;79.5000 --44.5000;80.0000 --44.5000;80.5000 --44.5000;81.0000 --44.5000;81.5000 --44.5000;82.0000 --44.5000;82.5000 --44.5000;83.0000 --44.5000;83.5000 --44.5000;84.0000 --44.5000;84.5000 --44.5000;85.0000 --44.5000;85.5000 --44.5000;86.0000 --44.5000;86.5000 --44.5000;87.0000 --44.5000;87.5000 --44.5000;88.0000 --44.5000;88.5000 --44.5000;89.0000 --44.5000;89.5000 --44.5000;90.0000 --44.5000;90.5000 --44.5000;91.0000 --44.5000;91.5000 --44.5000;92.0000 --44.5000;92.5000 --44.5000;93.0000 --44.5000;93.5000 --44.5000;94.0000 --44.5000;94.5000 --44.5000;95.0000 --44.5000;95.5000 --44.5000;96.0000 --44.5000;96.5000 --44.5000;97.0000 --44.5000;97.5000 --44.5000;98.0000 --44.5000;98.5000 --44.5000;99.0000 --44.5000;99.5000 --44.5000;100.0000 --44.5000;100.5000 --44.5000;101.0000 --44.5000;101.5000 --44.5000;102.0000 --44.5000;102.5000 --44.5000;103.0000 --44.5000;103.5000 --44.5000;104.0000 --44.5000;104.5000 --44.5000;105.0000 --44.5000;105.5000 --44.5000;106.0000 --44.5000;106.5000 --44.5000;107.0000 --44.5000;107.5000 --44.5000;108.0000 --44.5000;108.5000 --44.5000;109.0000 --44.5000;109.5000 --44.5000;110.0000 --44.5000;110.5000 --44.5000;111.0000 --44.5000;111.5000 --44.5000;112.0000 --44.0000;-11.5000 --44.0000;-11.0000 --44.0000;-10.5000 --44.0000;-10.0000 --44.0000;-9.5000 --44.0000;-9.0000 --44.0000;-8.5000 --44.0000;-8.0000 --44.0000;-7.5000 --44.0000;-7.0000 --44.0000;-6.5000 --44.0000;-6.0000 --44.0000;-5.5000 --44.0000;-5.0000 --44.0000;-4.5000 --44.0000;-4.0000 --44.0000;-3.5000 --44.0000;-3.0000 --44.0000;-2.5000 --44.0000;-2.0000 --44.0000;-1.5000 --44.0000;-1.0000 --44.0000;-0.5000 --44.0000;0.0000 --44.0000;0.5000 --44.0000;1.0000 --44.0000;1.5000 --44.0000;2.0000 --44.0000;2.5000 --44.0000;3.0000 --44.0000;3.5000 --44.0000;4.0000 --44.0000;4.5000 --44.0000;5.0000 --44.0000;5.5000 --44.0000;6.0000 --44.0000;6.5000 --44.0000;7.0000 --44.0000;7.5000 --44.0000;8.0000 --44.0000;8.5000 --44.0000;9.0000 --44.0000;9.5000 --44.0000;10.0000 --44.0000;10.5000 --44.0000;11.0000 --44.0000;11.5000 --44.0000;12.0000 --44.0000;12.5000 --44.0000;13.0000 --44.0000;13.5000 --44.0000;14.0000 --44.0000;14.5000 --44.0000;15.0000 --44.0000;15.5000 --44.0000;16.0000 --44.0000;16.5000 --44.0000;17.0000 --44.0000;17.5000 --44.0000;18.0000 --44.0000;18.5000 --44.0000;19.0000 --44.0000;19.5000 --44.0000;20.0000 --44.0000;20.5000 --44.0000;21.0000 --44.0000;21.5000 --44.0000;22.0000 --44.0000;22.5000 --44.0000;23.0000 --44.0000;23.5000 --44.0000;24.0000 --44.0000;24.5000 --44.0000;25.0000 --44.0000;25.5000 --44.0000;26.0000 --44.0000;26.5000 --44.0000;27.0000 --44.0000;27.5000 --44.0000;28.0000 --44.0000;28.5000 --44.0000;29.0000 --44.0000;29.5000 --44.0000;30.0000 --44.0000;30.5000 --44.0000;31.0000 --44.0000;31.5000 --44.0000;32.0000 --44.0000;32.5000 --44.0000;33.0000 --44.0000;33.5000 --44.0000;34.0000 --44.0000;34.5000 --44.0000;35.0000 --44.0000;35.5000 --44.0000;36.0000 --44.0000;36.5000 --44.0000;37.0000 --44.0000;37.5000 --44.0000;38.0000 --44.0000;38.5000 --44.0000;39.0000 --44.0000;39.5000 --44.0000;40.0000 --44.0000;40.5000 --44.0000;41.0000 --44.0000;41.5000 --44.0000;42.0000 --44.0000;42.5000 --44.0000;43.0000 --44.0000;43.5000 --44.0000;44.0000 --44.0000;44.5000 --44.0000;45.0000 --44.0000;45.5000 --44.0000;46.0000 --44.0000;46.5000 --44.0000;47.0000 --44.0000;47.5000 --44.0000;48.0000 --44.0000;48.5000 --44.0000;49.0000 --44.0000;49.5000 --44.0000;50.0000 --44.0000;50.5000 --44.0000;51.0000 --44.0000;51.5000 --44.0000;52.0000 --44.0000;52.5000 --44.0000;53.0000 --44.0000;53.5000 --44.0000;54.0000 --44.0000;54.5000 --44.0000;55.0000 --44.0000;55.5000 --44.0000;56.0000 --44.0000;56.5000 --44.0000;57.0000 --44.0000;57.5000 --44.0000;58.0000 --44.0000;58.5000 --44.0000;59.0000 --44.0000;59.5000 --44.0000;60.0000 --44.0000;60.5000 --44.0000;61.0000 --44.0000;61.5000 --44.0000;62.0000 --44.0000;62.5000 --44.0000;63.0000 --44.0000;63.5000 --44.0000;64.0000 --44.0000;64.5000 --44.0000;65.0000 --44.0000;65.5000 --44.0000;66.0000 --44.0000;66.5000 --44.0000;67.0000 --44.0000;67.5000 --44.0000;68.0000 --44.0000;68.5000 --44.0000;69.0000 --44.0000;69.5000 --44.0000;70.0000 --44.0000;70.5000 --44.0000;71.0000 --44.0000;71.5000 --44.0000;72.0000 --44.0000;72.5000 --44.0000;73.0000 --44.0000;73.5000 --44.0000;74.0000 --44.0000;74.5000 --44.0000;75.0000 --44.0000;75.5000 --44.0000;76.0000 --44.0000;76.5000 --44.0000;77.0000 --44.0000;77.5000 --44.0000;78.0000 --44.0000;78.5000 --44.0000;79.0000 --44.0000;79.5000 --44.0000;80.0000 --44.0000;80.5000 --44.0000;81.0000 --44.0000;81.5000 --44.0000;82.0000 --44.0000;82.5000 --44.0000;83.0000 --44.0000;83.5000 --44.0000;84.0000 --44.0000;84.5000 --44.0000;85.0000 --44.0000;85.5000 --44.0000;86.0000 --44.0000;86.5000 --44.0000;87.0000 --44.0000;87.5000 --44.0000;88.0000 --44.0000;88.5000 --44.0000;89.0000 --44.0000;89.5000 --44.0000;90.0000 --44.0000;90.5000 --44.0000;91.0000 --44.0000;91.5000 --44.0000;92.0000 --44.0000;92.5000 --44.0000;93.0000 --44.0000;93.5000 --44.0000;94.0000 --44.0000;94.5000 --44.0000;95.0000 --44.0000;95.5000 --44.0000;96.0000 --44.0000;96.5000 --44.0000;97.0000 --44.0000;97.5000 --44.0000;98.0000 --44.0000;98.5000 --44.0000;99.0000 --44.0000;99.5000 --44.0000;100.0000 --44.0000;100.5000 --44.0000;101.0000 --44.0000;101.5000 --44.0000;102.0000 --44.0000;102.5000 --44.0000;103.0000 --44.0000;103.5000 --44.0000;104.0000 --44.0000;104.5000 --44.0000;105.0000 --44.0000;105.5000 --44.0000;106.0000 --44.0000;106.5000 --44.0000;107.0000 --44.0000;107.5000 --44.0000;108.0000 --44.0000;108.5000 --44.0000;109.0000 --44.0000;109.5000 --44.0000;110.0000 --44.0000;110.5000 --44.0000;111.0000 --44.0000;111.5000 --44.0000;112.0000 --44.0000;112.5000 --43.5000;-12.0000 --43.5000;-11.5000 --43.5000;-11.0000 --43.5000;-10.5000 --43.5000;-10.0000 --43.5000;-9.5000 --43.5000;-9.0000 --43.5000;-8.5000 --43.5000;-8.0000 --43.5000;-7.5000 --43.5000;-7.0000 --43.5000;-6.5000 --43.5000;-6.0000 --43.5000;-5.5000 --43.5000;-5.0000 --43.5000;-4.5000 --43.5000;-4.0000 --43.5000;-3.5000 --43.5000;-3.0000 --43.5000;-2.5000 --43.5000;-2.0000 --43.5000;-1.5000 --43.5000;-1.0000 --43.5000;-0.5000 --43.5000;0.0000 --43.5000;0.5000 --43.5000;1.0000 --43.5000;1.5000 --43.5000;2.0000 --43.5000;2.5000 --43.5000;3.0000 --43.5000;3.5000 --43.5000;4.0000 --43.5000;4.5000 --43.5000;5.0000 --43.5000;5.5000 --43.5000;6.0000 --43.5000;6.5000 --43.5000;7.0000 --43.5000;7.5000 --43.5000;8.0000 --43.5000;8.5000 --43.5000;9.0000 --43.5000;9.5000 --43.5000;10.0000 --43.5000;10.5000 --43.5000;11.0000 --43.5000;11.5000 --43.5000;12.0000 --43.5000;12.5000 --43.5000;13.0000 --43.5000;13.5000 --43.5000;14.0000 --43.5000;14.5000 --43.5000;15.0000 --43.5000;15.5000 --43.5000;16.0000 --43.5000;16.5000 --43.5000;17.0000 --43.5000;17.5000 --43.5000;18.0000 --43.5000;18.5000 --43.5000;19.0000 --43.5000;19.5000 --43.5000;20.0000 --43.5000;20.5000 --43.5000;21.0000 --43.5000;21.5000 --43.5000;22.0000 --43.5000;22.5000 --43.5000;23.0000 --43.5000;23.5000 --43.5000;24.0000 --43.5000;24.5000 --43.5000;25.0000 --43.5000;25.5000 --43.5000;26.0000 --43.5000;26.5000 --43.5000;27.0000 --43.5000;27.5000 --43.5000;28.0000 --43.5000;28.5000 --43.5000;29.0000 --43.5000;29.5000 --43.5000;30.0000 --43.5000;30.5000 --43.5000;31.0000 --43.5000;31.5000 --43.5000;32.0000 --43.5000;32.5000 --43.5000;33.0000 --43.5000;33.5000 --43.5000;34.0000 --43.5000;34.5000 --43.5000;35.0000 --43.5000;35.5000 --43.5000;36.0000 --43.5000;36.5000 --43.5000;37.0000 --43.5000;37.5000 --43.5000;38.0000 --43.5000;38.5000 --43.5000;39.0000 --43.5000;39.5000 --43.5000;40.0000 --43.5000;40.5000 --43.5000;41.0000 --43.5000;41.5000 --43.5000;42.0000 --43.5000;42.5000 --43.5000;43.0000 --43.5000;43.5000 --43.5000;44.0000 --43.5000;44.5000 --43.5000;45.0000 --43.5000;45.5000 --43.5000;46.0000 --43.5000;46.5000 --43.5000;47.0000 --43.5000;47.5000 --43.5000;48.0000 --43.5000;48.5000 --43.5000;49.0000 --43.5000;49.5000 --43.5000;50.0000 --43.5000;50.5000 --43.5000;51.0000 --43.5000;51.5000 --43.5000;52.0000 --43.5000;52.5000 --43.5000;53.0000 --43.5000;53.5000 --43.5000;54.0000 --43.5000;54.5000 --43.5000;55.0000 --43.5000;55.5000 --43.5000;56.0000 --43.5000;56.5000 --43.5000;57.0000 --43.5000;57.5000 --43.5000;58.0000 --43.5000;58.5000 --43.5000;59.0000 --43.5000;59.5000 --43.5000;60.0000 --43.5000;60.5000 --43.5000;61.0000 --43.5000;61.5000 --43.5000;62.0000 --43.5000;62.5000 --43.5000;63.0000 --43.5000;63.5000 --43.5000;64.0000 --43.5000;64.5000 --43.5000;65.0000 --43.5000;65.5000 --43.5000;66.0000 --43.5000;66.5000 --43.5000;67.0000 --43.5000;67.5000 --43.5000;68.0000 --43.5000;68.5000 --43.5000;69.0000 --43.5000;69.5000 --43.5000;70.0000 --43.5000;70.5000 --43.5000;71.0000 --43.5000;71.5000 --43.5000;72.0000 --43.5000;72.5000 --43.5000;73.0000 --43.5000;73.5000 --43.5000;74.0000 --43.5000;74.5000 --43.5000;75.0000 --43.5000;75.5000 --43.5000;76.0000 --43.5000;76.5000 --43.5000;77.0000 --43.5000;77.5000 --43.5000;78.0000 --43.5000;78.5000 --43.5000;79.0000 --43.5000;79.5000 --43.5000;80.0000 --43.5000;80.5000 --43.5000;81.0000 --43.5000;81.5000 --43.5000;82.0000 --43.5000;82.5000 --43.5000;83.0000 --43.5000;83.5000 --43.5000;84.0000 --43.5000;84.5000 --43.5000;85.0000 --43.5000;85.5000 --43.5000;86.0000 --43.5000;86.5000 --43.5000;87.0000 --43.5000;87.5000 --43.5000;88.0000 --43.5000;88.5000 --43.5000;89.0000 --43.5000;89.5000 --43.5000;90.0000 --43.5000;90.5000 --43.5000;91.0000 --43.5000;91.5000 --43.5000;92.0000 --43.5000;92.5000 --43.5000;93.0000 --43.5000;93.5000 --43.5000;94.0000 --43.5000;94.5000 --43.5000;95.0000 --43.5000;95.5000 --43.5000;96.0000 --43.5000;96.5000 --43.5000;97.0000 --43.5000;97.5000 --43.5000;98.0000 --43.5000;98.5000 --43.5000;99.0000 --43.5000;99.5000 --43.5000;100.0000 --43.5000;100.5000 --43.5000;101.0000 --43.5000;101.5000 --43.5000;102.0000 --43.5000;102.5000 --43.5000;103.0000 --43.5000;103.5000 --43.5000;104.0000 --43.5000;104.5000 --43.5000;105.0000 --43.5000;105.5000 --43.5000;106.0000 --43.5000;106.5000 --43.5000;107.0000 --43.5000;107.5000 --43.5000;108.0000 --43.5000;108.5000 --43.5000;109.0000 --43.5000;109.5000 --43.5000;110.0000 --43.5000;110.5000 --43.5000;111.0000 --43.5000;111.5000 --43.5000;112.0000 --43.5000;112.5000 --43.5000;113.0000 --43.0000;-12.5000 --43.0000;-12.0000 --43.0000;-11.5000 --43.0000;-11.0000 --43.0000;-10.5000 --43.0000;-10.0000 --43.0000;-9.5000 --43.0000;-9.0000 --43.0000;-8.5000 --43.0000;-8.0000 --43.0000;-7.5000 --43.0000;-7.0000 --43.0000;-6.5000 --43.0000;-6.0000 --43.0000;-5.5000 --43.0000;-5.0000 --43.0000;-4.5000 --43.0000;-4.0000 --43.0000;-3.5000 --43.0000;-3.0000 --43.0000;-2.5000 --43.0000;-2.0000 --43.0000;-1.5000 --43.0000;-1.0000 --43.0000;-0.5000 --43.0000;0.0000 --43.0000;0.5000 --43.0000;1.0000 --43.0000;1.5000 --43.0000;2.0000 --43.0000;2.5000 --43.0000;3.0000 --43.0000;3.5000 --43.0000;4.0000 --43.0000;4.5000 --43.0000;5.0000 --43.0000;5.5000 --43.0000;6.0000 --43.0000;6.5000 --43.0000;7.0000 --43.0000;7.5000 --43.0000;8.0000 --43.0000;8.5000 --43.0000;9.0000 --43.0000;9.5000 --43.0000;10.0000 --43.0000;10.5000 --43.0000;11.0000 --43.0000;11.5000 --43.0000;12.0000 --43.0000;12.5000 --43.0000;13.0000 --43.0000;13.5000 --43.0000;14.0000 --43.0000;14.5000 --43.0000;15.0000 --43.0000;15.5000 --43.0000;16.0000 --43.0000;16.5000 --43.0000;17.0000 --43.0000;17.5000 --43.0000;18.0000 --43.0000;18.5000 --43.0000;19.0000 --43.0000;19.5000 --43.0000;20.0000 --43.0000;20.5000 --43.0000;21.0000 --43.0000;21.5000 --43.0000;22.0000 --43.0000;22.5000 --43.0000;23.0000 --43.0000;23.5000 --43.0000;24.0000 --43.0000;24.5000 --43.0000;25.0000 --43.0000;25.5000 --43.0000;26.0000 --43.0000;26.5000 --43.0000;27.0000 --43.0000;27.5000 --43.0000;28.0000 --43.0000;28.5000 --43.0000;29.0000 --43.0000;29.5000 --43.0000;30.0000 --43.0000;30.5000 --43.0000;31.0000 --43.0000;31.5000 --43.0000;32.0000 --43.0000;32.5000 --43.0000;33.0000 --43.0000;33.5000 --43.0000;34.0000 --43.0000;34.5000 --43.0000;35.0000 --43.0000;35.5000 --43.0000;36.0000 --43.0000;36.5000 --43.0000;37.0000 --43.0000;37.5000 --43.0000;38.0000 --43.0000;38.5000 --43.0000;39.0000 --43.0000;39.5000 --43.0000;40.0000 --43.0000;40.5000 --43.0000;41.0000 --43.0000;41.5000 --43.0000;42.0000 --43.0000;42.5000 --43.0000;43.0000 --43.0000;43.5000 --43.0000;44.0000 --43.0000;44.5000 --43.0000;45.0000 --43.0000;45.5000 --43.0000;46.0000 --43.0000;46.5000 --43.0000;47.0000 --43.0000;47.5000 --43.0000;48.0000 --43.0000;48.5000 --43.0000;49.0000 --43.0000;49.5000 --43.0000;50.0000 --43.0000;50.5000 --43.0000;51.0000 --43.0000;51.5000 --43.0000;52.0000 --43.0000;52.5000 --43.0000;53.0000 --43.0000;53.5000 --43.0000;54.0000 --43.0000;54.5000 --43.0000;55.0000 --43.0000;55.5000 --43.0000;56.0000 --43.0000;56.5000 --43.0000;57.0000 --43.0000;57.5000 --43.0000;58.0000 --43.0000;58.5000 --43.0000;59.0000 --43.0000;59.5000 --43.0000;60.0000 --43.0000;60.5000 --43.0000;61.0000 --43.0000;61.5000 --43.0000;62.0000 --43.0000;62.5000 --43.0000;63.0000 --43.0000;63.5000 --43.0000;64.0000 --43.0000;64.5000 --43.0000;65.0000 --43.0000;65.5000 --43.0000;66.0000 --43.0000;66.5000 --43.0000;67.0000 --43.0000;67.5000 --43.0000;68.0000 --43.0000;68.5000 --43.0000;69.0000 --43.0000;69.5000 --43.0000;70.0000 --43.0000;70.5000 --43.0000;71.0000 --43.0000;71.5000 --43.0000;72.0000 --43.0000;72.5000 --43.0000;73.0000 --43.0000;73.5000 --43.0000;74.0000 --43.0000;74.5000 --43.0000;75.0000 --43.0000;75.5000 --43.0000;76.0000 --43.0000;76.5000 --43.0000;77.0000 --43.0000;77.5000 --43.0000;78.0000 --43.0000;78.5000 --43.0000;79.0000 --43.0000;79.5000 --43.0000;80.0000 --43.0000;80.5000 --43.0000;81.0000 --43.0000;81.5000 --43.0000;82.0000 --43.0000;82.5000 --43.0000;83.0000 --43.0000;83.5000 --43.0000;84.0000 --43.0000;84.5000 --43.0000;85.0000 --43.0000;85.5000 --43.0000;86.0000 --43.0000;86.5000 --43.0000;87.0000 --43.0000;87.5000 --43.0000;88.0000 --43.0000;88.5000 --43.0000;89.0000 --43.0000;89.5000 --43.0000;90.0000 --43.0000;90.5000 --43.0000;91.0000 --43.0000;91.5000 --43.0000;92.0000 --43.0000;92.5000 --43.0000;93.0000 --43.0000;93.5000 --43.0000;94.0000 --43.0000;94.5000 --43.0000;95.0000 --43.0000;95.5000 --43.0000;96.0000 --43.0000;96.5000 --43.0000;97.0000 --43.0000;97.5000 --43.0000;98.0000 --43.0000;98.5000 --43.0000;99.0000 --43.0000;99.5000 --43.0000;100.0000 --43.0000;100.5000 --43.0000;101.0000 --43.0000;101.5000 --43.0000;102.0000 --43.0000;102.5000 --43.0000;103.0000 --43.0000;103.5000 --43.0000;104.0000 --43.0000;104.5000 --43.0000;105.0000 --43.0000;105.5000 --43.0000;106.0000 --43.0000;106.5000 --43.0000;107.0000 --43.0000;107.5000 --43.0000;108.0000 --43.0000;108.5000 --43.0000;109.0000 --43.0000;109.5000 --43.0000;110.0000 --43.0000;110.5000 --43.0000;111.0000 --43.0000;111.5000 --43.0000;112.0000 --43.0000;112.5000 --43.0000;113.0000 --43.0000;113.5000 --42.5000;-13.0000 --42.5000;-12.5000 --42.5000;-12.0000 --42.5000;-11.5000 --42.5000;-11.0000 --42.5000;-10.5000 --42.5000;-10.0000 --42.5000;-9.5000 --42.5000;-9.0000 --42.5000;-8.5000 --42.5000;-8.0000 --42.5000;-7.5000 --42.5000;-7.0000 --42.5000;-6.5000 --42.5000;-6.0000 --42.5000;-5.5000 --42.5000;-5.0000 --42.5000;-4.5000 --42.5000;-4.0000 --42.5000;-3.5000 --42.5000;-3.0000 --42.5000;-2.5000 --42.5000;-2.0000 --42.5000;-1.5000 --42.5000;-1.0000 --42.5000;-0.5000 --42.5000;0.0000 --42.5000;0.5000 --42.5000;1.0000 --42.5000;1.5000 --42.5000;2.0000 --42.5000;2.5000 --42.5000;3.0000 --42.5000;3.5000 --42.5000;4.0000 --42.5000;4.5000 --42.5000;5.0000 --42.5000;5.5000 --42.5000;6.0000 --42.5000;6.5000 --42.5000;7.0000 --42.5000;7.5000 --42.5000;8.0000 --42.5000;8.5000 --42.5000;9.0000 --42.5000;9.5000 --42.5000;10.0000 --42.5000;10.5000 --42.5000;11.0000 --42.5000;11.5000 --42.5000;12.0000 --42.5000;12.5000 --42.5000;13.0000 --42.5000;13.5000 --42.5000;14.0000 --42.5000;14.5000 --42.5000;15.0000 --42.5000;15.5000 --42.5000;16.0000 --42.5000;16.5000 --42.5000;17.0000 --42.5000;17.5000 --42.5000;18.0000 --42.5000;18.5000 --42.5000;19.0000 --42.5000;19.5000 --42.5000;20.0000 --42.5000;20.5000 --42.5000;21.0000 --42.5000;21.5000 --42.5000;22.0000 --42.5000;22.5000 --42.5000;23.0000 --42.5000;23.5000 --42.5000;24.0000 --42.5000;24.5000 --42.5000;25.0000 --42.5000;25.5000 --42.5000;26.0000 --42.5000;26.5000 --42.5000;27.0000 --42.5000;27.5000 --42.5000;28.0000 --42.5000;28.5000 --42.5000;29.0000 --42.5000;29.5000 --42.5000;30.0000 --42.5000;30.5000 --42.5000;31.0000 --42.5000;31.5000 --42.5000;32.0000 --42.5000;32.5000 --42.5000;33.0000 --42.5000;33.5000 --42.5000;34.0000 --42.5000;34.5000 --42.5000;35.0000 --42.5000;35.5000 --42.5000;36.0000 --42.5000;36.5000 --42.5000;37.0000 --42.5000;37.5000 --42.5000;38.0000 --42.5000;38.5000 --42.5000;39.0000 --42.5000;39.5000 --42.5000;40.0000 --42.5000;40.5000 --42.5000;41.0000 --42.5000;41.5000 --42.5000;42.0000 --42.5000;42.5000 --42.5000;43.0000 --42.5000;43.5000 --42.5000;44.0000 --42.5000;44.5000 --42.5000;45.0000 --42.5000;45.5000 --42.5000;46.0000 --42.5000;46.5000 --42.5000;47.0000 --42.5000;47.5000 --42.5000;48.0000 --42.5000;48.5000 --42.5000;49.0000 --42.5000;49.5000 --42.5000;50.0000 --42.5000;50.5000 --42.5000;51.0000 --42.5000;51.5000 --42.5000;52.0000 --42.5000;52.5000 --42.5000;53.0000 --42.5000;53.5000 --42.5000;54.0000 --42.5000;54.5000 --42.5000;55.0000 --42.5000;55.5000 --42.5000;56.0000 --42.5000;56.5000 --42.5000;57.0000 --42.5000;57.5000 --42.5000;58.0000 --42.5000;58.5000 --42.5000;59.0000 --42.5000;59.5000 --42.5000;60.0000 --42.5000;60.5000 --42.5000;61.0000 --42.5000;61.5000 --42.5000;62.0000 --42.5000;62.5000 --42.5000;63.0000 --42.5000;63.5000 --42.5000;64.0000 --42.5000;64.5000 --42.5000;65.0000 --42.5000;65.5000 --42.5000;66.0000 --42.5000;66.5000 --42.5000;67.0000 --42.5000;67.5000 --42.5000;68.0000 --42.5000;68.5000 --42.5000;69.0000 --42.5000;69.5000 --42.5000;70.0000 --42.5000;70.5000 --42.5000;71.0000 --42.5000;71.5000 --42.5000;72.0000 --42.5000;72.5000 --42.5000;73.0000 --42.5000;73.5000 --42.5000;74.0000 --42.5000;74.5000 --42.5000;75.0000 --42.5000;75.5000 --42.5000;76.0000 --42.5000;76.5000 --42.5000;77.0000 --42.5000;77.5000 --42.5000;78.0000 --42.5000;78.5000 --42.5000;79.0000 --42.5000;79.5000 --42.5000;80.0000 --42.5000;80.5000 --42.5000;81.0000 --42.5000;81.5000 --42.5000;82.0000 --42.5000;82.5000 --42.5000;83.0000 --42.5000;83.5000 --42.5000;84.0000 --42.5000;84.5000 --42.5000;85.0000 --42.5000;85.5000 --42.5000;86.0000 --42.5000;86.5000 --42.5000;87.0000 --42.5000;87.5000 --42.5000;88.0000 --42.5000;88.5000 --42.5000;89.0000 --42.5000;89.5000 --42.5000;90.0000 --42.5000;90.5000 --42.5000;91.0000 --42.5000;91.5000 --42.5000;92.0000 --42.5000;92.5000 --42.5000;93.0000 --42.5000;93.5000 --42.5000;94.0000 --42.5000;94.5000 --42.5000;95.0000 --42.5000;95.5000 --42.5000;96.0000 --42.5000;96.5000 --42.5000;97.0000 --42.5000;97.5000 --42.5000;98.0000 --42.5000;98.5000 --42.5000;99.0000 --42.5000;99.5000 --42.5000;100.0000 --42.5000;100.5000 --42.5000;101.0000 --42.5000;101.5000 --42.5000;102.0000 --42.5000;102.5000 --42.5000;103.0000 --42.5000;103.5000 --42.5000;104.0000 --42.5000;104.5000 --42.5000;105.0000 --42.5000;105.5000 --42.5000;106.0000 --42.5000;106.5000 --42.5000;107.0000 --42.5000;107.5000 --42.5000;108.0000 --42.5000;108.5000 --42.5000;109.0000 --42.5000;109.5000 --42.5000;110.0000 --42.5000;110.5000 --42.5000;111.0000 --42.5000;111.5000 --42.5000;112.0000 --42.5000;112.5000 --42.5000;113.0000 --42.5000;113.5000 --42.5000;114.0000 --42.0000;-13.5000 --42.0000;-13.0000 --42.0000;-12.5000 --42.0000;-12.0000 --42.0000;-11.5000 --42.0000;-11.0000 --42.0000;-10.5000 --42.0000;-10.0000 --42.0000;-9.5000 --42.0000;-9.0000 --42.0000;-8.5000 --42.0000;-8.0000 --42.0000;-7.5000 --42.0000;-7.0000 --42.0000;-6.5000 --42.0000;-6.0000 --42.0000;-5.5000 --42.0000;-5.0000 --42.0000;-4.5000 --42.0000;-4.0000 --42.0000;-3.5000 --42.0000;-3.0000 --42.0000;-2.5000 --42.0000;-2.0000 --42.0000;-1.5000 --42.0000;-1.0000 --42.0000;-0.5000 --42.0000;0.0000 --42.0000;0.5000 --42.0000;1.0000 --42.0000;1.5000 --42.0000;2.0000 --42.0000;2.5000 --42.0000;3.0000 --42.0000;3.5000 --42.0000;4.0000 --42.0000;4.5000 --42.0000;5.0000 --42.0000;5.5000 --42.0000;6.0000 --42.0000;6.5000 --42.0000;7.0000 --42.0000;7.5000 --42.0000;8.0000 --42.0000;8.5000 --42.0000;9.0000 --42.0000;9.5000 --42.0000;10.0000 --42.0000;10.5000 --42.0000;11.0000 --42.0000;11.5000 --42.0000;12.0000 --42.0000;12.5000 --42.0000;13.0000 --42.0000;13.5000 --42.0000;14.0000 --42.0000;14.5000 --42.0000;15.0000 --42.0000;15.5000 --42.0000;16.0000 --42.0000;16.5000 --42.0000;17.0000 --42.0000;17.5000 --42.0000;18.0000 --42.0000;18.5000 --42.0000;19.0000 --42.0000;19.5000 --42.0000;20.0000 --42.0000;20.5000 --42.0000;21.0000 --42.0000;21.5000 --42.0000;22.0000 --42.0000;22.5000 --42.0000;23.0000 --42.0000;23.5000 --42.0000;24.0000 --42.0000;24.5000 --42.0000;25.0000 --42.0000;25.5000 --42.0000;26.0000 --42.0000;26.5000 --42.0000;27.0000 --42.0000;27.5000 --42.0000;28.0000 --42.0000;28.5000 --42.0000;29.0000 --42.0000;29.5000 --42.0000;30.0000 --42.0000;30.5000 --42.0000;31.0000 --42.0000;31.5000 --42.0000;32.0000 --42.0000;32.5000 --42.0000;33.0000 --42.0000;33.5000 --42.0000;34.0000 --42.0000;34.5000 --42.0000;35.0000 --42.0000;35.5000 --42.0000;36.0000 --42.0000;36.5000 --42.0000;37.0000 --42.0000;37.5000 --42.0000;38.0000 --42.0000;38.5000 --42.0000;39.0000 --42.0000;39.5000 --42.0000;40.0000 --42.0000;40.5000 --42.0000;41.0000 --42.0000;41.5000 --42.0000;42.0000 --42.0000;42.5000 --42.0000;43.0000 --42.0000;43.5000 --42.0000;44.0000 --42.0000;44.5000 --42.0000;45.0000 --42.0000;45.5000 --42.0000;46.0000 --42.0000;46.5000 --42.0000;47.0000 --42.0000;47.5000 --42.0000;48.0000 --42.0000;48.5000 --42.0000;49.0000 --42.0000;49.5000 --42.0000;50.0000 --42.0000;50.5000 --42.0000;51.0000 --42.0000;51.5000 --42.0000;52.0000 --42.0000;52.5000 --42.0000;53.0000 --42.0000;53.5000 --42.0000;54.0000 --42.0000;54.5000 --42.0000;55.0000 --42.0000;55.5000 --42.0000;56.0000 --42.0000;56.5000 --42.0000;57.0000 --42.0000;57.5000 --42.0000;58.0000 --42.0000;58.5000 --42.0000;59.0000 --42.0000;59.5000 --42.0000;60.0000 --42.0000;60.5000 --42.0000;61.0000 --42.0000;61.5000 --42.0000;62.0000 --42.0000;62.5000 --42.0000;63.0000 --42.0000;63.5000 --42.0000;64.0000 --42.0000;64.5000 --42.0000;65.0000 --42.0000;65.5000 --42.0000;66.0000 --42.0000;66.5000 --42.0000;67.0000 --42.0000;67.5000 --42.0000;68.0000 --42.0000;68.5000 --42.0000;69.0000 --42.0000;69.5000 --42.0000;70.0000 --42.0000;70.5000 --42.0000;71.0000 --42.0000;71.5000 --42.0000;72.0000 --42.0000;72.5000 --42.0000;73.0000 --42.0000;73.5000 --42.0000;74.0000 --42.0000;74.5000 --42.0000;75.0000 --42.0000;75.5000 --42.0000;76.0000 --42.0000;76.5000 --42.0000;77.0000 --42.0000;77.5000 --42.0000;78.0000 --42.0000;78.5000 --42.0000;79.0000 --42.0000;79.5000 --42.0000;80.0000 --42.0000;80.5000 --42.0000;81.0000 --42.0000;81.5000 --42.0000;82.0000 --42.0000;82.5000 --42.0000;83.0000 --42.0000;83.5000 --42.0000;84.0000 --42.0000;84.5000 --42.0000;85.0000 --42.0000;85.5000 --42.0000;86.0000 --42.0000;86.5000 --42.0000;87.0000 --42.0000;87.5000 --42.0000;88.0000 --42.0000;88.5000 --42.0000;89.0000 --42.0000;89.5000 --42.0000;90.0000 --42.0000;90.5000 --42.0000;91.0000 --42.0000;91.5000 --42.0000;92.0000 --42.0000;92.5000 --42.0000;93.0000 --42.0000;93.5000 --42.0000;94.0000 --42.0000;94.5000 --42.0000;95.0000 --42.0000;95.5000 --42.0000;96.0000 --42.0000;96.5000 --42.0000;97.0000 --42.0000;97.5000 --42.0000;98.0000 --42.0000;98.5000 --42.0000;99.0000 --42.0000;99.5000 --42.0000;100.0000 --42.0000;100.5000 --42.0000;101.0000 --42.0000;101.5000 --42.0000;102.0000 --42.0000;102.5000 --42.0000;103.0000 --42.0000;103.5000 --42.0000;104.0000 --42.0000;104.5000 --42.0000;105.0000 --42.0000;105.5000 --42.0000;106.0000 --42.0000;106.5000 --42.0000;107.0000 --42.0000;107.5000 --42.0000;108.0000 --42.0000;108.5000 --42.0000;109.0000 --42.0000;109.5000 --42.0000;110.0000 --42.0000;110.5000 --42.0000;111.0000 --42.0000;111.5000 --42.0000;112.0000 --42.0000;112.5000 --42.0000;113.0000 --42.0000;113.5000 --42.0000;114.0000 --41.5000;-13.5000 --41.5000;-13.0000 --41.5000;-12.5000 --41.5000;-12.0000 --41.5000;-11.5000 --41.5000;-11.0000 --41.5000;-10.5000 --41.5000;-10.0000 --41.5000;-9.5000 --41.5000;-9.0000 --41.5000;-8.5000 --41.5000;-8.0000 --41.5000;-7.5000 --41.5000;-7.0000 --41.5000;-6.5000 --41.5000;-6.0000 --41.5000;-5.5000 --41.5000;-5.0000 --41.5000;-4.5000 --41.5000;-4.0000 --41.5000;-3.5000 --41.5000;-3.0000 --41.5000;-2.5000 --41.5000;-2.0000 --41.5000;-1.5000 --41.5000;-1.0000 --41.5000;-0.5000 --41.5000;0.0000 --41.5000;0.5000 --41.5000;1.0000 --41.5000;1.5000 --41.5000;2.0000 --41.5000;2.5000 --41.5000;3.0000 --41.5000;3.5000 --41.5000;4.0000 --41.5000;4.5000 --41.5000;5.0000 --41.5000;5.5000 --41.5000;6.0000 --41.5000;6.5000 --41.5000;7.0000 --41.5000;7.5000 --41.5000;8.0000 --41.5000;8.5000 --41.5000;9.0000 --41.5000;9.5000 --41.5000;10.0000 --41.5000;10.5000 --41.5000;11.0000 --41.5000;11.5000 --41.5000;12.0000 --41.5000;12.5000 --41.5000;13.0000 --41.5000;13.5000 --41.5000;14.0000 --41.5000;14.5000 --41.5000;15.0000 --41.5000;15.5000 --41.5000;16.0000 --41.5000;16.5000 --41.5000;17.0000 --41.5000;17.5000 --41.5000;18.0000 --41.5000;18.5000 --41.5000;19.0000 --41.5000;19.5000 --41.5000;20.0000 --41.5000;20.5000 --41.5000;21.0000 --41.5000;21.5000 --41.5000;22.0000 --41.5000;22.5000 --41.5000;23.0000 --41.5000;23.5000 --41.5000;24.0000 --41.5000;24.5000 --41.5000;25.0000 --41.5000;25.5000 --41.5000;26.0000 --41.5000;26.5000 --41.5000;27.0000 --41.5000;27.5000 --41.5000;28.0000 --41.5000;28.5000 --41.5000;29.0000 --41.5000;29.5000 --41.5000;30.0000 --41.5000;30.5000 --41.5000;31.0000 --41.5000;31.5000 --41.5000;32.0000 --41.5000;32.5000 --41.5000;33.0000 --41.5000;33.5000 --41.5000;34.0000 --41.5000;34.5000 --41.5000;35.0000 --41.5000;35.5000 --41.5000;36.0000 --41.5000;36.5000 --41.5000;37.0000 --41.5000;37.5000 --41.5000;38.0000 --41.5000;38.5000 --41.5000;39.0000 --41.5000;39.5000 --41.5000;40.0000 --41.5000;40.5000 --41.5000;41.0000 --41.5000;41.5000 --41.5000;42.0000 --41.5000;42.5000 --41.5000;43.0000 --41.5000;43.5000 --41.5000;44.0000 --41.5000;44.5000 --41.5000;45.0000 --41.5000;45.5000 --41.5000;46.0000 --41.5000;46.5000 --41.5000;47.0000 --41.5000;47.5000 --41.5000;48.0000 --41.5000;48.5000 --41.5000;49.0000 --41.5000;49.5000 --41.5000;50.0000 --41.5000;50.5000 --41.5000;51.0000 --41.5000;51.5000 --41.5000;52.0000 --41.5000;52.5000 --41.5000;53.0000 --41.5000;53.5000 --41.5000;54.0000 --41.5000;54.5000 --41.5000;55.0000 --41.5000;55.5000 --41.5000;56.0000 --41.5000;56.5000 --41.5000;57.0000 --41.5000;57.5000 --41.5000;58.0000 --41.5000;58.5000 --41.5000;59.0000 --41.5000;59.5000 --41.5000;60.0000 --41.5000;60.5000 --41.5000;61.0000 --41.5000;61.5000 --41.5000;62.0000 --41.5000;62.5000 --41.5000;63.0000 --41.5000;63.5000 --41.5000;64.0000 --41.5000;64.5000 --41.5000;65.0000 --41.5000;65.5000 --41.5000;66.0000 --41.5000;66.5000 --41.5000;67.0000 --41.5000;67.5000 --41.5000;68.0000 --41.5000;68.5000 --41.5000;69.0000 --41.5000;69.5000 --41.5000;70.0000 --41.5000;70.5000 --41.5000;71.0000 --41.5000;71.5000 --41.5000;72.0000 --41.5000;72.5000 --41.5000;73.0000 --41.5000;73.5000 --41.5000;74.0000 --41.5000;74.5000 --41.5000;75.0000 --41.5000;75.5000 --41.5000;76.0000 --41.5000;76.5000 --41.5000;77.0000 --41.5000;77.5000 --41.5000;78.0000 --41.5000;78.5000 --41.5000;79.0000 --41.5000;79.5000 --41.5000;80.0000 --41.5000;80.5000 --41.5000;81.0000 --41.5000;81.5000 --41.5000;82.0000 --41.5000;82.5000 --41.5000;83.0000 --41.5000;83.5000 --41.5000;84.0000 --41.5000;84.5000 --41.5000;85.0000 --41.5000;85.5000 --41.5000;86.0000 --41.5000;86.5000 --41.5000;87.0000 --41.5000;87.5000 --41.5000;88.0000 --41.5000;88.5000 --41.5000;89.0000 --41.5000;89.5000 --41.5000;90.0000 --41.5000;90.5000 --41.5000;91.0000 --41.5000;91.5000 --41.5000;92.0000 --41.5000;92.5000 --41.5000;93.0000 --41.5000;93.5000 --41.5000;94.0000 --41.5000;94.5000 --41.5000;95.0000 --41.5000;95.5000 --41.5000;96.0000 --41.5000;96.5000 --41.5000;97.0000 --41.5000;97.5000 --41.5000;98.0000 --41.5000;98.5000 --41.5000;99.0000 --41.5000;99.5000 --41.5000;100.0000 --41.5000;100.5000 --41.5000;101.0000 --41.5000;101.5000 --41.5000;102.0000 --41.5000;102.5000 --41.5000;103.0000 --41.5000;103.5000 --41.5000;104.0000 --41.5000;104.5000 --41.5000;105.0000 --41.5000;105.5000 --41.5000;106.0000 --41.5000;106.5000 --41.5000;107.0000 --41.5000;107.5000 --41.5000;108.0000 --41.5000;108.5000 --41.5000;109.0000 --41.5000;109.5000 --41.5000;110.0000 --41.5000;110.5000 --41.5000;111.0000 --41.5000;111.5000 --41.5000;112.0000 --41.5000;112.5000 --41.5000;113.0000 --41.5000;113.5000 --41.5000;114.0000 --41.5000;114.5000 --41.0000;-14.0000 --41.0000;-13.5000 --41.0000;-13.0000 --41.0000;-12.5000 --41.0000;-12.0000 --41.0000;-11.5000 --41.0000;-11.0000 --41.0000;-10.5000 --41.0000;-10.0000 --41.0000;-9.5000 --41.0000;-9.0000 --41.0000;-8.5000 --41.0000;-8.0000 --41.0000;-7.5000 --41.0000;-7.0000 --41.0000;-6.5000 --41.0000;-6.0000 --41.0000;-5.5000 --41.0000;-5.0000 --41.0000;-4.5000 --41.0000;-4.0000 --41.0000;-3.5000 --41.0000;-3.0000 --41.0000;-2.5000 --41.0000;-2.0000 --41.0000;-1.5000 --41.0000;-1.0000 --41.0000;-0.5000 --41.0000;0.0000 --41.0000;0.5000 --41.0000;1.0000 --41.0000;1.5000 --41.0000;2.0000 --41.0000;2.5000 --41.0000;3.0000 --41.0000;3.5000 --41.0000;4.0000 --41.0000;4.5000 --41.0000;5.0000 --41.0000;5.5000 --41.0000;6.0000 --41.0000;6.5000 --41.0000;7.0000 --41.0000;7.5000 --41.0000;8.0000 --41.0000;8.5000 --41.0000;9.0000 --41.0000;9.5000 --41.0000;10.0000 --41.0000;10.5000 --41.0000;11.0000 --41.0000;11.5000 --41.0000;12.0000 --41.0000;12.5000 --41.0000;13.0000 --41.0000;13.5000 --41.0000;14.0000 --41.0000;14.5000 --41.0000;15.0000 --41.0000;15.5000 --41.0000;16.0000 --41.0000;16.5000 --41.0000;17.0000 --41.0000;17.5000 --41.0000;18.0000 --41.0000;18.5000 --41.0000;19.0000 --41.0000;19.5000 --41.0000;20.0000 --41.0000;20.5000 --41.0000;21.0000 --41.0000;21.5000 --41.0000;22.0000 --41.0000;22.5000 --41.0000;23.0000 --41.0000;23.5000 --41.0000;24.0000 --41.0000;24.5000 --41.0000;25.0000 --41.0000;25.5000 --41.0000;26.0000 --41.0000;26.5000 --41.0000;27.0000 --41.0000;27.5000 --41.0000;28.0000 --41.0000;28.5000 --41.0000;29.0000 --41.0000;29.5000 --41.0000;30.0000 --41.0000;30.5000 --41.0000;31.0000 --41.0000;31.5000 --41.0000;32.0000 --41.0000;32.5000 --41.0000;33.0000 --41.0000;33.5000 --41.0000;34.0000 --41.0000;34.5000 --41.0000;35.0000 --41.0000;35.5000 --41.0000;36.0000 --41.0000;36.5000 --41.0000;37.0000 --41.0000;37.5000 --41.0000;38.0000 --41.0000;38.5000 --41.0000;39.0000 --41.0000;39.5000 --41.0000;40.0000 --41.0000;40.5000 --41.0000;41.0000 --41.0000;41.5000 --41.0000;42.0000 --41.0000;42.5000 --41.0000;43.0000 --41.0000;43.5000 --41.0000;44.0000 --41.0000;44.5000 --41.0000;45.0000 --41.0000;45.5000 --41.0000;46.0000 --41.0000;46.5000 --41.0000;47.0000 --41.0000;47.5000 --41.0000;48.0000 --41.0000;48.5000 --41.0000;49.0000 --41.0000;49.5000 --41.0000;50.0000 --41.0000;50.5000 --41.0000;51.0000 --41.0000;51.5000 --41.0000;52.0000 --41.0000;52.5000 --41.0000;53.0000 --41.0000;53.5000 --41.0000;54.0000 --41.0000;54.5000 --41.0000;55.0000 --41.0000;55.5000 --41.0000;56.0000 --41.0000;56.5000 --41.0000;57.0000 --41.0000;57.5000 --41.0000;58.0000 --41.0000;58.5000 --41.0000;59.0000 --41.0000;59.5000 --41.0000;60.0000 --41.0000;60.5000 --41.0000;61.0000 --41.0000;61.5000 --41.0000;62.0000 --41.0000;62.5000 --41.0000;63.0000 --41.0000;63.5000 --41.0000;64.0000 --41.0000;64.5000 --41.0000;65.0000 --41.0000;65.5000 --41.0000;66.0000 --41.0000;66.5000 --41.0000;67.0000 --41.0000;67.5000 --41.0000;68.0000 --41.0000;68.5000 --41.0000;69.0000 --41.0000;69.5000 --41.0000;70.0000 --41.0000;70.5000 --41.0000;71.0000 --41.0000;71.5000 --41.0000;72.0000 --41.0000;72.5000 --41.0000;73.0000 --41.0000;73.5000 --41.0000;74.0000 --41.0000;74.5000 --41.0000;75.0000 --41.0000;75.5000 --41.0000;76.0000 --41.0000;76.5000 --41.0000;77.0000 --41.0000;77.5000 --41.0000;78.0000 --41.0000;78.5000 --41.0000;79.0000 --41.0000;79.5000 --41.0000;80.0000 --41.0000;80.5000 --41.0000;81.0000 --41.0000;81.5000 --41.0000;82.0000 --41.0000;82.5000 --41.0000;83.0000 --41.0000;83.5000 --41.0000;84.0000 --41.0000;84.5000 --41.0000;85.0000 --41.0000;85.5000 --41.0000;86.0000 --41.0000;86.5000 --41.0000;87.0000 --41.0000;87.5000 --41.0000;88.0000 --41.0000;88.5000 --41.0000;89.0000 --41.0000;89.5000 --41.0000;90.0000 --41.0000;90.5000 --41.0000;91.0000 --41.0000;91.5000 --41.0000;92.0000 --41.0000;92.5000 --41.0000;93.0000 --41.0000;93.5000 --41.0000;94.0000 --41.0000;94.5000 --41.0000;95.0000 --41.0000;95.5000 --41.0000;96.0000 --41.0000;96.5000 --41.0000;97.0000 --41.0000;97.5000 --41.0000;98.0000 --41.0000;98.5000 --41.0000;99.0000 --41.0000;99.5000 --41.0000;100.0000 --41.0000;100.5000 --41.0000;101.0000 --41.0000;101.5000 --41.0000;102.0000 --41.0000;102.5000 --41.0000;103.0000 --41.0000;103.5000 --41.0000;104.0000 --41.0000;104.5000 --41.0000;105.0000 --41.0000;105.5000 --41.0000;106.0000 --41.0000;106.5000 --41.0000;107.0000 --41.0000;107.5000 --41.0000;108.0000 --41.0000;108.5000 --41.0000;109.0000 --41.0000;109.5000 --41.0000;110.0000 --41.0000;110.5000 --41.0000;111.0000 --41.0000;111.5000 --41.0000;112.0000 --41.0000;112.5000 --41.0000;113.0000 --41.0000;113.5000 --41.0000;114.0000 --41.0000;114.5000 --41.0000;115.0000 --40.5000;-14.5000 --40.5000;-14.0000 --40.5000;-13.5000 --40.5000;-13.0000 --40.5000;-12.5000 --40.5000;-12.0000 --40.5000;-11.5000 --40.5000;-11.0000 --40.5000;-10.5000 --40.5000;-10.0000 --40.5000;-9.5000 --40.5000;-9.0000 --40.5000;-8.5000 --40.5000;-8.0000 --40.5000;-7.5000 --40.5000;-7.0000 --40.5000;-6.5000 --40.5000;-6.0000 --40.5000;-5.5000 --40.5000;-5.0000 --40.5000;-4.5000 --40.5000;-4.0000 --40.5000;-3.5000 --40.5000;-3.0000 --40.5000;-2.5000 --40.5000;-2.0000 --40.5000;-1.5000 --40.5000;-1.0000 --40.5000;-0.5000 --40.5000;0.0000 --40.5000;0.5000 --40.5000;1.0000 --40.5000;1.5000 --40.5000;2.0000 --40.5000;2.5000 --40.5000;3.0000 --40.5000;3.5000 --40.5000;4.0000 --40.5000;4.5000 --40.5000;5.0000 --40.5000;5.5000 --40.5000;6.0000 --40.5000;6.5000 --40.5000;7.0000 --40.5000;7.5000 --40.5000;8.0000 --40.5000;8.5000 --40.5000;9.0000 --40.5000;9.5000 --40.5000;10.0000 --40.5000;10.5000 --40.5000;11.0000 --40.5000;11.5000 --40.5000;12.0000 --40.5000;12.5000 --40.5000;13.0000 --40.5000;13.5000 --40.5000;14.0000 --40.5000;14.5000 --40.5000;15.0000 --40.5000;15.5000 --40.5000;16.0000 --40.5000;16.5000 --40.5000;17.0000 --40.5000;17.5000 --40.5000;18.0000 --40.5000;18.5000 --40.5000;19.0000 --40.5000;19.5000 --40.5000;20.0000 --40.5000;20.5000 --40.5000;21.0000 --40.5000;21.5000 --40.5000;22.0000 --40.5000;22.5000 --40.5000;23.0000 --40.5000;23.5000 --40.5000;24.0000 --40.5000;24.5000 --40.5000;25.0000 --40.5000;25.5000 --40.5000;26.0000 --40.5000;26.5000 --40.5000;27.0000 --40.5000;27.5000 --40.5000;28.0000 --40.5000;28.5000 --40.5000;29.0000 --40.5000;29.5000 --40.5000;30.0000 --40.5000;30.5000 --40.5000;31.0000 --40.5000;31.5000 --40.5000;32.0000 --40.5000;32.5000 --40.5000;33.0000 --40.5000;33.5000 --40.5000;34.0000 --40.5000;34.5000 --40.5000;35.0000 --40.5000;35.5000 --40.5000;36.0000 --40.5000;36.5000 --40.5000;37.0000 --40.5000;37.5000 --40.5000;38.0000 --40.5000;38.5000 --40.5000;39.0000 --40.5000;39.5000 --40.5000;40.0000 --40.5000;40.5000 --40.5000;41.0000 --40.5000;41.5000 --40.5000;42.0000 --40.5000;42.5000 --40.5000;43.0000 --40.5000;43.5000 --40.5000;44.0000 --40.5000;44.5000 --40.5000;45.0000 --40.5000;45.5000 --40.5000;46.0000 --40.5000;46.5000 --40.5000;47.0000 --40.5000;47.5000 --40.5000;48.0000 --40.5000;48.5000 --40.5000;49.0000 --40.5000;49.5000 --40.5000;50.0000 --40.5000;50.5000 --40.5000;51.0000 --40.5000;51.5000 --40.5000;52.0000 --40.5000;52.5000 --40.5000;53.0000 --40.5000;53.5000 --40.5000;54.0000 --40.5000;54.5000 --40.5000;55.0000 --40.5000;55.5000 --40.5000;56.0000 --40.5000;56.5000 --40.5000;57.0000 --40.5000;57.5000 --40.5000;58.0000 --40.5000;58.5000 --40.5000;59.0000 --40.5000;59.5000 --40.5000;60.0000 --40.5000;60.5000 --40.5000;61.0000 --40.5000;61.5000 --40.5000;62.0000 --40.5000;62.5000 --40.5000;63.0000 --40.5000;63.5000 --40.5000;64.0000 --40.5000;64.5000 --40.5000;65.0000 --40.5000;65.5000 --40.5000;66.0000 --40.5000;66.5000 --40.5000;67.0000 --40.5000;67.5000 --40.5000;68.0000 --40.5000;68.5000 --40.5000;69.0000 --40.5000;69.5000 --40.5000;70.0000 --40.5000;70.5000 --40.5000;71.0000 --40.5000;71.5000 --40.5000;72.0000 --40.5000;72.5000 --40.5000;73.0000 --40.5000;73.5000 --40.5000;74.0000 --40.5000;74.5000 --40.5000;75.0000 --40.5000;75.5000 --40.5000;76.0000 --40.5000;76.5000 --40.5000;77.0000 --40.5000;77.5000 --40.5000;78.0000 --40.5000;78.5000 --40.5000;79.0000 --40.5000;79.5000 --40.5000;80.0000 --40.5000;80.5000 --40.5000;81.0000 --40.5000;81.5000 --40.5000;82.0000 --40.5000;82.5000 --40.5000;83.0000 --40.5000;83.5000 --40.5000;84.0000 --40.5000;84.5000 --40.5000;85.0000 --40.5000;85.5000 --40.5000;86.0000 --40.5000;86.5000 --40.5000;87.0000 --40.5000;87.5000 --40.5000;88.0000 --40.5000;88.5000 --40.5000;89.0000 --40.5000;89.5000 --40.5000;90.0000 --40.5000;90.5000 --40.5000;91.0000 --40.5000;91.5000 --40.5000;92.0000 --40.5000;92.5000 --40.5000;93.0000 --40.5000;93.5000 --40.5000;94.0000 --40.5000;94.5000 --40.5000;95.0000 --40.5000;95.5000 --40.5000;96.0000 --40.5000;96.5000 --40.5000;97.0000 --40.5000;97.5000 --40.5000;98.0000 --40.5000;98.5000 --40.5000;99.0000 --40.5000;99.5000 --40.5000;100.0000 --40.5000;100.5000 --40.5000;101.0000 --40.5000;101.5000 --40.5000;102.0000 --40.5000;102.5000 --40.5000;103.0000 --40.5000;103.5000 --40.5000;104.0000 --40.5000;104.5000 --40.5000;105.0000 --40.5000;105.5000 --40.5000;106.0000 --40.5000;106.5000 --40.5000;107.0000 --40.5000;107.5000 --40.5000;108.0000 --40.5000;108.5000 --40.5000;109.0000 --40.5000;109.5000 --40.5000;110.0000 --40.5000;110.5000 --40.5000;111.0000 --40.5000;111.5000 --40.5000;112.0000 --40.5000;112.5000 --40.5000;113.0000 --40.5000;113.5000 --40.5000;114.0000 --40.5000;114.5000 --40.5000;115.0000 --40.0000;-14.5000 --40.0000;-14.0000 --40.0000;-13.5000 --40.0000;-13.0000 --40.0000;-12.5000 --40.0000;-12.0000 --40.0000;-11.5000 --40.0000;-11.0000 --40.0000;-10.5000 --40.0000;-10.0000 --40.0000;-9.5000 --40.0000;-9.0000 --40.0000;-8.5000 --40.0000;-8.0000 --40.0000;-7.5000 --40.0000;-7.0000 --40.0000;-6.5000 --40.0000;-6.0000 --40.0000;-5.5000 --40.0000;-5.0000 --40.0000;-4.5000 --40.0000;-4.0000 --40.0000;-3.5000 --40.0000;-3.0000 --40.0000;-2.5000 --40.0000;-2.0000 --40.0000;-1.5000 --40.0000;-1.0000 --40.0000;-0.5000 --40.0000;0.0000 --40.0000;0.5000 --40.0000;1.0000 --40.0000;1.5000 --40.0000;2.0000 --40.0000;2.5000 --40.0000;3.0000 --40.0000;3.5000 --40.0000;4.0000 --40.0000;4.5000 --40.0000;5.0000 --40.0000;5.5000 --40.0000;6.0000 --40.0000;6.5000 --40.0000;7.0000 --40.0000;7.5000 --40.0000;8.0000 --40.0000;8.5000 --40.0000;9.0000 --40.0000;9.5000 --40.0000;10.0000 --40.0000;10.5000 --40.0000;11.0000 --40.0000;11.5000 --40.0000;12.0000 --40.0000;12.5000 --40.0000;13.0000 --40.0000;13.5000 --40.0000;14.0000 --40.0000;14.5000 --40.0000;15.0000 --40.0000;15.5000 --40.0000;16.0000 --40.0000;16.5000 --40.0000;17.0000 --40.0000;17.5000 --40.0000;18.0000 --40.0000;18.5000 --40.0000;19.0000 --40.0000;19.5000 --40.0000;20.0000 --40.0000;20.5000 --40.0000;21.0000 --40.0000;21.5000 --40.0000;22.0000 --40.0000;22.5000 --40.0000;23.0000 --40.0000;23.5000 --40.0000;24.0000 --40.0000;24.5000 --40.0000;25.0000 --40.0000;25.5000 --40.0000;26.0000 --40.0000;26.5000 --40.0000;27.0000 --40.0000;27.5000 --40.0000;28.0000 --40.0000;28.5000 --40.0000;29.0000 --40.0000;29.5000 --40.0000;30.0000 --40.0000;30.5000 --40.0000;31.0000 --40.0000;31.5000 --40.0000;32.0000 --40.0000;32.5000 --40.0000;33.0000 --40.0000;33.5000 --40.0000;34.0000 --40.0000;34.5000 --40.0000;35.0000 --40.0000;35.5000 --40.0000;36.0000 --40.0000;36.5000 --40.0000;37.0000 --40.0000;37.5000 --40.0000;38.0000 --40.0000;38.5000 --40.0000;39.0000 --40.0000;39.5000 --40.0000;40.0000 --40.0000;40.5000 --40.0000;41.0000 --40.0000;41.5000 --40.0000;42.0000 --40.0000;42.5000 --40.0000;43.0000 --40.0000;43.5000 --40.0000;44.0000 --40.0000;44.5000 --40.0000;45.0000 --40.0000;45.5000 --40.0000;46.0000 --40.0000;46.5000 --40.0000;47.0000 --40.0000;47.5000 --40.0000;48.0000 --40.0000;48.5000 --40.0000;49.0000 --40.0000;49.5000 --40.0000;50.0000 --40.0000;50.5000 --40.0000;51.0000 --40.0000;51.5000 --40.0000;52.0000 --40.0000;52.5000 --40.0000;53.0000 --40.0000;53.5000 --40.0000;54.0000 --40.0000;54.5000 --40.0000;55.0000 --40.0000;55.5000 --40.0000;56.0000 --40.0000;56.5000 --40.0000;57.0000 --40.0000;57.5000 --40.0000;58.0000 --40.0000;58.5000 --40.0000;59.0000 --40.0000;59.5000 --40.0000;60.0000 --40.0000;60.5000 --40.0000;61.0000 --40.0000;61.5000 --40.0000;62.0000 --40.0000;62.5000 --40.0000;63.0000 --40.0000;63.5000 --40.0000;64.0000 --40.0000;64.5000 --40.0000;65.0000 --40.0000;65.5000 --40.0000;66.0000 --40.0000;66.5000 --40.0000;67.0000 --40.0000;67.5000 --40.0000;68.0000 --40.0000;68.5000 --40.0000;69.0000 --40.0000;69.5000 --40.0000;70.0000 --40.0000;70.5000 --40.0000;71.0000 --40.0000;71.5000 --40.0000;72.0000 --40.0000;72.5000 --40.0000;73.0000 --40.0000;73.5000 --40.0000;74.0000 --40.0000;74.5000 --40.0000;75.0000 --40.0000;75.5000 --40.0000;76.0000 --40.0000;76.5000 --40.0000;77.0000 --40.0000;77.5000 --40.0000;78.0000 --40.0000;78.5000 --40.0000;79.0000 --40.0000;79.5000 --40.0000;80.0000 --40.0000;80.5000 --40.0000;81.0000 --40.0000;81.5000 --40.0000;82.0000 --40.0000;82.5000 --40.0000;83.0000 --40.0000;83.5000 --40.0000;84.0000 --40.0000;84.5000 --40.0000;85.0000 --40.0000;85.5000 --40.0000;86.0000 --40.0000;86.5000 --40.0000;87.0000 --40.0000;87.5000 --40.0000;88.0000 --40.0000;88.5000 --40.0000;89.0000 --40.0000;89.5000 --40.0000;90.0000 --40.0000;90.5000 --40.0000;91.0000 --40.0000;91.5000 --40.0000;92.0000 --40.0000;92.5000 --40.0000;93.0000 --40.0000;93.5000 --40.0000;94.0000 --40.0000;94.5000 --40.0000;95.0000 --40.0000;95.5000 --40.0000;96.0000 --40.0000;96.5000 --40.0000;97.0000 --40.0000;97.5000 --40.0000;98.0000 --40.0000;98.5000 --40.0000;99.0000 --40.0000;99.5000 --40.0000;100.0000 --40.0000;100.5000 --40.0000;101.0000 --40.0000;101.5000 --40.0000;102.0000 --40.0000;102.5000 --40.0000;103.0000 --40.0000;103.5000 --40.0000;104.0000 --40.0000;104.5000 --40.0000;105.0000 --40.0000;105.5000 --40.0000;106.0000 --40.0000;106.5000 --40.0000;107.0000 --40.0000;107.5000 --40.0000;108.0000 --40.0000;108.5000 --40.0000;109.0000 --40.0000;109.5000 --40.0000;110.0000 --40.0000;110.5000 --40.0000;111.0000 --40.0000;111.5000 --40.0000;112.0000 --40.0000;112.5000 --40.0000;113.0000 --40.0000;113.5000 --40.0000;114.0000 --40.0000;114.5000 --40.0000;115.0000 --40.0000;115.5000 --39.5000;-15.0000 --39.5000;-14.5000 --39.5000;-14.0000 --39.5000;-13.5000 --39.5000;-13.0000 --39.5000;-12.5000 --39.5000;-12.0000 --39.5000;-11.5000 --39.5000;-11.0000 --39.5000;-10.5000 --39.5000;-10.0000 --39.5000;-9.5000 --39.5000;-9.0000 --39.5000;-8.5000 --39.5000;-8.0000 --39.5000;-7.5000 --39.5000;-7.0000 --39.5000;-6.5000 --39.5000;-6.0000 --39.5000;-5.5000 --39.5000;-5.0000 --39.5000;-4.5000 --39.5000;-4.0000 --39.5000;-3.5000 --39.5000;-3.0000 --39.5000;-2.5000 --39.5000;-2.0000 --39.5000;-1.5000 --39.5000;-1.0000 --39.5000;-0.5000 --39.5000;0.0000 --39.5000;0.5000 --39.5000;1.0000 --39.5000;1.5000 --39.5000;2.0000 --39.5000;2.5000 --39.5000;3.0000 --39.5000;3.5000 --39.5000;4.0000 --39.5000;4.5000 --39.5000;5.0000 --39.5000;5.5000 --39.5000;6.0000 --39.5000;6.5000 --39.5000;7.0000 --39.5000;7.5000 --39.5000;8.0000 --39.5000;8.5000 --39.5000;9.0000 --39.5000;9.5000 --39.5000;10.0000 --39.5000;10.5000 --39.5000;11.0000 --39.5000;11.5000 --39.5000;12.0000 --39.5000;12.5000 --39.5000;13.0000 --39.5000;13.5000 --39.5000;14.0000 --39.5000;14.5000 --39.5000;15.0000 --39.5000;15.5000 --39.5000;16.0000 --39.5000;16.5000 --39.5000;17.0000 --39.5000;17.5000 --39.5000;18.0000 --39.5000;18.5000 --39.5000;19.0000 --39.5000;19.5000 --39.5000;20.0000 --39.5000;20.5000 --39.5000;21.0000 --39.5000;21.5000 --39.5000;22.0000 --39.5000;22.5000 --39.5000;23.0000 --39.5000;23.5000 --39.5000;24.0000 --39.5000;24.5000 --39.5000;25.0000 --39.5000;25.5000 --39.5000;26.0000 --39.5000;26.5000 --39.5000;27.0000 --39.5000;27.5000 --39.5000;28.0000 --39.5000;28.5000 --39.5000;29.0000 --39.5000;29.5000 --39.5000;30.0000 --39.5000;30.5000 --39.5000;31.0000 --39.5000;31.5000 --39.5000;32.0000 --39.5000;32.5000 --39.5000;33.0000 --39.5000;33.5000 --39.5000;34.0000 --39.5000;34.5000 --39.5000;35.0000 --39.5000;35.5000 --39.5000;36.0000 --39.5000;36.5000 --39.5000;37.0000 --39.5000;37.5000 --39.5000;38.0000 --39.5000;38.5000 --39.5000;39.0000 --39.5000;39.5000 --39.5000;40.0000 --39.5000;40.5000 --39.5000;41.0000 --39.5000;41.5000 --39.5000;42.0000 --39.5000;42.5000 --39.5000;43.0000 --39.5000;43.5000 --39.5000;44.0000 --39.5000;44.5000 --39.5000;45.0000 --39.5000;45.5000 --39.5000;46.0000 --39.5000;46.5000 --39.5000;47.0000 --39.5000;47.5000 --39.5000;48.0000 --39.5000;48.5000 --39.5000;49.0000 --39.5000;49.5000 --39.5000;50.0000 --39.5000;50.5000 --39.5000;51.0000 --39.5000;51.5000 --39.5000;52.0000 --39.5000;52.5000 --39.5000;53.0000 --39.5000;53.5000 --39.5000;54.0000 --39.5000;54.5000 --39.5000;55.0000 --39.5000;55.5000 --39.5000;56.0000 --39.5000;56.5000 --39.5000;57.0000 --39.5000;57.5000 --39.5000;58.0000 --39.5000;58.5000 --39.5000;59.0000 --39.5000;59.5000 --39.5000;60.0000 --39.5000;60.5000 --39.5000;61.0000 --39.5000;61.5000 --39.5000;62.0000 --39.5000;62.5000 --39.5000;63.0000 --39.5000;63.5000 --39.5000;64.0000 --39.5000;64.5000 --39.5000;65.0000 --39.5000;65.5000 --39.5000;66.0000 --39.5000;66.5000 --39.5000;67.0000 --39.5000;67.5000 --39.5000;68.0000 --39.5000;68.5000 --39.5000;69.0000 --39.5000;69.5000 --39.5000;70.0000 --39.5000;70.5000 --39.5000;71.0000 --39.5000;71.5000 --39.5000;72.0000 --39.5000;72.5000 --39.5000;73.0000 --39.5000;73.5000 --39.5000;74.0000 --39.5000;74.5000 --39.5000;75.0000 --39.5000;75.5000 --39.5000;76.0000 --39.5000;76.5000 --39.5000;77.0000 --39.5000;77.5000 --39.5000;78.0000 --39.5000;78.5000 --39.5000;79.0000 --39.5000;79.5000 --39.5000;80.0000 --39.5000;80.5000 --39.5000;81.0000 --39.5000;81.5000 --39.5000;82.0000 --39.5000;82.5000 --39.5000;83.0000 --39.5000;83.5000 --39.5000;84.0000 --39.5000;84.5000 --39.5000;85.0000 --39.5000;85.5000 --39.5000;86.0000 --39.5000;86.5000 --39.5000;87.0000 --39.5000;87.5000 --39.5000;88.0000 --39.5000;88.5000 --39.5000;89.0000 --39.5000;89.5000 --39.5000;90.0000 --39.5000;90.5000 --39.5000;91.0000 --39.5000;91.5000 --39.5000;92.0000 --39.5000;92.5000 --39.5000;93.0000 --39.5000;93.5000 --39.5000;94.0000 --39.5000;94.5000 --39.5000;95.0000 --39.5000;95.5000 --39.5000;96.0000 --39.5000;96.5000 --39.5000;97.0000 --39.5000;97.5000 --39.5000;98.0000 --39.5000;98.5000 --39.5000;99.0000 --39.5000;99.5000 --39.5000;100.0000 --39.5000;100.5000 --39.5000;101.0000 --39.5000;101.5000 --39.5000;102.0000 --39.5000;102.5000 --39.5000;103.0000 --39.5000;103.5000 --39.5000;104.0000 --39.5000;104.5000 --39.5000;105.0000 --39.5000;105.5000 --39.5000;106.0000 --39.5000;106.5000 --39.5000;107.0000 --39.5000;107.5000 --39.5000;108.0000 --39.5000;108.5000 --39.5000;109.0000 --39.5000;109.5000 --39.5000;110.0000 --39.5000;110.5000 --39.5000;111.0000 --39.5000;111.5000 --39.5000;112.0000 --39.5000;112.5000 --39.5000;113.0000 --39.5000;113.5000 --39.5000;114.0000 --39.5000;114.5000 --39.5000;115.0000 --39.5000;115.5000 --39.0000;-15.0000 --39.0000;-14.5000 --39.0000;-14.0000 --39.0000;-13.5000 --39.0000;-13.0000 --39.0000;-12.5000 --39.0000;-12.0000 --39.0000;-11.5000 --39.0000;-11.0000 --39.0000;-10.5000 --39.0000;-10.0000 --39.0000;-9.5000 --39.0000;-9.0000 --39.0000;-8.5000 --39.0000;-8.0000 --39.0000;-7.5000 --39.0000;-7.0000 --39.0000;-6.5000 --39.0000;-6.0000 --39.0000;-5.5000 --39.0000;-5.0000 --39.0000;-4.5000 --39.0000;-4.0000 --39.0000;-3.5000 --39.0000;-3.0000 --39.0000;-2.5000 --39.0000;-2.0000 --39.0000;-1.5000 --39.0000;-1.0000 --39.0000;-0.5000 --39.0000;0.0000 --39.0000;0.5000 --39.0000;1.0000 --39.0000;1.5000 --39.0000;2.0000 --39.0000;2.5000 --39.0000;3.0000 --39.0000;3.5000 --39.0000;4.0000 --39.0000;4.5000 --39.0000;5.0000 --39.0000;5.5000 --39.0000;6.0000 --39.0000;6.5000 --39.0000;7.0000 --39.0000;7.5000 --39.0000;8.0000 --39.0000;8.5000 --39.0000;9.0000 --39.0000;9.5000 --39.0000;10.0000 --39.0000;10.5000 --39.0000;11.0000 --39.0000;11.5000 --39.0000;12.0000 --39.0000;12.5000 --39.0000;13.0000 --39.0000;13.5000 --39.0000;14.0000 --39.0000;14.5000 --39.0000;15.0000 --39.0000;15.5000 --39.0000;16.0000 --39.0000;16.5000 --39.0000;17.0000 --39.0000;17.5000 --39.0000;18.0000 --39.0000;18.5000 --39.0000;19.0000 --39.0000;19.5000 --39.0000;20.0000 --39.0000;20.5000 --39.0000;21.0000 --39.0000;21.5000 --39.0000;22.0000 --39.0000;22.5000 --39.0000;23.0000 --39.0000;23.5000 --39.0000;24.0000 --39.0000;24.5000 --39.0000;25.0000 --39.0000;25.5000 --39.0000;26.0000 --39.0000;26.5000 --39.0000;27.0000 --39.0000;27.5000 --39.0000;28.0000 --39.0000;28.5000 --39.0000;29.0000 --39.0000;29.5000 --39.0000;30.0000 --39.0000;30.5000 --39.0000;31.0000 --39.0000;31.5000 --39.0000;32.0000 --39.0000;32.5000 --39.0000;33.0000 --39.0000;33.5000 --39.0000;34.0000 --39.0000;34.5000 --39.0000;35.0000 --39.0000;35.5000 --39.0000;36.0000 --39.0000;36.5000 --39.0000;37.0000 --39.0000;37.5000 --39.0000;38.0000 --39.0000;38.5000 --39.0000;39.0000 --39.0000;39.5000 --39.0000;40.0000 --39.0000;40.5000 --39.0000;41.0000 --39.0000;41.5000 --39.0000;42.0000 --39.0000;42.5000 --39.0000;43.0000 --39.0000;43.5000 --39.0000;44.0000 --39.0000;44.5000 --39.0000;45.0000 --39.0000;45.5000 --39.0000;46.0000 --39.0000;46.5000 --39.0000;47.0000 --39.0000;47.5000 --39.0000;48.0000 --39.0000;48.5000 --39.0000;49.0000 --39.0000;49.5000 --39.0000;50.0000 --39.0000;50.5000 --39.0000;51.0000 --39.0000;51.5000 --39.0000;52.0000 --39.0000;52.5000 --39.0000;53.0000 --39.0000;53.5000 --39.0000;54.0000 --39.0000;54.5000 --39.0000;55.0000 --39.0000;55.5000 --39.0000;56.0000 --39.0000;56.5000 --39.0000;57.0000 --39.0000;57.5000 --39.0000;58.0000 --39.0000;58.5000 --39.0000;59.0000 --39.0000;59.5000 --39.0000;60.0000 --39.0000;60.5000 --39.0000;61.0000 --39.0000;61.5000 --39.0000;62.0000 --39.0000;62.5000 --39.0000;63.0000 --39.0000;63.5000 --39.0000;64.0000 --39.0000;64.5000 --39.0000;65.0000 --39.0000;65.5000 --39.0000;66.0000 --39.0000;66.5000 --39.0000;67.0000 --39.0000;67.5000 --39.0000;68.0000 --39.0000;68.5000 --39.0000;69.0000 --39.0000;69.5000 --39.0000;70.0000 --39.0000;70.5000 --39.0000;71.0000 --39.0000;71.5000 --39.0000;72.0000 --39.0000;72.5000 --39.0000;73.0000 --39.0000;73.5000 --39.0000;74.0000 --39.0000;74.5000 --39.0000;75.0000 --39.0000;75.5000 --39.0000;76.0000 --39.0000;76.5000 --39.0000;77.0000 --39.0000;77.5000 --39.0000;78.0000 --39.0000;78.5000 --39.0000;79.0000 --39.0000;79.5000 --39.0000;80.0000 --39.0000;80.5000 --39.0000;81.0000 --39.0000;81.5000 --39.0000;82.0000 --39.0000;82.5000 --39.0000;83.0000 --39.0000;83.5000 --39.0000;84.0000 --39.0000;84.5000 --39.0000;85.0000 --39.0000;85.5000 --39.0000;86.0000 --39.0000;86.5000 --39.0000;87.0000 --39.0000;87.5000 --39.0000;88.0000 --39.0000;88.5000 --39.0000;89.0000 --39.0000;89.5000 --39.0000;90.0000 --39.0000;90.5000 --39.0000;91.0000 --39.0000;91.5000 --39.0000;92.0000 --39.0000;92.5000 --39.0000;93.0000 --39.0000;93.5000 --39.0000;94.0000 --39.0000;94.5000 --39.0000;95.0000 --39.0000;95.5000 --39.0000;96.0000 --39.0000;96.5000 --39.0000;97.0000 --39.0000;97.5000 --39.0000;98.0000 --39.0000;98.5000 --39.0000;99.0000 --39.0000;99.5000 --39.0000;100.0000 --39.0000;100.5000 --39.0000;101.0000 --39.0000;101.5000 --39.0000;102.0000 --39.0000;102.5000 --39.0000;103.0000 --39.0000;103.5000 --39.0000;104.0000 --39.0000;104.5000 --39.0000;105.0000 --39.0000;105.5000 --39.0000;106.0000 --39.0000;106.5000 --39.0000;107.0000 --39.0000;107.5000 --39.0000;108.0000 --39.0000;108.5000 --39.0000;109.0000 --39.0000;109.5000 --39.0000;110.0000 --39.0000;110.5000 --39.0000;111.0000 --39.0000;111.5000 --39.0000;112.0000 --39.0000;112.5000 --39.0000;113.0000 --39.0000;113.5000 --39.0000;114.0000 --39.0000;114.5000 --39.0000;115.0000 --39.0000;115.5000 --39.0000;116.0000 --38.5000;-15.5000 --38.5000;-15.0000 --38.5000;-14.5000 --38.5000;-14.0000 --38.5000;-13.5000 --38.5000;-13.0000 --38.5000;-12.5000 --38.5000;-12.0000 --38.5000;-11.5000 --38.5000;-11.0000 --38.5000;-10.5000 --38.5000;-10.0000 --38.5000;-9.5000 --38.5000;-9.0000 --38.5000;-8.5000 --38.5000;-8.0000 --38.5000;-7.5000 --38.5000;-7.0000 --38.5000;-6.5000 --38.5000;-6.0000 --38.5000;-5.5000 --38.5000;-5.0000 --38.5000;-4.5000 --38.5000;-4.0000 --38.5000;-3.5000 --38.5000;-3.0000 --38.5000;-2.5000 --38.5000;-2.0000 --38.5000;-1.5000 --38.5000;102.5000 --38.5000;103.0000 --38.5000;103.5000 --38.5000;104.0000 --38.5000;104.5000 --38.5000;105.0000 --38.5000;105.5000 --38.5000;106.0000 --38.5000;106.5000 --38.5000;107.0000 --38.5000;107.5000 --38.5000;108.0000 --38.5000;108.5000 --38.5000;109.0000 --38.5000;109.5000 --38.5000;110.0000 --38.5000;110.5000 --38.5000;111.0000 --38.5000;111.5000 --38.5000;112.0000 --38.5000;112.5000 --38.5000;113.0000 --38.5000;113.5000 --38.5000;114.0000 --38.5000;114.5000 --38.5000;115.0000 --38.5000;115.5000 --38.5000;116.0000 --38.0000;-15.5000 --38.0000;-15.0000 --38.0000;-14.5000 --38.0000;-14.0000 --38.0000;-13.5000 --38.0000;-13.0000 --38.0000;-12.5000 --38.0000;-12.0000 --38.0000;-11.5000 --38.0000;-11.0000 --38.0000;-10.5000 --38.0000;-10.0000 --38.0000;-9.5000 --38.0000;-9.0000 --38.0000;-8.5000 --38.0000;-8.0000 --38.0000;-7.5000 --38.0000;-7.0000 --38.0000;-6.5000 --38.0000;-6.0000 --38.0000;-5.5000 --38.0000;-5.0000 --38.0000;-4.5000 --38.0000;-4.0000 --38.0000;-3.5000 --38.0000;-3.0000 --38.0000;-2.5000 --38.0000;103.5000 --38.0000;104.0000 --38.0000;104.5000 --38.0000;105.0000 --38.0000;105.5000 --38.0000;106.0000 --38.0000;106.5000 --38.0000;107.0000 --38.0000;107.5000 --38.0000;108.0000 --38.0000;108.5000 --38.0000;109.0000 --38.0000;109.5000 --38.0000;110.0000 --38.0000;110.5000 --38.0000;111.0000 --38.0000;111.5000 --38.0000;112.0000 --38.0000;112.5000 --38.0000;113.0000 --38.0000;113.5000 --38.0000;114.0000 --38.0000;114.5000 --38.0000;115.0000 --38.0000;115.5000 --38.0000;116.0000 --38.0000;116.5000 --37.5000;-15.5000 --37.5000;-15.0000 --37.5000;-14.5000 --37.5000;-14.0000 --37.5000;-13.5000 --37.5000;-13.0000 --37.5000;-12.5000 --37.5000;-12.0000 --37.5000;-11.5000 --37.5000;-11.0000 --37.5000;-10.5000 --37.5000;-10.0000 --37.5000;-9.5000 --37.5000;-9.0000 --37.5000;-8.5000 --37.5000;-8.0000 --37.5000;-7.5000 --37.5000;-7.0000 --37.5000;-6.5000 --37.5000;-6.0000 --37.5000;-5.5000 --37.5000;-5.0000 --37.5000;-4.5000 --37.5000;-4.0000 --37.5000;-3.5000 --37.5000;104.5000 --37.5000;105.0000 --37.5000;105.5000 --37.5000;106.0000 --37.5000;106.5000 --37.5000;107.0000 --37.5000;107.5000 --37.5000;108.0000 --37.5000;108.5000 --37.5000;109.0000 --37.5000;109.5000 --37.5000;110.0000 --37.5000;110.5000 --37.5000;111.0000 --37.5000;111.5000 --37.5000;112.0000 --37.5000;112.5000 --37.5000;113.0000 --37.5000;113.5000 --37.5000;114.0000 --37.5000;114.5000 --37.5000;115.0000 --37.5000;115.5000 --37.5000;116.0000 --37.5000;116.5000 --37.0000;-16.0000 --37.0000;-15.5000 --37.0000;-15.0000 --37.0000;-14.5000 --37.0000;-14.0000 --37.0000;-13.5000 --37.0000;-13.0000 --37.0000;-12.5000 --37.0000;-12.0000 --37.0000;-11.5000 --37.0000;-11.0000 --37.0000;-10.5000 --37.0000;-10.0000 --37.0000;-9.5000 --37.0000;-9.0000 --37.0000;-8.5000 --37.0000;-8.0000 --37.0000;-7.5000 --37.0000;-7.0000 --37.0000;-6.5000 --37.0000;-6.0000 --37.0000;-5.5000 --37.0000;-5.0000 --37.0000;-4.5000 --37.0000;-4.0000 --37.0000;105.0000 --37.0000;105.5000 --37.0000;106.0000 --37.0000;106.5000 --37.0000;107.0000 --37.0000;107.5000 --37.0000;108.0000 --37.0000;108.5000 --37.0000;109.0000 --37.0000;109.5000 --37.0000;110.0000 --37.0000;110.5000 --37.0000;111.0000 --37.0000;111.5000 --37.0000;112.0000 --37.0000;112.5000 --37.0000;113.0000 --37.0000;113.5000 --37.0000;114.0000 --37.0000;114.5000 --37.0000;115.0000 --37.0000;115.5000 --37.0000;116.0000 --37.0000;116.5000 --36.5000;-16.0000 --36.5000;-15.5000 --36.5000;-15.0000 --36.5000;-14.5000 --36.5000;-14.0000 --36.5000;-13.5000 --36.5000;-13.0000 --36.5000;-12.5000 --36.5000;-12.0000 --36.5000;-11.5000 --36.5000;-11.0000 --36.5000;-10.5000 --36.5000;-10.0000 --36.5000;-9.5000 --36.5000;-9.0000 --36.5000;-8.5000 --36.5000;-8.0000 --36.5000;-7.5000 --36.5000;-7.0000 --36.5000;-6.5000 --36.5000;-6.0000 --36.5000;-5.5000 --36.5000;-5.0000 --36.5000;-4.5000 --36.5000;105.5000 --36.5000;106.0000 --36.5000;106.5000 --36.5000;107.0000 --36.5000;107.5000 --36.5000;108.0000 --36.5000;108.5000 --36.5000;109.0000 --36.5000;109.5000 --36.5000;110.0000 --36.5000;110.5000 --36.5000;111.0000 --36.5000;111.5000 --36.5000;112.0000 --36.5000;112.5000 --36.5000;113.0000 --36.5000;113.5000 --36.5000;114.0000 --36.5000;114.5000 --36.5000;115.0000 --36.5000;115.5000 --36.5000;116.0000 --36.5000;116.5000 --36.5000;117.0000 --36.0000;-16.0000 --36.0000;-15.5000 --36.0000;-15.0000 --36.0000;-14.5000 --36.0000;-14.0000 --36.0000;-13.5000 --36.0000;-13.0000 --36.0000;-12.5000 --36.0000;-12.0000 --36.0000;-11.5000 --36.0000;-11.0000 --36.0000;-10.5000 --36.0000;-10.0000 --36.0000;-9.5000 --36.0000;-9.0000 --36.0000;-8.5000 --36.0000;-8.0000 --36.0000;-7.5000 --36.0000;-7.0000 --36.0000;-6.5000 --36.0000;-6.0000 --36.0000;-5.5000 --36.0000;-5.0000 --36.0000;106.0000 --36.0000;106.5000 --36.0000;107.0000 --36.0000;107.5000 --36.0000;108.0000 --36.0000;108.5000 --36.0000;109.0000 --36.0000;109.5000 --36.0000;110.0000 --36.0000;110.5000 --36.0000;111.0000 --36.0000;111.5000 --36.0000;112.0000 --36.0000;112.5000 --36.0000;113.0000 --36.0000;113.5000 --36.0000;114.0000 --36.0000;114.5000 --36.0000;115.0000 --36.0000;115.5000 --36.0000;116.0000 --36.0000;116.5000 --36.0000;117.0000 --35.5000;-16.0000 --35.5000;-15.5000 --35.5000;-15.0000 --35.5000;-14.5000 --35.5000;-14.0000 --35.5000;-13.5000 --35.5000;-13.0000 --35.5000;-12.5000 --35.5000;-12.0000 --35.5000;-11.5000 --35.5000;-11.0000 --35.5000;-10.5000 --35.5000;-10.0000 --35.5000;-9.5000 --35.5000;-9.0000 --35.5000;-8.5000 --35.5000;-8.0000 --35.5000;-7.5000 --35.5000;-7.0000 --35.5000;-6.5000 --35.5000;-6.0000 --35.5000;-5.5000 --35.5000;106.5000 --35.5000;107.0000 --35.5000;107.5000 --35.5000;108.0000 --35.5000;108.5000 --35.5000;109.0000 --35.5000;109.5000 --35.5000;110.0000 --35.5000;110.5000 --35.5000;111.0000 --35.5000;111.5000 --35.5000;112.0000 --35.5000;112.5000 --35.5000;113.0000 --35.5000;113.5000 --35.5000;114.0000 --35.5000;114.5000 --35.5000;115.0000 --35.5000;115.5000 --35.5000;116.0000 --35.5000;116.5000 --35.5000;117.0000 --35.0000;-16.5000 --35.0000;-16.0000 --35.0000;-15.5000 --35.0000;-15.0000 --35.0000;-14.5000 --35.0000;-14.0000 --35.0000;-13.5000 --35.0000;-13.0000 --35.0000;-12.5000 --35.0000;-12.0000 --35.0000;-11.5000 --35.0000;-11.0000 --35.0000;-10.5000 --35.0000;-10.0000 --35.0000;-9.5000 --35.0000;-9.0000 --35.0000;-8.5000 --35.0000;-8.0000 --35.0000;-7.5000 --35.0000;-7.0000 --35.0000;-6.5000 --35.0000;-6.0000 --35.0000;-5.5000 --35.0000;106.5000 --35.0000;107.0000 --35.0000;107.5000 --35.0000;108.0000 --35.0000;108.5000 --35.0000;109.0000 --35.0000;109.5000 --35.0000;110.0000 --35.0000;110.5000 --35.0000;111.0000 --35.0000;111.5000 --35.0000;112.0000 --35.0000;112.5000 --35.0000;113.0000 --35.0000;113.5000 --35.0000;114.0000 --35.0000;114.5000 --35.0000;115.0000 --35.0000;115.5000 --35.0000;116.0000 --35.0000;116.5000 --35.0000;117.0000 --34.5000;-16.5000 --34.5000;-16.0000 --34.5000;-15.5000 --34.5000;-15.0000 --34.5000;-14.5000 --34.5000;-14.0000 --34.5000;-13.5000 --34.5000;-13.0000 --34.5000;-12.5000 --34.5000;-12.0000 --34.5000;-11.5000 --34.5000;-11.0000 --34.5000;-10.5000 --34.5000;-10.0000 --34.5000;-9.5000 --34.5000;-9.0000 --34.5000;-8.5000 --34.5000;-8.0000 --34.5000;-7.5000 --34.5000;-7.0000 --34.5000;-6.5000 --34.5000;-6.0000 --34.5000;107.0000 --34.5000;107.5000 --34.5000;108.0000 --34.5000;108.5000 --34.5000;109.0000 --34.5000;109.5000 --34.5000;110.0000 --34.5000;110.5000 --34.5000;111.0000 --34.5000;111.5000 --34.5000;112.0000 --34.5000;112.5000 --34.5000;113.0000 --34.5000;113.5000 --34.5000;114.0000 --34.5000;114.5000 --34.5000;115.0000 --34.5000;115.5000 --34.5000;116.0000 --34.5000;116.5000 --34.5000;117.0000 --34.5000;117.5000 --34.0000;-16.5000 --34.0000;-16.0000 --34.0000;-15.5000 --34.0000;-15.0000 --34.0000;-14.5000 --34.0000;-14.0000 --34.0000;-13.5000 --34.0000;-13.0000 --34.0000;-12.5000 --34.0000;-12.0000 --34.0000;-11.5000 --34.0000;-11.0000 --34.0000;-10.5000 --34.0000;-10.0000 --34.0000;-9.5000 --34.0000;-9.0000 --34.0000;-8.5000 --34.0000;-8.0000 --34.0000;-7.5000 --34.0000;-7.0000 --34.0000;-6.5000 --34.0000;-6.0000 --34.0000;107.0000 --34.0000;107.5000 --34.0000;108.0000 --34.0000;108.5000 --34.0000;109.0000 --34.0000;109.5000 --34.0000;110.0000 --34.0000;110.5000 --34.0000;111.0000 --34.0000;111.5000 --34.0000;112.0000 --34.0000;112.5000 --34.0000;113.0000 --34.0000;113.5000 --34.0000;114.0000 --34.0000;114.5000 --34.0000;115.0000 --34.0000;115.5000 --34.0000;116.0000 --34.0000;116.5000 --34.0000;117.0000 --34.0000;117.5000 --33.5000;-16.5000 --33.5000;-16.0000 --33.5000;-15.5000 --33.5000;-15.0000 --33.5000;-14.5000 --33.5000;-14.0000 --33.5000;-13.5000 --33.5000;-13.0000 --33.5000;-12.5000 --33.5000;-12.0000 --33.5000;-11.5000 --33.5000;-11.0000 --33.5000;-10.5000 --33.5000;-10.0000 --33.5000;-9.5000 --33.5000;-9.0000 --33.5000;-8.5000 --33.5000;-8.0000 --33.5000;-7.5000 --33.5000;-7.0000 --33.5000;-6.5000 --33.5000;107.0000 --33.5000;107.5000 --33.5000;108.0000 --33.5000;108.5000 --33.5000;109.0000 --33.5000;109.5000 --33.5000;110.0000 --33.5000;110.5000 --33.5000;111.0000 --33.5000;111.5000 --33.5000;112.0000 --33.5000;112.5000 --33.5000;113.0000 --33.5000;113.5000 --33.5000;114.0000 --33.5000;114.5000 --33.5000;115.0000 --33.5000;115.5000 --33.5000;116.0000 --33.5000;116.5000 --33.5000;117.0000 --33.5000;117.5000 --33.0000;-16.5000 --33.0000;-16.0000 --33.0000;-15.5000 --33.0000;-15.0000 --33.0000;-14.5000 --33.0000;-14.0000 --33.0000;-13.5000 --33.0000;-13.0000 --33.0000;-12.5000 --33.0000;-12.0000 --33.0000;-11.5000 --33.0000;-11.0000 --33.0000;-10.5000 --33.0000;-10.0000 --33.0000;-9.5000 --33.0000;-9.0000 --33.0000;-8.5000 --33.0000;-8.0000 --33.0000;-7.5000 --33.0000;-7.0000 --33.0000;-6.5000 --33.0000;107.5000 --33.0000;108.0000 --33.0000;108.5000 --33.0000;109.0000 --33.0000;109.5000 --33.0000;110.0000 --33.0000;110.5000 --33.0000;111.0000 --33.0000;111.5000 --33.0000;112.0000 --33.0000;112.5000 --33.0000;113.0000 --33.0000;113.5000 --33.0000;114.0000 --33.0000;114.5000 --33.0000;115.0000 --33.0000;115.5000 --33.0000;116.0000 --33.0000;116.5000 --33.0000;117.0000 --33.0000;117.5000 --32.5000;-16.5000 --32.5000;-16.0000 --32.5000;-15.5000 --32.5000;-15.0000 --32.5000;-14.5000 --32.5000;-14.0000 --32.5000;-13.5000 --32.5000;-13.0000 --32.5000;-12.5000 --32.5000;-12.0000 --32.5000;-11.5000 --32.5000;-11.0000 --32.5000;-10.5000 --32.5000;-10.0000 --32.5000;-9.5000 --32.5000;-9.0000 --32.5000;-8.5000 --32.5000;-8.0000 --32.5000;-7.5000 --32.5000;-7.0000 --32.5000;-6.5000 --32.5000;107.5000 --32.5000;108.0000 --32.5000;108.5000 --32.5000;109.0000 --32.5000;109.5000 --32.5000;110.0000 --32.5000;110.5000 --32.5000;111.0000 --32.5000;111.5000 --32.5000;112.0000 --32.5000;112.5000 --32.5000;113.0000 --32.5000;113.5000 --32.5000;114.0000 --32.5000;114.5000 --32.5000;115.0000 --32.5000;115.5000 --32.5000;116.0000 --32.5000;116.5000 --32.5000;117.0000 --32.5000;117.5000 --32.0000;-16.5000 --32.0000;-16.0000 --32.0000;-15.5000 --32.0000;-15.0000 --32.0000;-14.5000 --32.0000;-14.0000 --32.0000;-13.5000 --32.0000;-13.0000 --32.0000;-12.5000 --32.0000;-12.0000 --32.0000;-11.5000 --32.0000;-11.0000 --32.0000;-10.5000 --32.0000;-10.0000 --32.0000;-9.5000 --32.0000;-9.0000 --32.0000;-8.5000 --32.0000;-8.0000 --32.0000;-7.5000 --32.0000;-7.0000 --32.0000;-6.5000 --32.0000;107.5000 --32.0000;108.0000 --32.0000;108.5000 --32.0000;109.0000 --32.0000;109.5000 --32.0000;110.0000 --32.0000;110.5000 --32.0000;111.0000 --32.0000;111.5000 --32.0000;112.0000 --32.0000;112.5000 --32.0000;113.0000 --32.0000;113.5000 --32.0000;114.0000 --32.0000;114.5000 --32.0000;115.0000 --32.0000;115.5000 --32.0000;116.0000 --32.0000;116.5000 --32.0000;117.0000 --32.0000;117.5000 --31.5000;-16.5000 --31.5000;-16.0000 --31.5000;-15.5000 --31.5000;-15.0000 --31.5000;-14.5000 --31.5000;-14.0000 --31.5000;-13.5000 --31.5000;-13.0000 --31.5000;-12.5000 --31.5000;-12.0000 --31.5000;-11.5000 --31.5000;-11.0000 --31.5000;-10.5000 --31.5000;-10.0000 --31.5000;-9.5000 --31.5000;-9.0000 --31.5000;-8.5000 --31.5000;-8.0000 --31.5000;-7.5000 --31.5000;-7.0000 --31.5000;-6.5000 --31.5000;107.5000 --31.5000;108.0000 --31.5000;108.5000 --31.5000;109.0000 --31.5000;109.5000 --31.5000;110.0000 --31.5000;110.5000 --31.5000;111.0000 --31.5000;111.5000 --31.5000;112.0000 --31.5000;112.5000 --31.5000;113.0000 --31.5000;113.5000 --31.5000;114.0000 --31.5000;114.5000 --31.5000;115.0000 --31.5000;115.5000 --31.5000;116.0000 --31.5000;116.5000 --31.5000;117.0000 --31.5000;117.5000 --31.0000;-16.5000 --31.0000;-16.0000 --31.0000;-15.5000 --31.0000;-15.0000 --31.0000;-14.5000 --31.0000;-14.0000 --31.0000;-13.5000 --31.0000;-13.0000 --31.0000;-12.5000 --31.0000;-12.0000 --31.0000;-11.5000 --31.0000;-11.0000 --31.0000;-10.5000 --31.0000;-10.0000 --31.0000;-9.5000 --31.0000;-9.0000 --31.0000;-8.5000 --31.0000;-8.0000 --31.0000;-7.5000 --31.0000;-7.0000 --31.0000;-6.5000 --31.0000;107.5000 --31.0000;108.0000 --31.0000;108.5000 --31.0000;109.0000 --31.0000;109.5000 --31.0000;110.0000 --31.0000;110.5000 --31.0000;111.0000 --31.0000;111.5000 --31.0000;112.0000 --31.0000;112.5000 --31.0000;113.0000 --31.0000;113.5000 --31.0000;114.0000 --31.0000;114.5000 --31.0000;115.0000 --31.0000;115.5000 --31.0000;116.0000 --31.0000;116.5000 --31.0000;117.0000 --31.0000;117.5000 --30.5000;-16.5000 --30.5000;-16.0000 --30.5000;-15.5000 --30.5000;-15.0000 --30.5000;-14.5000 --30.5000;-14.0000 --30.5000;-13.5000 --30.5000;-13.0000 --30.5000;-12.5000 --30.5000;-12.0000 --30.5000;-11.5000 --30.5000;-11.0000 --30.5000;-10.5000 --30.5000;-10.0000 --30.5000;-9.5000 --30.5000;-9.0000 --30.5000;-8.5000 --30.5000;-8.0000 --30.5000;-7.5000 --30.5000;-7.0000 --30.5000;-6.5000 --30.5000;107.5000 --30.5000;108.0000 --30.5000;108.5000 --30.5000;109.0000 --30.5000;109.5000 --30.5000;110.0000 --30.5000;110.5000 --30.5000;111.0000 --30.5000;111.5000 --30.5000;112.0000 --30.5000;112.5000 --30.5000;113.0000 --30.5000;113.5000 --30.5000;114.0000 --30.5000;114.5000 --30.5000;115.0000 --30.5000;115.5000 --30.5000;116.0000 --30.5000;116.5000 --30.5000;117.0000 --30.5000;117.5000 --30.0000;-16.5000 --30.0000;-16.0000 --30.0000;-15.5000 --30.0000;-15.0000 --30.0000;-14.5000 --30.0000;-14.0000 --30.0000;-13.5000 --30.0000;-13.0000 --30.0000;-12.5000 --30.0000;-12.0000 --30.0000;-11.5000 --30.0000;-11.0000 --30.0000;-10.5000 --30.0000;-10.0000 --30.0000;-9.5000 --30.0000;-9.0000 --30.0000;-8.5000 --30.0000;-8.0000 --30.0000;-7.5000 --30.0000;-7.0000 --30.0000;-6.5000 --30.0000;107.5000 --30.0000;108.0000 --30.0000;108.5000 --30.0000;109.0000 --30.0000;109.5000 --30.0000;110.0000 --30.0000;110.5000 --30.0000;111.0000 --30.0000;111.5000 --30.0000;112.0000 --30.0000;112.5000 --30.0000;113.0000 --30.0000;113.5000 --30.0000;114.0000 --30.0000;114.5000 --30.0000;115.0000 --30.0000;115.5000 --30.0000;116.0000 --30.0000;116.5000 --30.0000;117.0000 --30.0000;117.5000 --29.5000;-16.5000 --29.5000;-16.0000 --29.5000;-15.5000 --29.5000;-15.0000 --29.5000;-14.5000 --29.5000;-14.0000 --29.5000;-13.5000 --29.5000;-13.0000 --29.5000;-12.5000 --29.5000;-12.0000 --29.5000;-11.5000 --29.5000;-11.0000 --29.5000;-10.5000 --29.5000;-10.0000 --29.5000;-9.5000 --29.5000;-9.0000 --29.5000;-8.5000 --29.5000;-8.0000 --29.5000;-7.5000 --29.5000;-7.0000 --29.5000;-6.5000 --29.5000;107.5000 --29.5000;108.0000 --29.5000;108.5000 --29.5000;109.0000 --29.5000;109.5000 --29.5000;110.0000 --29.5000;110.5000 --29.5000;111.0000 --29.5000;111.5000 --29.5000;112.0000 --29.5000;112.5000 --29.5000;113.0000 --29.5000;113.5000 --29.5000;114.0000 --29.5000;114.5000 --29.5000;115.0000 --29.5000;115.5000 --29.5000;116.0000 --29.5000;116.5000 --29.5000;117.0000 --29.5000;117.5000 --29.0000;-16.5000 --29.0000;-16.0000 --29.0000;-15.5000 --29.0000;-15.0000 --29.0000;-14.5000 --29.0000;-14.0000 --29.0000;-13.5000 --29.0000;-13.0000 --29.0000;-12.5000 --29.0000;-12.0000 --29.0000;-11.5000 --29.0000;-11.0000 --29.0000;-10.5000 --29.0000;-10.0000 --29.0000;-9.5000 --29.0000;-9.0000 --29.0000;-8.5000 --29.0000;-8.0000 --29.0000;-7.5000 --29.0000;-7.0000 --29.0000;-6.5000 --29.0000;107.5000 --29.0000;108.0000 --29.0000;108.5000 --29.0000;109.0000 --29.0000;109.5000 --29.0000;110.0000 --29.0000;110.5000 --29.0000;111.0000 --29.0000;111.5000 --29.0000;112.0000 --29.0000;112.5000 --29.0000;113.0000 --29.0000;113.5000 --29.0000;114.0000 --29.0000;114.5000 --29.0000;115.0000 --29.0000;115.5000 --29.0000;116.0000 --29.0000;116.5000 --29.0000;117.0000 --29.0000;117.5000 --28.5000;-16.5000 --28.5000;-16.0000 --28.5000;-15.5000 --28.5000;-15.0000 --28.5000;-14.5000 --28.5000;-14.0000 --28.5000;-13.5000 --28.5000;-13.0000 --28.5000;-12.5000 --28.5000;-12.0000 --28.5000;-11.5000 --28.5000;-11.0000 --28.5000;-10.5000 --28.5000;-10.0000 --28.5000;-9.5000 --28.5000;-9.0000 --28.5000;-8.5000 --28.5000;-8.0000 --28.5000;-7.5000 --28.5000;-7.0000 --28.5000;-6.5000 --28.5000;107.5000 --28.5000;108.0000 --28.5000;108.5000 --28.5000;109.0000 --28.5000;109.5000 --28.5000;110.0000 --28.5000;110.5000 --28.5000;111.0000 --28.5000;111.5000 --28.5000;112.0000 --28.5000;112.5000 --28.5000;113.0000 --28.5000;113.5000 --28.5000;114.0000 --28.5000;114.5000 --28.5000;115.0000 --28.5000;115.5000 --28.5000;116.0000 --28.5000;116.5000 --28.5000;117.0000 --28.5000;117.5000 --28.0000;-16.5000 --28.0000;-16.0000 --28.0000;-15.5000 --28.0000;-15.0000 --28.0000;-14.5000 --28.0000;-14.0000 --28.0000;-13.5000 --28.0000;-13.0000 --28.0000;-12.5000 --28.0000;-12.0000 --28.0000;-11.5000 --28.0000;-11.0000 --28.0000;-10.5000 --28.0000;-10.0000 --28.0000;-9.5000 --28.0000;-9.0000 --28.0000;-8.5000 --28.0000;-8.0000 --28.0000;-7.5000 --28.0000;-7.0000 --28.0000;-6.5000 --28.0000;107.5000 --28.0000;108.0000 --28.0000;108.5000 --28.0000;109.0000 --28.0000;109.5000 --28.0000;110.0000 --28.0000;110.5000 --28.0000;111.0000 --28.0000;111.5000 --28.0000;112.0000 --28.0000;112.5000 --28.0000;113.0000 --28.0000;113.5000 --28.0000;114.0000 --28.0000;114.5000 --28.0000;115.0000 --28.0000;115.5000 --28.0000;116.0000 --28.0000;116.5000 --28.0000;117.0000 --28.0000;117.5000 --27.5000;-16.5000 --27.5000;-16.0000 --27.5000;-15.5000 --27.5000;-15.0000 --27.5000;-14.5000 --27.5000;-14.0000 --27.5000;-13.5000 --27.5000;-13.0000 --27.5000;-12.5000 --27.5000;-12.0000 --27.5000;-11.5000 --27.5000;-11.0000 --27.5000;-10.5000 --27.5000;-10.0000 --27.5000;-9.5000 --27.5000;-9.0000 --27.5000;-8.5000 --27.5000;-8.0000 --27.5000;-7.5000 --27.5000;-7.0000 --27.5000;-6.5000 --27.5000;107.5000 --27.5000;108.0000 --27.5000;108.5000 --27.5000;109.0000 --27.5000;109.5000 --27.5000;110.0000 --27.5000;110.5000 --27.5000;111.0000 --27.5000;111.5000 --27.5000;112.0000 --27.5000;112.5000 --27.5000;113.0000 --27.5000;113.5000 --27.5000;114.0000 --27.5000;114.5000 --27.5000;115.0000 --27.5000;115.5000 --27.5000;116.0000 --27.5000;116.5000 --27.5000;117.0000 --27.5000;117.5000 --27.0000;-16.5000 --27.0000;-16.0000 --27.0000;-15.5000 --27.0000;-15.0000 --27.0000;-14.5000 --27.0000;-14.0000 --27.0000;-13.5000 --27.0000;-13.0000 --27.0000;-12.5000 --27.0000;-12.0000 --27.0000;-11.5000 --27.0000;-11.0000 --27.0000;-10.5000 --27.0000;-10.0000 --27.0000;-9.5000 --27.0000;-9.0000 --27.0000;-8.5000 --27.0000;-8.0000 --27.0000;-7.5000 --27.0000;-7.0000 --27.0000;-6.5000 --27.0000;107.5000 --27.0000;108.0000 --27.0000;108.5000 --27.0000;109.0000 --27.0000;109.5000 --27.0000;110.0000 --27.0000;110.5000 --27.0000;111.0000 --27.0000;111.5000 --27.0000;112.0000 --27.0000;112.5000 --27.0000;113.0000 --27.0000;113.5000 --27.0000;114.0000 --27.0000;114.5000 --27.0000;115.0000 --27.0000;115.5000 --27.0000;116.0000 --27.0000;116.5000 --27.0000;117.0000 --27.0000;117.5000 --26.5000;-16.5000 --26.5000;-16.0000 --26.5000;-15.5000 --26.5000;-15.0000 --26.5000;-14.5000 --26.5000;-14.0000 --26.5000;-13.5000 --26.5000;-13.0000 --26.5000;-12.5000 --26.5000;-12.0000 --26.5000;-11.5000 --26.5000;-11.0000 --26.5000;-10.5000 --26.5000;-10.0000 --26.5000;-9.5000 --26.5000;-9.0000 --26.5000;-8.5000 --26.5000;-8.0000 --26.5000;-7.5000 --26.5000;-7.0000 --26.5000;-6.5000 --26.5000;107.5000 --26.5000;108.0000 --26.5000;108.5000 --26.5000;109.0000 --26.5000;109.5000 --26.5000;110.0000 --26.5000;110.5000 --26.5000;111.0000 --26.5000;111.5000 --26.5000;112.0000 --26.5000;112.5000 --26.5000;113.0000 --26.5000;113.5000 --26.5000;114.0000 --26.5000;114.5000 --26.5000;115.0000 --26.5000;115.5000 --26.5000;116.0000 --26.5000;116.5000 --26.5000;117.0000 --26.5000;117.5000 --26.0000;-16.5000 --26.0000;-16.0000 --26.0000;-15.5000 --26.0000;-15.0000 --26.0000;-14.5000 --26.0000;-14.0000 --26.0000;-13.5000 --26.0000;-13.0000 --26.0000;-12.5000 --26.0000;-12.0000 --26.0000;-11.5000 --26.0000;-11.0000 --26.0000;-10.5000 --26.0000;-10.0000 --26.0000;-9.5000 --26.0000;-9.0000 --26.0000;-8.5000 --26.0000;-8.0000 --26.0000;-7.5000 --26.0000;-7.0000 --26.0000;-6.5000 --26.0000;107.5000 --26.0000;108.0000 --26.0000;108.5000 --26.0000;109.0000 --26.0000;109.5000 --26.0000;110.0000 --26.0000;110.5000 --26.0000;111.0000 --26.0000;111.5000 --26.0000;112.0000 --26.0000;112.5000 --26.0000;113.0000 --26.0000;113.5000 --26.0000;114.0000 --26.0000;114.5000 --26.0000;115.0000 --26.0000;115.5000 --26.0000;116.0000 --26.0000;116.5000 --26.0000;117.0000 --26.0000;117.5000 --25.5000;-16.5000 --25.5000;-16.0000 --25.5000;-15.5000 --25.5000;-15.0000 --25.5000;-14.5000 --25.5000;-14.0000 --25.5000;-13.5000 --25.5000;-13.0000 --25.5000;-12.5000 --25.5000;-12.0000 --25.5000;-11.5000 --25.5000;-11.0000 --25.5000;-10.5000 --25.5000;-10.0000 --25.5000;-9.5000 --25.5000;-9.0000 --25.5000;-8.5000 --25.5000;-8.0000 --25.5000;-7.5000 --25.5000;-7.0000 --25.5000;-6.5000 --25.5000;107.5000 --25.5000;108.0000 --25.5000;108.5000 --25.5000;109.0000 --25.5000;109.5000 --25.5000;110.0000 --25.5000;110.5000 --25.5000;111.0000 --25.5000;111.5000 --25.5000;112.0000 --25.5000;112.5000 --25.5000;113.0000 --25.5000;113.5000 --25.5000;114.0000 --25.5000;114.5000 --25.5000;115.0000 --25.5000;115.5000 --25.5000;116.0000 --25.5000;116.5000 --25.5000;117.0000 --25.5000;117.5000 --25.0000;-16.5000 --25.0000;-16.0000 --25.0000;-15.5000 --25.0000;-15.0000 --25.0000;-14.5000 --25.0000;-14.0000 --25.0000;-13.5000 --25.0000;-13.0000 --25.0000;-12.5000 --25.0000;-12.0000 --25.0000;-11.5000 --25.0000;-11.0000 --25.0000;-10.5000 --25.0000;-10.0000 --25.0000;-9.5000 --25.0000;-9.0000 --25.0000;-8.5000 --25.0000;-8.0000 --25.0000;-7.5000 --25.0000;-7.0000 --25.0000;-6.5000 --25.0000;107.5000 --25.0000;108.0000 --25.0000;108.5000 --25.0000;109.0000 --25.0000;109.5000 --25.0000;110.0000 --25.0000;110.5000 --25.0000;111.0000 --25.0000;111.5000 --25.0000;112.0000 --25.0000;112.5000 --25.0000;113.0000 --25.0000;113.5000 --25.0000;114.0000 --25.0000;114.5000 --25.0000;115.0000 --25.0000;115.5000 --25.0000;116.0000 --25.0000;116.5000 --25.0000;117.0000 --25.0000;117.5000 --24.5000;-16.5000 --24.5000;-16.0000 --24.5000;-15.5000 --24.5000;-15.0000 --24.5000;-14.5000 --24.5000;-14.0000 --24.5000;-13.5000 --24.5000;-13.0000 --24.5000;-12.5000 --24.5000;-12.0000 --24.5000;-11.5000 --24.5000;-11.0000 --24.5000;-10.5000 --24.5000;-10.0000 --24.5000;-9.5000 --24.5000;-9.0000 --24.5000;-8.5000 --24.5000;-8.0000 --24.5000;-7.5000 --24.5000;-7.0000 --24.5000;-6.5000 --24.5000;107.5000 --24.5000;108.0000 --24.5000;108.5000 --24.5000;109.0000 --24.5000;109.5000 --24.5000;110.0000 --24.5000;110.5000 --24.5000;111.0000 --24.5000;111.5000 --24.5000;112.0000 --24.5000;112.5000 --24.5000;113.0000 --24.5000;113.5000 --24.5000;114.0000 --24.5000;114.5000 --24.5000;115.0000 --24.5000;115.5000 --24.5000;116.0000 --24.5000;116.5000 --24.5000;117.0000 --24.5000;117.5000 --24.0000;-16.5000 --24.0000;-16.0000 --24.0000;-15.5000 --24.0000;-15.0000 --24.0000;-14.5000 --24.0000;-14.0000 --24.0000;-13.5000 --24.0000;-13.0000 --24.0000;-12.5000 --24.0000;-12.0000 --24.0000;-11.5000 --24.0000;-11.0000 --24.0000;-10.5000 --24.0000;-10.0000 --24.0000;-9.5000 --24.0000;-9.0000 --24.0000;-8.5000 --24.0000;-8.0000 --24.0000;-7.5000 --24.0000;-7.0000 --24.0000;-6.5000 --24.0000;107.5000 --24.0000;108.0000 --24.0000;108.5000 --24.0000;109.0000 --24.0000;109.5000 --24.0000;110.0000 --24.0000;110.5000 --24.0000;111.0000 --24.0000;111.5000 --24.0000;112.0000 --24.0000;112.5000 --24.0000;113.0000 --24.0000;113.5000 --24.0000;114.0000 --24.0000;114.5000 --24.0000;115.0000 --24.0000;115.5000 --24.0000;116.0000 --24.0000;116.5000 --24.0000;117.0000 --24.0000;117.5000 --23.5000;-16.5000 --23.5000;-16.0000 --23.5000;-15.5000 --23.5000;-15.0000 --23.5000;-14.5000 --23.5000;-14.0000 --23.5000;-13.5000 --23.5000;-13.0000 --23.5000;-12.5000 --23.5000;-12.0000 --23.5000;-11.5000 --23.5000;-11.0000 --23.5000;-10.5000 --23.5000;-10.0000 --23.5000;-9.5000 --23.5000;-9.0000 --23.5000;-8.5000 --23.5000;-8.0000 --23.5000;-7.5000 --23.5000;-7.0000 --23.5000;-6.5000 --23.5000;107.5000 --23.5000;108.0000 --23.5000;108.5000 --23.5000;109.0000 --23.5000;109.5000 --23.5000;110.0000 --23.5000;110.5000 --23.5000;111.0000 --23.5000;111.5000 --23.5000;112.0000 --23.5000;112.5000 --23.5000;113.0000 --23.5000;113.5000 --23.5000;114.0000 --23.5000;114.5000 --23.5000;115.0000 --23.5000;115.5000 --23.5000;116.0000 --23.5000;116.5000 --23.5000;117.0000 --23.5000;117.5000 --23.0000;-16.5000 --23.0000;-16.0000 --23.0000;-15.5000 --23.0000;-15.0000 --23.0000;-14.5000 --23.0000;-14.0000 --23.0000;-13.5000 --23.0000;-13.0000 --23.0000;-12.5000 --23.0000;-12.0000 --23.0000;-11.5000 --23.0000;-11.0000 --23.0000;-10.5000 --23.0000;-10.0000 --23.0000;-9.5000 --23.0000;-9.0000 --23.0000;-8.5000 --23.0000;-8.0000 --23.0000;-7.5000 --23.0000;-7.0000 --23.0000;-6.5000 --23.0000;107.5000 --23.0000;108.0000 --23.0000;108.5000 --23.0000;109.0000 --23.0000;109.5000 --23.0000;110.0000 --23.0000;110.5000 --23.0000;111.0000 --23.0000;111.5000 --23.0000;112.0000 --23.0000;112.5000 --23.0000;113.0000 --23.0000;113.5000 --23.0000;114.0000 --23.0000;114.5000 --23.0000;115.0000 --23.0000;115.5000 --23.0000;116.0000 --23.0000;116.5000 --23.0000;117.0000 --23.0000;117.5000 --22.5000;-16.5000 --22.5000;-16.0000 --22.5000;-15.5000 --22.5000;-15.0000 --22.5000;-14.5000 --22.5000;-14.0000 --22.5000;-13.5000 --22.5000;-13.0000 --22.5000;-12.5000 --22.5000;-12.0000 --22.5000;-11.5000 --22.5000;-11.0000 --22.5000;-10.5000 --22.5000;-10.0000 --22.5000;-9.5000 --22.5000;-9.0000 --22.5000;-8.5000 --22.5000;-8.0000 --22.5000;-7.5000 --22.5000;-7.0000 --22.5000;-6.5000 --22.5000;107.5000 --22.5000;108.0000 --22.5000;108.5000 --22.5000;109.0000 --22.5000;109.5000 --22.5000;110.0000 --22.5000;110.5000 --22.5000;111.0000 --22.5000;111.5000 --22.5000;112.0000 --22.5000;112.5000 --22.5000;113.0000 --22.5000;113.5000 --22.5000;114.0000 --22.5000;114.5000 --22.5000;115.0000 --22.5000;115.5000 --22.5000;116.0000 --22.5000;116.5000 --22.5000;117.0000 --22.5000;117.5000 --22.0000;-16.5000 --22.0000;-16.0000 --22.0000;-15.5000 --22.0000;-15.0000 --22.0000;-14.5000 --22.0000;-14.0000 --22.0000;-13.5000 --22.0000;-13.0000 --22.0000;-12.5000 --22.0000;-12.0000 --22.0000;-11.5000 --22.0000;-11.0000 --22.0000;-10.5000 --22.0000;-10.0000 --22.0000;-9.5000 --22.0000;-9.0000 --22.0000;-8.5000 --22.0000;-8.0000 --22.0000;-7.5000 --22.0000;-7.0000 --22.0000;-6.5000 --22.0000;107.5000 --22.0000;108.0000 --22.0000;108.5000 --22.0000;109.0000 --22.0000;109.5000 --22.0000;110.0000 --22.0000;110.5000 --22.0000;111.0000 --22.0000;111.5000 --22.0000;112.0000 --22.0000;112.5000 --22.0000;113.0000 --22.0000;113.5000 --22.0000;114.0000 --22.0000;114.5000 --22.0000;115.0000 --22.0000;115.5000 --22.0000;116.0000 --22.0000;116.5000 --22.0000;117.0000 --22.0000;117.5000 --21.5000;-16.5000 --21.5000;-16.0000 --21.5000;-15.5000 --21.5000;-15.0000 --21.5000;-14.5000 --21.5000;-14.0000 --21.5000;-13.5000 --21.5000;-13.0000 --21.5000;-12.5000 --21.5000;-12.0000 --21.5000;-11.5000 --21.5000;-11.0000 --21.5000;-10.5000 --21.5000;-10.0000 --21.5000;-9.5000 --21.5000;-9.0000 --21.5000;-8.5000 --21.5000;-8.0000 --21.5000;-7.5000 --21.5000;-7.0000 --21.5000;-6.5000 --21.5000;107.5000 --21.5000;108.0000 --21.5000;108.5000 --21.5000;109.0000 --21.5000;109.5000 --21.5000;110.0000 --21.5000;110.5000 --21.5000;111.0000 --21.5000;111.5000 --21.5000;112.0000 --21.5000;112.5000 --21.5000;113.0000 --21.5000;113.5000 --21.5000;114.0000 --21.5000;114.5000 --21.5000;115.0000 --21.5000;115.5000 --21.5000;116.0000 --21.5000;116.5000 --21.5000;117.0000 --21.5000;117.5000 --21.0000;-16.5000 --21.0000;-16.0000 --21.0000;-15.5000 --21.0000;-15.0000 --21.0000;-14.5000 --21.0000;-14.0000 --21.0000;-13.5000 --21.0000;-13.0000 --21.0000;-12.5000 --21.0000;-12.0000 --21.0000;-11.5000 --21.0000;-11.0000 --21.0000;-10.5000 --21.0000;-10.0000 --21.0000;-9.5000 --21.0000;-9.0000 --21.0000;-8.5000 --21.0000;-8.0000 --21.0000;-7.5000 --21.0000;-7.0000 --21.0000;-6.5000 --21.0000;107.5000 --21.0000;108.0000 --21.0000;108.5000 --21.0000;109.0000 --21.0000;109.5000 --21.0000;110.0000 --21.0000;110.5000 --21.0000;111.0000 --21.0000;111.5000 --21.0000;112.0000 --21.0000;112.5000 --21.0000;113.0000 --21.0000;113.5000 --21.0000;114.0000 --21.0000;114.5000 --21.0000;115.0000 --21.0000;115.5000 --21.0000;116.0000 --21.0000;116.5000 --21.0000;117.0000 --21.0000;117.5000 --20.5000;-16.5000 --20.5000;-16.0000 --20.5000;-15.5000 --20.5000;-15.0000 --20.5000;-14.5000 --20.5000;-14.0000 --20.5000;-13.5000 --20.5000;-13.0000 --20.5000;-12.5000 --20.5000;-12.0000 --20.5000;-11.5000 --20.5000;-11.0000 --20.5000;-10.5000 --20.5000;-10.0000 --20.5000;-9.5000 --20.5000;-9.0000 --20.5000;-8.5000 --20.5000;-8.0000 --20.5000;-7.5000 --20.5000;-7.0000 --20.5000;-6.5000 --20.5000;107.5000 --20.5000;108.0000 --20.5000;108.5000 --20.5000;109.0000 --20.5000;109.5000 --20.5000;110.0000 --20.5000;110.5000 --20.5000;111.0000 --20.5000;111.5000 --20.5000;112.0000 --20.5000;112.5000 --20.5000;113.0000 --20.5000;113.5000 --20.5000;114.0000 --20.5000;114.5000 --20.5000;115.0000 --20.5000;115.5000 --20.5000;116.0000 --20.5000;116.5000 --20.5000;117.0000 --20.5000;117.5000 --20.0000;-16.5000 --20.0000;-16.0000 --20.0000;-15.5000 --20.0000;-15.0000 --20.0000;-14.5000 --20.0000;-14.0000 --20.0000;-13.5000 --20.0000;-13.0000 --20.0000;-12.5000 --20.0000;-12.0000 --20.0000;-11.5000 --20.0000;-11.0000 --20.0000;-10.5000 --20.0000;-10.0000 --20.0000;-9.5000 --20.0000;-9.0000 --20.0000;-8.5000 --20.0000;-8.0000 --20.0000;-7.5000 --20.0000;-7.0000 --20.0000;-6.5000 --20.0000;107.5000 --20.0000;108.0000 --20.0000;108.5000 --20.0000;109.0000 --20.0000;109.5000 --20.0000;110.0000 --20.0000;110.5000 --20.0000;111.0000 --20.0000;111.5000 --20.0000;112.0000 --20.0000;112.5000 --20.0000;113.0000 --20.0000;113.5000 --20.0000;114.0000 --20.0000;114.5000 --20.0000;115.0000 --20.0000;115.5000 --20.0000;116.0000 --20.0000;116.5000 --20.0000;117.0000 --20.0000;117.5000 --19.5000;-16.5000 --19.5000;-16.0000 --19.5000;-15.5000 --19.5000;-15.0000 --19.5000;-14.5000 --19.5000;-14.0000 --19.5000;-13.5000 --19.5000;-13.0000 --19.5000;-12.5000 --19.5000;-12.0000 --19.5000;-11.5000 --19.5000;-11.0000 --19.5000;-10.5000 --19.5000;-10.0000 --19.5000;-9.5000 --19.5000;-9.0000 --19.5000;-8.5000 --19.5000;-8.0000 --19.5000;-7.5000 --19.5000;-7.0000 --19.5000;-6.5000 --19.5000;107.5000 --19.5000;108.0000 --19.5000;108.5000 --19.5000;109.0000 --19.5000;109.5000 --19.5000;110.0000 --19.5000;110.5000 --19.5000;111.0000 --19.5000;111.5000 --19.5000;112.0000 --19.5000;112.5000 --19.5000;113.0000 --19.5000;113.5000 --19.5000;114.0000 --19.5000;114.5000 --19.5000;115.0000 --19.5000;115.5000 --19.5000;116.0000 --19.5000;116.5000 --19.5000;117.0000 --19.5000;117.5000 --19.0000;-16.5000 --19.0000;-16.0000 --19.0000;-15.5000 --19.0000;-15.0000 --19.0000;-14.5000 --19.0000;-14.0000 --19.0000;-13.5000 --19.0000;-13.0000 --19.0000;-12.5000 --19.0000;-12.0000 --19.0000;-11.5000 --19.0000;-11.0000 --19.0000;-10.5000 --19.0000;-10.0000 --19.0000;-9.5000 --19.0000;-9.0000 --19.0000;-8.5000 --19.0000;-8.0000 --19.0000;-7.5000 --19.0000;-7.0000 --19.0000;-6.5000 --19.0000;107.5000 --19.0000;108.0000 --19.0000;108.5000 --19.0000;109.0000 --19.0000;109.5000 --19.0000;110.0000 --19.0000;110.5000 --19.0000;111.0000 --19.0000;111.5000 --19.0000;112.0000 --19.0000;112.5000 --19.0000;113.0000 --19.0000;113.5000 --19.0000;114.0000 --19.0000;114.5000 --19.0000;115.0000 --19.0000;115.5000 --19.0000;116.0000 --19.0000;116.5000 --19.0000;117.0000 --19.0000;117.5000 --18.5000;-16.5000 --18.5000;-16.0000 --18.5000;-15.5000 --18.5000;-15.0000 --18.5000;-14.5000 --18.5000;-14.0000 --18.5000;-13.5000 --18.5000;-13.0000 --18.5000;-12.5000 --18.5000;-12.0000 --18.5000;-11.5000 --18.5000;-11.0000 --18.5000;-10.5000 --18.5000;-10.0000 --18.5000;-9.5000 --18.5000;-9.0000 --18.5000;-8.5000 --18.5000;-8.0000 --18.5000;-7.5000 --18.5000;-7.0000 --18.5000;-6.5000 --18.5000;107.5000 --18.5000;108.0000 --18.5000;108.5000 --18.5000;109.0000 --18.5000;109.5000 --18.5000;110.0000 --18.5000;110.5000 --18.5000;111.0000 --18.5000;111.5000 --18.5000;112.0000 --18.5000;112.5000 --18.5000;113.0000 --18.5000;113.5000 --18.5000;114.0000 --18.5000;114.5000 --18.5000;115.0000 --18.5000;115.5000 --18.5000;116.0000 --18.5000;116.5000 --18.5000;117.0000 --18.5000;117.5000 --18.0000;-16.5000 --18.0000;-16.0000 --18.0000;-15.5000 --18.0000;-15.0000 --18.0000;-14.5000 --18.0000;-14.0000 --18.0000;-13.5000 --18.0000;-13.0000 --18.0000;-12.5000 --18.0000;-12.0000 --18.0000;-11.5000 --18.0000;-11.0000 --18.0000;-10.5000 --18.0000;-10.0000 --18.0000;-9.5000 --18.0000;-9.0000 --18.0000;-8.5000 --18.0000;-8.0000 --18.0000;-7.5000 --18.0000;-7.0000 --18.0000;-6.5000 --18.0000;107.5000 --18.0000;108.0000 --18.0000;108.5000 --18.0000;109.0000 --18.0000;109.5000 --18.0000;110.0000 --18.0000;110.5000 --18.0000;111.0000 --18.0000;111.5000 --18.0000;112.0000 --18.0000;112.5000 --18.0000;113.0000 --18.0000;113.5000 --18.0000;114.0000 --18.0000;114.5000 --18.0000;115.0000 --18.0000;115.5000 --18.0000;116.0000 --18.0000;116.5000 --18.0000;117.0000 --18.0000;117.5000 --17.5000;-16.5000 --17.5000;-16.0000 --17.5000;-15.5000 --17.5000;-15.0000 --17.5000;-14.5000 --17.5000;-14.0000 --17.5000;-13.5000 --17.5000;-13.0000 --17.5000;-12.5000 --17.5000;-12.0000 --17.5000;-11.5000 --17.5000;-11.0000 --17.5000;-10.5000 --17.5000;-10.0000 --17.5000;-9.5000 --17.5000;-9.0000 --17.5000;-8.5000 --17.5000;-8.0000 --17.5000;-7.5000 --17.5000;-7.0000 --17.5000;-6.5000 --17.5000;107.5000 --17.5000;108.0000 --17.5000;108.5000 --17.5000;109.0000 --17.5000;109.5000 --17.5000;110.0000 --17.5000;110.5000 --17.5000;111.0000 --17.5000;111.5000 --17.5000;112.0000 --17.5000;112.5000 --17.5000;113.0000 --17.5000;113.5000 --17.5000;114.0000 --17.5000;114.5000 --17.5000;115.0000 --17.5000;115.5000 --17.5000;116.0000 --17.5000;116.5000 --17.5000;117.0000 --17.5000;117.5000 --17.0000;-16.5000 --17.0000;-16.0000 --17.0000;-15.5000 --17.0000;-15.0000 --17.0000;-14.5000 --17.0000;-14.0000 --17.0000;-13.5000 --17.0000;-13.0000 --17.0000;-12.5000 --17.0000;-12.0000 --17.0000;-11.5000 --17.0000;-11.0000 --17.0000;-10.5000 --17.0000;-10.0000 --17.0000;-9.5000 --17.0000;-9.0000 --17.0000;-8.5000 --17.0000;-8.0000 --17.0000;-7.5000 --17.0000;-7.0000 --17.0000;-6.5000 --17.0000;107.5000 --17.0000;108.0000 --17.0000;108.5000 --17.0000;109.0000 --17.0000;109.5000 --17.0000;110.0000 --17.0000;110.5000 --17.0000;111.0000 --17.0000;111.5000 --17.0000;112.0000 --17.0000;112.5000 --17.0000;113.0000 --17.0000;113.5000 --17.0000;114.0000 --17.0000;114.5000 --17.0000;115.0000 --17.0000;115.5000 --17.0000;116.0000 --17.0000;116.5000 --17.0000;117.0000 --17.0000;117.5000 --16.5000;-16.5000 --16.5000;-16.0000 --16.5000;-15.5000 --16.5000;-15.0000 --16.5000;-14.5000 --16.5000;-14.0000 --16.5000;-13.5000 --16.5000;-13.0000 --16.5000;-12.5000 --16.5000;-12.0000 --16.5000;-11.5000 --16.5000;-11.0000 --16.5000;-10.5000 --16.5000;-10.0000 --16.5000;-9.5000 --16.5000;-9.0000 --16.5000;-8.5000 --16.5000;-8.0000 --16.5000;-7.5000 --16.5000;-7.0000 --16.5000;-6.5000 --16.5000;107.5000 --16.5000;108.0000 --16.5000;108.5000 --16.5000;109.0000 --16.5000;109.5000 --16.5000;110.0000 --16.5000;110.5000 --16.5000;111.0000 --16.5000;111.5000 --16.5000;112.0000 --16.5000;112.5000 --16.5000;113.0000 --16.5000;113.5000 --16.5000;114.0000 --16.5000;114.5000 --16.5000;115.0000 --16.5000;115.5000 --16.5000;116.0000 --16.5000;116.5000 --16.5000;117.0000 --16.5000;117.5000 --16.0000;-16.5000 --16.0000;-16.0000 --16.0000;-15.5000 --16.0000;-15.0000 --16.0000;-14.5000 --16.0000;-14.0000 --16.0000;-13.5000 --16.0000;-13.0000 --16.0000;-12.5000 --16.0000;-12.0000 --16.0000;-11.5000 --16.0000;-11.0000 --16.0000;-10.5000 --16.0000;-10.0000 --16.0000;-9.5000 --16.0000;-9.0000 --16.0000;-8.5000 --16.0000;-8.0000 --16.0000;-7.5000 --16.0000;-7.0000 --16.0000;-6.5000 --16.0000;107.5000 --16.0000;108.0000 --16.0000;108.5000 --16.0000;109.0000 --16.0000;109.5000 --16.0000;110.0000 --16.0000;110.5000 --16.0000;111.0000 --16.0000;111.5000 --16.0000;112.0000 --16.0000;112.5000 --16.0000;113.0000 --16.0000;113.5000 --16.0000;114.0000 --16.0000;114.5000 --16.0000;115.0000 --16.0000;115.5000 --16.0000;116.0000 --16.0000;116.5000 --16.0000;117.0000 --16.0000;117.5000 --15.5000;-16.5000 --15.5000;-16.0000 --15.5000;-15.5000 --15.5000;-15.0000 --15.5000;-14.5000 --15.5000;-14.0000 --15.5000;-13.5000 --15.5000;-13.0000 --15.5000;-12.5000 --15.5000;-12.0000 --15.5000;-11.5000 --15.5000;-11.0000 --15.5000;-10.5000 --15.5000;-10.0000 --15.5000;-9.5000 --15.5000;-9.0000 --15.5000;-8.5000 --15.5000;-8.0000 --15.5000;-7.5000 --15.5000;-7.0000 --15.5000;-6.5000 --15.5000;107.5000 --15.5000;108.0000 --15.5000;108.5000 --15.5000;109.0000 --15.5000;109.5000 --15.5000;110.0000 --15.5000;110.5000 --15.5000;111.0000 --15.5000;111.5000 --15.5000;112.0000 --15.5000;112.5000 --15.5000;113.0000 --15.5000;113.5000 --15.5000;114.0000 --15.5000;114.5000 --15.5000;115.0000 --15.5000;115.5000 --15.5000;116.0000 --15.5000;116.5000 --15.5000;117.0000 --15.5000;117.5000 --15.0000;-16.5000 --15.0000;-16.0000 --15.0000;-15.5000 --15.0000;-15.0000 --15.0000;-14.5000 --15.0000;-14.0000 --15.0000;-13.5000 --15.0000;-13.0000 --15.0000;-12.5000 --15.0000;-12.0000 --15.0000;-11.5000 --15.0000;-11.0000 --15.0000;-10.5000 --15.0000;-10.0000 --15.0000;-9.5000 --15.0000;-9.0000 --15.0000;-8.5000 --15.0000;-8.0000 --15.0000;-7.5000 --15.0000;-7.0000 --15.0000;-6.5000 --15.0000;107.5000 --15.0000;108.0000 --15.0000;108.5000 --15.0000;109.0000 --15.0000;109.5000 --15.0000;110.0000 --15.0000;110.5000 --15.0000;111.0000 --15.0000;111.5000 --15.0000;112.0000 --15.0000;112.5000 --15.0000;113.0000 --15.0000;113.5000 --15.0000;114.0000 --15.0000;114.5000 --15.0000;115.0000 --15.0000;115.5000 --15.0000;116.0000 --15.0000;116.5000 --15.0000;117.0000 --15.0000;117.5000 --14.5000;-16.5000 --14.5000;-16.0000 --14.5000;-15.5000 --14.5000;-15.0000 --14.5000;-14.5000 --14.5000;-14.0000 --14.5000;-13.5000 --14.5000;-13.0000 --14.5000;-12.5000 --14.5000;-12.0000 --14.5000;-11.5000 --14.5000;-11.0000 --14.5000;-10.5000 --14.5000;-10.0000 --14.5000;-9.5000 --14.5000;-9.0000 --14.5000;-8.5000 --14.5000;-8.0000 --14.5000;-7.5000 --14.5000;-7.0000 --14.5000;-6.5000 --14.5000;107.5000 --14.5000;108.0000 --14.5000;108.5000 --14.5000;109.0000 --14.5000;109.5000 --14.5000;110.0000 --14.5000;110.5000 --14.5000;111.0000 --14.5000;111.5000 --14.5000;112.0000 --14.5000;112.5000 --14.5000;113.0000 --14.5000;113.5000 --14.5000;114.0000 --14.5000;114.5000 --14.5000;115.0000 --14.5000;115.5000 --14.5000;116.0000 --14.5000;116.5000 --14.5000;117.0000 --14.5000;117.5000 --14.0000;-16.5000 --14.0000;-16.0000 --14.0000;-15.5000 --14.0000;-15.0000 --14.0000;-14.5000 --14.0000;-14.0000 --14.0000;-13.5000 --14.0000;-13.0000 --14.0000;-12.5000 --14.0000;-12.0000 --14.0000;-11.5000 --14.0000;-11.0000 --14.0000;-10.5000 --14.0000;-10.0000 --14.0000;-9.5000 --14.0000;-9.0000 --14.0000;-8.5000 --14.0000;-8.0000 --14.0000;-7.5000 --14.0000;-7.0000 --14.0000;-6.5000 --14.0000;107.5000 --14.0000;108.0000 --14.0000;108.5000 --14.0000;109.0000 --14.0000;109.5000 --14.0000;110.0000 --14.0000;110.5000 --14.0000;111.0000 --14.0000;111.5000 --14.0000;112.0000 --14.0000;112.5000 --14.0000;113.0000 --14.0000;113.5000 --14.0000;114.0000 --14.0000;114.5000 --14.0000;115.0000 --14.0000;115.5000 --14.0000;116.0000 --14.0000;116.5000 --14.0000;117.0000 --14.0000;117.5000 --13.5000;-16.5000 --13.5000;-16.0000 --13.5000;-15.5000 --13.5000;-15.0000 --13.5000;-14.5000 --13.5000;-14.0000 --13.5000;-13.5000 --13.5000;-13.0000 --13.5000;-12.5000 --13.5000;-12.0000 --13.5000;-11.5000 --13.5000;-11.0000 --13.5000;-10.5000 --13.5000;-10.0000 --13.5000;-9.5000 --13.5000;-9.0000 --13.5000;-8.5000 --13.5000;-8.0000 --13.5000;-7.5000 --13.5000;-7.0000 --13.5000;-6.5000 --13.5000;107.5000 --13.5000;108.0000 --13.5000;108.5000 --13.5000;109.0000 --13.5000;109.5000 --13.5000;110.0000 --13.5000;110.5000 --13.5000;111.0000 --13.5000;111.5000 --13.5000;112.0000 --13.5000;112.5000 --13.5000;113.0000 --13.5000;113.5000 --13.5000;114.0000 --13.5000;114.5000 --13.5000;115.0000 --13.5000;115.5000 --13.5000;116.0000 --13.5000;116.5000 --13.5000;117.0000 --13.5000;117.5000 --13.0000;-16.5000 --13.0000;-16.0000 --13.0000;-15.5000 --13.0000;-15.0000 --13.0000;-14.5000 --13.0000;-14.0000 --13.0000;-13.5000 --13.0000;-13.0000 --13.0000;-12.5000 --13.0000;-12.0000 --13.0000;-11.5000 --13.0000;-11.0000 --13.0000;-10.5000 --13.0000;-10.0000 --13.0000;-9.5000 --13.0000;-9.0000 --13.0000;-8.5000 --13.0000;-8.0000 --13.0000;-7.5000 --13.0000;-7.0000 --13.0000;-6.5000 --13.0000;107.5000 --13.0000;108.0000 --13.0000;108.5000 --13.0000;109.0000 --13.0000;109.5000 --13.0000;110.0000 --13.0000;110.5000 --13.0000;111.0000 --13.0000;111.5000 --13.0000;112.0000 --13.0000;112.5000 --13.0000;113.0000 --13.0000;113.5000 --13.0000;114.0000 --13.0000;114.5000 --13.0000;115.0000 --13.0000;115.5000 --13.0000;116.0000 --13.0000;116.5000 --13.0000;117.0000 --13.0000;117.5000 --12.5000;-16.5000 --12.5000;-16.0000 --12.5000;-15.5000 --12.5000;-15.0000 --12.5000;-14.5000 --12.5000;-14.0000 --12.5000;-13.5000 --12.5000;-13.0000 --12.5000;-12.5000 --12.5000;-12.0000 --12.5000;-11.5000 --12.5000;-11.0000 --12.5000;-10.5000 --12.5000;-10.0000 --12.5000;-9.5000 --12.5000;-9.0000 --12.5000;-8.5000 --12.5000;-8.0000 --12.5000;-7.5000 --12.5000;-7.0000 --12.5000;-6.5000 --12.5000;107.5000 --12.5000;108.0000 --12.5000;108.5000 --12.5000;109.0000 --12.5000;109.5000 --12.5000;110.0000 --12.5000;110.5000 --12.5000;111.0000 --12.5000;111.5000 --12.5000;112.0000 --12.5000;112.5000 --12.5000;113.0000 --12.5000;113.5000 --12.5000;114.0000 --12.5000;114.5000 --12.5000;115.0000 --12.5000;115.5000 --12.5000;116.0000 --12.5000;116.5000 --12.5000;117.0000 --12.5000;117.5000 --12.0000;-16.5000 --12.0000;-16.0000 --12.0000;-15.5000 --12.0000;-15.0000 --12.0000;-14.5000 --12.0000;-14.0000 --12.0000;-13.5000 --12.0000;-13.0000 --12.0000;-12.5000 --12.0000;-12.0000 --12.0000;-11.5000 --12.0000;-11.0000 --12.0000;-10.5000 --12.0000;-10.0000 --12.0000;-9.5000 --12.0000;-9.0000 --12.0000;-8.5000 --12.0000;-8.0000 --12.0000;-7.5000 --12.0000;-7.0000 --12.0000;-6.5000 --12.0000;107.5000 --12.0000;108.0000 --12.0000;108.5000 --12.0000;109.0000 --12.0000;109.5000 --12.0000;110.0000 --12.0000;110.5000 --12.0000;111.0000 --12.0000;111.5000 --12.0000;112.0000 --12.0000;112.5000 --12.0000;113.0000 --12.0000;113.5000 --12.0000;114.0000 --12.0000;114.5000 --12.0000;115.0000 --12.0000;115.5000 --12.0000;116.0000 --12.0000;116.5000 --12.0000;117.0000 --12.0000;117.5000 --11.5000;-16.5000 --11.5000;-16.0000 --11.5000;-15.5000 --11.5000;-15.0000 --11.5000;-14.5000 --11.5000;-14.0000 --11.5000;-13.5000 --11.5000;-13.0000 --11.5000;-12.5000 --11.5000;-12.0000 --11.5000;-11.5000 --11.5000;-11.0000 --11.5000;-10.5000 --11.5000;-10.0000 --11.5000;-9.5000 --11.5000;-9.0000 --11.5000;-8.5000 --11.5000;-8.0000 --11.5000;-7.5000 --11.5000;-7.0000 --11.5000;-6.5000 --11.5000;107.5000 --11.5000;108.0000 --11.5000;108.5000 --11.5000;109.0000 --11.5000;109.5000 --11.5000;110.0000 --11.5000;110.5000 --11.5000;111.0000 --11.5000;111.5000 --11.5000;112.0000 --11.5000;112.5000 --11.5000;113.0000 --11.5000;113.5000 --11.5000;114.0000 --11.5000;114.5000 --11.5000;115.0000 --11.5000;115.5000 --11.5000;116.0000 --11.5000;116.5000 --11.5000;117.0000 --11.5000;117.5000 --11.0000;-16.5000 --11.0000;-16.0000 --11.0000;-15.5000 --11.0000;-15.0000 --11.0000;-14.5000 --11.0000;-14.0000 --11.0000;-13.5000 --11.0000;-13.0000 --11.0000;-12.5000 --11.0000;-12.0000 --11.0000;-11.5000 --11.0000;-11.0000 --11.0000;-10.5000 --11.0000;-10.0000 --11.0000;-9.5000 --11.0000;-9.0000 --11.0000;-8.5000 --11.0000;-8.0000 --11.0000;-7.5000 --11.0000;-7.0000 --11.0000;-6.5000 --11.0000;107.5000 --11.0000;108.0000 --11.0000;108.5000 --11.0000;109.0000 --11.0000;109.5000 --11.0000;110.0000 --11.0000;110.5000 --11.0000;111.0000 --11.0000;111.5000 --11.0000;112.0000 --11.0000;112.5000 --11.0000;113.0000 --11.0000;113.5000 --11.0000;114.0000 --11.0000;114.5000 --11.0000;115.0000 --11.0000;115.5000 --11.0000;116.0000 --11.0000;116.5000 --11.0000;117.0000 --11.0000;117.5000 --10.5000;-16.5000 --10.5000;-16.0000 --10.5000;-15.5000 --10.5000;-15.0000 --10.5000;-14.5000 --10.5000;-14.0000 --10.5000;-13.5000 --10.5000;-13.0000 --10.5000;-12.5000 --10.5000;-12.0000 --10.5000;-11.5000 --10.5000;-11.0000 --10.5000;-10.5000 --10.5000;-10.0000 --10.5000;-9.5000 --10.5000;-9.0000 --10.5000;-8.5000 --10.5000;-8.0000 --10.5000;-7.5000 --10.5000;-7.0000 --10.5000;-6.5000 --10.5000;107.0000 --10.5000;107.5000 --10.5000;108.0000 --10.5000;108.5000 --10.5000;109.0000 --10.5000;109.5000 --10.5000;110.0000 --10.5000;110.5000 --10.5000;111.0000 --10.5000;111.5000 --10.5000;112.0000 --10.5000;112.5000 --10.5000;113.0000 --10.5000;113.5000 --10.5000;114.0000 --10.5000;114.5000 --10.5000;115.0000 --10.5000;115.5000 --10.5000;116.0000 --10.5000;116.5000 --10.5000;117.0000 --10.5000;117.5000 --10.0000;-16.5000 --10.0000;-16.0000 --10.0000;-15.5000 --10.0000;-15.0000 --10.0000;-14.5000 --10.0000;-14.0000 --10.0000;-13.5000 --10.0000;-13.0000 --10.0000;-12.5000 --10.0000;-12.0000 --10.0000;-11.5000 --10.0000;-11.0000 --10.0000;-10.5000 --10.0000;-10.0000 --10.0000;-9.5000 --10.0000;-9.0000 --10.0000;-8.5000 --10.0000;-8.0000 --10.0000;-7.5000 --10.0000;-7.0000 --10.0000;-6.5000 --10.0000;-6.0000 --10.0000;107.0000 --10.0000;107.5000 --10.0000;108.0000 --10.0000;108.5000 --10.0000;109.0000 --10.0000;109.5000 --10.0000;110.0000 --10.0000;110.5000 --10.0000;111.0000 --10.0000;111.5000 --10.0000;112.0000 --10.0000;112.5000 --10.0000;113.0000 --10.0000;113.5000 --10.0000;114.0000 --10.0000;114.5000 --10.0000;115.0000 --10.0000;115.5000 --10.0000;116.0000 --10.0000;116.5000 --10.0000;117.0000 --10.0000;117.5000 --9.5000;-16.5000 --9.5000;-16.0000 --9.5000;-15.5000 --9.5000;-15.0000 --9.5000;-14.5000 --9.5000;-14.0000 --9.5000;-13.5000 --9.5000;-13.0000 --9.5000;-12.5000 --9.5000;-12.0000 --9.5000;-11.5000 --9.5000;-11.0000 --9.5000;-10.5000 --9.5000;-10.0000 --9.5000;-9.5000 --9.5000;-9.0000 --9.5000;-8.5000 --9.5000;-8.0000 --9.5000;-7.5000 --9.5000;-7.0000 --9.5000;-6.5000 --9.5000;-6.0000 --9.5000;107.0000 --9.5000;107.5000 --9.5000;108.0000 --9.5000;108.5000 --9.5000;109.0000 --9.5000;109.5000 --9.5000;110.0000 --9.5000;110.5000 --9.5000;111.0000 --9.5000;111.5000 --9.5000;112.0000 --9.5000;112.5000 --9.5000;113.0000 --9.5000;113.5000 --9.5000;114.0000 --9.5000;114.5000 --9.5000;115.0000 --9.5000;115.5000 --9.5000;116.0000 --9.5000;116.5000 --9.5000;117.0000 --9.5000;117.5000 --9.0000;-16.5000 --9.0000;-16.0000 --9.0000;-15.5000 --9.0000;-15.0000 --9.0000;-14.5000 --9.0000;-14.0000 --9.0000;-13.5000 --9.0000;-13.0000 --9.0000;-12.5000 --9.0000;-12.0000 --9.0000;-11.5000 --9.0000;-11.0000 --9.0000;-10.5000 --9.0000;-10.0000 --9.0000;-9.5000 --9.0000;-9.0000 --9.0000;-8.5000 --9.0000;-8.0000 --9.0000;-7.5000 --9.0000;-7.0000 --9.0000;-6.5000 --9.0000;-6.0000 --9.0000;-5.5000 --9.0000;106.5000 --9.0000;107.0000 --9.0000;107.5000 --9.0000;108.0000 --9.0000;108.5000 --9.0000;109.0000 --9.0000;109.5000 --9.0000;110.0000 --9.0000;110.5000 --9.0000;111.0000 --9.0000;111.5000 --9.0000;112.0000 --9.0000;112.5000 --9.0000;113.0000 --9.0000;113.5000 --9.0000;114.0000 --9.0000;114.5000 --9.0000;115.0000 --9.0000;115.5000 --9.0000;116.0000 --9.0000;116.5000 --9.0000;117.0000 --8.5000;-16.0000 --8.5000;-15.5000 --8.5000;-15.0000 --8.5000;-14.5000 --8.5000;-14.0000 --8.5000;-13.5000 --8.5000;-13.0000 --8.5000;-12.5000 --8.5000;-12.0000 --8.5000;-11.5000 --8.5000;-11.0000 --8.5000;-10.5000 --8.5000;-10.0000 --8.5000;-9.5000 --8.5000;-9.0000 --8.5000;-8.5000 --8.5000;-8.0000 --8.5000;-7.5000 --8.5000;-7.0000 --8.5000;-6.5000 --8.5000;-6.0000 --8.5000;-5.5000 --8.5000;106.0000 --8.5000;106.5000 --8.5000;107.0000 --8.5000;107.5000 --8.5000;108.0000 --8.5000;108.5000 --8.5000;109.0000 --8.5000;109.5000 --8.5000;110.0000 --8.5000;110.5000 --8.5000;111.0000 --8.5000;111.5000 --8.5000;112.0000 --8.5000;112.5000 --8.5000;113.0000 --8.5000;113.5000 --8.5000;114.0000 --8.5000;114.5000 --8.5000;115.0000 --8.5000;115.5000 --8.5000;116.0000 --8.5000;116.5000 --8.5000;117.0000 --8.0000;-16.0000 --8.0000;-15.5000 --8.0000;-15.0000 --8.0000;-14.5000 --8.0000;-14.0000 --8.0000;-13.5000 --8.0000;-13.0000 --8.0000;-12.5000 --8.0000;-12.0000 --8.0000;-11.5000 --8.0000;-11.0000 --8.0000;-10.5000 --8.0000;-10.0000 --8.0000;-9.5000 --8.0000;-9.0000 --8.0000;-8.5000 --8.0000;-8.0000 --8.0000;-7.5000 --8.0000;-7.0000 --8.0000;-6.5000 --8.0000;-6.0000 --8.0000;-5.5000 --8.0000;-5.0000 --8.0000;106.0000 --8.0000;106.5000 --8.0000;107.0000 --8.0000;107.5000 --8.0000;108.0000 --8.0000;108.5000 --8.0000;109.0000 --8.0000;109.5000 --8.0000;110.0000 --8.0000;110.5000 --8.0000;111.0000 --8.0000;111.5000 --8.0000;112.0000 --8.0000;112.5000 --8.0000;113.0000 --8.0000;113.5000 --8.0000;114.0000 --8.0000;114.5000 --8.0000;115.0000 --8.0000;115.5000 --8.0000;116.0000 --8.0000;116.5000 --8.0000;117.0000 --7.5000;-16.0000 --7.5000;-15.5000 --7.5000;-15.0000 --7.5000;-14.5000 --7.5000;-14.0000 --7.5000;-13.5000 --7.5000;-13.0000 --7.5000;-12.5000 --7.5000;-12.0000 --7.5000;-11.5000 --7.5000;-11.0000 --7.5000;-10.5000 --7.5000;-10.0000 --7.5000;-9.5000 --7.5000;-9.0000 --7.5000;-8.5000 --7.5000;-8.0000 --7.5000;-7.5000 --7.5000;-7.0000 --7.5000;-6.5000 --7.5000;-6.0000 --7.5000;-5.5000 --7.5000;-5.0000 --7.5000;-4.5000 --7.5000;105.5000 --7.5000;106.0000 --7.5000;106.5000 --7.5000;107.0000 --7.5000;107.5000 --7.5000;108.0000 --7.5000;108.5000 --7.5000;109.0000 --7.5000;109.5000 --7.5000;110.0000 --7.5000;110.5000 --7.5000;111.0000 --7.5000;111.5000 --7.5000;112.0000 --7.5000;112.5000 --7.5000;113.0000 --7.5000;113.5000 --7.5000;114.0000 --7.5000;114.5000 --7.5000;115.0000 --7.5000;115.5000 --7.5000;116.0000 --7.5000;116.5000 --7.5000;117.0000 --7.0000;-16.0000 --7.0000;-15.5000 --7.0000;-15.0000 --7.0000;-14.5000 --7.0000;-14.0000 --7.0000;-13.5000 --7.0000;-13.0000 --7.0000;-12.5000 --7.0000;-12.0000 --7.0000;-11.5000 --7.0000;-11.0000 --7.0000;-10.5000 --7.0000;-10.0000 --7.0000;-9.5000 --7.0000;-9.0000 --7.0000;-8.5000 --7.0000;-8.0000 --7.0000;-7.5000 --7.0000;-7.0000 --7.0000;-6.5000 --7.0000;-6.0000 --7.0000;-5.5000 --7.0000;-5.0000 --7.0000;-4.5000 --7.0000;-4.0000 --7.0000;105.0000 --7.0000;105.5000 --7.0000;106.0000 --7.0000;106.5000 --7.0000;107.0000 --7.0000;107.5000 --7.0000;108.0000 --7.0000;108.5000 --7.0000;109.0000 --7.0000;109.5000 --7.0000;110.0000 --7.0000;110.5000 --7.0000;111.0000 --7.0000;111.5000 --7.0000;112.0000 --7.0000;112.5000 --7.0000;113.0000 --7.0000;113.5000 --7.0000;114.0000 --7.0000;114.5000 --7.0000;115.0000 --7.0000;115.5000 --7.0000;116.0000 --7.0000;116.5000 --6.5000;-15.5000 --6.5000;-15.0000 --6.5000;-14.5000 --6.5000;-14.0000 --6.5000;-13.5000 --6.5000;-13.0000 --6.5000;-12.5000 --6.5000;-12.0000 --6.5000;-11.5000 --6.5000;-11.0000 --6.5000;-10.5000 --6.5000;-10.0000 --6.5000;-9.5000 --6.5000;-9.0000 --6.5000;-8.5000 --6.5000;-8.0000 --6.5000;-7.5000 --6.5000;-7.0000 --6.5000;-6.5000 --6.5000;-6.0000 --6.5000;-5.5000 --6.5000;-5.0000 --6.5000;-4.5000 --6.5000;-4.0000 --6.5000;-3.5000 --6.5000;104.0000 --6.5000;104.5000 --6.5000;105.0000 --6.5000;105.5000 --6.5000;106.0000 --6.5000;106.5000 --6.5000;107.0000 --6.5000;107.5000 --6.5000;108.0000 --6.5000;108.5000 --6.5000;109.0000 --6.5000;109.5000 --6.5000;110.0000 --6.5000;110.5000 --6.5000;111.0000 --6.5000;111.5000 --6.5000;112.0000 --6.5000;112.5000 --6.5000;113.0000 --6.5000;113.5000 --6.5000;114.0000 --6.5000;114.5000 --6.5000;115.0000 --6.5000;115.5000 --6.5000;116.0000 --6.5000;116.5000 --6.0000;-15.5000 --6.0000;-15.0000 --6.0000;-14.5000 --6.0000;-14.0000 --6.0000;-13.5000 --6.0000;-13.0000 --6.0000;-12.5000 --6.0000;-12.0000 --6.0000;-11.5000 --6.0000;-11.0000 --6.0000;-10.5000 --6.0000;-10.0000 --6.0000;-9.5000 --6.0000;-9.0000 --6.0000;-8.5000 --6.0000;-8.0000 --6.0000;-7.5000 --6.0000;-7.0000 --6.0000;-6.5000 --6.0000;-6.0000 --6.0000;-5.5000 --6.0000;-5.0000 --6.0000;-4.5000 --6.0000;-4.0000 --6.0000;-3.5000 --6.0000;-3.0000 --6.0000;-2.5000 --6.0000;103.5000 --6.0000;104.0000 --6.0000;104.5000 --6.0000;105.0000 --6.0000;105.5000 --6.0000;106.0000 --6.0000;106.5000 --6.0000;107.0000 --6.0000;107.5000 --6.0000;108.0000 --6.0000;108.5000 --6.0000;109.0000 --6.0000;109.5000 --6.0000;110.0000 --6.0000;110.5000 --6.0000;111.0000 --6.0000;111.5000 --6.0000;112.0000 --6.0000;112.5000 --6.0000;113.0000 --6.0000;113.5000 --6.0000;114.0000 --6.0000;114.5000 --6.0000;115.0000 --6.0000;115.5000 --6.0000;116.0000 --6.0000;116.5000 --5.5000;-15.0000 --5.5000;-14.5000 --5.5000;-14.0000 --5.5000;-13.5000 --5.5000;-13.0000 --5.5000;-12.5000 --5.5000;-12.0000 --5.5000;-11.5000 --5.5000;-11.0000 --5.5000;-10.5000 --5.5000;-10.0000 --5.5000;-9.5000 --5.5000;-9.0000 --5.5000;-8.5000 --5.5000;-8.0000 --5.5000;-7.5000 --5.5000;-7.0000 --5.5000;-6.5000 --5.5000;-6.0000 --5.5000;-5.5000 --5.5000;-5.0000 --5.5000;-4.5000 --5.5000;-4.0000 --5.5000;-3.5000 --5.5000;-3.0000 --5.5000;-2.5000 --5.5000;-2.0000 --5.5000;-1.5000 --5.5000;-1.0000 --5.5000;102.0000 --5.5000;102.5000 --5.5000;103.0000 --5.5000;103.5000 --5.5000;104.0000 --5.5000;104.5000 --5.5000;105.0000 --5.5000;105.5000 --5.5000;106.0000 --5.5000;106.5000 --5.5000;107.0000 --5.5000;107.5000 --5.5000;108.0000 --5.5000;108.5000 --5.5000;109.0000 --5.5000;109.5000 --5.5000;110.0000 --5.5000;110.5000 --5.5000;111.0000 --5.5000;111.5000 --5.5000;112.0000 --5.5000;112.5000 --5.5000;113.0000 --5.5000;113.5000 --5.5000;114.0000 --5.5000;114.5000 --5.5000;115.0000 --5.5000;115.5000 --5.5000;116.0000 --5.0000;-15.0000 --5.0000;-14.5000 --5.0000;-14.0000 --5.0000;-13.5000 --5.0000;-13.0000 --5.0000;-12.5000 --5.0000;-12.0000 --5.0000;-11.5000 --5.0000;-11.0000 --5.0000;-10.5000 --5.0000;-10.0000 --5.0000;-9.5000 --5.0000;-9.0000 --5.0000;-8.5000 --5.0000;-8.0000 --5.0000;-7.5000 --5.0000;-7.0000 --5.0000;-6.5000 --5.0000;-6.0000 --5.0000;-5.5000 --5.0000;-5.0000 --5.0000;-4.5000 --5.0000;-4.0000 --5.0000;-3.5000 --5.0000;-3.0000 --5.0000;-2.5000 --5.0000;-2.0000 --5.0000;-1.5000 --5.0000;-1.0000 --5.0000;-0.5000 --5.0000;0.0000 --5.0000;0.5000 --5.0000;1.0000 --5.0000;1.5000 --5.0000;2.0000 --5.0000;2.5000 --5.0000;3.0000 --5.0000;3.5000 --5.0000;4.0000 --5.0000;4.5000 --5.0000;5.0000 --5.0000;5.5000 --5.0000;6.0000 --5.0000;6.5000 --5.0000;7.0000 --5.0000;7.5000 --5.0000;8.0000 --5.0000;8.5000 --5.0000;9.0000 --5.0000;9.5000 --5.0000;10.0000 --5.0000;10.5000 --5.0000;11.0000 --5.0000;11.5000 --5.0000;12.0000 --5.0000;12.5000 --5.0000;13.0000 --5.0000;13.5000 --5.0000;14.0000 --5.0000;14.5000 --5.0000;15.0000 --5.0000;15.5000 --5.0000;16.0000 --5.0000;16.5000 --5.0000;17.0000 --5.0000;17.5000 --5.0000;18.0000 --5.0000;18.5000 --5.0000;19.0000 --5.0000;19.5000 --5.0000;20.0000 --5.0000;20.5000 --5.0000;21.0000 --5.0000;21.5000 --5.0000;22.0000 --5.0000;22.5000 --5.0000;23.0000 --5.0000;23.5000 --5.0000;24.0000 --5.0000;24.5000 --5.0000;25.0000 --5.0000;25.5000 --5.0000;26.0000 --5.0000;26.5000 --5.0000;27.0000 --5.0000;27.5000 --5.0000;28.0000 --5.0000;28.5000 --5.0000;29.0000 --5.0000;29.5000 --5.0000;30.0000 --5.0000;30.5000 --5.0000;31.0000 --5.0000;31.5000 --5.0000;32.0000 --5.0000;32.5000 --5.0000;33.0000 --5.0000;33.5000 --5.0000;34.0000 --5.0000;34.5000 --5.0000;35.0000 --5.0000;35.5000 --5.0000;36.0000 --5.0000;36.5000 --5.0000;37.0000 --5.0000;37.5000 --5.0000;38.0000 --5.0000;38.5000 --5.0000;39.0000 --5.0000;39.5000 --5.0000;40.0000 --5.0000;40.5000 --5.0000;41.0000 --5.0000;41.5000 --5.0000;42.0000 --5.0000;42.5000 --5.0000;43.0000 --5.0000;43.5000 --5.0000;44.0000 --5.0000;44.5000 --5.0000;45.0000 --5.0000;45.5000 --5.0000;46.0000 --5.0000;46.5000 --5.0000;47.0000 --5.0000;47.5000 --5.0000;48.0000 --5.0000;48.5000 --5.0000;49.0000 --5.0000;49.5000 --5.0000;50.0000 --5.0000;50.5000 --5.0000;51.0000 --5.0000;51.5000 --5.0000;52.0000 --5.0000;52.5000 --5.0000;53.0000 --5.0000;53.5000 --5.0000;54.0000 --5.0000;54.5000 --5.0000;55.0000 --5.0000;55.5000 --5.0000;56.0000 --5.0000;56.5000 --5.0000;57.0000 --5.0000;57.5000 --5.0000;58.0000 --5.0000;58.5000 --5.0000;59.0000 --5.0000;59.5000 --5.0000;60.0000 --5.0000;60.5000 --5.0000;61.0000 --5.0000;61.5000 --5.0000;62.0000 --5.0000;62.5000 --5.0000;63.0000 --5.0000;63.5000 --5.0000;64.0000 --5.0000;64.5000 --5.0000;65.0000 --5.0000;65.5000 --5.0000;66.0000 --5.0000;66.5000 --5.0000;67.0000 --5.0000;67.5000 --5.0000;68.0000 --5.0000;68.5000 --5.0000;69.0000 --5.0000;69.5000 --5.0000;70.0000 --5.0000;70.5000 --5.0000;71.0000 --5.0000;71.5000 --5.0000;72.0000 --5.0000;72.5000 --5.0000;73.0000 --5.0000;73.5000 --5.0000;74.0000 --5.0000;74.5000 --5.0000;75.0000 --5.0000;75.5000 --5.0000;76.0000 --5.0000;76.5000 --5.0000;77.0000 --5.0000;77.5000 --5.0000;78.0000 --5.0000;78.5000 --5.0000;79.0000 --5.0000;79.5000 --5.0000;80.0000 --5.0000;80.5000 --5.0000;81.0000 --5.0000;81.5000 --5.0000;82.0000 --5.0000;82.5000 --5.0000;83.0000 --5.0000;83.5000 --5.0000;84.0000 --5.0000;84.5000 --5.0000;85.0000 --5.0000;85.5000 --5.0000;86.0000 --5.0000;86.5000 --5.0000;87.0000 --5.0000;87.5000 --5.0000;88.0000 --5.0000;88.5000 --5.0000;89.0000 --5.0000;89.5000 --5.0000;90.0000 --5.0000;90.5000 --5.0000;91.0000 --5.0000;91.5000 --5.0000;92.0000 --5.0000;92.5000 --5.0000;93.0000 --5.0000;93.5000 --5.0000;94.0000 --5.0000;94.5000 --5.0000;95.0000 --5.0000;95.5000 --5.0000;96.0000 --5.0000;96.5000 --5.0000;97.0000 --5.0000;97.5000 --5.0000;98.0000 --5.0000;98.5000 --5.0000;99.0000 --5.0000;99.5000 --5.0000;100.0000 --5.0000;100.5000 --5.0000;101.0000 --5.0000;101.5000 --5.0000;102.0000 --5.0000;102.5000 --5.0000;103.0000 --5.0000;103.5000 --5.0000;104.0000 --5.0000;104.5000 --5.0000;105.0000 --5.0000;105.5000 --5.0000;106.0000 --5.0000;106.5000 --5.0000;107.0000 --5.0000;107.5000 --5.0000;108.0000 --5.0000;108.5000 --5.0000;109.0000 --5.0000;109.5000 --5.0000;110.0000 --5.0000;110.5000 --5.0000;111.0000 --5.0000;111.5000 --5.0000;112.0000 --5.0000;112.5000 --5.0000;113.0000 --5.0000;113.5000 --5.0000;114.0000 --5.0000;114.5000 --5.0000;115.0000 --5.0000;115.5000 --5.0000;116.0000 --4.5000;-15.0000 --4.5000;-14.5000 --4.5000;-14.0000 --4.5000;-13.5000 --4.5000;-13.0000 --4.5000;-12.5000 --4.5000;-12.0000 --4.5000;-11.5000 --4.5000;-11.0000 --4.5000;-10.5000 --4.5000;-10.0000 --4.5000;-9.5000 --4.5000;-9.0000 --4.5000;-8.5000 --4.5000;-8.0000 --4.5000;-7.5000 --4.5000;-7.0000 --4.5000;-6.5000 --4.5000;-6.0000 --4.5000;-5.5000 --4.5000;-5.0000 --4.5000;-4.5000 --4.5000;-4.0000 --4.5000;-3.5000 --4.5000;-3.0000 --4.5000;-2.5000 --4.5000;-2.0000 --4.5000;-1.5000 --4.5000;-1.0000 --4.5000;-0.5000 --4.5000;0.0000 --4.5000;0.5000 --4.5000;1.0000 --4.5000;1.5000 --4.5000;2.0000 --4.5000;2.5000 --4.5000;3.0000 --4.5000;3.5000 --4.5000;4.0000 --4.5000;4.5000 --4.5000;5.0000 --4.5000;5.5000 --4.5000;6.0000 --4.5000;6.5000 --4.5000;7.0000 --4.5000;7.5000 --4.5000;8.0000 --4.5000;8.5000 --4.5000;9.0000 --4.5000;9.5000 --4.5000;10.0000 --4.5000;10.5000 --4.5000;11.0000 --4.5000;11.5000 --4.5000;12.0000 --4.5000;12.5000 --4.5000;13.0000 --4.5000;13.5000 --4.5000;14.0000 --4.5000;14.5000 --4.5000;15.0000 --4.5000;15.5000 --4.5000;16.0000 --4.5000;16.5000 --4.5000;17.0000 --4.5000;17.5000 --4.5000;18.0000 --4.5000;18.5000 --4.5000;19.0000 --4.5000;19.5000 --4.5000;20.0000 --4.5000;20.5000 --4.5000;21.0000 --4.5000;21.5000 --4.5000;22.0000 --4.5000;22.5000 --4.5000;23.0000 --4.5000;23.5000 --4.5000;24.0000 --4.5000;24.5000 --4.5000;25.0000 --4.5000;25.5000 --4.5000;26.0000 --4.5000;26.5000 --4.5000;27.0000 --4.5000;27.5000 --4.5000;28.0000 --4.5000;28.5000 --4.5000;29.0000 --4.5000;29.5000 --4.5000;30.0000 --4.5000;30.5000 --4.5000;31.0000 --4.5000;31.5000 --4.5000;32.0000 --4.5000;32.5000 --4.5000;33.0000 --4.5000;33.5000 --4.5000;34.0000 --4.5000;34.5000 --4.5000;35.0000 --4.5000;35.5000 --4.5000;36.0000 --4.5000;36.5000 --4.5000;37.0000 --4.5000;37.5000 --4.5000;38.0000 --4.5000;38.5000 --4.5000;39.0000 --4.5000;39.5000 --4.5000;40.0000 --4.5000;40.5000 --4.5000;41.0000 --4.5000;41.5000 --4.5000;42.0000 --4.5000;42.5000 --4.5000;43.0000 --4.5000;43.5000 --4.5000;44.0000 --4.5000;44.5000 --4.5000;45.0000 --4.5000;45.5000 --4.5000;46.0000 --4.5000;46.5000 --4.5000;47.0000 --4.5000;47.5000 --4.5000;48.0000 --4.5000;48.5000 --4.5000;49.0000 --4.5000;49.5000 --4.5000;50.0000 --4.5000;50.5000 --4.5000;51.0000 --4.5000;51.5000 --4.5000;52.0000 --4.5000;52.5000 --4.5000;53.0000 --4.5000;53.5000 --4.5000;54.0000 --4.5000;54.5000 --4.5000;55.0000 --4.5000;55.5000 --4.5000;56.0000 --4.5000;56.5000 --4.5000;57.0000 --4.5000;57.5000 --4.5000;58.0000 --4.5000;58.5000 --4.5000;59.0000 --4.5000;59.5000 --4.5000;60.0000 --4.5000;60.5000 --4.5000;61.0000 --4.5000;61.5000 --4.5000;62.0000 --4.5000;62.5000 --4.5000;63.0000 --4.5000;63.5000 --4.5000;64.0000 --4.5000;64.5000 --4.5000;65.0000 --4.5000;65.5000 --4.5000;66.0000 --4.5000;66.5000 --4.5000;67.0000 --4.5000;67.5000 --4.5000;68.0000 --4.5000;68.5000 --4.5000;69.0000 --4.5000;69.5000 --4.5000;70.0000 --4.5000;70.5000 --4.5000;71.0000 --4.5000;71.5000 --4.5000;72.0000 --4.5000;72.5000 --4.5000;73.0000 --4.5000;73.5000 --4.5000;74.0000 --4.5000;74.5000 --4.5000;75.0000 --4.5000;75.5000 --4.5000;76.0000 --4.5000;76.5000 --4.5000;77.0000 --4.5000;77.5000 --4.5000;78.0000 --4.5000;78.5000 --4.5000;79.0000 --4.5000;79.5000 --4.5000;80.0000 --4.5000;80.5000 --4.5000;81.0000 --4.5000;81.5000 --4.5000;82.0000 --4.5000;82.5000 --4.5000;83.0000 --4.5000;83.5000 --4.5000;84.0000 --4.5000;84.5000 --4.5000;85.0000 --4.5000;85.5000 --4.5000;86.0000 --4.5000;86.5000 --4.5000;87.0000 --4.5000;87.5000 --4.5000;88.0000 --4.5000;88.5000 --4.5000;89.0000 --4.5000;89.5000 --4.5000;90.0000 --4.5000;90.5000 --4.5000;91.0000 --4.5000;91.5000 --4.5000;92.0000 --4.5000;92.5000 --4.5000;93.0000 --4.5000;93.5000 --4.5000;94.0000 --4.5000;94.5000 --4.5000;95.0000 --4.5000;95.5000 --4.5000;96.0000 --4.5000;96.5000 --4.5000;97.0000 --4.5000;97.5000 --4.5000;98.0000 --4.5000;98.5000 --4.5000;99.0000 --4.5000;99.5000 --4.5000;100.0000 --4.5000;100.5000 --4.5000;101.0000 --4.5000;101.5000 --4.5000;102.0000 --4.5000;102.5000 --4.5000;103.0000 --4.5000;103.5000 --4.5000;104.0000 --4.5000;104.5000 --4.5000;105.0000 --4.5000;105.5000 --4.5000;106.0000 --4.5000;106.5000 --4.5000;107.0000 --4.5000;107.5000 --4.5000;108.0000 --4.5000;108.5000 --4.5000;109.0000 --4.5000;109.5000 --4.5000;110.0000 --4.5000;110.5000 --4.5000;111.0000 --4.5000;111.5000 --4.5000;112.0000 --4.5000;112.5000 --4.5000;113.0000 --4.5000;113.5000 --4.5000;114.0000 --4.5000;114.5000 --4.5000;115.0000 --4.5000;115.5000 --4.0000;-14.5000 --4.0000;-14.0000 --4.0000;-13.5000 --4.0000;-13.0000 --4.0000;-12.5000 --4.0000;-12.0000 --4.0000;-11.5000 --4.0000;-11.0000 --4.0000;-10.5000 --4.0000;-10.0000 --4.0000;-9.5000 --4.0000;-9.0000 --4.0000;-8.5000 --4.0000;-8.0000 --4.0000;-7.5000 --4.0000;-7.0000 --4.0000;-6.5000 --4.0000;-6.0000 --4.0000;-5.5000 --4.0000;-5.0000 --4.0000;-4.5000 --4.0000;-4.0000 --4.0000;-3.5000 --4.0000;-3.0000 --4.0000;-2.5000 --4.0000;-2.0000 --4.0000;-1.5000 --4.0000;-1.0000 --4.0000;-0.5000 --4.0000;0.0000 --4.0000;0.5000 --4.0000;1.0000 --4.0000;1.5000 --4.0000;2.0000 --4.0000;2.5000 --4.0000;3.0000 --4.0000;3.5000 --4.0000;4.0000 --4.0000;4.5000 --4.0000;5.0000 --4.0000;5.5000 --4.0000;6.0000 --4.0000;6.5000 --4.0000;7.0000 --4.0000;7.5000 --4.0000;8.0000 --4.0000;8.5000 --4.0000;9.0000 --4.0000;9.5000 --4.0000;10.0000 --4.0000;10.5000 --4.0000;11.0000 --4.0000;11.5000 --4.0000;12.0000 --4.0000;12.5000 --4.0000;13.0000 --4.0000;13.5000 --4.0000;14.0000 --4.0000;14.5000 --4.0000;15.0000 --4.0000;15.5000 --4.0000;16.0000 --4.0000;16.5000 --4.0000;17.0000 --4.0000;17.5000 --4.0000;18.0000 --4.0000;18.5000 --4.0000;19.0000 --4.0000;19.5000 --4.0000;20.0000 --4.0000;20.5000 --4.0000;21.0000 --4.0000;21.5000 --4.0000;22.0000 --4.0000;22.5000 --4.0000;23.0000 --4.0000;23.5000 --4.0000;24.0000 --4.0000;24.5000 --4.0000;25.0000 --4.0000;25.5000 --4.0000;26.0000 --4.0000;26.5000 --4.0000;27.0000 --4.0000;27.5000 --4.0000;28.0000 --4.0000;28.5000 --4.0000;29.0000 --4.0000;29.5000 --4.0000;30.0000 --4.0000;30.5000 --4.0000;31.0000 --4.0000;31.5000 --4.0000;32.0000 --4.0000;32.5000 --4.0000;33.0000 --4.0000;33.5000 --4.0000;34.0000 --4.0000;34.5000 --4.0000;35.0000 --4.0000;35.5000 --4.0000;36.0000 --4.0000;36.5000 --4.0000;37.0000 --4.0000;37.5000 --4.0000;38.0000 --4.0000;38.5000 --4.0000;39.0000 --4.0000;39.5000 --4.0000;40.0000 --4.0000;40.5000 --4.0000;41.0000 --4.0000;41.5000 --4.0000;42.0000 --4.0000;42.5000 --4.0000;43.0000 --4.0000;43.5000 --4.0000;44.0000 --4.0000;44.5000 --4.0000;45.0000 --4.0000;45.5000 --4.0000;46.0000 --4.0000;46.5000 --4.0000;47.0000 --4.0000;47.5000 --4.0000;48.0000 --4.0000;48.5000 --4.0000;49.0000 --4.0000;49.5000 --4.0000;50.0000 --4.0000;50.5000 --4.0000;51.0000 --4.0000;51.5000 --4.0000;52.0000 --4.0000;52.5000 --4.0000;53.0000 --4.0000;53.5000 --4.0000;54.0000 --4.0000;54.5000 --4.0000;55.0000 --4.0000;55.5000 --4.0000;56.0000 --4.0000;56.5000 --4.0000;57.0000 --4.0000;57.5000 --4.0000;58.0000 --4.0000;58.5000 --4.0000;59.0000 --4.0000;59.5000 --4.0000;60.0000 --4.0000;60.5000 --4.0000;61.0000 --4.0000;61.5000 --4.0000;62.0000 --4.0000;62.5000 --4.0000;63.0000 --4.0000;63.5000 --4.0000;64.0000 --4.0000;64.5000 --4.0000;65.0000 --4.0000;65.5000 --4.0000;66.0000 --4.0000;66.5000 --4.0000;67.0000 --4.0000;67.5000 --4.0000;68.0000 --4.0000;68.5000 --4.0000;69.0000 --4.0000;69.5000 --4.0000;70.0000 --4.0000;70.5000 --4.0000;71.0000 --4.0000;71.5000 --4.0000;72.0000 --4.0000;72.5000 --4.0000;73.0000 --4.0000;73.5000 --4.0000;74.0000 --4.0000;74.5000 --4.0000;75.0000 --4.0000;75.5000 --4.0000;76.0000 --4.0000;76.5000 --4.0000;77.0000 --4.0000;77.5000 --4.0000;78.0000 --4.0000;78.5000 --4.0000;79.0000 --4.0000;79.5000 --4.0000;80.0000 --4.0000;80.5000 --4.0000;81.0000 --4.0000;81.5000 --4.0000;82.0000 --4.0000;82.5000 --4.0000;83.0000 --4.0000;83.5000 --4.0000;84.0000 --4.0000;84.5000 --4.0000;85.0000 --4.0000;85.5000 --4.0000;86.0000 --4.0000;86.5000 --4.0000;87.0000 --4.0000;87.5000 --4.0000;88.0000 --4.0000;88.5000 --4.0000;89.0000 --4.0000;89.5000 --4.0000;90.0000 --4.0000;90.5000 --4.0000;91.0000 --4.0000;91.5000 --4.0000;92.0000 --4.0000;92.5000 --4.0000;93.0000 --4.0000;93.5000 --4.0000;94.0000 --4.0000;94.5000 --4.0000;95.0000 --4.0000;95.5000 --4.0000;96.0000 --4.0000;96.5000 --4.0000;97.0000 --4.0000;97.5000 --4.0000;98.0000 --4.0000;98.5000 --4.0000;99.0000 --4.0000;99.5000 --4.0000;100.0000 --4.0000;100.5000 --4.0000;101.0000 --4.0000;101.5000 --4.0000;102.0000 --4.0000;102.5000 --4.0000;103.0000 --4.0000;103.5000 --4.0000;104.0000 --4.0000;104.5000 --4.0000;105.0000 --4.0000;105.5000 --4.0000;106.0000 --4.0000;106.5000 --4.0000;107.0000 --4.0000;107.5000 --4.0000;108.0000 --4.0000;108.5000 --4.0000;109.0000 --4.0000;109.5000 --4.0000;110.0000 --4.0000;110.5000 --4.0000;111.0000 --4.0000;111.5000 --4.0000;112.0000 --4.0000;112.5000 --4.0000;113.0000 --4.0000;113.5000 --4.0000;114.0000 --4.0000;114.5000 --4.0000;115.0000 --4.0000;115.5000 --3.5000;-14.0000 --3.5000;-13.5000 --3.5000;-13.0000 --3.5000;-12.5000 --3.5000;-12.0000 --3.5000;-11.5000 --3.5000;-11.0000 --3.5000;-10.5000 --3.5000;-10.0000 --3.5000;-9.5000 --3.5000;-9.0000 --3.5000;-8.5000 --3.5000;-8.0000 --3.5000;-7.5000 --3.5000;-7.0000 --3.5000;-6.5000 --3.5000;-6.0000 --3.5000;-5.5000 --3.5000;-5.0000 --3.5000;-4.5000 --3.5000;-4.0000 --3.5000;-3.5000 --3.5000;-3.0000 --3.5000;-2.5000 --3.5000;-2.0000 --3.5000;-1.5000 --3.5000;-1.0000 --3.5000;-0.5000 --3.5000;0.0000 --3.5000;0.5000 --3.5000;1.0000 --3.5000;1.5000 --3.5000;2.0000 --3.5000;2.5000 --3.5000;3.0000 --3.5000;3.5000 --3.5000;4.0000 --3.5000;4.5000 --3.5000;5.0000 --3.5000;5.5000 --3.5000;6.0000 --3.5000;6.5000 --3.5000;7.0000 --3.5000;7.5000 --3.5000;8.0000 --3.5000;8.5000 --3.5000;9.0000 --3.5000;9.5000 --3.5000;10.0000 --3.5000;10.5000 --3.5000;11.0000 --3.5000;11.5000 --3.5000;12.0000 --3.5000;12.5000 --3.5000;13.0000 --3.5000;13.5000 --3.5000;14.0000 --3.5000;14.5000 --3.5000;15.0000 --3.5000;15.5000 --3.5000;16.0000 --3.5000;16.5000 --3.5000;17.0000 --3.5000;17.5000 --3.5000;18.0000 --3.5000;18.5000 --3.5000;19.0000 --3.5000;19.5000 --3.5000;20.0000 --3.5000;20.5000 --3.5000;21.0000 --3.5000;21.5000 --3.5000;22.0000 --3.5000;22.5000 --3.5000;23.0000 --3.5000;23.5000 --3.5000;24.0000 --3.5000;24.5000 --3.5000;25.0000 --3.5000;25.5000 --3.5000;26.0000 --3.5000;26.5000 --3.5000;27.0000 --3.5000;27.5000 --3.5000;28.0000 --3.5000;28.5000 --3.5000;29.0000 --3.5000;29.5000 --3.5000;30.0000 --3.5000;30.5000 --3.5000;31.0000 --3.5000;31.5000 --3.5000;32.0000 --3.5000;32.5000 --3.5000;33.0000 --3.5000;33.5000 --3.5000;34.0000 --3.5000;34.5000 --3.5000;35.0000 --3.5000;35.5000 --3.5000;36.0000 --3.5000;36.5000 --3.5000;37.0000 --3.5000;37.5000 --3.5000;38.0000 --3.5000;38.5000 --3.5000;39.0000 --3.5000;39.5000 --3.5000;40.0000 --3.5000;40.5000 --3.5000;41.0000 --3.5000;41.5000 --3.5000;42.0000 --3.5000;42.5000 --3.5000;43.0000 --3.5000;43.5000 --3.5000;44.0000 --3.5000;44.5000 --3.5000;45.0000 --3.5000;45.5000 --3.5000;46.0000 --3.5000;46.5000 --3.5000;47.0000 --3.5000;47.5000 --3.5000;48.0000 --3.5000;48.5000 --3.5000;49.0000 --3.5000;49.5000 --3.5000;50.0000 --3.5000;50.5000 --3.5000;51.0000 --3.5000;51.5000 --3.5000;52.0000 --3.5000;52.5000 --3.5000;53.0000 --3.5000;53.5000 --3.5000;54.0000 --3.5000;54.5000 --3.5000;55.0000 --3.5000;55.5000 --3.5000;56.0000 --3.5000;56.5000 --3.5000;57.0000 --3.5000;57.5000 --3.5000;58.0000 --3.5000;58.5000 --3.5000;59.0000 --3.5000;59.5000 --3.5000;60.0000 --3.5000;60.5000 --3.5000;61.0000 --3.5000;61.5000 --3.5000;62.0000 --3.5000;62.5000 --3.5000;63.0000 --3.5000;63.5000 --3.5000;64.0000 --3.5000;64.5000 --3.5000;65.0000 --3.5000;65.5000 --3.5000;66.0000 --3.5000;66.5000 --3.5000;67.0000 --3.5000;67.5000 --3.5000;68.0000 --3.5000;68.5000 --3.5000;69.0000 --3.5000;69.5000 --3.5000;70.0000 --3.5000;70.5000 --3.5000;71.0000 --3.5000;71.5000 --3.5000;72.0000 --3.5000;72.5000 --3.5000;73.0000 --3.5000;73.5000 --3.5000;74.0000 --3.5000;74.5000 --3.5000;75.0000 --3.5000;75.5000 --3.5000;76.0000 --3.5000;76.5000 --3.5000;77.0000 --3.5000;77.5000 --3.5000;78.0000 --3.5000;78.5000 --3.5000;79.0000 --3.5000;79.5000 --3.5000;80.0000 --3.5000;80.5000 --3.5000;81.0000 --3.5000;81.5000 --3.5000;82.0000 --3.5000;82.5000 --3.5000;83.0000 --3.5000;83.5000 --3.5000;84.0000 --3.5000;84.5000 --3.5000;85.0000 --3.5000;85.5000 --3.5000;86.0000 --3.5000;86.5000 --3.5000;87.0000 --3.5000;87.5000 --3.5000;88.0000 --3.5000;88.5000 --3.5000;89.0000 --3.5000;89.5000 --3.5000;90.0000 --3.5000;90.5000 --3.5000;91.0000 --3.5000;91.5000 --3.5000;92.0000 --3.5000;92.5000 --3.5000;93.0000 --3.5000;93.5000 --3.5000;94.0000 --3.5000;94.5000 --3.5000;95.0000 --3.5000;95.5000 --3.5000;96.0000 --3.5000;96.5000 --3.5000;97.0000 --3.5000;97.5000 --3.5000;98.0000 --3.5000;98.5000 --3.5000;99.0000 --3.5000;99.5000 --3.5000;100.0000 --3.5000;100.5000 --3.5000;101.0000 --3.5000;101.5000 --3.5000;102.0000 --3.5000;102.5000 --3.5000;103.0000 --3.5000;103.5000 --3.5000;104.0000 --3.5000;104.5000 --3.5000;105.0000 --3.5000;105.5000 --3.5000;106.0000 --3.5000;106.5000 --3.5000;107.0000 --3.5000;107.5000 --3.5000;108.0000 --3.5000;108.5000 --3.5000;109.0000 --3.5000;109.5000 --3.5000;110.0000 --3.5000;110.5000 --3.5000;111.0000 --3.5000;111.5000 --3.5000;112.0000 --3.5000;112.5000 --3.5000;113.0000 --3.5000;113.5000 --3.5000;114.0000 --3.5000;114.5000 --3.5000;115.0000 --3.0000;-14.0000 --3.0000;-13.5000 --3.0000;-13.0000 --3.0000;-12.5000 --3.0000;-12.0000 --3.0000;-11.5000 --3.0000;-11.0000 --3.0000;-10.5000 --3.0000;-10.0000 --3.0000;-9.5000 --3.0000;-9.0000 --3.0000;-8.5000 --3.0000;-8.0000 --3.0000;-7.5000 --3.0000;-7.0000 --3.0000;-6.5000 --3.0000;-6.0000 --3.0000;-5.5000 --3.0000;-5.0000 --3.0000;-4.5000 --3.0000;-4.0000 --3.0000;-3.5000 --3.0000;-3.0000 --3.0000;-2.5000 --3.0000;-2.0000 --3.0000;-1.5000 --3.0000;-1.0000 --3.0000;-0.5000 --3.0000;0.0000 --3.0000;0.5000 --3.0000;1.0000 --3.0000;1.5000 --3.0000;2.0000 --3.0000;2.5000 --3.0000;3.0000 --3.0000;3.5000 --3.0000;4.0000 --3.0000;4.5000 --3.0000;5.0000 --3.0000;5.5000 --3.0000;6.0000 --3.0000;6.5000 --3.0000;7.0000 --3.0000;7.5000 --3.0000;8.0000 --3.0000;8.5000 --3.0000;9.0000 --3.0000;9.5000 --3.0000;10.0000 --3.0000;10.5000 --3.0000;11.0000 --3.0000;11.5000 --3.0000;12.0000 --3.0000;12.5000 --3.0000;13.0000 --3.0000;13.5000 --3.0000;14.0000 --3.0000;14.5000 --3.0000;15.0000 --3.0000;15.5000 --3.0000;16.0000 --3.0000;16.5000 --3.0000;17.0000 --3.0000;17.5000 --3.0000;18.0000 --3.0000;18.5000 --3.0000;19.0000 --3.0000;19.5000 --3.0000;20.0000 --3.0000;20.5000 --3.0000;21.0000 --3.0000;21.5000 --3.0000;22.0000 --3.0000;22.5000 --3.0000;23.0000 --3.0000;23.5000 --3.0000;24.0000 --3.0000;24.5000 --3.0000;25.0000 --3.0000;25.5000 --3.0000;26.0000 --3.0000;26.5000 --3.0000;27.0000 --3.0000;27.5000 --3.0000;28.0000 --3.0000;28.5000 --3.0000;29.0000 --3.0000;29.5000 --3.0000;30.0000 --3.0000;30.5000 --3.0000;31.0000 --3.0000;31.5000 --3.0000;32.0000 --3.0000;32.5000 --3.0000;33.0000 --3.0000;33.5000 --3.0000;34.0000 --3.0000;34.5000 --3.0000;35.0000 --3.0000;35.5000 --3.0000;36.0000 --3.0000;36.5000 --3.0000;37.0000 --3.0000;37.5000 --3.0000;38.0000 --3.0000;38.5000 --3.0000;39.0000 --3.0000;39.5000 --3.0000;40.0000 --3.0000;40.5000 --3.0000;41.0000 --3.0000;41.5000 --3.0000;42.0000 --3.0000;42.5000 --3.0000;43.0000 --3.0000;43.5000 --3.0000;44.0000 --3.0000;44.5000 --3.0000;45.0000 --3.0000;45.5000 --3.0000;46.0000 --3.0000;46.5000 --3.0000;47.0000 --3.0000;47.5000 --3.0000;48.0000 --3.0000;48.5000 --3.0000;49.0000 --3.0000;49.5000 --3.0000;50.0000 --3.0000;50.5000 --3.0000;51.0000 --3.0000;51.5000 --3.0000;52.0000 --3.0000;52.5000 --3.0000;53.0000 --3.0000;53.5000 --3.0000;54.0000 --3.0000;54.5000 --3.0000;55.0000 --3.0000;55.5000 --3.0000;56.0000 --3.0000;56.5000 --3.0000;57.0000 --3.0000;57.5000 --3.0000;58.0000 --3.0000;58.5000 --3.0000;59.0000 --3.0000;59.5000 --3.0000;60.0000 --3.0000;60.5000 --3.0000;61.0000 --3.0000;61.5000 --3.0000;62.0000 --3.0000;62.5000 --3.0000;63.0000 --3.0000;63.5000 --3.0000;64.0000 --3.0000;64.5000 --3.0000;65.0000 --3.0000;65.5000 --3.0000;66.0000 --3.0000;66.5000 --3.0000;67.0000 --3.0000;67.5000 --3.0000;68.0000 --3.0000;68.5000 --3.0000;69.0000 --3.0000;69.5000 --3.0000;70.0000 --3.0000;70.5000 --3.0000;71.0000 --3.0000;71.5000 --3.0000;72.0000 --3.0000;72.5000 --3.0000;73.0000 --3.0000;73.5000 --3.0000;74.0000 --3.0000;74.5000 --3.0000;75.0000 --3.0000;75.5000 --3.0000;76.0000 --3.0000;76.5000 --3.0000;77.0000 --3.0000;77.5000 --3.0000;78.0000 --3.0000;78.5000 --3.0000;79.0000 --3.0000;79.5000 --3.0000;80.0000 --3.0000;80.5000 --3.0000;81.0000 --3.0000;81.5000 --3.0000;82.0000 --3.0000;82.5000 --3.0000;83.0000 --3.0000;83.5000 --3.0000;84.0000 --3.0000;84.5000 --3.0000;85.0000 --3.0000;85.5000 --3.0000;86.0000 --3.0000;86.5000 --3.0000;87.0000 --3.0000;87.5000 --3.0000;88.0000 --3.0000;88.5000 --3.0000;89.0000 --3.0000;89.5000 --3.0000;90.0000 --3.0000;90.5000 --3.0000;91.0000 --3.0000;91.5000 --3.0000;92.0000 --3.0000;92.5000 --3.0000;93.0000 --3.0000;93.5000 --3.0000;94.0000 --3.0000;94.5000 --3.0000;95.0000 --3.0000;95.5000 --3.0000;96.0000 --3.0000;96.5000 --3.0000;97.0000 --3.0000;97.5000 --3.0000;98.0000 --3.0000;98.5000 --3.0000;99.0000 --3.0000;99.5000 --3.0000;100.0000 --3.0000;100.5000 --3.0000;101.0000 --3.0000;101.5000 --3.0000;102.0000 --3.0000;102.5000 --3.0000;103.0000 --3.0000;103.5000 --3.0000;104.0000 --3.0000;104.5000 --3.0000;105.0000 --3.0000;105.5000 --3.0000;106.0000 --3.0000;106.5000 --3.0000;107.0000 --3.0000;107.5000 --3.0000;108.0000 --3.0000;108.5000 --3.0000;109.0000 --3.0000;109.5000 --3.0000;110.0000 --3.0000;110.5000 --3.0000;111.0000 --3.0000;111.5000 --3.0000;112.0000 --3.0000;112.5000 --3.0000;113.0000 --3.0000;113.5000 --3.0000;114.0000 --3.0000;114.5000 --3.0000;115.0000 --2.5000;-13.5000 --2.5000;-13.0000 --2.5000;-12.5000 --2.5000;-12.0000 --2.5000;-11.5000 --2.5000;-11.0000 --2.5000;-10.5000 --2.5000;-10.0000 --2.5000;-9.5000 --2.5000;-9.0000 --2.5000;-8.5000 --2.5000;-8.0000 --2.5000;-7.5000 --2.5000;-7.0000 --2.5000;-6.5000 --2.5000;-6.0000 --2.5000;-5.5000 --2.5000;-5.0000 --2.5000;-4.5000 --2.5000;-4.0000 --2.5000;-3.5000 --2.5000;-3.0000 --2.5000;-2.5000 --2.5000;-2.0000 --2.5000;-1.5000 --2.5000;-1.0000 --2.5000;-0.5000 --2.5000;0.0000 --2.5000;0.5000 --2.5000;1.0000 --2.5000;1.5000 --2.5000;2.0000 --2.5000;2.5000 --2.5000;3.0000 --2.5000;3.5000 --2.5000;4.0000 --2.5000;4.5000 --2.5000;5.0000 --2.5000;5.5000 --2.5000;6.0000 --2.5000;6.5000 --2.5000;7.0000 --2.5000;7.5000 --2.5000;8.0000 --2.5000;8.5000 --2.5000;9.0000 --2.5000;9.5000 --2.5000;10.0000 --2.5000;10.5000 --2.5000;11.0000 --2.5000;11.5000 --2.5000;12.0000 --2.5000;12.5000 --2.5000;13.0000 --2.5000;13.5000 --2.5000;14.0000 --2.5000;14.5000 --2.5000;15.0000 --2.5000;15.5000 --2.5000;16.0000 --2.5000;16.5000 --2.5000;17.0000 --2.5000;17.5000 --2.5000;18.0000 --2.5000;18.5000 --2.5000;19.0000 --2.5000;19.5000 --2.5000;20.0000 --2.5000;20.5000 --2.5000;21.0000 --2.5000;21.5000 --2.5000;22.0000 --2.5000;22.5000 --2.5000;23.0000 --2.5000;23.5000 --2.5000;24.0000 --2.5000;24.5000 --2.5000;25.0000 --2.5000;25.5000 --2.5000;26.0000 --2.5000;26.5000 --2.5000;27.0000 --2.5000;27.5000 --2.5000;28.0000 --2.5000;28.5000 --2.5000;29.0000 --2.5000;29.5000 --2.5000;30.0000 --2.5000;30.5000 --2.5000;31.0000 --2.5000;31.5000 --2.5000;32.0000 --2.5000;32.5000 --2.5000;33.0000 --2.5000;33.5000 --2.5000;34.0000 --2.5000;34.5000 --2.5000;35.0000 --2.5000;35.5000 --2.5000;36.0000 --2.5000;36.5000 --2.5000;37.0000 --2.5000;37.5000 --2.5000;38.0000 --2.5000;38.5000 --2.5000;39.0000 --2.5000;39.5000 --2.5000;40.0000 --2.5000;40.5000 --2.5000;41.0000 --2.5000;41.5000 --2.5000;42.0000 --2.5000;42.5000 --2.5000;43.0000 --2.5000;43.5000 --2.5000;44.0000 --2.5000;44.5000 --2.5000;45.0000 --2.5000;45.5000 --2.5000;46.0000 --2.5000;46.5000 --2.5000;47.0000 --2.5000;47.5000 --2.5000;48.0000 --2.5000;48.5000 --2.5000;49.0000 --2.5000;49.5000 --2.5000;50.0000 --2.5000;50.5000 --2.5000;51.0000 --2.5000;51.5000 --2.5000;52.0000 --2.5000;52.5000 --2.5000;53.0000 --2.5000;53.5000 --2.5000;54.0000 --2.5000;54.5000 --2.5000;55.0000 --2.5000;55.5000 --2.5000;56.0000 --2.5000;56.5000 --2.5000;57.0000 --2.5000;57.5000 --2.5000;58.0000 --2.5000;58.5000 --2.5000;59.0000 --2.5000;59.5000 --2.5000;60.0000 --2.5000;60.5000 --2.5000;61.0000 --2.5000;61.5000 --2.5000;62.0000 --2.5000;62.5000 --2.5000;63.0000 --2.5000;63.5000 --2.5000;64.0000 --2.5000;64.5000 --2.5000;65.0000 --2.5000;65.5000 --2.5000;66.0000 --2.5000;66.5000 --2.5000;67.0000 --2.5000;67.5000 --2.5000;68.0000 --2.5000;68.5000 --2.5000;69.0000 --2.5000;69.5000 --2.5000;70.0000 --2.5000;70.5000 --2.5000;71.0000 --2.5000;71.5000 --2.5000;72.0000 --2.5000;72.5000 --2.5000;73.0000 --2.5000;73.5000 --2.5000;74.0000 --2.5000;74.5000 --2.5000;75.0000 --2.5000;75.5000 --2.5000;76.0000 --2.5000;76.5000 --2.5000;77.0000 --2.5000;77.5000 --2.5000;78.0000 --2.5000;78.5000 --2.5000;79.0000 --2.5000;79.5000 --2.5000;80.0000 --2.5000;80.5000 --2.5000;81.0000 --2.5000;81.5000 --2.5000;82.0000 --2.5000;82.5000 --2.5000;83.0000 --2.5000;83.5000 --2.5000;84.0000 --2.5000;84.5000 --2.5000;85.0000 --2.5000;85.5000 --2.5000;86.0000 --2.5000;86.5000 --2.5000;87.0000 --2.5000;87.5000 --2.5000;88.0000 --2.5000;88.5000 --2.5000;89.0000 --2.5000;89.5000 --2.5000;90.0000 --2.5000;90.5000 --2.5000;91.0000 --2.5000;91.5000 --2.5000;92.0000 --2.5000;92.5000 --2.5000;93.0000 --2.5000;93.5000 --2.5000;94.0000 --2.5000;94.5000 --2.5000;95.0000 --2.5000;95.5000 --2.5000;96.0000 --2.5000;96.5000 --2.5000;97.0000 --2.5000;97.5000 --2.5000;98.0000 --2.5000;98.5000 --2.5000;99.0000 --2.5000;99.5000 --2.5000;100.0000 --2.5000;100.5000 --2.5000;101.0000 --2.5000;101.5000 --2.5000;102.0000 --2.5000;102.5000 --2.5000;103.0000 --2.5000;103.5000 --2.5000;104.0000 --2.5000;104.5000 --2.5000;105.0000 --2.5000;105.5000 --2.5000;106.0000 --2.5000;106.5000 --2.5000;107.0000 --2.5000;107.5000 --2.5000;108.0000 --2.5000;108.5000 --2.5000;109.0000 --2.5000;109.5000 --2.5000;110.0000 --2.5000;110.5000 --2.5000;111.0000 --2.5000;111.5000 --2.5000;112.0000 --2.5000;112.5000 --2.5000;113.0000 --2.5000;113.5000 --2.5000;114.0000 --2.5000;114.5000 --2.0000;-13.0000 --2.0000;-12.5000 --2.0000;-12.0000 --2.0000;-11.5000 --2.0000;-11.0000 --2.0000;-10.5000 --2.0000;-10.0000 --2.0000;-9.5000 --2.0000;-9.0000 --2.0000;-8.5000 --2.0000;-8.0000 --2.0000;-7.5000 --2.0000;-7.0000 --2.0000;-6.5000 --2.0000;-6.0000 --2.0000;-5.5000 --2.0000;-5.0000 --2.0000;-4.5000 --2.0000;-4.0000 --2.0000;-3.5000 --2.0000;-3.0000 --2.0000;-2.5000 --2.0000;-2.0000 --2.0000;-1.5000 --2.0000;-1.0000 --2.0000;-0.5000 --2.0000;0.0000 --2.0000;0.5000 --2.0000;1.0000 --2.0000;1.5000 --2.0000;2.0000 --2.0000;2.5000 --2.0000;3.0000 --2.0000;3.5000 --2.0000;4.0000 --2.0000;4.5000 --2.0000;5.0000 --2.0000;5.5000 --2.0000;6.0000 --2.0000;6.5000 --2.0000;7.0000 --2.0000;7.5000 --2.0000;8.0000 --2.0000;8.5000 --2.0000;9.0000 --2.0000;9.5000 --2.0000;10.0000 --2.0000;10.5000 --2.0000;11.0000 --2.0000;11.5000 --2.0000;12.0000 --2.0000;12.5000 --2.0000;13.0000 --2.0000;13.5000 --2.0000;14.0000 --2.0000;14.5000 --2.0000;15.0000 --2.0000;15.5000 --2.0000;16.0000 --2.0000;16.5000 --2.0000;17.0000 --2.0000;17.5000 --2.0000;18.0000 --2.0000;18.5000 --2.0000;19.0000 --2.0000;19.5000 --2.0000;20.0000 --2.0000;20.5000 --2.0000;21.0000 --2.0000;21.5000 --2.0000;22.0000 --2.0000;22.5000 --2.0000;23.0000 --2.0000;23.5000 --2.0000;24.0000 --2.0000;24.5000 --2.0000;25.0000 --2.0000;25.5000 --2.0000;26.0000 --2.0000;26.5000 --2.0000;27.0000 --2.0000;27.5000 --2.0000;28.0000 --2.0000;28.5000 --2.0000;29.0000 --2.0000;29.5000 --2.0000;30.0000 --2.0000;30.5000 --2.0000;31.0000 --2.0000;31.5000 --2.0000;32.0000 --2.0000;32.5000 --2.0000;33.0000 --2.0000;33.5000 --2.0000;34.0000 --2.0000;34.5000 --2.0000;35.0000 --2.0000;35.5000 --2.0000;36.0000 --2.0000;36.5000 --2.0000;37.0000 --2.0000;37.5000 --2.0000;38.0000 --2.0000;38.5000 --2.0000;39.0000 --2.0000;39.5000 --2.0000;40.0000 --2.0000;40.5000 --2.0000;41.0000 --2.0000;41.5000 --2.0000;42.0000 --2.0000;42.5000 --2.0000;43.0000 --2.0000;43.5000 --2.0000;44.0000 --2.0000;44.5000 --2.0000;45.0000 --2.0000;45.5000 --2.0000;46.0000 --2.0000;46.5000 --2.0000;47.0000 --2.0000;47.5000 --2.0000;48.0000 --2.0000;48.5000 --2.0000;49.0000 --2.0000;49.5000 --2.0000;50.0000 --2.0000;50.5000 --2.0000;51.0000 --2.0000;51.5000 --2.0000;52.0000 --2.0000;52.5000 --2.0000;53.0000 --2.0000;53.5000 --2.0000;54.0000 --2.0000;54.5000 --2.0000;55.0000 --2.0000;55.5000 --2.0000;56.0000 --2.0000;56.5000 --2.0000;57.0000 --2.0000;57.5000 --2.0000;58.0000 --2.0000;58.5000 --2.0000;59.0000 --2.0000;59.5000 --2.0000;60.0000 --2.0000;60.5000 --2.0000;61.0000 --2.0000;61.5000 --2.0000;62.0000 --2.0000;62.5000 --2.0000;63.0000 --2.0000;63.5000 --2.0000;64.0000 --2.0000;64.5000 --2.0000;65.0000 --2.0000;65.5000 --2.0000;66.0000 --2.0000;66.5000 --2.0000;67.0000 --2.0000;67.5000 --2.0000;68.0000 --2.0000;68.5000 --2.0000;69.0000 --2.0000;69.5000 --2.0000;70.0000 --2.0000;70.5000 --2.0000;71.0000 --2.0000;71.5000 --2.0000;72.0000 --2.0000;72.5000 --2.0000;73.0000 --2.0000;73.5000 --2.0000;74.0000 --2.0000;74.5000 --2.0000;75.0000 --2.0000;75.5000 --2.0000;76.0000 --2.0000;76.5000 --2.0000;77.0000 --2.0000;77.5000 --2.0000;78.0000 --2.0000;78.5000 --2.0000;79.0000 --2.0000;79.5000 --2.0000;80.0000 --2.0000;80.5000 --2.0000;81.0000 --2.0000;81.5000 --2.0000;82.0000 --2.0000;82.5000 --2.0000;83.0000 --2.0000;83.5000 --2.0000;84.0000 --2.0000;84.5000 --2.0000;85.0000 --2.0000;85.5000 --2.0000;86.0000 --2.0000;86.5000 --2.0000;87.0000 --2.0000;87.5000 --2.0000;88.0000 --2.0000;88.5000 --2.0000;89.0000 --2.0000;89.5000 --2.0000;90.0000 --2.0000;90.5000 --2.0000;91.0000 --2.0000;91.5000 --2.0000;92.0000 --2.0000;92.5000 --2.0000;93.0000 --2.0000;93.5000 --2.0000;94.0000 --2.0000;94.5000 --2.0000;95.0000 --2.0000;95.5000 --2.0000;96.0000 --2.0000;96.5000 --2.0000;97.0000 --2.0000;97.5000 --2.0000;98.0000 --2.0000;98.5000 --2.0000;99.0000 --2.0000;99.5000 --2.0000;100.0000 --2.0000;100.5000 --2.0000;101.0000 --2.0000;101.5000 --2.0000;102.0000 --2.0000;102.5000 --2.0000;103.0000 --2.0000;103.5000 --2.0000;104.0000 --2.0000;104.5000 --2.0000;105.0000 --2.0000;105.5000 --2.0000;106.0000 --2.0000;106.5000 --2.0000;107.0000 --2.0000;107.5000 --2.0000;108.0000 --2.0000;108.5000 --2.0000;109.0000 --2.0000;109.5000 --2.0000;110.0000 --2.0000;110.5000 --2.0000;111.0000 --2.0000;111.5000 --2.0000;112.0000 --2.0000;112.5000 --2.0000;113.0000 --2.0000;113.5000 --2.0000;114.0000 --1.5000;-13.0000 --1.5000;-12.5000 --1.5000;-12.0000 --1.5000;-11.5000 --1.5000;-11.0000 --1.5000;-10.5000 --1.5000;-10.0000 --1.5000;-9.5000 --1.5000;-9.0000 --1.5000;-8.5000 --1.5000;-8.0000 --1.5000;-7.5000 --1.5000;-7.0000 --1.5000;-6.5000 --1.5000;-6.0000 --1.5000;-5.5000 --1.5000;-5.0000 --1.5000;-4.5000 --1.5000;-4.0000 --1.5000;-3.5000 --1.5000;-3.0000 --1.5000;-2.5000 --1.5000;-2.0000 --1.5000;-1.5000 --1.5000;-1.0000 --1.5000;-0.5000 --1.5000;0.0000 --1.5000;0.5000 --1.5000;1.0000 --1.5000;1.5000 --1.5000;2.0000 --1.5000;2.5000 --1.5000;3.0000 --1.5000;3.5000 --1.5000;4.0000 --1.5000;4.5000 --1.5000;5.0000 --1.5000;5.5000 --1.5000;6.0000 --1.5000;6.5000 --1.5000;7.0000 --1.5000;7.5000 --1.5000;8.0000 --1.5000;8.5000 --1.5000;9.0000 --1.5000;9.5000 --1.5000;10.0000 --1.5000;10.5000 --1.5000;11.0000 --1.5000;11.5000 --1.5000;12.0000 --1.5000;12.5000 --1.5000;13.0000 --1.5000;13.5000 --1.5000;14.0000 --1.5000;14.5000 --1.5000;15.0000 --1.5000;15.5000 --1.5000;16.0000 --1.5000;16.5000 --1.5000;17.0000 --1.5000;17.5000 --1.5000;18.0000 --1.5000;18.5000 --1.5000;19.0000 --1.5000;19.5000 --1.5000;20.0000 --1.5000;20.5000 --1.5000;21.0000 --1.5000;21.5000 --1.5000;22.0000 --1.5000;22.5000 --1.5000;23.0000 --1.5000;23.5000 --1.5000;24.0000 --1.5000;24.5000 --1.5000;25.0000 --1.5000;25.5000 --1.5000;26.0000 --1.5000;26.5000 --1.5000;27.0000 --1.5000;27.5000 --1.5000;28.0000 --1.5000;28.5000 --1.5000;29.0000 --1.5000;29.5000 --1.5000;30.0000 --1.5000;30.5000 --1.5000;31.0000 --1.5000;31.5000 --1.5000;32.0000 --1.5000;32.5000 --1.5000;33.0000 --1.5000;33.5000 --1.5000;34.0000 --1.5000;34.5000 --1.5000;35.0000 --1.5000;35.5000 --1.5000;36.0000 --1.5000;36.5000 --1.5000;37.0000 --1.5000;37.5000 --1.5000;38.0000 --1.5000;38.5000 --1.5000;39.0000 --1.5000;39.5000 --1.5000;40.0000 --1.5000;40.5000 --1.5000;41.0000 --1.5000;41.5000 --1.5000;42.0000 --1.5000;42.5000 --1.5000;43.0000 --1.5000;43.5000 --1.5000;44.0000 --1.5000;44.5000 --1.5000;45.0000 --1.5000;45.5000 --1.5000;46.0000 --1.5000;46.5000 --1.5000;47.0000 --1.5000;47.5000 --1.5000;48.0000 --1.5000;48.5000 --1.5000;49.0000 --1.5000;49.5000 --1.5000;50.0000 --1.5000;50.5000 --1.5000;51.0000 --1.5000;51.5000 --1.5000;52.0000 --1.5000;52.5000 --1.5000;53.0000 --1.5000;53.5000 --1.5000;54.0000 --1.5000;54.5000 --1.5000;55.0000 --1.5000;55.5000 --1.5000;56.0000 --1.5000;56.5000 --1.5000;57.0000 --1.5000;57.5000 --1.5000;58.0000 --1.5000;58.5000 --1.5000;59.0000 --1.5000;59.5000 --1.5000;60.0000 --1.5000;60.5000 --1.5000;61.0000 --1.5000;61.5000 --1.5000;62.0000 --1.5000;62.5000 --1.5000;63.0000 --1.5000;63.5000 --1.5000;64.0000 --1.5000;64.5000 --1.5000;65.0000 --1.5000;65.5000 --1.5000;66.0000 --1.5000;66.5000 --1.5000;67.0000 --1.5000;67.5000 --1.5000;68.0000 --1.5000;68.5000 --1.5000;69.0000 --1.5000;69.5000 --1.5000;70.0000 --1.5000;70.5000 --1.5000;71.0000 --1.5000;71.5000 --1.5000;72.0000 --1.5000;72.5000 --1.5000;73.0000 --1.5000;73.5000 --1.5000;74.0000 --1.5000;74.5000 --1.5000;75.0000 --1.5000;75.5000 --1.5000;76.0000 --1.5000;76.5000 --1.5000;77.0000 --1.5000;77.5000 --1.5000;78.0000 --1.5000;78.5000 --1.5000;79.0000 --1.5000;79.5000 --1.5000;80.0000 --1.5000;80.5000 --1.5000;81.0000 --1.5000;81.5000 --1.5000;82.0000 --1.5000;82.5000 --1.5000;83.0000 --1.5000;83.5000 --1.5000;84.0000 --1.5000;84.5000 --1.5000;85.0000 --1.5000;85.5000 --1.5000;86.0000 --1.5000;86.5000 --1.5000;87.0000 --1.5000;87.5000 --1.5000;88.0000 --1.5000;88.5000 --1.5000;89.0000 --1.5000;89.5000 --1.5000;90.0000 --1.5000;90.5000 --1.5000;91.0000 --1.5000;91.5000 --1.5000;92.0000 --1.5000;92.5000 --1.5000;93.0000 --1.5000;93.5000 --1.5000;94.0000 --1.5000;94.5000 --1.5000;95.0000 --1.5000;95.5000 --1.5000;96.0000 --1.5000;96.5000 --1.5000;97.0000 --1.5000;97.5000 --1.5000;98.0000 --1.5000;98.5000 --1.5000;99.0000 --1.5000;99.5000 --1.5000;100.0000 --1.5000;100.5000 --1.5000;101.0000 --1.5000;101.5000 --1.5000;102.0000 --1.5000;102.5000 --1.5000;103.0000 --1.5000;103.5000 --1.5000;104.0000 --1.5000;104.5000 --1.5000;105.0000 --1.5000;105.5000 --1.5000;106.0000 --1.5000;106.5000 --1.5000;107.0000 --1.5000;107.5000 --1.5000;108.0000 --1.5000;108.5000 --1.5000;109.0000 --1.5000;109.5000 --1.5000;110.0000 --1.5000;110.5000 --1.5000;111.0000 --1.5000;111.5000 --1.5000;112.0000 --1.5000;112.5000 --1.5000;113.0000 --1.5000;113.5000 --1.0000;-12.5000 --1.0000;-12.0000 --1.0000;-11.5000 --1.0000;-11.0000 --1.0000;-10.5000 --1.0000;-10.0000 --1.0000;-9.5000 --1.0000;-9.0000 --1.0000;-8.5000 --1.0000;-8.0000 --1.0000;-7.5000 --1.0000;-7.0000 --1.0000;-6.5000 --1.0000;-6.0000 --1.0000;-5.5000 --1.0000;-5.0000 --1.0000;-4.5000 --1.0000;-4.0000 --1.0000;-3.5000 --1.0000;-3.0000 --1.0000;-2.5000 --1.0000;-2.0000 --1.0000;-1.5000 --1.0000;-1.0000 --1.0000;-0.5000 --1.0000;0.0000 --1.0000;0.5000 --1.0000;1.0000 --1.0000;1.5000 --1.0000;2.0000 --1.0000;2.5000 --1.0000;3.0000 --1.0000;3.5000 --1.0000;4.0000 --1.0000;4.5000 --1.0000;5.0000 --1.0000;5.5000 --1.0000;6.0000 --1.0000;6.5000 --1.0000;7.0000 --1.0000;7.5000 --1.0000;8.0000 --1.0000;8.5000 --1.0000;9.0000 --1.0000;9.5000 --1.0000;10.0000 --1.0000;10.5000 --1.0000;11.0000 --1.0000;11.5000 --1.0000;12.0000 --1.0000;12.5000 --1.0000;13.0000 --1.0000;13.5000 --1.0000;14.0000 --1.0000;14.5000 --1.0000;15.0000 --1.0000;15.5000 --1.0000;16.0000 --1.0000;16.5000 --1.0000;17.0000 --1.0000;17.5000 --1.0000;18.0000 --1.0000;18.5000 --1.0000;19.0000 --1.0000;19.5000 --1.0000;20.0000 --1.0000;20.5000 --1.0000;21.0000 --1.0000;21.5000 --1.0000;22.0000 --1.0000;22.5000 --1.0000;23.0000 --1.0000;23.5000 --1.0000;24.0000 --1.0000;24.5000 --1.0000;25.0000 --1.0000;25.5000 --1.0000;26.0000 --1.0000;26.5000 --1.0000;27.0000 --1.0000;27.5000 --1.0000;28.0000 --1.0000;28.5000 --1.0000;29.0000 --1.0000;29.5000 --1.0000;30.0000 --1.0000;30.5000 --1.0000;31.0000 --1.0000;31.5000 --1.0000;32.0000 --1.0000;32.5000 --1.0000;33.0000 --1.0000;33.5000 --1.0000;34.0000 --1.0000;34.5000 --1.0000;35.0000 --1.0000;35.5000 --1.0000;36.0000 --1.0000;36.5000 --1.0000;37.0000 --1.0000;37.5000 --1.0000;38.0000 --1.0000;38.5000 --1.0000;39.0000 --1.0000;39.5000 --1.0000;40.0000 --1.0000;40.5000 --1.0000;41.0000 --1.0000;41.5000 --1.0000;42.0000 --1.0000;42.5000 --1.0000;43.0000 --1.0000;43.5000 --1.0000;44.0000 --1.0000;44.5000 --1.0000;45.0000 --1.0000;45.5000 --1.0000;46.0000 --1.0000;46.5000 --1.0000;47.0000 --1.0000;47.5000 --1.0000;48.0000 --1.0000;48.5000 --1.0000;49.0000 --1.0000;49.5000 --1.0000;50.0000 --1.0000;50.5000 --1.0000;51.0000 --1.0000;51.5000 --1.0000;52.0000 --1.0000;52.5000 --1.0000;53.0000 --1.0000;53.5000 --1.0000;54.0000 --1.0000;54.5000 --1.0000;55.0000 --1.0000;55.5000 --1.0000;56.0000 --1.0000;56.5000 --1.0000;57.0000 --1.0000;57.5000 --1.0000;58.0000 --1.0000;58.5000 --1.0000;59.0000 --1.0000;59.5000 --1.0000;60.0000 --1.0000;60.5000 --1.0000;61.0000 --1.0000;61.5000 --1.0000;62.0000 --1.0000;62.5000 --1.0000;63.0000 --1.0000;63.5000 --1.0000;64.0000 --1.0000;64.5000 --1.0000;65.0000 --1.0000;65.5000 --1.0000;66.0000 --1.0000;66.5000 --1.0000;67.0000 --1.0000;67.5000 --1.0000;68.0000 --1.0000;68.5000 --1.0000;69.0000 --1.0000;69.5000 --1.0000;70.0000 --1.0000;70.5000 --1.0000;71.0000 --1.0000;71.5000 --1.0000;72.0000 --1.0000;72.5000 --1.0000;73.0000 --1.0000;73.5000 --1.0000;74.0000 --1.0000;74.5000 --1.0000;75.0000 --1.0000;75.5000 --1.0000;76.0000 --1.0000;76.5000 --1.0000;77.0000 --1.0000;77.5000 --1.0000;78.0000 --1.0000;78.5000 --1.0000;79.0000 --1.0000;79.5000 --1.0000;80.0000 --1.0000;80.5000 --1.0000;81.0000 --1.0000;81.5000 --1.0000;82.0000 --1.0000;82.5000 --1.0000;83.0000 --1.0000;83.5000 --1.0000;84.0000 --1.0000;84.5000 --1.0000;85.0000 --1.0000;85.5000 --1.0000;86.0000 --1.0000;86.5000 --1.0000;87.0000 --1.0000;87.5000 --1.0000;88.0000 --1.0000;88.5000 --1.0000;89.0000 --1.0000;89.5000 --1.0000;90.0000 --1.0000;90.5000 --1.0000;91.0000 --1.0000;91.5000 --1.0000;92.0000 --1.0000;92.5000 --1.0000;93.0000 --1.0000;93.5000 --1.0000;94.0000 --1.0000;94.5000 --1.0000;95.0000 --1.0000;95.5000 --1.0000;96.0000 --1.0000;96.5000 --1.0000;97.0000 --1.0000;97.5000 --1.0000;98.0000 --1.0000;98.5000 --1.0000;99.0000 --1.0000;99.5000 --1.0000;100.0000 --1.0000;100.5000 --1.0000;101.0000 --1.0000;101.5000 --1.0000;102.0000 --1.0000;102.5000 --1.0000;103.0000 --1.0000;103.5000 --1.0000;104.0000 --1.0000;104.5000 --1.0000;105.0000 --1.0000;105.5000 --1.0000;106.0000 --1.0000;106.5000 --1.0000;107.0000 --1.0000;107.5000 --1.0000;108.0000 --1.0000;108.5000 --1.0000;109.0000 --1.0000;109.5000 --1.0000;110.0000 --1.0000;110.5000 --1.0000;111.0000 --1.0000;111.5000 --1.0000;112.0000 --1.0000;112.5000 --1.0000;113.0000 --1.0000;113.5000 --0.5000;-12.0000 --0.5000;-11.5000 --0.5000;-11.0000 --0.5000;-10.5000 --0.5000;-10.0000 --0.5000;-9.5000 --0.5000;-9.0000 --0.5000;-8.5000 --0.5000;-8.0000 --0.5000;-7.5000 --0.5000;-7.0000 --0.5000;-6.5000 --0.5000;-6.0000 --0.5000;-5.5000 --0.5000;-5.0000 --0.5000;-4.5000 --0.5000;-4.0000 --0.5000;-3.5000 --0.5000;-3.0000 --0.5000;-2.5000 --0.5000;-2.0000 --0.5000;-1.5000 --0.5000;-1.0000 --0.5000;-0.5000 --0.5000;0.0000 --0.5000;0.5000 --0.5000;1.0000 --0.5000;1.5000 --0.5000;2.0000 --0.5000;2.5000 --0.5000;3.0000 --0.5000;3.5000 --0.5000;4.0000 --0.5000;4.5000 --0.5000;5.0000 --0.5000;5.5000 --0.5000;6.0000 --0.5000;6.5000 --0.5000;7.0000 --0.5000;7.5000 --0.5000;8.0000 --0.5000;8.5000 --0.5000;9.0000 --0.5000;9.5000 --0.5000;10.0000 --0.5000;10.5000 --0.5000;11.0000 --0.5000;11.5000 --0.5000;12.0000 --0.5000;12.5000 --0.5000;13.0000 --0.5000;13.5000 --0.5000;14.0000 --0.5000;14.5000 --0.5000;15.0000 --0.5000;15.5000 --0.5000;16.0000 --0.5000;16.5000 --0.5000;17.0000 --0.5000;17.5000 --0.5000;18.0000 --0.5000;18.5000 --0.5000;19.0000 --0.5000;19.5000 --0.5000;20.0000 --0.5000;20.5000 --0.5000;21.0000 --0.5000;21.5000 --0.5000;22.0000 --0.5000;22.5000 --0.5000;23.0000 --0.5000;23.5000 --0.5000;24.0000 --0.5000;24.5000 --0.5000;25.0000 --0.5000;25.5000 --0.5000;26.0000 --0.5000;26.5000 --0.5000;27.0000 --0.5000;27.5000 --0.5000;28.0000 --0.5000;28.5000 --0.5000;29.0000 --0.5000;29.5000 --0.5000;30.0000 --0.5000;30.5000 --0.5000;31.0000 --0.5000;31.5000 --0.5000;32.0000 --0.5000;32.5000 --0.5000;33.0000 --0.5000;33.5000 --0.5000;34.0000 --0.5000;34.5000 --0.5000;35.0000 --0.5000;35.5000 --0.5000;36.0000 --0.5000;36.5000 --0.5000;37.0000 --0.5000;37.5000 --0.5000;38.0000 --0.5000;38.5000 --0.5000;39.0000 --0.5000;39.5000 --0.5000;40.0000 --0.5000;40.5000 --0.5000;41.0000 --0.5000;41.5000 --0.5000;42.0000 --0.5000;42.5000 --0.5000;43.0000 --0.5000;43.5000 --0.5000;44.0000 --0.5000;44.5000 --0.5000;45.0000 --0.5000;45.5000 --0.5000;46.0000 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a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/berlin_condensed.csv b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/berlin_condensed.csv deleted file mode 100644 index 1565c6d4f..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/berlin_condensed.csv +++ /dev/null @@ -1,407 +0,0 @@ -# x_m,y_m,w_tr_right_m,w_tr_left_m -216.01,5.1944,5.6174,4.2348 -216.95,6.2147,5.42,4.3626 -217.64,6.9729,5.4223,4.3737 -218.33,7.7309,5.4228,4.3839 -219.03,8.4887,5.422,4.3923 -219.72,9.2462,5.4206,4.3985 -220.41,10.003,5.4183,4.4039 -221.1,10.76,5.4149,4.4073 -221.79,11.516,5.4117,4.4079 -222.48,12.271,5.4084,4.4066 -223.17,13.026,5.4059,4.4076 -223.86,13.78,5.4037,4.4102 -224.55,14.533,5.4017,4.4142 -225.24,15.286,5.3999,4.4192 -225.92,16.037,5.3987,4.4231 -226.61,16.788,5.3978,4.4251 -227.29,17.538,5.3975,4.4264 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-439.84,193.37,4.7367,3.9354 -440.72,193.85,4.7426,3.9357 -441.59,194.34,4.7488,3.9371 -442.47,194.82,4.7569,3.9393 -443.34,195.3,4.7668,3.9412 -444.22,195.79,4.7774,3.9423 -445.09,196.27,4.6441,4.0805 -445.68,196.59,4.6512,4.0813 -446.26,196.92,4.6577,4.0828 -446.84,197.24,4.8083,3.9486 -447.72,197.72,4.8196,3.9518 -448.59,198.21,4.8309,3.9557 -449.47,198.69,4.8426,3.9608 -450.34,199.17,4.8542,3.966 -451.21,199.66,4.8654,3.9719 -452.09,200.14,4.8779,3.9785 -452.96,200.62,4.8909,3.9846 -453.83,201.11,4.9047,3.9894 -454.7,201.59,4.9186,3.9939 -455.57,202.08,4.9329,4.0009 -456.44,202.57,4.9472,4.0078 -457.31,203.05,4.9615,4.0148 -458.19,203.54,4.9763,4.0212 -459.05,204.03,4.9903,4.0252 -459.92,204.52,5.0045,4.029 -460.79,205.01,5.0189,4.0303 -461.66,205.5,5.0336,4.029 -462.53,205.99,5.049,4.0284 -463.4,206.48,5.0652,4.0263 -464.26,206.97,5.0839,4.0248 -465.13,207.47,5.1042,4.0245 -465.99,207.96,5.1263,4.022 -466.86,208.46,5.1497,4.0163 -467.72,208.96,5.1746,4.0126 -468.59,209.46,5.2001,4.0117 -469.45,209.96,5.2244,4.0063 -470.31,210.47,5.2495,4.0021 -471.17,210.97,5.2756,4.0009 -472.03,211.48,5.3034,4.0074 -472.89,211.99,5.3337,4.0211 -473.75,212.5,5.3655,4.0424 -474.6,213.01,5.3984,4.0707 -475.46,213.53,5.4324,4.1045 -476.32,214.04,5.4719,4.1424 -477.17,214.56,5.5131,4.182 -478.02,215.08,5.5539,4.2229 -478.88,215.6,5.5977,4.2659 -479.73,216.13,5.642,4.313 -480.58,216.66,5.6904,4.3656 -481.43,217.18,5.74,4.4249 -482.27,217.71,5.7934,4.488 -483.12,218.25,5.8444,4.5485 -483.97,218.78,5.8978,4.6097 -484.81,219.32,5.9531,4.6778 -485.65,219.85,6.0125,4.7457 -486.5,220.39,6.0734,4.8154 -487.34,220.93,6.1339,4.8924 -488.18,221.48,6.1985,4.9765 -489.02,222.02,6.2643,5.0656 -489.86,222.57,6.3312,5.1536 -490.7,223.11,6.3984,5.2417 -491.53,223.66,6.4702,5.3324 -492.37,224.21,6.545,5.4244 -493.2,224.76,6.6209,5.513 -494.04,225.31,6.6991,5.6016 -494.87,225.86,6.7785,5.6893 -495.71,226.42,6.8569,5.7777 -496.54,226.97,6.9336,5.8667 -497.37,227.53,7.0107,5.9531 -498.2,228.09,7.0907,6.039 -499.03,228.64,7.1725,6.1263 -499.86,229.2,7.2584,6.213 -500.69,229.76,7.35,6.3014 -501.52,230.32,7.4438,6.391 -502.34,230.88,7.5387,6.4827 -503.17,231.44,7.633,6.572 -504,232.01,7.7272,6.663 -504.82,232.57,7.8209,6.7576 -505.64,233.14,7.9151,6.8445 -506.47,233.7,8.0126,6.9306 -507.29,234.27,8.1134,7.0166 -508.11,234.84,8.2172,7.1039 -508.93,235.41,8.3214,7.1917 -509.74,235.98,8.4287,7.2804 -510.56,236.55,8.5384,7.3687 -511.37,237.12,8.6507,7.4552 -512.18,237.7,8.7659,7.54 -512.99,238.28,8.8851,7.6209 -513.79,238.86,9.0086,7.6983 -514.59,239.45,9.1383,7.7704 -515.39,240.04,9.273,7.8359 -516.18,240.63,9.4129,7.8957 -516.97,241.22,9.5592,7.9456 -517.75,241.83,9.7169,7.9868 -518.52,242.43,9.8829,8.0216 -519.29,243.04,10.059,8.0404 -520.04,243.66,10.247,8.0454 -520.79,244.28,10.444,8.0391 -521.53,244.91,10.649,8.0175 -522.25,245.55,10.867,7.9836 -522.96,246.19,11.099,7.9355 -523.66,246.85,11.344,7.8731 -524.34,247.51,11.599,7.7989 -525.01,248.18,11.856,7.7107 -525.65,248.86,12.111,7.6082 -526.28,249.54,12.355,7.4963 -526.88,250.24,12.585,7.3738 -527.46,250.95,12.802,7.2452 -528.02,251.66,13.007,7.1233 -528.55,252.39,13.201,7.011 -529.05,253.12,13.387,6.9054 -529.52,253.86,13.572,6.8086 \ No newline at end of file diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/handling_track.csv b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/handling_track.csv deleted file mode 100644 index 976fdb903..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/handling_track.csv +++ /dev/null @@ -1,501 +0,0 @@ -# x_m,y_m,w_tr_right_m,w_tr_left_m -0,0,5,5 -0,1.2489,5,5 -0,2.4978,5,5 -0,3.7467,5,5 -0,4.9956,5,5 -0,6.2445,5,5 -0,7.4934,5,5 -0,8.7423,5,5 -0,9.9912,5,5 -0,11.24,5,5 -0,12.489,5,5 -0,13.738,5,5 -0,14.987,5,5 -0,16.236,5,5 -0,17.485,5,5 -0,18.733,5,5 -0,19.982,5,5 -0,21.231,5,5 -0,22.48,5,5 -0,23.729,5,5 -0,24.978,5,5 -0,26.227,5,5 -0,27.476,5,5 -0,28.725,5,5 -0,29.974,5,5 -0,31.222,5,5 -0,32.471,5,5 -0,33.72,5,5 -0,34.969,5,5 -0,36.218,5,5 -0,37.467,5,5 -0,38.716,5,5 -0,39.965,5,5 -0,41.214,5,5 -0,42.463,5,5 -0,43.711,5,5 -0,44.96,5,5 -0,46.209,5,5 -0,47.458,5,5 -0,48.707,5,5 -0,49.956,5,5 -0,51.205,5,5 -0,52.454,5,5 -0,53.703,5,5 -0,54.952,5,5 -0,56.2,5,5 -0,57.449,5,5 -0,58.698,5,5 -0,59.947,5,5 -0,61.196,5,5 -0,62.445,5,5 -0,63.694,5,5 -0,64.943,5,5 -0,66.192,5,5 -0,67.44,5,5 -0,68.689,5,5 -0,69.938,5,5 -0,71.187,5,5 -0,72.436,5,5 -0,73.685,5,5 -0,74.934,5,5 -0,76.183,5,5 -0,77.432,5,5 -0,78.681,5,5 -0,79.929,5,5 --0.0014451,81.178,5,5 --0.0090217,82.427,5,5 --0.029217,83.676,5,5 --0.068518,84.924,5,5 --0.1334,86.171,5,5 --0.23031,87.416,5,5 --0.36563,88.658,5,5 --0.54566,89.893,5,5 --0.77654,91.12,5,5 --1.0642,92.335,5,5 --1.4142,93.534,5,5 --1.8318,94.71,5,5 --2.3215,95.858,5,5 --2.8873,96.971,5,5 --3.5321,98.039,5,5 --4.2579,99.054,5,5 --5.0651,100.01,5,5 --5.9527,100.88,5,5 --6.9181,101.67,5,5 --7.9564,102.36,5,5 --9.0604,102.94,5,5 --10.221,103.4,5,5 --11.425,103.72,5,5 --12.66,103.9,5,5 --13.906,103.92,5,5 --15.147,103.8,5,5 --16.367,103.54,5,5 --17.555,103.16,5,5 --18.702,102.67,5,5 --19.803,102.08,5,5 --20.854,101.41,5,5 --21.855,100.66,5,5 --22.807,99.857,5,5 --23.713,98.998,5,5 --24.577,98.097,5,5 --25.405,97.162,5,5 --26.202,96.201,5,5 --26.977,95.221,5,5 --27.735,94.229,5,5 --28.485,93.23,5,5 --29.232,92.23,5,5 --29.98,91.229,5,5 --30.727,90.229,5,5 --31.474,89.228,5,5 --32.224,88.229,5,5 --32.982,87.236,5,5 --33.757,86.257,5,5 --34.558,85.3,5,5 --35.394,84.372,5,5 --36.272,83.484,5,5 --37.197,82.646,5,5 --38.174,81.87,5,5 --39.205,81.166,5,5 --40.285,80.541,5,5 --41.409,79.998,5,5 --42.571,79.542,5,5 --43.763,79.173,5,5 --44.98,78.895,5,5 --46.214,78.709,5,5 --47.458,78.615,5,5 --48.706,78.615,5,5 --49.951,78.709,5,5 --51.184,78.895,5,5 --52.401,79.174,5,5 --53.594,79.542,5,5 --54.755,79.999,5,5 --55.879,80.542,5,5 --56.959,81.167,5,5 --57.99,81.871,5,5 --58.964,82.65,5,5 --59.878,83.5,5,5 --60.725,84.417,5,5 --61.503,85.394,5,5 --62.203,86.426,5,5 --62.825,87.508,5,5 --63.364,88.634,5,5 --63.82,89.796,5,5 --64.195,90.986,5,5 --64.501,92.197,5,5 --64.742,93.422,5,5 --64.932,94.656,5,5 --65.081,95.896,5,5 --65.195,97.139,5,5 --65.288,98.385,5,5 --65.369,99.631,5,5 --65.449,100.88,5,5 --65.538,102.12,5,5 --65.647,103.37,5,5 --65.785,104.61,5,5 --65.962,105.84,5,5 --66.19,107.07,5,5 --66.478,108.29,5,5 --66.834,109.48,5,5 --67.268,110.65,5,5 --67.785,111.79,5,5 --68.397,112.88,5,5 --69.102,113.91,5,5 --69.905,114.86,5,5 --70.805,115.72,5,5 --71.799,116.48,5,5 --72.877,117.1,5,5 --74.024,117.59,5,5 --75.223,117.93,5,5 --76.455,118.12,5,5 --77.701,118.15,5,5 --78.942,118.03,5,5 --80.157,117.75,5,5 --81.329,117.33,5,5 --82.439,116.76,5,5 --83.475,116.07,5,5 --84.419,115.25,5,5 --85.268,114.34,5,5 --86.014,113.34,5,5 --86.653,112.27,5,5 --87.184,111.14,5,5 --87.605,109.97,5,5 --87.92,108.76,5,5 --88.13,107.53,5,5 --88.24,106.29,5,5 --88.255,105.04,5,5 --88.18,103.79,5,5 --88.021,102.55,5,5 --87.784,101.33,5,5 --87.475,100.12,5,5 --87.101,98.927,5,5 --86.669,97.756,5,5 --86.183,96.606,5,5 --85.651,95.476,5,5 --85.078,94.367,5,5 --84.471,93.276,5,5 --83.833,92.202,5,5 --83.17,91.143,5,5 --82.488,90.097,5,5 --81.791,89.061,5,5 --81.085,88.031,5,5 --80.372,87.005,5,5 --79.659,85.981,5,5 --78.945,84.956,5,5 --78.231,83.931,5,5 --77.517,82.906,5,5 --76.803,81.881,5,5 --76.09,80.857,5,5 --75.376,79.832,5,5 --74.662,78.807,5,5 --73.948,77.782,5,5 --73.234,76.757,5,5 --72.52,75.733,5,5 --71.807,74.708,5,5 --71.093,73.684,5,5 --70.379,72.658,5,5 --69.665,71.633,5,5 --68.951,70.609,5,5 --68.237,69.584,5,5 --67.524,68.559,5,5 --66.81,67.535,5,5 --66.096,66.509,5,5 --65.382,65.485,5,5 --64.668,64.46,5,5 --63.955,63.435,5,5 --63.241,62.41,5,5 --62.527,61.385,5,5 --61.813,60.361,5,5 --61.099,59.336,5,5 --60.385,58.311,5,5 --59.672,57.286,5,5 --58.958,56.261,5,5 --58.244,55.237,5,5 --57.53,54.212,5,5 --56.816,53.187,5,5 --56.103,52.162,5,5 --55.389,51.138,5,5 --54.675,50.113,5,5 --53.961,49.088,5,5 --53.247,48.063,5,5 --52.533,47.038,5,5 --51.82,46.014,5,5 --51.106,44.989,5,5 --50.392,43.964,5,5 --49.678,42.939,5,5 --48.964,41.914,5,5 --48.25,40.89,5,5 --47.537,39.865,5,5 --46.823,38.84,5,5 --46.109,37.815,5,5 --45.395,36.79,5,5 --44.684,35.764,5,5 --43.975,34.735,5,5 --43.273,33.703,5,5 --42.577,32.666,5,5 --41.892,31.622,5,5 --41.218,30.57,5,5 --40.559,29.51,5,5 --39.915,28.439,5,5 --39.29,27.358,5,5 --38.686,26.265,5,5 --38.104,25.16,5,5 --37.549,24.041,5,5 --37.021,22.91,5,5 --36.524,21.764,5,5 --36.06,20.605,5,5 --35.632,19.432,5,5 --35.241,18.246,5,5 --34.886,17.048,5,5 --34.57,15.84,5,5 --34.291,14.623,5,5 --34.05,13.398,5,5 --33.848,12.166,5,5 --33.684,10.928,5,5 --33.559,9.6852,5,5 --33.473,8.4394,5,5 --33.426,7.1915,5,5 --33.417,5.9428,5,5 --33.448,4.6945,5,5 --33.518,3.4476,5,5 --33.626,2.2036,5,5 --33.774,0.96361,5,5 --33.96,-0.27121,5,5 --34.184,-1.4996,5,5 --34.447,-2.7204,5,5 --34.747,-3.9324,5,5 --35.086,-5.1345,5,5 --35.462,-6.3254,5,5 --35.874,-7.5039,5,5 --36.324,-8.6691,5,5 --36.809,-9.8196,5,5 --37.33,-10.954,5,5 --37.886,-12.072,5,5 --38.477,-13.172,5,5 --39.102,-14.254,5,5 --39.761,-15.315,5,5 --40.452,-16.355,5,5 --41.175,-17.373,5,5 --41.931,-18.367,5,5 --42.721,-19.333,5,5 --43.551,-20.266,5,5 --44.424,-21.159,5,5 --45.343,-22.004,5,5 --46.31,-22.794,5,5 --47.326,-23.519,5,5 --48.39,-24.17,5,5 --49.501,-24.738,5,5 --50.655,-25.214,5,5 --51.846,-25.584,5,5 --53.067,-25.842,5,5 --54.307,-25.977,5,5 --55.554,-25.98,5,5 --56.793,-25.845,5,5 --58.008,-25.565,5,5 --59.18,-25.14,5,5 --60.293,-24.578,5,5 --61.337,-23.897,5,5 --62.306,-23.111,5,5 --63.195,-22.235,5,5 --64.003,-21.285,5,5 --64.733,-20.272,5,5 --65.388,-19.21,5,5 --65.973,-18.107,5,5 --66.495,-16.972,5,5 --66.959,-15.814,5,5 --67.374,-14.637,5,5 --67.753,-13.446,5,5 --68.1,-12.246,5,5 --68.425,-11.041,5,5 --68.738,-9.8317,5,5 --69.049,-8.622,5,5 --69.366,-7.414,5,5 --69.697,-6.2104,5,5 --70.057,-5.0142,5,5 --70.45,-3.8289,5,5 --70.886,-2.6589,5,5 --71.374,-1.5096,5,5 --71.921,-0.38748,5,5 --72.535,0.69958,5,5 --73.221,1.7423,5,5 --73.984,2.7301,5,5 --74.825,3.6506,5,5 --75.748,4.4903,5,5 --76.749,5.2345,5,5 --77.824,5.8675,5,5 --78.963,6.3732,5,5 --80.155,6.7373,5,5 --81.383,6.9531,5,5 --82.628,7.0209,5,5 --83.872,6.9436,5,5 --85.1,6.7259,5,5 --86.297,6.3745,5,5 --87.449,5.8971,5,5 --88.545,5.3027,5,5 --89.576,4.6008,5,5 --90.534,3.8015,5,5 --91.412,2.9152,5,5 --92.205,1.9523,5,5 --92.911,0.9231,5,5 --93.526,-0.16255,5,5 --94.05,-1.2951,5,5 --94.483,-2.4655,5,5 --94.826,-3.6655,5,5 --95.08,-4.8873,5,5 --95.25,-6.124,5,5 --95.336,-7.3693,5,5 --95.343,-8.6175,5,5 --95.276,-9.864,5,5 --95.137,-11.105,5,5 --94.93,-12.336,5,5 --94.662,-13.555,5,5 --94.336,-14.76,5,5 --93.955,-15.95,5,5 --93.526,-17.122,5,5 --93.052,-18.278,5,5 --92.538,-19.415,5,5 --91.987,-20.536,5,5 --91.403,-21.64,5,5 --90.791,-22.729,5,5 --90.154,-23.803,5,5 --89.496,-24.864,5,5 --88.821,-25.915,5,5 --88.131,-26.956,5,5 --87.431,-27.99,5,5 --86.723,-29.019,5,5 --86.01,-30.045,5,5 --85.297,-31.069,5,5 --84.583,-32.094,5,5 --83.869,-33.119,5,5 --83.155,-34.144,5,5 --82.442,-35.169,5,5 --81.727,-36.193,5,5 --81.014,-37.218,5,5 --80.3,-38.243,5,5 --79.586,-39.268,5,5 --78.872,-40.293,5,5 --78.158,-41.317,5,5 --77.445,-42.342,5,5 --76.731,-43.367,5,5 --76.017,-44.392,5,5 --75.303,-45.417,5,5 --74.589,-46.441,5,5 --73.876,-47.466,5,5 --73.161,-48.491,5,5 --72.448,-49.516,5,5 --71.734,-50.541,5,5 --71.02,-51.565,5,5 --70.306,-52.59,5,5 --69.593,-53.615,5,5 --68.879,-54.64,5,5 --68.165,-55.664,5,5 --67.451,-56.689,5,5 --66.737,-57.714,5,5 --66.023,-58.739,5,5 --65.309,-59.763,5,5 --64.588,-60.783,5,5 --63.855,-61.793,5,5 --63.095,-62.785,5,5 --62.307,-63.752,5,5 --61.48,-64.689,5,5 --60.608,-65.583,5,5 --59.687,-66.425,5,5 --58.712,-67.205,5,5 --57.682,-67.909,5,5 --56.597,-68.525,5,5 --55.46,-69.038,5,5 --54.277,-69.434,5,5 --53.059,-69.698,5,5 --51.818,-69.817,5,5 --50.572,-69.786,5,5 --49.337,-69.612,5,5 --48.128,-69.306,5,5 --46.955,-68.881,5,5 --45.826,-68.35,5,5 --44.748,-67.726,5,5 --43.715,-67.021,5,5 --42.736,-66.247,5,5 --41.805,-65.415,5,5 --40.919,-64.535,5,5 --40.074,-63.616,5,5 --39.264,-62.666,5,5 --38.483,-61.692,5,5 --37.722,-60.701,5,5 --36.976,-59.7,5,5 --36.235,-58.694,5,5 --35.496,-57.687,5,5 --34.758,-56.68,5,5 --34.019,-55.673,5,5 --33.28,-54.667,5,5 --32.541,-53.66,5,5 --31.802,-52.653,5,5 --31.063,-51.646,5,5 --30.324,-50.64,5,5 --29.585,-49.633,5,5 --28.846,-48.626,5,5 --28.107,-47.619,5,5 --27.368,-46.612,5,5 --26.629,-45.606,5,5 --25.89,-44.599,5,5 --25.151,-43.592,5,5 --24.412,-42.585,5,5 --23.673,-41.578,5,5 --22.934,-40.572,5,5 --22.195,-39.565,5,5 --21.456,-38.558,5,5 --20.717,-37.551,5,5 --19.978,-36.544,5,5 --19.239,-35.538,5,5 --18.5,-34.531,5,5 --17.761,-33.524,5,5 --17.022,-32.517,5,5 --16.283,-31.51,5,5 --15.544,-30.504,5,5 --14.805,-29.497,5,5 --14.066,-28.49,5,5 --13.327,-27.483,5,5 --12.588,-26.476,5,5 --11.849,-25.47,5,5 --11.11,-24.463,5,5 --10.371,-23.456,5,5 --9.6318,-22.449,5,5 --8.8928,-21.442,5,5 --8.1538,-20.436,5,5 --7.4148,-19.429,5,5 --6.6758,-18.422,5,5 --5.9368,-17.415,5,5 --5.1996,-16.407,5,5 --4.4706,-15.393,5,5 --3.7625,-14.365,5,5 --3.0848,-13.316,5,5 --2.4501,-12.24,5,5 --1.8713,-11.134,5,5 --1.3617,-9.9949,5,5 --0.93587,-8.8219,5,5 --0.60407,-7.6189,5,5 --0.3628,-6.3943,5,5 --0.19832,-5.1568,5,5 --0.095828,-3.9124,5,5 --0.039979,-2.6649,5,5 --0.015275,-1.4163,5,5 --0.0061524,-0.16743,5,5 diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/modena_2019.csv b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/modena_2019.csv deleted file mode 100644 index 6518d70fa..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/modena_2019.csv +++ /dev/null @@ -1,1990 +0,0 @@ -# x_m,y_m,w_tr_right_m,w_tr_left_m -141.532,-133.432,5.730,5.753 -142.330,-134.035,5.730,5.749 -143.128,-134.637,5.729,5.748 -143.926,-135.239,5.728,5.747 -144.725,-135.842,5.731,5.747 -145.523,-136.444,5.735,5.746 -146.321,-137.046,5.737,5.745 -147.120,-137.648,5.737,5.742 -147.918,-138.251,5.736,5.738 -148.716,-138.853,5.736,5.732 -149.515,-139.455,5.734,5.721 -150.313,-140.057,5.731,5.711 -151.111,-140.659,5.727,5.705 -151.910,-141.262,5.724,5.696 -152.708,-141.864,5.719,5.685 -153.506,-142.466,5.713,5.679 -154.305,-143.068,5.707,5.676 -155.103,-143.670,5.703,5.674 -155.902,-144.272,5.702,5.673 -156.700,-144.874,5.700,5.671 -157.498,-145.476,5.699,5.674 -158.297,-146.079,5.700,5.682 -159.095,-146.681,5.704,5.691 -159.894,-147.283,5.706,5.696 -160.692,-147.885,5.705,5.702 -161.490,-148.487,5.710,5.711 -162.289,-149.089,5.715,5.722 -163.087,-149.692,5.717,5.734 -163.885,-150.294,5.723,5.747 -164.684,-150.896,5.729,5.762 -165.482,-151.498,5.732,5.773 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-192.622,-171.979,5.784,5.744 -193.421,-172.579,5.781,5.744 -194.220,-173.180,5.777,5.746 -195.020,-173.781,5.773,5.751 -195.820,-174.381,5.771,5.754 -196.619,-174.982,5.769,5.760 -197.419,-175.582,5.770,5.764 -198.219,-176.183,5.775,5.763 -199.018,-176.783,5.776,5.761 -199.818,-177.383,5.770,5.760 -200.618,-177.984,5.765,5.764 -201.418,-178.584,5.761,5.766 -202.217,-179.184,5.755,5.763 -203.017,-179.785,5.744,5.764 -203.817,-180.385,5.727,5.764 -204.617,-180.985,5.711,5.762 -205.416,-181.586,5.698,5.763 -206.216,-182.186,5.692,5.764 -207.016,-182.787,5.690,5.763 -207.815,-183.387,5.689,5.759 -208.615,-183.988,5.688,5.755 -209.414,-184.588,5.689,5.753 -210.214,-185.189,5.692,5.748 -211.013,-185.790,5.698,5.741 -211.813,-186.390,5.705,5.734 -212.612,-186.991,5.713,5.725 -213.412,-187.592,5.722,5.719 -214.211,-188.192,5.730,5.715 -215.011,-188.793,5.739,5.712 -215.810,-189.394,5.752,5.711 -216.610,-189.994,5.764,5.709 -217.409,-190.595,5.772,5.709 -218.209,-191.195,5.776,5.711 -219.009,-191.796,5.776,5.711 -219.808,-192.397,5.776,5.710 -220.608,-192.997,5.777,5.711 -221.407,-193.598,5.778,5.715 -222.206,-194.199,5.776,5.718 -223.006,-194.800,5.770,5.721 -223.805,-195.401,5.765,5.726 -224.604,-196.002,5.763,5.735 -225.403,-196.604,5.762,5.746 -226.201,-197.206,5.758,5.759 -226.999,-197.809,5.753,5.771 -227.797,-198.412,5.751,5.784 -228.594,-199.016,5.753,5.800 -229.390,-199.621,5.752,5.818 -230.185,-200.227,5.751,5.840 -230.980,-200.834,5.744,5.865 -231.773,-201.443,5.732,5.892 -232.565,-202.053,5.725,5.917 -233.356,-202.666,5.720,5.941 -234.144,-203.280,5.709,5.966 -234.931,-203.898,5.683,5.997 -235.715,-204.518,5.656,6.031 -236.497,-205.142,5.631,6.067 -237.276,-205.770,5.600,6.107 -238.051,-206.401,5.560,6.152 -238.822,-207.038,5.509,6.203 -239.589,-207.680,5.451,6.262 -240.351,-208.328,5.392,6.331 -241.107,-208.982,5.322,6.411 -241.857,-209.643,5.239,6.501 -242.601,-210.311,5.151,6.603 -243.337,-210.988,5.062,6.711 -244.065,-211.674,4.952,6.828 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--256.651,30.882,5.636,6.059 --256.245,31.796,5.653,6.023 --255.837,32.709,5.673,5.994 --255.427,33.621,5.701,5.974 --255.015,34.532,5.725,5.961 --254.601,35.442,5.743,5.946 --254.185,36.352,5.762,5.932 --253.768,37.260,5.782,5.928 --253.349,38.169,5.801,5.931 --252.930,39.076,5.816,5.936 --252.509,39.983,5.830,5.933 --252.087,40.890,5.840,5.924 --251.664,41.796,5.846,5.927 --251.240,42.702,5.855,5.928 --250.816,43.608,5.866,5.920 --250.391,44.513,5.876,5.915 --249.966,45.418,5.881,5.916 --249.540,46.323,5.885,5.920 --249.114,47.227,5.889,5.920 --248.687,48.132,5.896,5.918 --248.260,49.036,5.906,5.916 --247.833,49.940,5.914,5.917 --247.406,50.844,5.920,5.920 --246.978,51.748,5.927,5.925 --246.550,52.652,5.935,5.934 --246.123,53.556,5.941,5.942 --245.695,54.460,5.947,5.942 --245.267,55.364,5.953,5.936 --244.839,56.267,5.953,5.932 --244.411,57.171,5.952,5.931 --243.982,58.075,5.951,5.932 --243.554,58.978,5.947,5.930 --243.126,59.882,5.939,5.923 --242.698,60.786,5.932,5.922 --242.269,61.689,5.924,5.922 --241.841,62.593,5.912,5.918 --241.412,63.496,5.902,5.913 --240.984,64.400,5.892,5.910 --240.555,65.303,5.883,5.907 --240.126,66.207,5.878,5.907 --239.697,67.110,5.874,5.910 --239.268,68.013,5.871,5.912 --238.839,68.917,5.868,5.913 --238.410,69.820,5.865,5.911 --237.981,70.723,5.864,5.912 --237.552,71.626,5.866,5.917 --237.122,72.529,5.869,5.920 --236.693,73.433,5.873,5.922 --236.263,74.336,5.876,5.927 --235.834,75.239,5.880,5.932 --235.404,76.142,5.886,5.934 --234.974,77.044,5.895,5.933 --234.544,77.947,5.904,5.934 --234.114,78.850,5.912,5.939 --233.684,79.753,5.923,5.947 --233.254,80.655,5.935,5.950 --232.823,81.558,5.946,5.946 --232.393,82.461,5.958,5.946 --231.962,83.363,5.967,5.948 --231.532,84.266,5.972,5.949 --231.101,85.168,5.974,5.951 --230.670,86.071,5.971,5.951 --230.239,86.973,5.973,5.954 --229.807,87.875,5.974,5.958 --229.376,88.777,5.968,5.962 --228.944,89.679,5.962,5.966 --228.512,90.581,5.952,5.971 --228.079,91.483,5.945,5.977 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--210.890,120.649,3.350,8.955 --210.173,121.346,3.127,9.170 --209.433,122.019,2.906,9.356 --208.670,122.665,2.702,9.535 --207.883,123.282,2.509,9.697 --207.072,123.867,2.326,9.838 --206.238,124.418,2.176,9.942 --205.380,124.932,2.071,9.995 --204.500,125.407,2.010,10.023 --203.598,125.839,1.990,10.033 --202.677,126.227,1.982,10.016 --201.737,126.569,1.991,9.992 --200.781,126.861,2.013,9.998 --199.810,127.104,2.040,10.027 --198.829,127.295,2.055,10.077 --197.839,127.434,2.071,10.115 --196.842,127.520,2.100,10.155 --195.843,127.554,2.142,10.203 --194.843,127.537,2.181,10.246 --193.846,127.468,2.223,10.275 --192.853,127.349,2.280,10.283 --191.867,127.183,2.342,10.275 --190.890,126.971,2.418,10.233 --189.923,126.714,2.524,10.154 --188.968,126.417,2.650,10.047 --188.027,126.080,2.802,9.914 --187.099,125.706,2.976,9.751 --186.186,125.299,3.166,9.552 --185.288,124.859,3.363,9.319 --184.404,124.391,3.565,9.087 --183.536,123.895,3.780,8.844 --182.682,123.374,3.994,8.590 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--22.886,-9.072,5.756,5.815 --22.089,-9.676,5.751,5.813 --21.292,-10.280,5.749,5.815 --20.495,-10.884,5.752,5.815 --19.698,-11.488,5.759,5.810 --18.901,-12.092,5.765,5.807 --18.105,-12.696,5.766,5.805 --17.308,-13.301,5.768,5.803 --16.511,-13.905,5.771,5.803 --15.715,-14.510,5.777,5.802 --14.918,-15.114,5.784,5.799 --14.121,-15.719,5.790,5.797 --13.325,-16.323,5.788,5.795 --12.528,-16.928,5.783,5.791 --11.732,-17.533,5.782,5.788 --10.936,-18.138,5.790,5.786 --10.139,-18.742,5.794,5.783 --9.343,-19.347,5.798,5.780 --8.547,-19.952,5.804,5.777 --7.752,-20.556,5.807,5.777 --6.954,-21.162,5.806,5.779 --6.157,-21.766,5.808,5.782 --5.361,-22.371,5.813,5.785 --4.565,-22.976,5.816,5.787 --3.768,-23.581,5.812,5.789 --2.972,-24.186,5.808,5.792 --2.175,-24.790,5.806,5.798 --1.379,-25.395,5.811,5.804 --0.582,-26.000,5.817,5.810 -0.214,-26.604,5.819,5.814 -1.011,-27.209,5.818,5.819 -1.807,-27.813,5.818,5.824 -2.604,-28.418,5.817,5.829 -3.401,-29.022,5.809,5.830 -4.197,-29.626,5.806,5.828 -4.994,-30.231,5.805,5.829 -5.791,-30.835,5.801,5.832 -6.588,-31.439,5.796,5.837 -7.385,-32.043,5.866,5.841 -8.182,-32.647,5.855,5.776 -8.979,-33.251,5.850,5.782 -9.776,-33.855,5.855,5.784 -10.573,-34.458,5.874,5.790 -11.370,-35.062,5.868,5.790 -12.168,-35.666,5.857,5.789 -12.965,-36.269,5.847,5.788 -13.762,-36.873,5.836,5.791 -14.560,-37.476,5.835,5.797 -15.357,-38.080,5.821,5.800 -16.155,-38.683,5.811,5.799 -16.952,-39.286,5.809,5.796 -17.750,-39.889,5.811,5.793 -18.548,-40.492,5.808,5.794 -19.345,-41.095,5.806,5.795 -20.143,-41.698,5.797,5.798 -20.941,-42.301,5.785,5.798 -21.739,-42.904,5.783,5.798 -22.536,-43.507,5.778,5.797 -23.334,-44.110,5.767,5.801 -24.132,-44.713,5.761,5.807 -24.930,-45.316,5.770,5.807 -25.728,-45.919,5.783,5.804 -26.526,-46.521,5.796,5.805 -27.324,-47.124,5.802,5.805 -28.121,-47.727,5.809,5.803 -28.919,-48.330,5.819,5.801 -29.717,-48.933,5.820,5.803 -30.515,-49.536,5.822,5.807 -31.313,-50.138,5.818,5.810 -32.111,-50.741,5.811,5.811 -32.909,-51.344,5.817,5.809 -33.706,-51.947,5.821,5.808 -34.504,-52.550,5.824,5.810 -35.302,-53.153,5.825,5.815 -36.100,-53.756,5.827,5.820 -36.897,-54.359,5.830,5.828 -37.695,-54.962,5.835,5.835 -38.493,-55.565,5.834,5.840 -39.290,-56.168,5.833,5.845 -40.088,-56.771,5.834,5.851 -40.886,-57.374,5.831,5.858 -41.683,-57.978,5.825,5.861 -42.481,-58.581,5.820,5.858 -43.279,-59.184,5.817,5.854 -44.076,-59.787,5.818,5.849 -44.874,-60.391,5.818,5.844 -45.671,-60.994,5.816,5.841 -46.469,-61.597,5.815,5.834 -47.266,-62.200,5.819,5.832 -48.064,-62.804,5.825,5.833 -48.861,-63.407,5.826,5.827 -49.659,-64.010,5.828,5.819 -50.456,-64.614,5.830,5.814 -51.254,-65.217,5.833,5.813 -52.051,-65.820,5.837,5.814 -52.849,-66.424,5.841,5.813 -53.646,-67.027,5.842,5.812 -54.444,-67.630,5.839,5.808 -55.242,-68.233,5.837,5.807 -56.039,-68.836,5.838,5.805 -56.837,-69.440,5.836,5.804 -57.634,-70.043,5.832,5.801 -58.432,-70.646,5.826,5.800 -59.230,-71.249,5.819,5.800 -60.027,-71.852,5.814,5.801 -60.825,-72.455,5.805,5.802 -61.623,-73.058,5.797,5.802 -62.421,-73.661,5.791,5.802 -63.218,-74.264,5.789,5.804 -64.016,-74.867,5.790,5.802 -64.814,-75.470,5.788,5.800 -65.612,-76.073,5.785,5.801 -66.410,-76.676,5.787,5.800 -67.207,-77.278,5.796,5.796 -68.005,-77.881,5.807,5.797 -68.803,-78.484,5.814,5.801 -69.601,-79.087,5.817,5.804 -70.399,-79.690,5.819,5.810 -71.197,-80.293,5.819,5.815 -71.994,-80.896,5.820,5.820 -72.792,-81.499,5.818,5.827 -73.590,-82.102,5.812,5.832 -74.388,-82.705,5.804,5.833 -75.186,-83.308,5.801,5.831 -75.983,-83.911,5.804,5.829 -76.781,-84.514,5.804,5.825 -77.579,-85.117,5.803,5.820 -78.377,-85.720,5.801,5.812 -79.174,-86.323,5.799,5.804 -79.972,-86.926,5.798,5.801 -80.770,-87.529,5.797,5.800 -81.567,-88.132,5.799,5.796 -82.365,-88.735,5.802,5.793 -83.163,-89.338,5.802,5.790 -83.960,-89.941,5.805,5.787 -84.758,-90.544,5.808,5.788 -85.555,-91.148,5.810,5.792 -86.353,-91.751,5.811,5.794 -87.151,-92.354,5.808,5.798 -87.948,-92.957,5.802,5.802 -88.746,-93.561,5.799,5.805 -89.543,-94.164,5.794,5.808 -90.341,-94.767,5.785,5.810 -91.138,-95.371,5.782,5.812 -91.936,-95.974,5.782,5.818 -92.733,-96.577,5.780,5.823 -93.530,-97.181,5.779,5.822 -94.328,-97.784,5.781,5.819 -95.125,-98.388,5.787,5.819 -95.923,-98.991,5.793,5.815 -96.720,-99.595,5.799,5.812 -97.517,-100.198,5.804,5.809 -98.315,-100.801,5.807,5.806 -99.112,-101.405,5.812,5.804 -99.910,-102.008,5.815,5.797 -100.707,-102.612,5.820,5.792 -101.505,-103.215,5.820,5.792 -102.302,-103.818,5.816,5.793 -103.100,-104.422,5.815,5.792 -103.897,-105.025,5.818,5.789 -104.695,-105.628,5.821,5.786 -105.492,-106.232,5.822,5.787 -106.290,-106.835,5.824,5.791 -107.088,-107.438,5.823,5.796 -107.885,-108.041,5.821,5.798 -108.683,-108.644,5.821,5.798 -109.481,-109.247,5.821,5.795 -110.279,-109.850,5.816,5.791 -111.076,-110.452,5.811,5.788 -111.874,-111.055,5.804,5.787 -112.672,-111.658,5.797,5.782 -113.470,-112.261,5.793,5.775 -114.268,-112.863,5.789,5.772 -115.066,-113.466,5.783,5.772 -115.865,-114.068,5.778,5.769 -116.663,-114.671,5.775,5.765 -117.461,-115.273,5.774,5.765 -118.259,-115.876,5.772,5.772 -119.057,-116.478,5.766,5.776 -119.855,-117.080,5.761,5.777 -120.654,-117.683,5.758,5.775 -121.452,-118.285,5.759,5.774 -122.250,-118.887,5.758,5.773 -123.049,-119.490,5.754,5.772 -123.847,-120.092,5.755,5.770 -124.645,-120.694,5.758,5.769 -125.443,-121.296,5.760,5.766 -126.242,-121.898,5.762,5.761 -127.040,-122.501,5.764,5.756 -127.839,-123.103,5.766,5.753 -128.637,-123.705,5.763,5.749 -129.435,-124.307,5.761,5.745 -130.234,-124.909,5.764,5.744 -131.032,-125.512,5.766,5.743 -131.830,-126.114,5.762,5.743 -132.629,-126.716,5.754,5.743 -133.427,-127.318,5.748,5.744 -134.225,-127.920,5.749,5.749 -135.024,-128.523,5.752,5.753 -135.822,-129.125,5.753,5.755 -136.620,-129.727,5.751,5.754 -137.419,-130.329,5.749,5.751 -138.217,-130.932,5.748,5.751 -139.015,-131.534,5.744,5.754 -139.813,-132.136,5.737,5.756 -140.612,-132.738,5.732,5.757 -140.710,-132.812,5.732,5.757 diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/rounded_rectangle.csv b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/rounded_rectangle.csv deleted file mode 100644 index 5ff1ec894..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/tracks/rounded_rectangle.csv +++ /dev/null @@ -1,181 +0,0 @@ -# x_m,y_m,w_tr_right_m,w_tr_left_m -0,0,5,5 -1.22E-16,2,5,5 -2.45E-16,4,5,5 -3.67E-16,6,5,5 -4.90E-16,8,5,5 -6.12E-16,10,5,5 -7.35E-16,12,5,5 -8.57E-16,14,5,5 -9.80E-16,16,5,5 -1.10E-15,18,5,5 -1.22E-15,20,5,5 -1.35E-15,22,5,5 -1.47E-15,24,5,5 -1.59E-15,26,5,5 -1.71E-15,28,5,5 -1.84E-15,30,5,5 -1.96E-15,32,5,5 -2.08E-15,34,5,5 -2.20E-15,36,5,5 -2.33E-15,38,5,5 -2.45E-15,40,5,5 -2.57E-15,42,5,5 -2.69E-15,44,5,5 -2.82E-15,46,5,5 -2.94E-15,48,5,5 -3.06E-15,50,5,5 -3.18E-15,52,5,5 -3.31E-15,54,5,5 -3.43E-15,56,5,5 -3.55E-15,58,5,5 -3.67E-15,60,5,5 -3.80E-15,62,5,5 -3.92E-15,64,5,5 -4.04E-15,66,5,5 -4.16E-15,68,5,5 -4.29E-15,70,5,5 -4.41E-15,72,5,5 -4.53E-15,74,5,5 -4.65E-15,76,5,5 -4.78E-15,78,5,5 -4.90E-15,80,5,5 -5.02E-15,82,5,5 -5.14E-15,84,5,5 -5.27E-15,86,5,5 -5.39E-15,88,5,5 -5.51E-15,90,5,5 -5.63E-15,92,5,5 -5.76E-15,94,5,5 -5.88E-15,96,5,5 -6.00E-15,98,5,5 -6.12E-15,100,5,5 --0.062448,101.25,5,5 --0.24917,102.48,5,5 --0.55829,103.69,5,5 --0.98674,104.87,5,5 --1.5302,105.99,5,5 --2.1833,107.06,5,5 --2.9395,108.05,5,5 --3.7912,108.97,5,5 --4.7299,109.79,5,5 --5.7462,110.52,5,5 --6.83,111.14,5,5 --7.9705,111.65,5,5 --9.1563,112.04,5,5 --10.375,112.32,5,5 --11.616,112.47,5,5 --13.616,112.47,5,5 --15.616,112.47,5,5 --17.616,112.47,5,5 --19.616,112.47,5,5 --21.616,112.47,5,5 --23.616,112.47,5,5 --25.616,112.47,5,5 --27.616,112.47,5,5 --29.616,112.47,5,5 --31.616,112.47,5,5 --32.864,112.41,5,5 --34.099,112.22,5,5 --35.31,111.91,5,5 --36.484,111.48,5,5 --37.609,110.94,5,5 --38.674,110.29,5,5 --39.669,109.53,5,5 --40.583,108.68,5,5 --41.407,107.74,5,5 --42.134,106.72,5,5 --42.756,105.64,5,5 --43.266,104.5,5,5 --43.66,103.31,5,5 --43.934,102.09,5,5 --44.084,100.85,5,5 --44.084,98.853,5,5 --44.084,96.853,5,5 --44.084,94.853,5,5 --44.084,92.853,5,5 --44.084,90.853,5,5 --44.084,88.853,5,5 --44.084,86.853,5,5 --44.084,84.853,5,5 --44.084,82.853,5,5 --44.084,80.853,5,5 --44.084,78.853,5,5 --44.084,76.853,5,5 --44.084,74.853,5,5 --44.084,72.853,5,5 --44.084,70.853,5,5 --44.084,68.853,5,5 --44.084,66.853,5,5 --44.084,64.853,5,5 --44.084,62.853,5,5 --44.084,60.853,5,5 --44.084,58.853,5,5 --44.084,56.853,5,5 --44.084,54.853,5,5 --44.084,52.853,5,5 --44.084,50.853,5,5 --44.084,48.853,5,5 --44.084,46.853,5,5 --44.084,44.853,5,5 --44.084,42.853,5,5 --44.084,40.853,5,5 --44.084,38.853,5,5 --44.084,36.853,5,5 --44.084,34.853,5,5 --44.084,32.853,5,5 --44.084,30.853,5,5 --44.084,28.853,5,5 --44.084,26.853,5,5 --44.084,24.853,5,5 --44.084,22.853,5,5 --44.084,20.853,5,5 --44.084,18.853,5,5 --44.084,16.853,5,5 --44.084,14.853,5,5 --44.084,12.853,5,5 --44.084,10.853,5,5 --44.084,8.8529,5,5 --44.084,6.8529,5,5 --44.084,4.8529,5,5 --44.084,2.8529,5,5 --44.084,0.8529,5,5 --44.022,-0.39502,5,5 --43.835,-1.6305,5,5 --43.526,-2.8411,5,5 --43.098,-4.0148,5,5 --42.554,-5.1399,5,5 --41.901,-6.2051,5,5 --41.145,-7.1998,5,5 --40.293,-8.114,5,5 --39.355,-8.9387,5,5 --38.338,-9.6655,5,5 --37.254,-10.287,5,5 --36.114,-10.798,5,5 --34.928,-11.192,5,5 --33.709,-11.465,5,5 --32.469,-11.616,5,5 --30.469,-11.616,5,5 --28.469,-11.616,5,5 --26.469,-11.616,5,5 --24.469,-11.616,5,5 --22.469,-11.616,5,5 --20.469,-11.616,5,5 --18.469,-11.616,5,5 --16.469,-11.616,5,5 --14.469,-11.616,5,5 --12.469,-11.616,5,5 --11.221,-11.553,5,5 --9.9853,-11.367,5,5 --8.7747,-11.057,5,5 --7.601,-10.629,5,5 --6.4759,-10.086,5,5 --5.4107,-9.4325,5,5 --4.416,-8.6763,5,5 --3.5017,-7.8246,5,5 --2.6771,-6.8859,5,5 --1.9503,-5.8696,5,5 --1.3286,-4.7857,5,5 --0.8182,-3.6453,5,5 --0.42421,-2.4595,5,5 --0.15057,-1.2404,5,5 diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/veh_dyn_info/ax_max_machines.csv b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/veh_dyn_info/ax_max_machines.csv deleted file mode 100644 index eec26182d..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/veh_dyn_info/ax_max_machines.csv +++ /dev/null @@ -1,19 +0,0 @@ -# v_mps,ax_max_machines_mps2 -0.0,5.3 -4.0,5.3 -8.0,5.3 -12.0,5.3 -16.0,5.3 -20.0,5.3 -24.0,5.3 -28.0,5.3 -32.0,5.3 -36.0,5.3 -40.0,5.1 -44.0,5.0 -48.0,4.6 -52.0,4.1 -56.0,3.7 -60.0,2.7 -66.0,2.2 -72.0,1.5 diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/veh_dyn_info/ggv.csv b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/veh_dyn_info/ggv.csv deleted file mode 100644 index f355141ac..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/inputs/veh_dyn_info/ggv.csv +++ /dev/null @@ -1,19 +0,0 @@ -# v_mps,ax_max_mps2,ay_max_mps2 -0.0,12.0,12.0 -4.0,12.0,12.0 -8.0,12.0,12.0 -12.0,12.0,12.0 -16.0,12.0,12.0 -20.0,12.0,12.0 -24.0,12.0,12.0 -28.0,12.0,12.0 -32.0,12.0,12.0 -36.0,12.0,12.0 -40.0,12.0,12.0 -44.0,12.0,12.0 -48.0,12.0,12.0 -52.0,12.0,12.0 -56.0,12.0,12.0 -60.0,12.0,12.0 -66.0,12.0,12.0 -72.0,12.0,12.0 diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/main_gen_frictionmap.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/main_gen_frictionmap.py deleted file mode 100644 index 4a4caa2ec..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/main_gen_frictionmap.py +++ /dev/null @@ -1,183 +0,0 @@ -import numpy as np -import math -import json -import time -from datetime import datetime -import os.path -import matplotlib.path as mplPath -from scipy.spatial import cKDTree -import frictionmap - -""" -Created by: -Leonhard Hermansdorfer - -Created on: -01.12.2018 - -Documentation: -This script generates a grid respresenting the friction map with specified cellwidth. Additionally, it fills the -corresponding cells of the friction map with a default mue value. -""" - -# ---------------------------------------------------------------------------------------------------------------------- -# USER INPUT ----------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# track_name: track name for which a friction map should be generated (csv must be in the inputs folder). -# initial_mue: mue value which should be used to initialize the friction map (all cells contain this value). -# cellwidth_m: width of the grid cells of the friction map (cells are quadratic). -# inside_trackbound: specifies which trackbound is on the inside of the racetrack ('right' or 'left'). This is -# only necessary for circuits (closed racetracks). -# bool_show_plots: boolean which enables plotting of the reference line, the friction map and the corresponding -# mue values - -track_name = "modena_2019" -initial_mue = 0.8 -cellwidth_m = 2.0 -inside_trackbound = 'right' -bool_show_plots = True - -# ---------------------------------------------------------------------------------------------------------------------- -# INITIALIZATION ------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# determine names of output files -datetime_save = datetime.now().strftime("%Y%m%d_%H%M%S") -filename_tpamap = datetime_save + '_' + track_name + '_tpamap.csv' -filename_tpadata = datetime_save + '_' + track_name + '_tpadata.json' - -# set paths -path2module = os.path.dirname(os.path.abspath(__file__)) -path2reftrack_file = os.path.join(path2module, 'inputs', 'tracks', track_name + '.csv') -path2tpamap_file = os.path.join(path2module, 'inputs', 'frictionmaps', filename_tpamap) -path2tpadata_file = os.path.join(path2module, 'inputs', 'frictionmaps', filename_tpadata) - -# ---------------------------------------------------------------------------------------------------------------------- -# CALCULATE REFERENCE LINE --------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# read reference track file -reftrack = frictionmap.src.reftrack_functions.load_reftrack(path2track=path2reftrack_file) - -# check whether reference line is closed (is the race track a circuit or not) -bool_isclosed_refline = frictionmap.src.reftrack_functions.check_isclosed_refline(refline=reftrack[:, :2]) - -# calculate coordinates of the track boundaries -reftrackbound_right, reftrackbound_left = frictionmap.src.reftrack_functions.calc_trackboundaries(reftrack=reftrack) - -# ---------------------------------------------------------------------------------------------------------------------- -# SAMPLE COORDINATES FOR FRICTION MAP ---------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -timer_start = time.perf_counter() - -# match left/right track boundary to "inside" and "outside" (only necessary for circuits) -if bool_isclosed_refline and inside_trackbound == 'right': - trackbound_inside = reftrackbound_right - trackbound_outside = reftrackbound_left - - sign_trackbound = -1 - -else: - trackbound_inside = reftrackbound_left - trackbound_outside = reftrackbound_right - - sign_trackbound = 1 - -# set a default distance which is added / subtracted from max / min reference line coordinate to ensure that whole -# racetrack is covered during coordinate point sampling -default_delta = int(math.ceil(np.amax(reftrack[:, 2]) + np.amax(reftrack[:, 3]) + 5.0)) - -# calculate necessary range to cover the whole racetrack with grid xyRange = [x_min, x_max, y_min, y_max] -xyRange = [int(math.floor(np.amin(reftrack[:, 0]) - default_delta)), - int(math.ceil(np.amax(reftrack[:, 0]) + default_delta)), - int(math.floor(np.amin(reftrack[:, 1]) - default_delta)), - int(math.ceil(np.amax(reftrack[:, 1]) + default_delta))] - -# set-up 2D-grid -x_grid = np.arange(xyRange[0], xyRange[1] + 0.1, cellwidth_m) -y_grid = np.arange(xyRange[2], xyRange[3] + 0.1, cellwidth_m) - -# get number of coordinates for array initialization -size_array = x_grid.shape[0] * y_grid.shape[0] -coordinates = np.empty((size_array, 2)) - -# create coordinate array which contains all coordinate of the defined grid -i_row = 0 - -for x_coord in x_grid: - coordinates[i_row:i_row + y_grid.shape[0], 0] = np.full((y_grid.shape[0]), x_coord) - coordinates[i_row:i_row + y_grid.shape[0], 1] = y_grid - i_row += y_grid.shape[0] - -# set maximum distance between grid cells outside the track and trackboundaries to determine all relevant grid cells -dist_to_trackbound = cellwidth_m * 1.1 - -# distinguish between a closed racetrack (circuit) and an "open" racetrack -if bool_isclosed_refline: - bool_isIn_rightBound = mplPath.Path(trackbound_outside).\ - contains_points(coordinates, radius=(dist_to_trackbound * sign_trackbound)) - bool_isIn_leftBound = mplPath.Path(trackbound_inside).\ - contains_points(coordinates, radius=-(dist_to_trackbound * sign_trackbound)) - bool_OnTrack = (bool_isIn_rightBound & ~bool_isIn_leftBound) - -else: - trackbound = np.vstack((trackbound_inside, np.flipud(trackbound_outside))) - bool_OnTrack = mplPath.Path(trackbound).contains_points(coordinates, radius=-dist_to_trackbound) - -# generate the friction map with coordinates which are within the trackboundaries or within the defined range outside -tpa_map = cKDTree(coordinates[bool_OnTrack]) - -print('INFO: Time elapsed for tpa_map building: {:.3f}s\nINFO: tpa_map contains {} coordinate points'.format( - (time.perf_counter() - timer_start), tpa_map.n)) - -# ---------------------------------------------------------------------------------------------------------------------- -# SAVE FRICTION MAP ---------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -timer_start = time.perf_counter() - -# create dictionary filled with default mue value (value as numpy array) -tpamap_indices = tpa_map.indices -tpa_data = dict(zip(tpamap_indices, np.full((tpamap_indices.shape[0], 1), initial_mue))) - -print('INFO: Time elapsed for tpa_data dictionary building: {:.3f}s'.format(time.perf_counter() - timer_start)) - -# save friction map (only grid) ('*_tpamap.csv') -with open(path2tpamap_file, 'wb') as fh: - np.savetxt(fh, tpa_map.data, fmt='%0.4f', delimiter=';', header='x_m;y_m') - -print('INFO: tpa_map saved successfully!') - -# get tpadata as string to save as a dictionary (as .json file) -tpa_data_string = {str(k): list(v) for k, v in tpa_data.items()} - -# save friction data ('*_tpadata.json') -with open(path2tpadata_file, 'w') as fh: - json.dump(tpa_data_string, fh, separators=(',', ': ')) - -print('INFO: tpa_data saved successfully!') - -# ---------------------------------------------------------------------------------------------------------------------- -# CREATE PLOTS --------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -if bool_show_plots: - # plot reference line and normal vectors - frictionmap.src.reftrack_functions.plot_refline(reftrack=reftrack) - - # plot spatial grid of friction map - frictionmap.src.plot_frictionmap_grid.\ - plot_voronoi_fromVariable(tree=tpa_map, - refline=reftrack[:, :2], - trackbound_left=reftrackbound_left, - trackbound_right=reftrackbound_right) - - # plot friction data of friction map - frictionmap.src.plot_frictionmap_data.\ - plot_tpamap_fromVariable(tpa_map=tpa_map, - tpa_data=tpa_data, - refline=reftrack[:, :2], - trackbound_left=reftrackbound_left, - trackbound_right=reftrackbound_right) diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/main_globaltraj.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/main_globaltraj.py deleted file mode 100644 index b83081914..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/main_globaltraj.py +++ /dev/null @@ -1,599 +0,0 @@ -import opt_mintime_traj -import numpy as np -import time -import json -import os -import trajectory_planning_helpers as tph -import copy -import matplotlib.pyplot as plt -import configparser -import pkg_resources -import helper_funcs_glob -import cProfile -import pstats -import io -from pstats import SortKey - -ob = cProfile.Profile() -ob.enable() -""" -Created by: -Alexander Heilmeier - -Documentation: -This script has to be executed to generate an optimal trajectory based on a given reference track. -""" - -# ---------------------------------------------------------------------------------------------------------------------- -# USER INPUT ----------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# choose vehicle parameter file ---------------------------------------------------------------------------------------- -file_paths = {"veh_params_file": "racecar.ini"} - -# debug and plot options ----------------------------------------------------------------------------------------------- -debug = False # print console messages -plot_opts = {"mincurv_curv_lin": False, # plot curv. linearization (original and solution based) (mincurv only) - "raceline": True, # plot optimized path - "imported_bounds": False, # plot imported bounds (analyze difference to interpolated bounds) - "raceline_curv": True, # plot curvature profile of optimized path - "racetraj_vel": True, # plot velocity profile - "racetraj_vel_3d": False, # plot 3D velocity profile above raceline - "racetraj_vel_3d_stepsize": 1.0, # [m] vertical lines stepsize in 3D velocity profile plot - "spline_normals": False, # plot spline normals to check for crossings - "mintime_plots": False} # plot states, controls, friction coeffs etc. (mintime only) - -# select track file (including centerline coordinates + track widths) -------------------------------------------------- -# file_paths["track_name"] = "rounded_rectangle" # artificial track -# file_paths["track_name"] = "handling_track" # artificial track -file_paths["track_name"] = "berlin_2018" # Berlin Formula E 2018 -# file_paths["track_name"] = "modena_2019" # Modena 2019 -# file_paths["track_name"] = "berlin_condensed" - - -# set import options --------------------------------------------------------------------------------------------------- -imp_opts = {"flip_imp_track": False, # flip imported track to reverse direction - "set_new_start": False, # set new starting point (changes order, not coordinates) - "new_start": np.array([0.0, -47.0]), # [x_m, y_m] - "min_track_width": None, # [m] minimum enforced track width (set None to deactivate) - "num_laps": 1} # number of laps to be driven (significant with powertrain-option), - # only relevant in mintime-optimization - -# set optimization type ------------------------------------------------------------------------------------------------ -# 'shortest_path' shortest path optimization -# 'mincurv' minimum curvature optimization without iterative call -# 'mincurv_iqp' minimum curvature optimization with iterative call -# 'mintime' time-optimal trajectory optimization -# opt_type = 'mincurv' -opt_type = 'mintime' - -# set mintime specific options (mintime only) -------------------------------------------------------------------------- -# tpadata: set individual friction map data file if desired (e.g. for varmue maps), else set None, -# e.g. "berlin_2018_varmue08-12_tpadata.json" -# warm_start: [True/False] warm start IPOPT if previous result is available for current track -# var_friction: [-] None, "linear", "gauss" -> set if variable friction coefficients should be used -# either with linear regression or with gaussian basis functions (requires friction map) -# reopt_mintime_solution: reoptimization of the mintime solution by min. curv. opt. for improved curv. smoothness -# recalc_vel_profile_by_tph: override mintime velocity profile by ggv based calculation (see TPH package) - -mintime_opts = {"tpadata": None, - "warm_start": False, - "var_friction": None, - "reopt_mintime_solution": False, - "recalc_vel_profile_by_tph": False} - -# lap time calculation table ------------------------------------------------------------------------------------------- -lap_time_mat_opts = {"use_lap_time_mat": False, # calculate a lap time matrix (diff. top speeds and scales) - "gg_scale_range": [0.3, 1.0], # range of gg scales to be covered - "gg_scale_stepsize": 0.05, # step size to be applied - "top_speed_range": [100.0, 150.0], # range of top speeds to be simulated [in km/h] - "top_speed_stepsize": 5.0, # step size to be applied - "file": "lap_time_matrix.csv"} # file name of the lap time matrix (stored in "outputs") - -# ---------------------------------------------------------------------------------------------------------------------- -# CHECK USER INPUT ----------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -if opt_type not in ["shortest_path", "mincurv", "mincurv_iqp", "mintime"]: - raise IOError("Unknown optimization type!") - -if opt_type == "mintime" and not mintime_opts["recalc_vel_profile_by_tph"] and lap_time_mat_opts["use_lap_time_mat"]: - raise IOError("Lap time calculation table should be created but velocity profile recalculation with TPH solver is" - " not allowed!") - -# ---------------------------------------------------------------------------------------------------------------------- -# CHECK PYTHON DEPENDENCIES -------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# get current path -file_paths["module"] = os.path.dirname(os.path.abspath(__file__)) - -# read dependencies from requirements.txt -requirements_path = os.path.join(file_paths["module"], 'requirements.txt') -dependencies = [] - -with open(requirements_path, 'r') as fh: - line = fh.readline() - - while line: - dependencies.append(line.rstrip()) - line = fh.readline() - -# check dependencies -pkg_resources.require(dependencies) - -# ---------------------------------------------------------------------------------------------------------------------- -# INITIALIZATION OF PATHS ---------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# assemble track import path -file_paths["track_file"] = os.path.join(file_paths["module"], "inputs", "tracks", file_paths["track_name"] + ".csv") - -# assemble friction map import paths -file_paths["tpamap"] = os.path.join(file_paths["module"], "inputs", "frictionmaps", - file_paths["track_name"] + "_tpamap.csv") - -if mintime_opts["tpadata"] is None: - file_paths["tpadata"] = os.path.join(file_paths["module"], "inputs", "frictionmaps", - file_paths["track_name"] + "_tpadata.json") -else: - file_paths["tpadata"] = os.path.join(file_paths["module"], "inputs", "frictionmaps", mintime_opts["tpadata"]) - -# check if friction map files are existing if the var_friction option was set -if opt_type == 'mintime' \ - and mintime_opts["var_friction"] is not None \ - and not (os.path.exists(file_paths["tpadata"]) and os.path.exists(file_paths["tpamap"])): - - mintime_opts["var_friction"] = None - print("WARNING: var_friction option is not None but friction map data is missing for current track -> Setting" - " var_friction to None!") - -# create outputs folder(s) -os.makedirs(file_paths["module"] + "/outputs", exist_ok=True) - -if opt_type == 'mintime': - os.makedirs(file_paths["module"] + "/outputs/mintime", exist_ok=True) - -# assemble export paths -file_paths["mintime_export"] = os.path.join(file_paths["module"], "outputs", "mintime") -file_paths["traj_race_export"] = os.path.join(file_paths["module"], "outputs", "traj_race_cl.csv") -# file_paths["traj_ltpl_export"] = os.path.join(file_paths["module"], "outputs", "traj_ltpl_cl.csv") -file_paths["lap_time_mat_export"] = os.path.join(file_paths["module"], "outputs", lap_time_mat_opts["file"]) - -# ---------------------------------------------------------------------------------------------------------------------- -# IMPORT VEHICLE DEPENDENT PARAMETERS ---------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# load vehicle parameter file into a "pars" dict -parser = configparser.ConfigParser() -pars = {} - -if not parser.read(os.path.join(file_paths["module"], "params", file_paths["veh_params_file"])): - raise ValueError('Specified config file does not exist or is empty!') - -pars["ggv_file"] = json.loads(parser.get('GENERAL_OPTIONS', 'ggv_file')) -pars["ax_max_machines_file"] = json.loads(parser.get('GENERAL_OPTIONS', 'ax_max_machines_file')) -pars["stepsize_opts"] = json.loads(parser.get('GENERAL_OPTIONS', 'stepsize_opts')) -pars["reg_smooth_opts"] = json.loads(parser.get('GENERAL_OPTIONS', 'reg_smooth_opts')) -pars["veh_params"] = json.loads(parser.get('GENERAL_OPTIONS', 'veh_params')) -pars["vel_calc_opts"] = json.loads(parser.get('GENERAL_OPTIONS', 'vel_calc_opts')) - -if opt_type == 'shortest_path': - pars["optim_opts"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'optim_opts_shortest_path')) - -elif opt_type in ['mincurv', 'mincurv_iqp']: - pars["optim_opts"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'optim_opts_mincurv')) - -elif opt_type == 'mintime': - pars["curv_calc_opts"] = json.loads(parser.get('GENERAL_OPTIONS', 'curv_calc_opts')) - pars["optim_opts"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'optim_opts_mintime')) - pars["vehicle_params_mintime"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'vehicle_params_mintime')) - pars["tire_params_mintime"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'tire_params_mintime')) - pars["pwr_params_mintime"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'pwr_params_mintime')) - - # modification of mintime options/parameters - pars["optim_opts"]["var_friction"] = mintime_opts["var_friction"] - pars["optim_opts"]["warm_start"] = mintime_opts["warm_start"] - pars["vehicle_params_mintime"]["wheelbase"] = (pars["vehicle_params_mintime"]["wheelbase_front"] - + pars["vehicle_params_mintime"]["wheelbase_rear"]) - -# set import path for ggv diagram and ax_max_machines (if required) -if not (opt_type == 'mintime' and not mintime_opts["recalc_vel_profile_by_tph"]): - file_paths["ggv_file"] = os.path.join(file_paths["module"], "inputs", "veh_dyn_info", pars["ggv_file"]) - file_paths["ax_max_machines_file"] = os.path.join(file_paths["module"], "inputs", "veh_dyn_info", - pars["ax_max_machines_file"]) - -# ---------------------------------------------------------------------------------------------------------------------- -# IMPORT TRACK AND VEHICLE DYNAMICS INFORMATION ------------------------------------------------------------------------ -# ---------------------------------------------------------------------------------------------------------------------- - -# save start time -t_start = time.perf_counter() - -# import track -reftrack_imp = helper_funcs_glob.src.import_track.import_track(imp_opts=imp_opts, - file_path=file_paths["track_file"], - width_veh=pars["veh_params"]["width"]) - -# import ggv and ax_max_machines (if required) -if not (opt_type == 'mintime' and not mintime_opts["recalc_vel_profile_by_tph"]): - ggv, ax_max_machines = tph.import_veh_dyn_info.\ - import_veh_dyn_info(ggv_import_path=file_paths["ggv_file"], - ax_max_machines_import_path=file_paths["ax_max_machines_file"]) -else: - ggv = None - ax_max_machines = None - -# set ax_pos_safe / ax_neg_safe / ay_safe if required and not set in parameters file -if opt_type == 'mintime' and pars["optim_opts"]["safe_traj"] \ - and (pars["optim_opts"]["ax_pos_safe"] is None - or pars["optim_opts"]["ax_neg_safe"] is None - or pars["optim_opts"]["ay_safe"] is None): - - # get ggv if not available - if ggv is None: - ggv = tph.import_veh_dyn_info. \ - import_veh_dyn_info(ggv_import_path=file_paths["ggv_file"], - ax_max_machines_import_path=file_paths["ax_max_machines_file"])[0] - - # limit accelerations - if pars["optim_opts"]["ax_pos_safe"] is None: - pars["optim_opts"]["ax_pos_safe"] = np.amin(ggv[:, 1]) - if pars["optim_opts"]["ax_neg_safe"] is None: - pars["optim_opts"]["ax_neg_safe"] = -np.amin(ggv[:, 1]) - if pars["optim_opts"]["ay_safe"] is None: - pars["optim_opts"]["ay_safe"] = np.amin(ggv[:, 2]) - -# ---------------------------------------------------------------------------------------------------------------------- -# PREPARE REFTRACK ----------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -reftrack_interp, normvec_normalized_interp, a_interp, coeffs_x_interp, coeffs_y_interp = \ - helper_funcs_glob.src.prep_track.prep_track(reftrack_imp=reftrack_imp, - reg_smooth_opts=pars["reg_smooth_opts"], - stepsize_opts=pars["stepsize_opts"], - debug=debug, - min_width=imp_opts["min_track_width"]) - -# ---------------------------------------------------------------------------------------------------------------------- -# CALL OPTIMIZATION ---------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# if reoptimization of mintime solution is used afterwards we have to consider some additional deviation in the first -# optimization -if opt_type == 'mintime' and mintime_opts["reopt_mintime_solution"]: - w_veh_tmp = pars["optim_opts"]["width_opt"] + (pars["optim_opts"]["w_tr_reopt"] - pars["optim_opts"]["w_veh_reopt"]) - w_veh_tmp += pars["optim_opts"]["w_add_spl_regr"] - pars_tmp = copy.deepcopy(pars) - pars_tmp["optim_opts"]["width_opt"] = w_veh_tmp -else: - pars_tmp = pars - -# call optimization -if opt_type == 'mincurv': - alpha_opt = tph.opt_min_curv.opt_min_curv(reftrack=reftrack_interp, - normvectors=normvec_normalized_interp, - A=a_interp, - kappa_bound=pars["veh_params"]["curvlim"], - w_veh=pars["optim_opts"]["width_opt"], - print_debug=debug, - plot_debug=plot_opts["mincurv_curv_lin"])[0] - -elif opt_type == 'mincurv_iqp': - alpha_opt, reftrack_interp, normvec_normalized_interp = tph.iqp_handler.\ - iqp_handler(reftrack=reftrack_interp, - normvectors=normvec_normalized_interp, - A=a_interp, - kappa_bound=pars["veh_params"]["curvlim"], - w_veh=pars["optim_opts"]["width_opt"], - print_debug=debug, - plot_debug=plot_opts["mincurv_curv_lin"], - stepsize_interp=pars["stepsize_opts"]["stepsize_reg"], - iters_min=pars["optim_opts"]["iqp_iters_min"], - curv_error_allowed=pars["optim_opts"]["iqp_curverror_allowed"]) - -elif opt_type == 'shortest_path': - alpha_opt = tph.opt_shortest_path.opt_shortest_path(reftrack=reftrack_interp, - normvectors=normvec_normalized_interp, - w_veh=pars["optim_opts"]["width_opt"], - print_debug=debug) - -elif opt_type == 'mintime': - # reftrack_interp, a_interp and normvec_normalized_interp are returned for the case that non-regular sampling was - # applied - alpha_opt, v_opt, reftrack_interp, a_interp_tmp, normvec_normalized_interp = opt_mintime_traj.src.opt_mintime.\ - opt_mintime(reftrack=reftrack_interp, - coeffs_x=coeffs_x_interp, - coeffs_y=coeffs_y_interp, - normvectors=normvec_normalized_interp, - pars=pars_tmp, - tpamap_path=file_paths["tpamap"], - tpadata_path=file_paths["tpadata"], - export_path=file_paths["mintime_export"], - print_debug=debug, - plot_debug=plot_opts["mintime_plots"]) - - # replace a_interp if necessary - if a_interp_tmp is not None: - a_interp = a_interp_tmp - -else: - raise ValueError('Unknown optimization type!') - # alpha_opt = np.zeros(reftrack_interp.shape[0]) - -# ---------------------------------------------------------------------------------------------------------------------- -# REOPTIMIZATION OF THE MINTIME SOLUTION ------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -if opt_type == 'mintime' and mintime_opts["reopt_mintime_solution"]: - print("REOPT") - # get raceline solution of the time-optimal trajectory - raceline_mintime = reftrack_interp[:, :2] + np.expand_dims(alpha_opt, 1) * normvec_normalized_interp - - # calculate new track boundaries around raceline solution depending on alpha_opt values - w_tr_right_mintime = reftrack_interp[:, 2] - alpha_opt - w_tr_left_mintime = reftrack_interp[:, 3] + alpha_opt - - # create new reference track around the raceline - racetrack_mintime = np.column_stack((raceline_mintime, w_tr_right_mintime, w_tr_left_mintime)) - - # use spline approximation a second time - reftrack_interp, normvec_normalized_interp, a_interp = \ - helper_funcs_glob.src.prep_track.prep_track(reftrack_imp=racetrack_mintime, - reg_smooth_opts=pars["reg_smooth_opts"], - stepsize_opts=pars["stepsize_opts"], - debug=False, - min_width=imp_opts["min_track_width"])[:3] - - # set artificial track widths for reoptimization - w_tr_tmp = 0.5 * pars["optim_opts"]["w_tr_reopt"] * np.ones(reftrack_interp.shape[0]) - racetrack_mintime_reopt = np.column_stack((reftrack_interp[:, :2], w_tr_tmp, w_tr_tmp)) - - # call mincurv reoptimization - alpha_opt = tph.opt_min_curv.opt_min_curv(reftrack=racetrack_mintime_reopt, - normvectors=normvec_normalized_interp, - A=a_interp, - kappa_bound=pars["veh_params"]["curvlim"], - w_veh=pars["optim_opts"]["w_veh_reopt"], - print_debug=debug, - plot_debug=plot_opts["mincurv_curv_lin"])[0] - - # calculate minimum distance from raceline to bounds and print it - if debug: - raceline_reopt = reftrack_interp[:, :2] + np.expand_dims(alpha_opt, 1) * normvec_normalized_interp - bound_r_reopt = (reftrack_interp[:, :2] - + np.expand_dims(reftrack_interp[:, 2], axis=1) * normvec_normalized_interp) - bound_l_reopt = (reftrack_interp[:, :2] - - np.expand_dims(reftrack_interp[:, 3], axis=1) * normvec_normalized_interp) - - d_r_reopt = np.hypot(raceline_reopt[:, 0] - bound_r_reopt[:, 0], raceline_reopt[:, 1] - bound_r_reopt[:, 1]) - d_l_reopt = np.hypot(raceline_reopt[:, 0] - bound_l_reopt[:, 0], raceline_reopt[:, 1] - bound_l_reopt[:, 1]) - - print("INFO: Mintime reoptimization: minimum distance to right/left bound: %.2fm / %.2fm" - % (np.amin(d_r_reopt) - pars["veh_params"]["width"] / 2, - np.amin(d_l_reopt) - pars["veh_params"]["width"] / 2)) - -# ---------------------------------------------------------------------------------------------------------------------- -# INTERPOLATE SPLINES TO SMALL DISTANCES BETWEEN RACELINE POINTS ------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -raceline_interp, a_opt, coeffs_x_opt, coeffs_y_opt, spline_inds_opt_interp, t_vals_opt_interp, s_points_opt_interp,\ - spline_lengths_opt, el_lengths_opt_interp = tph.create_raceline.\ - create_raceline(refline=reftrack_interp[:, :2], - normvectors=normvec_normalized_interp, - alpha=alpha_opt, - stepsize_interp=pars["stepsize_opts"]["stepsize_interp_after_opt"]) - -# ---------------------------------------------------------------------------------------------------------------------- -# CALCULATE HEADING AND CURVATURE -------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# calculate heading and curvature (analytically) -psi_vel_opt, kappa_opt = tph.calc_head_curv_an.\ - calc_head_curv_an(coeffs_x=coeffs_x_opt, - coeffs_y=coeffs_y_opt, - ind_spls=spline_inds_opt_interp, - t_spls=t_vals_opt_interp) - -# ---------------------------------------------------------------------------------------------------------------------- -# CALCULATE VELOCITY AND ACCELERATION PROFILE -------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -if opt_type == 'mintime' and not mintime_opts["recalc_vel_profile_by_tph"]: - # interpolation - s_splines = np.cumsum(spline_lengths_opt) - s_splines = np.insert(s_splines, 0, 0.0) - vx_profile_opt = np.interp(s_points_opt_interp, s_splines[:-1], v_opt) - -else: - vx_profile_opt = tph.calc_vel_profile.\ - calc_vel_profile(ggv=ggv, - ax_max_machines=ax_max_machines, - v_max=pars["veh_params"]["v_max"], - kappa=kappa_opt, - el_lengths=el_lengths_opt_interp, - closed=True, - filt_window=pars["vel_calc_opts"]["vel_profile_conv_filt_window"], - dyn_model_exp=pars["vel_calc_opts"]["dyn_model_exp"], - drag_coeff=pars["veh_params"]["dragcoeff"], - m_veh=pars["veh_params"]["mass"]) - -# calculate longitudinal acceleration profile -vx_profile_opt_cl = np.append(vx_profile_opt, vx_profile_opt[0]) -ax_profile_opt = tph.calc_ax_profile.calc_ax_profile(vx_profile=vx_profile_opt_cl, - el_lengths=el_lengths_opt_interp, - eq_length_output=False) - -# calculate laptime -t_profile_cl = tph.calc_t_profile.calc_t_profile(vx_profile=vx_profile_opt, - ax_profile=ax_profile_opt, - el_lengths=el_lengths_opt_interp) -print("INFO: Estimated laptime: %.2fs" % t_profile_cl[-1]) - -if plot_opts["racetraj_vel"]: - s_points = np.cumsum(el_lengths_opt_interp[:-1]) - s_points = np.insert(s_points, 0, 0.0) - - plt.plot(s_points, vx_profile_opt) - plt.plot(s_points, ax_profile_opt) - plt.plot(s_points, t_profile_cl[:-1]) - - plt.grid() - plt.xlabel("distance in m") - plt.legend(["vx in m/s", "ax in m/s2", "t in s"]) - - plt.show() - -# ---------------------------------------------------------------------------------------------------------------------- -# CALCULATE LAP TIMES (AT DIFFERENT SCALES AND TOP SPEEDS) ------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -if lap_time_mat_opts["use_lap_time_mat"]: - # simulate lap times - ggv_scales = np.linspace(lap_time_mat_opts['gg_scale_range'][0], - lap_time_mat_opts['gg_scale_range'][1], - int((lap_time_mat_opts['gg_scale_range'][1] - lap_time_mat_opts['gg_scale_range'][0]) - / lap_time_mat_opts['gg_scale_stepsize']) + 1) - top_speeds = np.linspace(lap_time_mat_opts['top_speed_range'][0] / 3.6, - lap_time_mat_opts['top_speed_range'][1] / 3.6, - int((lap_time_mat_opts['top_speed_range'][1] - lap_time_mat_opts['top_speed_range'][0]) - / lap_time_mat_opts['top_speed_stepsize']) + 1) - - # setup results matrix - lap_time_matrix = np.zeros((top_speeds.shape[0] + 1, ggv_scales.shape[0] + 1)) - - # write parameters in first column and row - lap_time_matrix[1:, 0] = top_speeds * 3.6 - lap_time_matrix[0, 1:] = ggv_scales - - for i, top_speed in enumerate(top_speeds): - for j, ggv_scale in enumerate(ggv_scales): - tph.progressbar.progressbar(i*ggv_scales.shape[0] + j, - top_speeds.shape[0] * ggv_scales.shape[0], - prefix="Simulating laptimes ") - - ggv_mod = np.copy(ggv) - ggv_mod[:, 1:] *= ggv_scale - - vx_profile_opt = tph.calc_vel_profile.\ - calc_vel_profile(ggv=ggv_mod, - ax_max_machines=ax_max_machines, - v_max=top_speed, - kappa=kappa_opt, - el_lengths=el_lengths_opt_interp, - dyn_model_exp=pars["vel_calc_opts"]["dyn_model_exp"], - filt_window=pars["vel_calc_opts"]["vel_profile_conv_filt_window"], - closed=True, - drag_coeff=pars["veh_params"]["dragcoeff"], - m_veh=pars["veh_params"]["mass"]) - - # calculate longitudinal acceleration profile - vx_profile_opt_cl = np.append(vx_profile_opt, vx_profile_opt[0]) - ax_profile_opt = tph.calc_ax_profile.calc_ax_profile(vx_profile=vx_profile_opt_cl, - el_lengths=el_lengths_opt_interp, - eq_length_output=False) - - # calculate lap time - t_profile_cl = tph.calc_t_profile.calc_t_profile(vx_profile=vx_profile_opt, - ax_profile=ax_profile_opt, - el_lengths=el_lengths_opt_interp) - - # store entry in lap time matrix - lap_time_matrix[i + 1, j + 1] = t_profile_cl[-1] - - # store lap time matrix to file - np.savetxt(file_paths["lap_time_mat_export"], lap_time_matrix, delimiter=",", fmt="%.3f") - -# ---------------------------------------------------------------------------------------------------------------------- -# DATA POSTPROCESSING -------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# arrange data into one trajectory -trajectory_opt = np.column_stack((s_points_opt_interp, - raceline_interp, - psi_vel_opt, - kappa_opt, - vx_profile_opt, - ax_profile_opt)) -spline_data_opt = np.column_stack((spline_lengths_opt, coeffs_x_opt, coeffs_y_opt)) - -# create a closed race trajectory array -traj_race_cl = np.vstack((trajectory_opt, trajectory_opt[0, :])) -traj_race_cl[-1, 0] = np.sum(spline_data_opt[:, 0]) # set correct length - -# print end time -print("INFO: Runtime from import to final trajectory was %.2fs" % (time.perf_counter() - t_start)) - -# ---------------------------------------------------------------------------------------------------------------------- -# CHECK TRAJECTORY ----------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -bound1, bound2 = helper_funcs_glob.src.check_traj.\ - check_traj(reftrack=reftrack_interp, - reftrack_normvec_normalized=normvec_normalized_interp, - length_veh=pars["veh_params"]["length"], - width_veh=pars["veh_params"]["width"], - debug=debug, - trajectory=trajectory_opt, - ggv=ggv, - ax_max_machines=ax_max_machines, - v_max=pars["veh_params"]["v_max"], - curvlim=pars["veh_params"]["curvlim"], - mass_veh=pars["veh_params"]["mass"], - dragcoeff=pars["veh_params"]["dragcoeff"]) - -# ---------------------------------------------------------------------------------------------------------------------- -# EXPORT --------------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# export race trajectory to CSV -if "traj_race_export" in file_paths.keys(): - helper_funcs_glob.src.export_traj_race.export_traj_race(file_paths=file_paths, - traj_race=traj_race_cl) - -# if requested, export trajectory including map information (via normal vectors) to CSV -if "traj_ltpl_export" in file_paths.keys(): - helper_funcs_glob.src.export_traj_ltpl.export_traj_ltpl(file_paths=file_paths, - spline_lengths_opt=spline_lengths_opt, - trajectory_opt=trajectory_opt, - reftrack=reftrack_interp, - normvec_normalized=normvec_normalized_interp, - alpha_opt=alpha_opt) - -print("INFO: Finished export of trajectory:", time.strftime("%H:%M:%S")) - -# ---------------------------------------------------------------------------------------------------------------------- -# PLOT RESULTS --------------------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# get bound of imported map (for reference in final plot) -bound1_imp = None -bound2_imp = None - -if plot_opts["imported_bounds"]: - # try to extract four times as many points as in the interpolated version (in order to hold more details) - n_skip = max(int(reftrack_imp.shape[0] / (bound1.shape[0] * 4)), 1) - - _, _, _, normvec_imp = tph.calc_splines.calc_splines(path=np.vstack((reftrack_imp[::n_skip, 0:2], - reftrack_imp[0, 0:2]))) - - bound1_imp = reftrack_imp[::n_skip, :2] + normvec_imp * np.expand_dims(reftrack_imp[::n_skip, 2], 1) - bound2_imp = reftrack_imp[::n_skip, :2] - normvec_imp * np.expand_dims(reftrack_imp[::n_skip, 3], 1) - -# plot results -helper_funcs_glob.src.result_plots.result_plots(plot_opts=plot_opts, - width_veh_opt=pars["optim_opts"]["width_opt"], - width_veh_real=pars["veh_params"]["width"], - refline=reftrack_interp[:, :2], - bound1_imp=bound1_imp, - bound2_imp=bound2_imp, - bound1_interp=bound1, - bound2_interp=bound2, - trajectory=trajectory_opt) -ob.disable() -sec = io.StringIO() -sortby = SortKey.CUMULATIVE -ps = pstats.Stats(ob, stream=sec).sort_stats(sortby) -ps.print_stats() - -# print(sec.getvalue()) \ No newline at end of file diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/Readme.md b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/Readme.md deleted file mode 100644 index 982657134..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/Readme.md +++ /dev/null @@ -1,95 +0,0 @@ -# Time-Optimal Trajectory Planning -This python module shows the planning of time-optimal trajectories, which allows an autonomous race car to drive at -the handling limits, taking into account locally changing road friction values. - -For this purpose, the minimum lap time problem is described as an optimal control problem, -converted to a nonlinear program using direct orthogonal Gauss-Legendre collocation and then solved by the -interior-point method IPOPT. Reduced computing times are achieved using a curvilinear abscissa approach for track -description, algorithmic differentiation using the software framework CasADi, and a smoothing of the track input data -by approximate spline regression. The vehicles behavior is approximated as a double track model with quasi-steady state -tire load simplification and nonlinear tire model. - -The novelty of this work is the consideration of wheel-specific tire-road friction coefficients along the racetrack -using a track friction map. It is shown that variable friction coefficients have a significant impact on the -trajectory, and therefore significantly improve lap times on inhomogenous racetracks. - -![Raceline for the Berlin FE track considering variable friction values](var_friction_berlin.png) - -# File and Folder Structure -* `/powertrain_src`: This folder contains the powertrain models. -* `approx_friction_map.py`: This function calculates an approximation of the provided friction map in a format -which can be taken into accout in the formulation of time-optimal trajectory planning. -* `export_mintime_solution.py`: This function exports the solution of the optimization to csvs. -* `extract_friction_coeffs.py`: This function extracts a grid of friction coefficients from the friction map along the -racetrack. -* `friction_map_interface.py`: This class provides an interface to the friction map. -* `friction_map_plot.py`: This function plots a specified friction map. -* `opt_mintime.py`: This function formulates and solves the time-optimal trajectory optimization problem. -* `result_plots_mintime.py`: This function visualizes the solution of the time-optimal trajectory optimization. - -# Optimization Options -The following optimization options can be specified in the user input section of `main_globaltraj.py` in the dict -`mintime_opts`: -* If you set the parameter `use_warm_start = True`, the initial guess of the nonlinear program can be set with the -solution of a preview optimization. This can decrease the calculation time significantly. The required files -`w0.csv`, `lam_x0.csv` and `lam_g0.csv` are saved after each optimization in the outputs folder (`outputs/mintime/`). -* A constant friction coefficient `mue` can be used along the racetrack (`var_friction = None`). Alternatively -variable friction coefficients from a friction value map (located in `inputs/frictionmaps`) can be used. The -course of these variable friction coefficients along the racetrack can be described for each wheel by linear -functions (`var_friction = "linear"`) or by linear combinations of gaussian basis functions (`var_friction = "gauss"`). -See below for additional parameters. - -The following optimization options can be specified in the parameter file in `/params` in the dict `optim_opts_mintime`: -* The car width for optimization is set through `width_opt` and includes the vehicle width and a safety margin. -* Penalty terms (`penalty_delta` & `penalty_F`) can be specified in order to increase the smoothness of the control -trajectories. Too big values lead to a distortion of the original minimum lap time problem. -* Depending on the setting of `var_friction` as described above the friction coefficient handling differs. A constant -friction coefficient `mue` can be used along the racetrack (`var_friction = null`). Alternatively -variable friction coefficients from a friction value map (located in `inputs/frictionmaps`) can be used. Therefore -friction values are extracted on the normal vectors of the reference line with an equidistant distance (`dn`). The -course of these variable friction coefficients along the racetrack can then be described for each wheel by linear -functions (`var_friction = "linear"`) or by linear combinations of gaussian basis functions (`var_friction = "gauss"`). -For this purpose the number of gaussian basis functions on each side (`n_gauss`) can be specified. -* The energy consumption can be limited (`limit_energy = true`) with an upper bound `energy_limit` (kWh per lap). -* Safe trajectories with reduced acceleration potential can be specified (`safe_traj = true`) via acceleration ellipse, -defined by the acceleration limits `ax_pos_safe`, `ax_neg_safe` and `ay_safe`. -* The parameters for the two-track model can be specified in the variable `vehicle`. -* The parameters for Pacejka's Magic Formula tire model can be specified in in the variable `tire`. - -Switch on the powertrain behavior in the parameter file in `/params` using dict `pwr_params_mintime` (`pwr_behavior = -true`). - -# Possible Failures -* The trajectory planner uses the curvature of the reference line for describing the racetrack. A smooth course of the -curvature and its derivative speeds up the optimization and prevents the solution from oscillations. Therefore the -reference line of the racetrack is preprocessed by an approximate spline regression. It's recommended to check the -curvature input before starting optimization! If the curvature is not smooth, increase the parameter `s_reg` in the -`racecar.ini`. -* If red coloured warnings for warm start functionality appear in the terminal (e.g. WARNING: Failed to load warm start -files!), please check if the warm start functionality is used (`use_warm_start = True`) without or with the wrong -warm start files. To bypass this error, just restart the optimization without warm start functionality -(`use_warm_start = False`). - -# Outputs -* After each optimization the solution for some relevant variables (controls, states, tire forces, time, acceleration -etc.) are saved in the outputs folder (`outputs/mintime/`). These files include the solution of variables with respect -to the independent variable s (curvi-linear distance along the reference line) and the time t. -* If you set the parameter `mintime = True` in `plots_opts` in the `main_globaltraj.py` script, some useful plots appear -after optimization for visualizing control variables, state variables, tire forces etc. - -# Required packages -* `CasADi` for solving the NLP, interfacing IPOPT, calculating derviatives with AD. -* `scipy` & `sklearn` for deriving the description of friction map with linear regession using gaussian basis functions. - -# References -* Christ, Wischnewski, Heilmeier, Lohmann\ -Time-Optimal Trajectory Planning for a Race Car Considering Variable Tire-Road Friction Coefficients\ -DOI: 10.1080/00423114.2019.1704804\ -Contact person: [Fabian Christ](mailto:fabian.christ@tum.de). - -* Powertrain Behavior\ -Herrmann, Passigato, Betz, Lienkamp\ -Minimum Race-Time Planning-Strategy for an Autonomous Electric Racecar\ -DOI: 10.1109/ITSC45102.2020.9294681\ -Preprint: https://arxiv.org/abs/2005.07127 \ -Contact person: [Thomas Herrmann](mailto:thomas.herrmann@tum.de). diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/__init__.py deleted file mode 100644 index ccd224865..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -import opt_mintime_traj.src -import opt_mintime_traj.powertrain_src diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/Readme.md b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/Readme.md deleted file mode 100644 index 0cde628bc..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/Readme.md +++ /dev/null @@ -1,31 +0,0 @@ -# Powertrain Behavior -By switching on the powertrain behavior as explained in both `Readme.md` files on the top level of this repository and -in the directory `/opt_mintime_traj` you can consider the powertrain behavior (thermal behavior, power losses, -state of charge) during the trajectory optimization. This feature gets especially interesting when dealing with multiple -consecutive race laps, see main `Readme.md` `Step 6`. - -By specifying the option `/params/racecar.ini:simple_loss = True`, simple power loss approximations of the -powertrain components are used. The option `/params/racecar.ini:simple_loss = False` considers a more detailed -powertrain description. - -The results can look like the following plot. It shows the temperatures of the -- electric machines , -- battery , -- inverters , -- cooling liquid for the motor-inverter circuit , -- cooling liquid for the battery circuit . - -The powertrain signals can look like the following two plots, describing the components' temperatures and the -corresponding power losses, when using the detailed powertrain descriptions: - -![Powertrain component temperatures whilst driving one race lap on the Berlin (Germany) Formel E track.](component_temperatures.PNG) - -![Powertrain component losses whilst driving one race lap on the Berlin (Germany) Formel E track.](component_losses.PNG) - -# References -Powertrain Behavior\ -Herrmann, Passigato, Betz, Lienkamp\ -Minimum Race-Time Planning-Strategy for an Autonomous Electric Racecar\ -DOI: 10.1109/ITSC45102.2020.9294681\ -Preprint: https://arxiv.org/abs/2005.07127 \ -Contact person: [Thomas Herrmann](mailto:thomas.herrmann@tum.de). diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/__init__.py deleted file mode 100644 index dbcab5bea..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/__init__.py +++ /dev/null @@ -1 +0,0 @@ -import opt_mintime_traj.powertrain_src.src diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/component_losses.PNG b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/component_losses.PNG deleted file mode 100644 index 9d305889e497887b16f88cbfd874e11781d2a9e0..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 148269 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(2 * np.pi * self.pars["r_wheel"]) * self.pars["transmission"] * 60 - - def get_increment(self, - sf: ca.SX, - temp_cool_12: ca.SX, - temp_cool_13: ca.SX): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Initializes temperature increment of electric machine symbolically (sf * dx/dt = dx/ds) - - Inputs: - sf: transformation factor dt/ds - temp_cool_12: intermediate temperature within motor-inverter cooling circuit (radiator-motor) [°C] - temp_cool_13: intermediate temperature within motor-inverter cooling circuit (motor-inverter) [°C] - """ - - self.dtemp = sf * ((self.p_loss_total * 1000 - (self.temp_mot - (temp_cool_12 + temp_cool_13) / 2) - / self.r_machine) - / (self.pars["C_therm_machine"])) - - def get_loss(self, - p_wheel: ca.SX): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Initializes total power loss of a single electric machine and split into loss effects - (with detailed models) or loss power of a single e-machine using a simple power fit to measured data - (input -- output power) - - Inputs: - p_wheel: on wheels desired power [kW] - """ - - if self.pars["simple_loss"]: - - # Input in machine [kW] = P_wheel + machine loss - p_machine_in = \ - self.pars["machine_simple_a"] * (p_wheel / self.pars["N_machines"]) ** 2 \ - + self.pars["machine_simple_b"] * (p_wheel / self.pars["N_machines"]) \ - + self.pars["machine_simple_c"] - - self.p_input = p_machine_in - - # Machine loss [kW] - self.p_loss_total = p_machine_in - p_wheel / self.pars["N_machines"] - - else: - - temp_mot = self.temp_mot - omega_machine = self.omega_machine - i_eff = self.i_eff - - # Copper loss [W] - p_loss_copper = \ - ( - (((temp_mot - 20) * self.pars["C_TempCopper"]) + 1) * self.pars["R_Phase"] - ) * (i_eff ** 2) * (3 / 2) - - # Stator iron loss [W] - p_loss_stator_iron = \ - 2.885e-13 * omega_machine ** 4 \ - - 1.114e-08 * omega_machine ** 3 \ - + 0.0001123 * omega_machine ** 2 \ - + 0.1657 * omega_machine \ - + 272 - - # Rotor loss [W] - p_loss_rotor = \ - 8.143e-14 * omega_machine ** 4 \ - - 2.338e-09 * omega_machine ** 3 \ - + 1.673e-05 * omega_machine ** 2 \ - + 0.112 * omega_machine \ - - 113.6 - - # Total loss [kW] - p_loss_total = (p_loss_copper - + p_loss_stator_iron - + p_loss_rotor) * 0.001 - - # Store losses [kW] - self.p_loss_copper = 0.001 * p_loss_copper - self.p_loss_stator_iron = 0.001 * p_loss_stator_iron - self.p_loss_rotor = 0.001 * p_loss_rotor - self.p_loss_total = p_loss_total - - def get_machines_cum_losses(self): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Calculate total loss of all e-machines in electric powertrain - """ - - self.p_loss_total_all_machines = self.p_loss_total * self.pars["N_machines"] - - def get_thermal_resistance(self): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Calculates thermal resistance of electric machine to be used within a - lumped thermal model description - """ - - A_cool_machine = 2 * np.pi * self.pars["r_stator_ext"] * self.pars["l_machine"] * \ - self.pars["A_cool_inflate_machine"] - - # Thermal conduction stator [K/W] - r_cond_stator = np.log(self.pars["r_stator_ext"] / - self.pars["r_stator_int"]) / (2 * np.pi * self.pars["k_iro"] * self.pars["l_machine"]) - - # Thermal conduction rotor [K/W] - r_cond_rotor = np.log(self.pars["r_rotor_ext"] / self.pars["r_rotor_int"]) / \ - (2 * np.pi * self.pars["k_iro"] * self.pars["l_machine"]) - - # Thermal conduction shaft [K/W] - r_cond_shaft = 1 / (4 * np.pi * self.pars["k_iro"] * self.pars["l_machine"]) - - # Thermal convection stator -- cooling liquid [K/W] - r_conv_fluid = 1 / (self.pars["h_fluid_mi"] * A_cool_machine) - - # Thermal resistance by convection in the machine air gap rotor -- stator [K/W] - r_conv_airgap = 1 / (2 * np.pi * self.pars["h_air_gap"] * self.pars["r_stator_int"] * self.pars["l_machine"]) - - # Thermal resistance out [K/W] - r1 = r_cond_stator + r_conv_fluid - # Thermal resistance in [K/W] - r2 = r_cond_shaft + r_cond_rotor + r_conv_airgap - - # Thermal resistance machine [K/W] - self.r_machine = (r1 * r2) / (r1 + r2) - - def ini_nlp_state(self, - x: ca.SX, - u: ca.SX): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Defines function to define e-machine states in NLP - - Inputs: - x: discrete NLP state - u: discrete NLP control input - """ - - if self.pars["simple_loss"]: - self.f_nlp = \ - ca.Function('f_nlp', - [x, u], [self.p_loss_total, self.p_input], - ['x', 'u'], ['p_loss_total', 'p_input']) - else: - self.f_nlp = \ - ca.Function('f_nlp', - [x, u], [self.p_loss_total, self.p_loss_copper, self.p_loss_stator_iron, self.p_loss_rotor, - self.i_eff], - ['x', 'u'], ['p_loss_total', 'p_loss_copper', 'p_loss_stator_iron', 'p_loss_rotor', - 'i_eff']) - - def extract_sol(self, - w: ca.SX, - sol_states: ca.DM): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Defines function to retrieve values of optimized NLP e-machine - - Inputs: - w: discrete optimized NLP decision variables (x and u) - sol_states: numeric values belonging to the symbolic NLP decision variables w - """ - - if self.pars["simple_loss"]: - self.f_sol = \ - ca.Function('f_sol', - [w], [self.p_losses_opt], - ['w'], ['p_losses_opt']) - - # Overwrite lists with optimized numeric values - p_losses_opt = self.f_sol(sol_states) - - self.p_loss_total = p_losses_opt[0::2] - self.p_input = p_losses_opt[1::2] - - else: - self.f_sol = \ - ca.Function('f_sol', - [w], [self.p_losses_opt], - ['w'], ['p_losses_opt']) - - # Overwrite lists with optimized numeric values - p_losses_opt = self.f_sol(sol_states) - - self.p_loss_total = p_losses_opt[0::5] - self.p_loss_copper = p_losses_opt[1::5] - self.p_loss_stator_iron = p_losses_opt[2::5] - self.p_loss_rotor = p_losses_opt[3::5] - self.i_eff = p_losses_opt[4::5] - - -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/Inverter.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/Inverter.py deleted file mode 100644 index 27cf99a9f..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/Inverter.py +++ /dev/null @@ -1,251 +0,0 @@ -import casadi as ca - - -class InverterModel: - - __slots__ = ('pars', - 'temp_inv_n', - 'temp_inv_s', - 'temp_inv', - 'dtemp', - 'temp_min', - 'temp_max', - 'temp_guess', - 'f_nlp', - 'f_sol', - 'p_in_inv', - 'p_loss_switch', - 'p_loss_cond', - 'p_loss_total', - 'p_loss_total_all_inverters', - 'r_inv', - 'p_losses_opt') - - def __init__(self, - pwr_pars: dict): - - """ - Python version: 3.5 - Created by: Thomas Herrmann (thomas.herrmann@tum.de) - Created on: 01.04.2020 - - Documentation: Inverter class for the optimization of global trajectories for electric race cars implemented in - the CasADi modeling language. - - Inputs: - pwr_pars: powertrain parameters defined in the initialization file - """ - - self.pars = pwr_pars - - # -------------------------------------------------------------------------------------------------------------- - # Empty inverter states - # -------------------------------------------------------------------------------------------------------------- - - self.temp_inv_n = None - self.temp_inv_s = None - self.temp_inv = None - self.dtemp = None - self.temp_min = None - self.temp_max = None - self.temp_guess = None - - self.f_nlp = None - self.f_sol = None - - self.p_in_inv = None - self.p_loss_switch = None - self.p_loss_cond = None - self.p_loss_total = None - self.p_loss_total_all_inverters = None - - self.r_inv = None - - # Optimized losses list: p_loss_total, p_loss_effects - self.p_losses_opt = [] - - # Call initialization function - self.initialize() - - def initialize(self): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Initialization of necessary optimization variables (symbolic CasADi expressions) - and states including limits. - """ - - self.temp_inv_n = ca.SX.sym('temp_inv_n') - self.temp_inv_s = self.pars["temp_inv_max"] - 30 - self.temp_inv = self.temp_inv_s * self.temp_inv_n - - # Define limits and initial guess - self.temp_min = self.pars["T_env"] / self.temp_inv_s - self.temp_max = self.pars["temp_inv_max"] / self.temp_inv_s - self.temp_guess = self.pars["T_env"] / self.temp_inv_s - - self.get_thermal_resistance() - - def get_increment(self, - sf: ca.SX, - temp_cool_mi: ca.SX, - temp_cool_12: ca.SX): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Initializes temperature increment of inverter symbolically (sf * dx/dt = dx/ds) - - Inputs: - sf: transformation factor dt/ds - temp_cool_mi: cooling fluid temperature of machine-inverter cooling circuit [°C] - temp_cool_12: intermediate temperature within motor-inverter cooling circuit (radiator-motor) [°C] - """ - - self.dtemp = sf * ((self.p_loss_total * 1000 - (self.temp_inv - (temp_cool_mi + temp_cool_12) / 2) - / self.r_inv) - / (self.pars["C_therm_inv"])) - - def get_loss(self, - i_eff: ca.SX, - v_dc: ca.SX, - p_out_inv: ca.SX = None): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Initializes total power loss of a single inverter and split into loss effects - (with detailed models) or loss power of a single e-machine using a simple power fit to measured data - (input -- output power). - p_out_inv can be left empty in case of detailed loss model usage. - - Inputs: - i_eff: effective current through one electric machine [A] - v_dc: terminal voltage battery [V] - p_out_inv: output power of single inverter [kW] - """ - - if self.pars["simple_loss"]: - - # Input in single inverter [kW] = inverter output + inverter loss - self.p_in_inv = \ - self.pars["inverter_simple_a"] * p_out_inv ** 2 \ - + self.pars["inverter_simple_b"] * p_out_inv \ - + self.pars["inverter_simple_c"] - - # Total loss [kW] - self.p_loss_total = (self.p_in_inv - p_out_inv) - - else: - - # Power loss switching [W] - p_loss_switch = (v_dc / self.pars["V_ref"]) \ - * ((3 * self.pars["f_sw"]) * (i_eff / self.pars["I_ref"]) - * (self.pars["E_on"] + self.pars["E_off"] + self.pars["E_rr"])) - - # Power loss conducting [W] - p_loss_cond = 3 * i_eff * (self.pars["V_ce_offset"] + (self.pars["V_ce_slope"] * i_eff)) - - # Loss effects [kW] - self.p_loss_switch = 0.001 * p_loss_switch - self.p_loss_cond = 0.001 * p_loss_cond - - # Total loss [kW] - self.p_loss_total = (p_loss_switch + p_loss_cond) * 0.001 - - def get_inverters_cum_losses(self): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Calculate total loss of all inverters in electric powertrain - """ - - self.p_loss_total_all_inverters = self.p_loss_total * self.pars["N_machines"] - - def get_thermal_resistance(self): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Calculates thermal resistance of inverter - """ - - # Thermal resistance inverter [K/W] - self.r_inv = 1 / (self.pars["h_fluid_mi"] * self.pars["A_cool_inv"]) - - def ini_nlp_state(self, - x: ca.SX, - u: ca.SX): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Defines function to define inverter states in NLP - - Inputs: - x: discrete NLP state - u: discrete NLP control input - """ - - if self.pars["simple_loss"]: - self.f_nlp = \ - ca.Function('f_nlp', - [x, u], [self.p_loss_total, self.p_in_inv], - ['x', 'u'], ['p_loss_total', 'p_inv_in']) - else: - self.f_nlp = \ - ca.Function('f_nlp', - [x, u], [self.p_loss_total, self.p_loss_switch, self.p_loss_cond], - ['x', 'u'], ['p_loss_total', 'p_loss_switch', 'p_loss_cond']) - - def extract_sol(self, - w: ca.SX, - sol_states: ca.DM): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Defines function to retrieve values of optimized NLP inverter - - Inputs: - w: discrete optimized NLP decision variables (x and u) - sol_states: numeric values belonging to the symbolic NLP decision variables w - """ - - if self.pars["simple_loss"]: - self.f_sol = \ - ca.Function('f_sol', - [w], [self.p_losses_opt], - ['w'], ['p_losses_opt']) - - # Overwrite lists with optimized numeric values - p_losses_opt = self.f_sol(sol_states) - - self.p_loss_total = p_losses_opt[0::2] - self.p_in_inv = p_losses_opt[1::2] - - else: - self.f_sol = \ - ca.Function('f_sol', - [w], [self.p_losses_opt], - ['w'], ['p_losses_opt']) - - # Overwrite lists with optimized numeric values - p_losses_opt = self.f_sol(sol_states) - - self.p_loss_total = p_losses_opt[0::3] - self.p_loss_switch = p_losses_opt[1::3] - self.p_loss_cond = p_losses_opt[2::3] - - -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/Radiators.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/Radiators.py deleted file mode 100644 index b8773e5a4..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/Radiators.py +++ /dev/null @@ -1,249 +0,0 @@ -import casadi as ca - - -class RadiatorModel: - - __slots__ = ('pars', - 'temp_cool_mi_n', - 'temp_cool_mi_s', - 'temp_cool_mi', - 'temp_cool_b_n', - 'temp_cool_b_s', - 'temp_cool_b', - 'temp_cool_mi_min', - 'temp_cool_mi_max', - 'temp_cool_mi_guess', - 'temp_cool_b_min', - 'temp_cool_b_max', - 'temp_cool_b_guess', - 'temp_cool_12', - 'temp_cool_13', - 'dtemp_cool_mi', - 'dtemp_cool_b', - 'r_rad', - 'f_nlp', - 'f_sol', - 'temps_opt') - - def __init__(self, - pwr_pars: dict): - """ - Python version: 3.5 - Created by: Thomas Herrmann (thomas.herrmann@tum.de) - Created on: 01.04.2020 - - Documentation: Radiators class for the optimization of global trajectories for electric race cars implemented in - the CasADi modeling language. - - Inputs: - pwr_pars: powertrain parameters defined in the initialization file - """ - - # Store powertrain parameters - self.pars = pwr_pars - - # -------------------------------------------------------------------------------------------------------------- - # Empty radiator states - # -------------------------------------------------------------------------------------------------------------- - self.temp_cool_mi_n = None - self.temp_cool_mi_s = None - self.temp_cool_mi = None - - self.temp_cool_b_n = None - self.temp_cool_b_s = None - self.temp_cool_b = None - - self.temp_cool_mi_min = None - self.temp_cool_mi_max = None - self.temp_cool_mi_guess = None - self.temp_cool_b_min = None - self.temp_cool_b_max = None - self.temp_cool_b_guess = None - - self.temp_cool_12 = None - self.temp_cool_13 = None - - self.dtemp_cool_mi = None - self.dtemp_cool_b = None - - self.r_rad = None - - self.f_nlp = None - self.f_sol = None - - # Optimized temperatures list - self.temps_opt = [] - - # Call initialization function - self.initialize() - - def initialize(self): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Initialization of necessary optimization variables (symbolic CasADi expressions) - and states including limits. - """ - - # cooling liquid temperature for motor and inverter circuit [°C] - self.temp_cool_mi_n = ca.SX.sym('temp_cool_mi_n') - self.temp_cool_mi_s = self.pars["temp_inv_max"] - 30 - self.temp_cool_mi = self.temp_cool_mi_s * self.temp_cool_mi_n - - # cooling liquid temperature for battery circuit [°C] - self.temp_cool_b_n = ca.SX.sym('temp_cool_b_n') - self.temp_cool_b_s = self.pars["temp_batt_max"] - 10 - self.temp_cool_b = self.temp_cool_b_s * self.temp_cool_b_n - - self.temp_cool_mi_min = self.pars["T_env"] / self.temp_cool_mi_s - self.temp_cool_mi_max = (self.pars["temp_inv_max"] - 10) / self.temp_cool_mi_s - self.temp_cool_mi_guess = (self.pars["T_env"]) / self.temp_cool_mi_s - - self.temp_cool_b_min = self.pars["T_env"] / self.temp_cool_b_s - self.temp_cool_b_max = self.pars["temp_batt_max"] / self.temp_cool_b_s - self.temp_cool_b_guess = self.pars["T_env"] / self.temp_cool_b_s - - self.get_thermal_resistance() - - def get_thermal_resistance(self): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Calculates thermal resistance of single radiator to be used within a - lumped thermal model description - """ - - self.r_rad = 1 / (self.pars["h_air"] * self.pars["A_cool_rad"]) - - def get_intermediate_temps(self, - temp_inv: ca.SX, - r_inv: float): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Returns intermediate temps motor inverter necessary for thermodynamical modelling - (motor + inverter circuit) - - Inputs: - temp_inv: inverter temperature [°C] - r_inv: inverter thermal resistance [K/W] - """ - - self.temp_cool_12 = \ - (self.temp_cool_mi * (self.pars["c_heat_fluid"] * self.pars["flow_rate_inv"] * r_inv - 1) - + 2 * temp_inv) / \ - (1 + self.pars["c_heat_fluid"] * self.pars["flow_rate_inv"] * r_inv) - - self.temp_cool_13 = \ - (self.temp_cool_mi * (2 * self.pars["c_heat_fluid"] * self.pars["flow_rate_rad"] * self.r_rad + 1) - - 2 * self.pars["T_env"]) / \ - (-1 + 2 * self.pars["c_heat_fluid"] * self.pars["flow_rate_rad"] * self.r_rad) - - def get_increment_mi(self, - sf: ca.SX, - temp_mot: ca.SX, - temp_inv: ca.SX, - r_inv: float, - r_machine: float): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Initializes temperature increment of radiator machine-inverter circuit symbolically - (sf * dx/dt = dx/ds) - - Inputs: - sf: transformation factor dt/ds - temp_mot: temeprature of electric machine [°C] - temp_inv: temeprature of inverter [°C] - r_inv: thermal resistance of inverter [K/W] - r_machine: thermal resistance of electric machine [K/W] - """ - - self.dtemp_cool_mi = \ - sf * ((self.pars["N_machines"] * ((temp_mot - (self.temp_cool_12 + self.temp_cool_13) / 2) / r_machine + - (temp_inv - (self.temp_cool_mi + self.temp_cool_12) / 2) / r_inv) - - ((self.temp_cool_mi + self.temp_cool_13) / 2 - self.pars["T_env"]) / self.r_rad) / - (self.pars["m_therm_fluid_mi"] * self.pars["c_heat_fluid"])) - - def get_increment_b(self, - sf: ca.SX, - temp_batt: ca.SX, - temp_cool_b: ca.SX, - R_eq_B_inv: float): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Initializes temperature increment of radiator in battery circuit symbolically - (sf * dx/dt = dx/ds) - - Inputs: - sf: transformation factor dt/ds - temp_batt: temeprature of battery [°C] - temp_cool_b: temeprature of cooling liquid battery [°C] - R_eq_B_inv: inverse of thermal resistance of battery [W/K] - """ - - self.dtemp_cool_b = \ - sf * ((R_eq_B_inv * (temp_batt - temp_cool_b) - - (temp_cool_b - self.pars["T_env"]) / self.r_rad) / - (self.pars["m_therm_fluid_b"] * self.pars["c_heat_fluid"])) - - def ini_nlp_state(self, - x: ca.SX, - u: ca.SX): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Defines function to define radiators' states in NLP - - Inputs: - x: discrete NLP state - u: discrete NLP control input - """ - - self.f_nlp = \ - ca.Function('f_nlp', - [x, u], [self.temp_cool_mi, self.temp_cool_b], - ['x', 'u'], ['temp_cool_mi', 'temp_cool_b']) - - def extract_sol(self, - w: ca.SX, - sol_states: ca.DM): - """ - Python version: 3.5 - Created by: Thomas Herrmann - Created on: 01.04.2020 - - Documentation: Defines function to retrieve values of optimized NLP radiators - - Inputs: - w: discrete optimized NLP decision variables (x and u) - sol_states: numeric values belonging to the symbolic NLP decision variables w - """ - - self.f_sol = \ - ca.Function('f_sol', - [w], [self.temps_opt], - ['w'], ['temps_opt']) - - # Overwrite lists with optimized numeric values - temps_opt = self.f_sol(sol_states) - - self.temp_cool_mi = temps_opt[0::2] - self.temp_cool_b = temps_opt[1::2] - - -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/__init__.py deleted file mode 100644 index 9b8f0fd26..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/powertrain_src/src/__init__.py +++ /dev/null @@ -1,4 +0,0 @@ -import opt_mintime_traj.powertrain_src.src.Battery -import opt_mintime_traj.powertrain_src.src.EMachine -import opt_mintime_traj.powertrain_src.src.Inverter -import opt_mintime_traj.powertrain_src.src.Radiators diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/__init__.py deleted file mode 100644 index 21d4cff03..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/__init__.py +++ /dev/null @@ -1,7 +0,0 @@ -import opt_mintime_traj.src.opt_mintime -import opt_mintime_traj.src.result_plots_mintime -import opt_mintime_traj.src.export_mintime_solution -import opt_mintime_traj.src.approx_friction_map -import opt_mintime_traj.src.extract_friction_coeffs -import opt_mintime_traj.src.friction_map_interface -import opt_mintime_traj.src.friction_map_plot diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/approx_friction_map.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/approx_friction_map.py deleted file mode 100644 index bdc2cca0b..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/approx_friction_map.py +++ /dev/null @@ -1,180 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt -import trajectory_planning_helpers as tph -from sklearn.base import BaseEstimator, TransformerMixin -from sklearn.pipeline import make_pipeline -from sklearn.linear_model import LinearRegression -import opt_mintime_traj - - -def approx_friction_map(reftrack: np.ndarray, - normvectors: np.ndarray, - tpamap_path: str, - tpadata_path: str, - pars: dict, - dn: float, - n_gauss: int, - print_debug: bool, - plot_debug: bool) -> tuple: - """ - Created by: - Fabian Christ - - Documentation: - A simplified dependency between the friction coefficients (mue) and the lateral distance to the reference line (n) - is obtained for each wheel along the racetrack. For this purpose friction coefficients are determined for a fine - grid on the normal vectors from the friction map. Then the dependency between the extracted friction coefficients - and the decision variable n for each path coordinate s_k is described by linear equations (var_friction: "lienar") - or by linear regression with gaussian basis functions (var_friction: "gauss"). - - Inputs: - reftrack: track [x_m, y_m, w_tr_right_m, w_tr_left_m] - normvectors: array containing normalized normal vectors for every traj. point [x_component, y_component] - tpamap_path: file path to tpa map (required for friction map loading) - tpadata_path: file path to tpa data (required for friction map loading) - pars: parameters dictionary - dn: distance of equidistant points on normal vectors for extracting the friction coefficients - n_gauss: number of gaussian basis functions on each side (n_gauss_tot = 2 * n_gauss + 1) - print_debug: determines if debug prints are shown - plot_debug: determines if debug plots are shown - - Outputs: - w_mue_fl: parameters for friction map approximation along the racetrack (left front wheel) - w_mue_fr: parameters for friction map approximation along the racetrack (right front wheel) - w_mue_rl: parameters for friction map approximation along the racetrack (left rear wheel) - w_mue_rr: parameters for friction map approximation along the racetrack (right rear wheel) - center_dist distance between two gaussian basis functions along the racetrack (only for var_friction: "gauss") - """ - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARATION ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # extract friction coefficients from friction map - n, mue_fl, mue_fr, mue_rl, mue_rr = opt_mintime_traj.src.extract_friction_coeffs.\ - extract_friction_coeffs(reftrack=reftrack, - normvectors=normvectors, - tpamap_path=tpamap_path, - tpadata_path=tpadata_path, - pars=pars, - dn=dn, - print_debug=print_debug, - plot_debug=plot_debug) - - # number of steps along the reference line - num_steps = len(n) - - # number of guassian basis functions - n_gauss_tot = 2 * n_gauss + 1 - - # initialize solution vectors - if pars["optim_opts"]["var_friction"] == 'linear': - w_mue_fl = np.zeros((num_steps, 2)) - w_mue_fr = np.zeros((num_steps, 2)) - w_mue_rl = np.zeros((num_steps, 2)) - w_mue_rr = np.zeros((num_steps, 2)) - center_dist = np.zeros((num_steps, 1)) - - elif pars["optim_opts"]["var_friction"] == "gauss": - w_mue_fl = np.zeros((num_steps, n_gauss_tot + 1)) - w_mue_fr = np.zeros((num_steps, n_gauss_tot + 1)) - w_mue_rl = np.zeros((num_steps, n_gauss_tot + 1)) - w_mue_rr = np.zeros((num_steps, n_gauss_tot + 1)) - center_dist = np.zeros((num_steps, 1)) - - else: - raise ValueError('Unknown method for friction map approximation!') - - if plot_debug: - plt.figure(1) - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATION ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - for i in range(num_steps): - if pars["optim_opts"]["var_friction"] == "linear": - w_mue_fl[i, :] = np.polyfit(n[i], mue_fl[i].T[0], 1) - w_mue_fr[i, :] = np.polyfit(n[i], mue_fr[i].T[0], 1) - w_mue_rl[i, :] = np.polyfit(n[i], mue_rl[i].T[0], 1) - w_mue_rr[i, :] = np.polyfit(n[i], mue_rr[i].T[0], 1) - - elif pars["optim_opts"]["var_friction"] == "gauss": - # get distance between center of gaussian basis functions - center_dist[i, 0] = (n[i][-1] - n[i][0]) / (2 * n_gauss) - - # regression with gaussian basis functions (see class definition below) - gauss_model = make_pipeline(GaussianFeatures(n_gauss_tot), LinearRegression()) - - # regression for front left wheel - gauss_model.fit(n[i][:, np.newaxis], mue_fl[i]) - w_mue_fl[i, :n_gauss_tot] = gauss_model._final_estimator.coef_[0] - w_mue_fl[i, n_gauss_tot] = gauss_model._final_estimator.intercept_[0] - - # regression for front right wheel - gauss_model.fit(n[i][:, np.newaxis], mue_fr[i]) - w_mue_fr[i, :n_gauss_tot] = gauss_model._final_estimator.coef_[0] - w_mue_fr[i, n_gauss_tot] = gauss_model._final_estimator.intercept_[0] - - # regression for rear left wheel - gauss_model.fit(n[i][:, np.newaxis], mue_rl[i]) - w_mue_rl[i, :n_gauss_tot] = gauss_model._final_estimator.coef_[0] - w_mue_rl[i, n_gauss_tot] = gauss_model._final_estimator.intercept_[0] - - # regression for rear right wheel - gauss_model.fit(n[i][:, np.newaxis], mue_rr[i]) - w_mue_rr[i, :n_gauss_tot] = gauss_model._final_estimator.coef_[0] - w_mue_rr[i, n_gauss_tot] = gauss_model._final_estimator.intercept_[0] - - if print_debug: - tph.progressbar.progressbar(i, num_steps, 'Approximation of friction map') - - if plot_debug and pars["optim_opts"]["var_friction"] == "linear": - n_fit = np.linspace(n[i][0], n[i][-1], 3) - plt.scatter(n[i], mue_rr[i]) - plt.plot(n_fit, w_mue_rr[i, 0] * n_fit + w_mue_rr[i, 1]) - - elif plot_debug and pars["optim_opts"]["var_friction"] == "gauss": - n_fit = np.linspace(n[i][0], n[i][-1], 100) - plt.scatter(n[i], mue_rr[i]) - plt.plot(n_fit, gauss_model.predict(n_fit[:, np.newaxis])) - - if plot_debug: - plt.xlabel('n in m') - plt.ylabel(r'$\it{\mu}$') - plt.title('Approximation of friction map (e.g. for tire rear right)') - plt.show() - - return w_mue_fl, w_mue_fr, w_mue_rl, w_mue_rr, center_dist - - -# ---------------------------------------------------------------------------------------------------------------------- -# GAUSSIAN FEATURES CLASS ---------------------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# uniformly spaced Gaussian features for one-dimensional input -class GaussianFeatures(BaseEstimator, TransformerMixin): - def __init__(self, N, width_factor=2.0): - self.N = N - self.width_factor = width_factor - self.centers_ = None - self.width_ = None - - @staticmethod - def _gauss_basis(x, y, width, axis=None): - arg = (x - y) / width - return np.exp(-0.5 * np.sum(arg ** 2, axis)) - - def fit(self, X, y=None): - # create N centers spread along the data range - self.centers_ = np.linspace(X.min(), X.max(), self.N) - self.width_ = self.width_factor * (self.centers_[1] - self.centers_[0]) - return self - - def transform(self, X): - return self._gauss_basis(X[:, :, np.newaxis], self.centers_, self.width_, axis=1) - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/export_mintime_solution.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/export_mintime_solution.py deleted file mode 100644 index 5445abcc2..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/export_mintime_solution.py +++ /dev/null @@ -1,124 +0,0 @@ -import numpy as np -import os - - -def export_mintime_solution(file_path: str, - pars: dict, - s: np.ndarray, - t: np.ndarray, - x: np.ndarray, - u: np.ndarray, - tf: np.ndarray, - ax: np.ndarray, - ay: np.ndarray, - atot: np.ndarray, - w0: np.ndarray, - lam_x0: np.ndarray, - lam_g0: np.ndarray, - pwr: dict = None) -> None: - - """ - Created by: - Fabian Christ - - Modified by: - Thomas Herrmann (thomas.herrmann@tum.de) - - Documentation: - This function is used to export the solution of the time-optimal trajectory planning into several csv files. - - Inputs: - file_path: path for the output files - t: solution for the time along the reference line (at corresponding station s) - s: station along the reference line (at corresponding time t) - x: solution for the state variables (at corresponding time t / station s) - u: solution for the control variables (at corresponding time t / station s) - tf: solution for the tire forces (at corresponding time t / station s) - ax: solution for the longitudinal acceleration (at corresponding time t / station s) - ay: solution for the lateral acceleration (at corresponding time t / station s) - atot: solution for the total acceleration (at corresponding time t / station s) - w0: solution for all decision variables (for warm starting the nonlinear program) - lam_x0: solution for the lagrange multipliers (for warm starting the nonlinear program) - lam_g0: solution for the lagrange multipliers (for warm starting the nonlinear program) - """ - - # save state variables - if pars["pwr_params_mintime"]["pwr_behavior"]: - header_x = ("s_m; t_s; v_mps; beta_rad; omega_z_radps; n_m; xi_rad; " - "machine.temp_mot_dC; batt.temp_batt_dC; inverter.temp_inv_dC; " - "radiators.temp_cool_mi_dC; radiators.temp_cool_b_dC; batt.soc_batt") - fmt_x = "%.1f; %.3f; %.2f; %.5f; %.5f; %.5f; %.5f; %.2f; %.2f; %.2f; %.2f; %.2f; %.5f;" - states = np.column_stack((s, t, x)) - np.savetxt(os.path.join(file_path, 'states.csv'), states, fmt=fmt_x, header=header_x) - else: - header_x = "s_m; t_s; v_mps; beta_rad; omega_z_radps; n_m; xi_rad" - fmt_x = "%.1f; %.3f; %.2f; %.5f; %.5f; %.5f; %.5f" - states = np.column_stack((s, t, x)) - np.savetxt(os.path.join(file_path, 'states.csv'), states, fmt=fmt_x, header=header_x) - - # save control variables - header_u = "s_m; t_s; delta_rad; f_drive_N; f_brake_N; gamma_y_N" - fmt_u = "%.1f; %.3f; %.5f; %.1f; %.1f; %.1f" - controls = np.column_stack((s[:-1], t[:-1], u)) - np.savetxt(os.path.join(file_path, 'controls.csv'), controls, fmt=fmt_u, header=header_u) - - # save tire forces - header_tf = "s_m; t_s; f_x_f_N; f_y_f_N; f_z_f_N;" \ - "f_x_r_N; f_y_r_N; f_z_r_N;" - fmt_tf = "%.1f; %.3f; %.1f; %.1f; %.1f; %.1f; %.1f; %.1f" - tire_forces = np.column_stack((s, t, tf)) - np.savetxt(os.path.join(file_path, 'tire_forces.csv'), tire_forces, fmt=fmt_tf, header=header_tf) - - # save accelerations - header_a = "s_m; t_s; ax_mps2; ay_mps2; atot_mps2" - fmt_a = "%.1f; %.3f; %.3f; %.3f; %.3f" - accelerations = np.column_stack((s, t, ax, ay, atot)) - np.savetxt(os.path.join(file_path, 'accelerations.csv'), accelerations, fmt=fmt_a, header=header_a) - - # save power losses - if pars["pwr_params_mintime"]["pwr_behavior"]: - if pars["pwr_params_mintime"]["simple_loss"]: - header_pwr_l = \ - ("s_m; t_s; " - "P_loss_1machine_kW; " - "P_loss_1inverter_kW; " - "P_loss_batt_kW; P_out_batt_kW") - fmt_pwr_l = ("%.1f; %.3f; " - "%.2f; " - "%.2f; " - "%.2f; %.2f") - pwr_losses = \ - np.column_stack((s[:-1], t[:-1], - pwr["machine"].p_loss_total, - pwr["inverter"].p_loss_total, - pwr["batt"].p_loss_total, pwr["batt"].p_out_batt)) - else: - header_pwr_l = \ - ("s_m; t_s; " - "P_loss_1machine_kW; P_loss_copper_1machine_kW; " - "P_loss_statorIron_1machine_kW; P_loss_rotor_1machine_kW; " - "P_loss_1inverter_kW; P_loss_switch_1inverter_kW; P_loss_cond_1inverter; " - "P_loss_batt_kW; P_out_batt_kW") - fmt_pwr_l = ("%.1f; %.3f; " - "%.2f; %.2f; " - "%.2f; %.2f; " - "%.2f; %.2f; %.2f; " - "%.2f; %.2f") - pwr_losses = \ - np.column_stack((s[:-1], t[:-1], - pwr["machine"].p_loss_total, pwr["machine"].p_loss_copper, - pwr["machine"].p_loss_stator_iron, pwr["machine"].p_loss_rotor, - pwr["inverter"].p_loss_total, pwr["inverter"].p_loss_switch, pwr["inverter"].p_loss_cond, - pwr["batt"].p_loss_total, pwr["batt"].p_out_batt)) - - np.savetxt(os.path.join(file_path, 'power_losses.csv'), pwr_losses, fmt=fmt_pwr_l, header=header_pwr_l) - - # save solution of decision variables and lagrange multipliers - np.savetxt(os.path.join(file_path, 'w0.csv'), w0, delimiter=';') - np.savetxt(os.path.join(file_path, 'lam_x0.csv'), lam_x0, delimiter=';') - np.savetxt(os.path.join(file_path, 'lam_g0.csv'), lam_g0, delimiter=';') - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/extract_friction_coeffs.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/extract_friction_coeffs.py deleted file mode 100644 index 24ecacaea..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/extract_friction_coeffs.py +++ /dev/null @@ -1,131 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt -import math -import trajectory_planning_helpers as tph -import opt_mintime_traj - - -def extract_friction_coeffs(reftrack: np.ndarray, - normvectors: np.ndarray, - tpamap_path: str, - tpadata_path: str, - pars: dict, - dn: float, - print_debug: bool, - plot_debug: bool) -> tuple: - """ - Created by: - Fabian Christ - - Documentation: - Extracting friction coefficients on a fine grid on the normal vectors along the racetrack from the provided - friction map. - - Inputs: - reftrack: track [x_m, y_m, w_tr_right_m, w_tr_left_m] - normvectors: array containing normalized normal vectors for every traj. point [x_component, y_component] - tpamap_path: file path to tpa map (required for friction map loading) - tpadata_path: file path to tpa data (required for friction map loading) - pars: parameters dictionary - dn: distance of equidistant points on normal vectors for extracting the friction coefficients - print_debug: determines if debug prints are shown - plot_debug: determines if debug plots are shown - - Outputs: - n: lateral distance of equidistant points on normal vectors along the racetrack - mue_fl: grid of friction coefficients along the racetrack (left front wheel) - mue_fr: grid of friction coefficients along the racetrack (right front wheel) - mue_rl: grid of friction coefficients along the racetrack (left rear wheel) - mue_rr: grid of friction coefficients along the racetrack (right rear wheel) - """ - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARATION ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # track data - reftrack_cl = np.vstack([reftrack, reftrack[0]]) - refline_cl = reftrack_cl[:, :2] - track_width_right_cl = reftrack_cl[:, 2] - track_width_left_cl = reftrack_cl[:, 3] - normvectors_cl = np.vstack([normvectors, normvectors[0]]) - tang_vec = np.asarray([-normvectors_cl[:, 1], normvectors_cl[:, 0]]).T - - # number of steps along the reference line - num_steps = len(reftrack_cl[:, 0]) - - # vehicle data - width = pars["optim_opts"]["width_opt"] - wb_f = pars["vehicle_params_mintime"]["wheelbase_front"] - wb_r = pars["vehicle_params_mintime"]["wheelbase_rear"] - - # initialize map interface - map_interface = opt_mintime_traj.src.friction_map_interface.FrictionMapInterface(tpamap_path=tpamap_path, - tpadata_path=tpadata_path) - - # initialize solution - n = [] - mue_fl = [] - mue_fr = [] - mue_rl = [] - mue_rr = [] - - # plot position of extracted friction coefficients - if plot_debug: - plt.figure(0) - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATION ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - for i in range(num_steps): - # number of required points on the normal vector to the left and right side - num_right = math.floor((track_width_right_cl[i] - 0.5 * width - 0.5) / dn) - num_left = math.floor((track_width_left_cl[i] - 0.5 * width - 0.5) / dn) - - # vector of lateral distances on the normal vector for the vehicle's center of gravity - n_pos = np.linspace(-dn * num_right, dn * num_left, num_right + num_left + 1) - n.append(n_pos) - - # initialize xy coordinates for each point on the normal and each tire - xy = np.zeros((8, num_right + num_left + 1)) - - # calculate xy coordinates for each point on the normal and each tire - for j in range(num_right + num_left + 1): - xy[0:2, j] = (refline_cl[i, :] + wb_f * tang_vec[i, :]) - (n_pos[j] + 0.5 * width) * normvectors_cl[i, :] - xy[2:4, j] = (refline_cl[i, :] + wb_f * tang_vec[i, :]) - (n_pos[j] - 0.5 * width) * normvectors_cl[i, :] - xy[4:6, j] = (refline_cl[i, :] - wb_r * tang_vec[i, :]) - (n_pos[j] + 0.5 * width) * normvectors_cl[i, :] - xy[6:8, j] = (refline_cl[i, :] - wb_r * tang_vec[i, :]) - (n_pos[j] - 0.5 * width) * normvectors_cl[i, :] - - # get friction coefficients for these coordinates - mue_fl.append(map_interface.get_friction_singlepos(xy[0:2, :].T)) - mue_fr.append(map_interface.get_friction_singlepos(xy[2:4, :].T)) - mue_rl.append(map_interface.get_friction_singlepos(xy[4:6, :].T)) - mue_rr.append(map_interface.get_friction_singlepos(xy[6:8, :].T)) - - if print_debug: - tph.progressbar.progressbar(i, num_steps, 'Extraction of Friction Coefficients from Friction Map') - - if plot_debug: - plt.plot(xy[0, :], xy[1, :], '.') - plt.plot(xy[2, :], xy[3, :], '.') - plt.plot(xy[4, :], xy[5, :], '.') - plt.plot(xy[6, :], xy[7, :], '.') - - if plot_debug: - bound_r = reftrack[:, :2] + normvectors * np.expand_dims(reftrack[:, 2], 1) - bound_l = reftrack[:, :2] - normvectors * np.expand_dims(reftrack[:, 3], 1) - plt.plot(reftrack[:, 0], reftrack[:, 1], color='grey') - plt.plot(bound_r[:, 0], bound_r[:, 1], color='black') - plt.plot(bound_l[:, 0], bound_l[:, 1], color='black') - plt.title('Extraction of Friction Coefficients from Friction Map') - plt.grid() - plt.axis('equal') - plt.show() - - return n, mue_fl, mue_fr, mue_rl, mue_rr - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/friction_map_interface.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/friction_map_interface.py deleted file mode 100644 index cc485da11..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/friction_map_interface.py +++ /dev/null @@ -1,106 +0,0 @@ -import numpy as np -from scipy.spatial import cKDTree -import json - - -class FrictionMapInterface: - """ - Created by: - Leonhard Hermansdorfer - - Documentation: - This class loads the friction map (*_tpamap.csv) and the corresponding data (*_tpadata.json) and provides an - interface to fetch friction data for a requested position on the race track. - - NOTE: Naming of map and data file has to be consistent! Everything replaced by '*' has to be identical in - order to load correct data to a given map. - - The following data must be available for the friction map: - tpa_map: csv-file containing the map information (x,y-coordinates of each grid cell; - '*_tpamap.csv' located in inputs folder) - tpa_data: json-file containing specific data for each grid cell (e.g. coefficient of friction); - '*_tpadata.json' located in inputs folder) - """ - - def __init__(self, - tpamap_path: str, - tpadata_path: str) -> None: - - # load friction map (only contains x,y coordinates and the corresponding grid cell indices) and - # friction data (contains coefficient of friction for each grid cell adressed by its index) - - # load friction map file and set up cKDtree for grid representation - map_coords = np.loadtxt(tpamap_path, comments='#', delimiter=';') - self.tpa_map = cKDTree(map_coords) - - # load friction data file and set up dictionary with grid cell index as key as mue value as value - with open(tpadata_path, 'r') as fh: - tpadata_dict_string = json.load(fh) - - self.tpa_data = {int(k): np.asarray(v) for k, v in tpadata_dict_string.items()} - - def get_friction_singlepos(self, - positions: np.ndarray) -> np.array: - """ - This function returns the friction value mue for a given position. - - Inputs: - positions: x,y coordinate(s) in meters from origin for position of requested friction value(s) - [[x_0, y_0], [x_1, y_1], ...] (multiple coordinate points allowed) - - Outputs: - mue_singlepos: array with coefficient of friction for requested positions (same number) - [[mue_0], [mue_1], [mue_2], ...]] - """ - - # check input - if positions.size == 0: - return np.asarray([]) - - # query requested positions to get indices of grid cells containing the corresponding mue values - _, idxs = self.tpa_map.query(positions) - - # get mue-value(s) from dictionary - mue_singlepos = [] - - for idx in idxs: - mue_singlepos.append(self.tpa_data[idx]) - - return np.asarray(mue_singlepos) - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == '__main__': - import os - - module_path = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) - inputs_path = os.path.join(module_path, "inputs", "frictionmaps") - - tpamap_path_ = os.path.join(inputs_path, "berlin_2018_tpamap.csv") - tpadata_path_ = os.path.join(inputs_path, "berlin_2018_tpadata.json") - - mapint = FrictionMapInterface(tpamap_path=tpamap_path_, - tpadata_path=tpadata_path_) - - position_ = np.asarray([[100.0, -80.0], - [160.0, 560.0], - [133.0, 20.0], - [122.0, 10.0], - [110.0, 64.0], - [131.0, 45.0], - [113.0, -58.0], - [111.0, -21.0]]) - - mue = mapint.get_friction_singlepos(position_) - print(mue) - - position_ = np.asarray([[0.0, 0.0]]) - _ = mapint.get_friction_singlepos(position_) - - position_ = np.random.rand(300, 2) - _ = mapint.get_friction_singlepos(position_) - - position_ = np.asarray([]) - _ = mapint.get_friction_singlepos(position_) - - print('INFO: FrictionMapInterface tests passed!') diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/friction_map_plot.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/friction_map_plot.py deleted file mode 100644 index 4ffbba7f1..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/friction_map_plot.py +++ /dev/null @@ -1,128 +0,0 @@ -import numpy as np -import math -import json -import matplotlib.pyplot as plt -from scipy.spatial import cKDTree - - -def friction_map_plot(filepath_tpamap: str, - filepath_tpadata: str, - filepath_referenceline: str): - """ - Created by: - Leonhard Hermansdorfer - - Documentation: - Function to visualize the friction map data and the reference line for a given race track. - - The friction map is located in "/inputs/frictionmaps/TRACKNAME_tpamap.csv" - The fricton map data is located in "/inputs/frictionmaps/TRACKNAME_tpadata.json" - The reference line is located in "/inputs/tracks/TRACKNAME.csv" - - Inputs: - filepath_tpamap: path to friction map representing the race track of interest (*_tpamap.csv) - filepath_tpadata: path to corresponding friction data of the above specified map (*_tpadata.json) - filepath_referenceline: path to corresponding reference line of the above specified friction map - """ - - # ------------------------------------------------------------------------------------------------------------------ - # LOAD DATA FROM FILES --------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - print('INFO: Loading friction map data...') - - # load reference line from csv-file - referenceline = np.loadtxt(filepath_referenceline, comments='#', delimiter=';') - - # load friction map (tpamap) from csv-file - map_coordinates = np.loadtxt(filepath_tpamap, comments='#', delimiter=';') - tpamap_loaded = cKDTree(map_coordinates) - - # load friction data corresponding to the chosen friction map - with open(filepath_tpadata, 'r') as fh: - tpadata_dict_string = json.load(fh) - tpadata_loaded = {int(k): np.asarray(v) for k, v in tpadata_dict_string.items()} - - print('INFO: Friction map data loaded successfully!') - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARE DATA FOR PLOTTING ---------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - print('INFO: Preprocessing friction map data for visualization... (takes some time)') - - # read values from dict - list_coord = tpamap_loaded.data[tpamap_loaded.indices] - - list_mue = [] - - for idx in tpamap_loaded.indices: - list_mue.append(tpadata_loaded[idx]) - - # recalculate stepsize of friction map - x_stepsize = abs(list_coord[1, 0] - list_coord[0, 0]) - y_stepsize = abs(list_coord[1, 1] - list_coord[0, 1]) - - # load coordinate values from friction map - tree_points = tpamap_loaded.data - - # determine min/max of coordinate values in both directions to set up 2d array for countourf plotting - x_min = math.floor(np.amin(tree_points[:, 0])) - x_max = math.ceil(np.amax(tree_points[:, 0])) - - y_min = math.floor(np.amin(tree_points[:, 1])) - y_max = math.ceil(np.amax(tree_points[:, 1])) - - x_vals = np.arange(x_min - (20.0 * x_stepsize), x_max + (19.0 * x_stepsize), x_stepsize) - y_vals = np.arange(y_min - (20.0 * y_stepsize), y_max + (19.0 * y_stepsize), y_stepsize) - - # set up an empty 2d array which is then filled wiich corresponding mue values - z = np.full((y_vals.shape[0], x_vals.shape[0]), fill_value=np.nan) - - # plot 2D array - for row, mue in zip(list_coord, list_mue): - index_column = int((row[0] - min(x_vals)) / x_stepsize) - index_row = int((-row[1] + max(y_vals)) / y_stepsize) - - z[index_row, index_column] = mue - - # ------------------------------------------------------------------------------------------------------------------ - # CREATE PLOT ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - print('INFO: Plotting friction map data...') - - plt.figure() - - # plot reference line - plt.plot(referenceline[:, 0], referenceline[:, 1], 'r') - - # set axis limits - plt.xlim(min(referenceline[:, 0]) - 100.0, max(referenceline[:, 0]) + 100.0) - plt.ylim(min(referenceline[:, 1]) - 100.0, max(referenceline[:, 1]) + 100.0) - - # plot 2D contour representing the friction data (mue-values) - plt.contourf(x_vals, np.flipud(y_vals), z) - - # set up plot - plt.colorbar(label='mue-values') - plt.title('mue-values of the racetrack') - plt.xlabel("east in m") - plt.ylabel("north in m") - plt.axis('equal') - - plt.show() - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == '__main__': - import os.path - - module_path = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) - tpamap_path = os.path.join(module_path, 'inputs', 'frictionmaps', 'berlin_2018_tpamap.csv') - tpadata_path = os.path.join(module_path, 'inputs', 'frictionmaps', 'berlin_2018_varmue08-12_tpadata.json') - referenceline_path = os.path.join(module_path, 'inputs', 'tracks', 'berlin_2018.csv') - - friction_map_plot(filepath_tpamap=tpamap_path, - filepath_tpadata=tpadata_path, - filepath_referenceline=referenceline_path) diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/opt_mintime.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/opt_mintime.py deleted file mode 100644 index 6b8f5544f..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/opt_mintime.py +++ /dev/null @@ -1,977 +0,0 @@ -import os -import sys -import time -import numpy as np -import casadi as ca -import opt_mintime_traj -import trajectory_planning_helpers as tph - - -def opt_mintime(reftrack: np.ndarray, - coeffs_x: np.ndarray, - coeffs_y: np.ndarray, - normvectors: np.ndarray, - pars: dict, - tpamap_path: str, - tpadata_path: str, - export_path: str, - print_debug: bool = False, - plot_debug: bool = False) -> tuple: - """ - Created by: - Fabian Christ - - Extended by: - Thomas Herrmann, Francesco Passigato - - Documentation: - The minimum lap time problem is described as an optimal control problem, converted to a nonlinear program using - direct orthogonal Gauss-Legendre collocation and then solved by the interior-point method IPOPT. Reduced computing - times are achieved using a curvilinear abscissa approach for track description, algorithmic differentiation using - the software framework CasADi, and a smoothing of the track input data by approximate spline regression. The - vehicles behavior is approximated as a double track model with quasi-steady state tire load simplification and - nonlinear tire model. - - Please refer to our paper for further information: - Christ, Wischnewski, Heilmeier, Lohmann - Time-Optimal Trajectory Planning for a Race Car Considering Variable Tire-Road Friction Coefficients - - Inputs: - reftrack: track [x_m, y_m, w_tr_right_m, w_tr_left_m] - coeffs_x: coefficient matrix of the x splines with size (no_splines x 4) - coeffs_y: coefficient matrix of the y splines with size (no_splines x 4) - normvectors: array containing normalized normal vectors for every traj. point [x_component, y_component] - pars: parameters dictionary - tpamap_path: file path to tpa map (required for friction map loading) - tpadata_path: file path to tpa data (required for friction map loading) - export_path: path to output folder for warm start files and solution files - print_debug: determines if debug messages are printed - plot_debug: determines if debug plots are shown - - Outputs: - alpha_opt: solution vector of the optimization problem containing the lateral shift in m for every point - v_opt: velocity profile for the raceline - reftrack: possibly (depending on non-regular sampling) modified reference track must be returned for later - usage - a_interp: possibly (depending on non-regular sampling) modified equation system matrix for splines must be - returned for later usage - normvectors: possibly (depending on non-regular sampling) modified normal vectors must be returned for later - usage - """ - - # ------------------------------------------------------------------------------------------------------------------ - # USE NON-REGULAR SAMPLING ----------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - no_points_orig = reftrack.shape[0] - - if pars["optim_opts"]["step_non_reg"] > 0: - reftrack, discr_points = tph.nonreg_sampling.nonreg_sampling(track=reftrack, - eps_kappa=pars["optim_opts"]["eps_kappa"], - step_non_reg=pars["optim_opts"]["step_non_reg"]) - - # relcalculate splines - refpath_cl = np.vstack((reftrack[:, :2], reftrack[0, :2])) - coeffs_x, coeffs_y, a_interp, normvectors = tph.calc_splines.calc_splines(path=refpath_cl) - - else: - discr_points = np.arange(reftrack.shape[0]) - a_interp = None - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARE TRACK INFORMATION ---------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # spline lengths - spline_lengths_refline = tph.calc_spline_lengths.calc_spline_lengths(coeffs_x=coeffs_x, - coeffs_y=coeffs_y) - - # calculate heading and curvature (numerically) - kappa_refline = tph.calc_head_curv_num. \ - calc_head_curv_num(path=reftrack[:, :2], - el_lengths=spline_lengths_refline, - is_closed=True, - stepsize_curv_preview=pars["curv_calc_opts"]["d_preview_curv"], - stepsize_curv_review=pars["curv_calc_opts"]["d_review_curv"], - stepsize_psi_preview=pars["curv_calc_opts"]["d_preview_head"], - stepsize_psi_review=pars["curv_calc_opts"]["d_review_head"])[1] - - # close track - kappa_refline_cl = np.append(kappa_refline, kappa_refline[0]) - discr_points_cl = np.append(discr_points, no_points_orig) # add virtual index of last/first point for closed track - w_tr_left_cl = np.append(reftrack[:, 3], reftrack[0, 3]) - w_tr_right_cl = np.append(reftrack[:, 2], reftrack[0, 2]) - - # step size along the reference line - h = pars["stepsize_opts"]["stepsize_reg"] - - # optimization steps (0, 1, 2 ... end point/start point) - # steps = [i for i in range(kappa_refline_cl.size)] - steps = [i for i in range(discr_points_cl.size)] - - # number of control intervals - N = steps[-1] - - # station along the reference line - # s_opt = np.linspace(0.0, N * h, N + 1) - s_opt = np.asarray(discr_points_cl) * h - - # interpolate curvature of reference line in terms of steps - kappa_interp = ca.interpolant('kappa_interp', 'linear', [steps], kappa_refline_cl) - - # interpolate track width (left and right to reference line) in terms of steps - w_tr_left_interp = ca.interpolant('w_tr_left_interp', 'linear', [steps], w_tr_left_cl) - w_tr_right_interp = ca.interpolant('w_tr_right_interp', 'linear', [steps], w_tr_right_cl) - - # describe friction coefficients from friction map with linear equations or gaussian basis functions - if pars["optim_opts"]["var_friction"] is not None: - w_mue_fl, w_mue_fr, w_mue_rl, w_mue_rr, center_dist = opt_mintime_traj.src. \ - approx_friction_map.approx_friction_map(reftrack=reftrack, - normvectors=normvectors, - tpamap_path=tpamap_path, - tpadata_path=tpadata_path, - pars=pars, - dn=pars["optim_opts"]["dn"], - n_gauss=pars["optim_opts"]["n_gauss"], - print_debug=print_debug, - plot_debug=plot_debug) - - # ------------------------------------------------------------------------------------------------------------------ - # DIRECT GAUSS-LEGENDRE COLLOCATION -------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # degree of interpolating polynomial - d = 3 - - # legendre collocation points - tau = np.append(0, ca.collocation_points(d, 'legendre')) - - # coefficient matrix for formulating the collocation equation - C = np.zeros((d + 1, d + 1)) - - # coefficient matrix for formulating the collocation equation - D = np.zeros(d + 1) - - # coefficient matrix for formulating the collocation equation - B = np.zeros(d + 1) - - # construct polynomial basis - for j in range(d + 1): - # construct Lagrange polynomials to get the polynomial basis at the collocation point - p = np.poly1d([1]) - for r in range(d + 1): - if r != j: - p *= np.poly1d([1, -tau[r]]) / (tau[j] - tau[r]) - - # evaluate polynomial at the final time to get the coefficients of the continuity equation - D[j] = p(1.0) - - # evaluate time derivative of polynomial at collocation points to get the coefficients of continuity equation - p_der = np.polyder(p) - for r in range(d + 1): - C[j, r] = p_der(tau[r]) - - # evaluate integral of the polynomial to get the coefficients of the quadrature function - pint = np.polyint(p) - B[j] = pint(1.0) - - # ------------------------------------------------------------------------------------------------------------------ - # STATE VARIABLES -------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # number of state variables - if pars["pwr_params_mintime"]["pwr_behavior"]: - nx = 11 - nx_pwr = 6 - else: - nx = 5 - nx_pwr = 0 - - # velocity [m/s] - v_n = ca.SX.sym('v_n') - v_s = 50 - v = v_s * v_n - - # side slip angle [rad] - beta_n = ca.SX.sym('beta_n') - beta_s = 0.5 - beta = beta_s * beta_n - - # yaw rate [rad/s] - omega_z_n = ca.SX.sym('omega_z_n') - omega_z_s = 1 - omega_z = omega_z_s * omega_z_n - - # lateral distance to reference line (positive = left) [m] - n_n = ca.SX.sym('n_n') - n_s = 5.0 - n = n_s * n_n - - # relative angle to tangent on reference line [rad] - xi_n = ca.SX.sym('xi_n') - xi_s = 1.0 - xi = xi_s * xi_n - - if pars["pwr_params_mintime"]["pwr_behavior"]: - - # Initialize e-machine object - machine = opt_mintime_traj.powertrain_src.src.EMachine.EMachineModel(pwr_pars=pars["pwr_params_mintime"]) - - # Initialize battery object - batt = opt_mintime_traj.powertrain_src.src.Battery.BattModel(pwr_pars=pars["pwr_params_mintime"]) - - # Initialize inverter object - inverter = opt_mintime_traj.powertrain_src.src.Inverter.InverterModel(pwr_pars=pars["pwr_params_mintime"]) - - # Initialize radiator objects (2 in total) - radiators = opt_mintime_traj.powertrain_src.src.Radiators.RadiatorModel(pwr_pars=pars["pwr_params_mintime"]) - - # scaling factors for state variables - x_s = np.array([v_s, beta_s, omega_z_s, n_s, xi_s, - machine.temp_mot_s, batt.temp_batt_s, inverter.temp_inv_s, - radiators.temp_cool_mi_s, radiators.temp_cool_b_s, batt.soc_batt_s]) - - # put all states together - x = ca.vertcat(v_n, beta_n, omega_z_n, n_n, xi_n, - machine.temp_mot_n, batt.temp_batt_n, inverter.temp_inv_n, - radiators.temp_cool_mi_n, radiators.temp_cool_b_n, batt.soc_batt_n) - - else: - - # scaling factors for state variables - x_s = np.array([v_s, beta_s, omega_z_s, n_s, xi_s]) - - # put all states together - x = ca.vertcat(v_n, beta_n, omega_z_n, n_n, xi_n) - -# ------------------------------------------------------------------------------------------------------------------ - # CONTROL VARIABLES ------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # number of control variables - nu = 4 - - # steer angle [rad] - delta_n = ca.SX.sym('delta_n') - delta_s = 0.5 - delta = delta_s * delta_n - - # positive longitudinal force (drive) [N] - f_drive_n = ca.SX.sym('f_drive_n') - f_drive_s = 7500.0 - f_drive = f_drive_s * f_drive_n - - # negative longitudinal force (brake) [N] - f_brake_n = ca.SX.sym('f_brake_n') - f_brake_s = 20000.0 - f_brake = f_brake_s * f_brake_n - - # lateral wheel load transfer [N] - gamma_y_n = ca.SX.sym('gamma_y_n') - gamma_y_s = 5000.0 - gamma_y = gamma_y_s * gamma_y_n - - # scaling factors for control variables - u_s = np.array([delta_s, f_drive_s, f_brake_s, gamma_y_s]) - - # put all controls together - u = ca.vertcat(delta_n, f_drive_n, f_brake_n, gamma_y_n) - - # ------------------------------------------------------------------------------------------------------------------ - # MODEL EQUATIONS -------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # extract vehicle and tire parameters - veh = pars["vehicle_params_mintime"] - tire = pars["tire_params_mintime"] - - # general constants - g = pars["veh_params"]["g"] - mass = pars["veh_params"]["mass"] - - # curvature of reference line [rad/m] - kappa = ca.SX.sym('kappa') - - # drag force [N] - f_xdrag = pars["veh_params"]["dragcoeff"] * v ** 2 - - # rolling resistance forces [N] - f_xroll_f = tire["c_roll"] * mass * g * veh["wheelbase_rear"] / veh["wheelbase"] - f_xroll_r = tire["c_roll"] * mass * g * veh["wheelbase_front"] / veh["wheelbase"] - f_xroll = tire["c_roll"] * mass * g - - # static normal tire forces [N] - f_zstat_f = mass * g * veh["wheelbase_rear"] / veh["wheelbase"] - f_zstat_r = mass * g * veh["wheelbase_front"] / veh["wheelbase"] - - # dynamic normal tire forces (aerodynamic downforces) [N] - f_zlift_f = veh["liftcoeff_front"] * v ** 2 - f_zlift_r = veh["liftcoeff_rear"] * v ** 2 - - # dynamic normal tire forces (load transfers) [N] - f_zdyn_f = (- veh["cog_z"] / veh["wheelbase"] * (f_drive + f_brake - f_xdrag - f_xroll) - - veh["k_roll"] * gamma_y) - f_zdyn_r = ( veh["cog_z"] / veh["wheelbase"] * (f_drive + f_brake - f_xdrag - f_xroll) - - (1.0 - veh["k_roll"]) * gamma_y) - - # sum of all normal tire forces [N] - f_z_f = f_zstat_f + f_zlift_f + f_zdyn_f - f_z_r = f_zstat_r + f_zlift_r + f_zdyn_r - - # slip angles [rad] - alpha_f = delta - ca.atan((v * ca.sin(beta) + veh["wheelbase_front"] * omega_z) / - (v * ca.cos(beta))) - alpha_r = ca.atan((-v * ca.sin(beta) + veh["wheelbase_rear"] * omega_z) / - (v * ca.cos(beta))) - - # lateral tire forces [N] - f_y_f = (pars["optim_opts"]["mue"] * f_z_f * (1 + tire["eps_front"] * f_z_f / - tire["f_z0"]) * ca.sin(tire["C_front"] * ca.atan(tire["B_front"] * alpha_f - tire["E_front"] - * (tire["B_front"] * alpha_f - ca.atan(tire["B_front"] * alpha_f))))) - f_y_r = (pars["optim_opts"]["mue"] * f_z_r * (1 + tire["eps_rear"] * f_z_r / tire["f_z0"]) - * ca.sin(tire["C_rear"] * ca.atan(tire["B_rear"] * alpha_r - tire["E_rear"] - * (tire["B_rear"] * alpha_r - ca.atan(tire["B_rear"] * alpha_r))))) - - # longitudinal tire forces [N] - f_x_f = f_drive * veh["k_drive_front"] + f_brake * veh["k_brake_front"] - f_xroll_f - f_x_r = f_drive * (1 - veh["k_drive_front"]) + f_brake * (1 - veh["k_brake_front"]) - f_xroll_r - # longitudinal acceleration [m/s²] - ax = (f_x_r + (f_x_f ) * ca.cos(delta) - (f_y_f) * ca.sin(delta) - - pars["veh_params"]["dragcoeff"] * v ** 2) / mass - - # lateral acceleration [m/s²] - ay = ((f_x_f) * ca.sin(delta) + f_y_r + (f_y_f) * ca.cos(delta)) / mass - - # ------------------------------------------------------------------------------------------------------------------ - # POWERTRAIN BEHAVIOR ---------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if pars["pwr_params_mintime"]["pwr_behavior"]: - - pwr_pars = pars["pwr_params_mintime"] - - # -------------------------------------------------------------------------------------------------------------- - # CALCS -------------------------------------------------------------------------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - # On wheels requested power [kW] - p_des = (f_drive * v * 0.001) - - # E-Machines - machine.get_states(f_drive=f_drive, - v=v) - - # Machine losses [kW] - machine.get_loss(p_wheel=p_des) - - # Calculate total power loss for all electric machines in vehicle [kW] - machine.get_machines_cum_losses() - - # Inverter losses - inverter.get_loss(i_eff=machine.i_eff, - v_dc=batt.v_dc, - p_out_inv=machine.p_input) - - # Calculate total power loss for all inverters in vehicle [kW] - inverter.get_inverters_cum_losses() - - # Get internal battery resistance [Ohm] - batt.internal_resistance() - - # Get battery loss power [kW], output power [kW] and output current [A] - batt.battery_loss(p_des=p_des, - p_loss_mot=machine.p_loss_total_all_machines, - p_loss_inv=inverter.p_loss_total_all_inverters, - p_in_inv=inverter.p_in_inv) - - # get intermediate temperatures for motor-inverter cooling - radiators.get_intermediate_temps(temp_inv=inverter.temp_inv, - r_inv=inverter.r_inv) - - # ------------------------------------------------------------------------------------------------------------------ - # DERIVATIVES ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # time-distance scaling factor (dt/ds) - sf = (1.0 - n * kappa) / (v * (ca.cos(xi + beta))) - - # model equations for two track model (ordinary differential equations) - dv = (sf / mass) * ((f_x_r) * ca.cos(beta) + (f_x_f) * ca.cos(delta - beta) - + (f_y_r) * ca.sin(beta) - (f_y_f) * ca.sin(delta - beta) - - f_xdrag * ca.cos(beta)) - - dbeta = sf * (-omega_z + (-(f_x_r) * ca.sin(beta) + (f_x_f) * ca.sin(delta - beta) - + (f_y_r) * ca.cos(beta) + (f_y_f) * ca.cos(delta - beta) - + f_xdrag * ca.sin(beta)) / (mass * v)) - - domega_z = (sf / veh["I_z"]) * (- (f_y_r) * veh["wheelbase_rear"] - + ((f_y_f) * ca.cos(delta) - + (f_x_f) * ca.sin(delta)) * veh["track_width_front"]) - - dn = sf * v * ca.sin(xi + beta) - - dxi = sf * omega_z - kappa - - - # ODEs: driving dynamics only - dx = ca.vertcat(dv, dbeta, domega_z, dn, dxi) / x_s - - # ------------------------------------------------------------------------------------------------------------------ - # CONTROL BOUNDARIES ----------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - delta_min = -veh["delta_max"] / delta_s # min. steer angle [rad] - delta_max = veh["delta_max"] / delta_s # max. steer angle [rad] - f_drive_min = 0.0 # min. longitudinal drive force [N] - f_drive_max = float(veh["f_drive_max"]) / f_drive_s # max. longitudinal drive force [N] - f_brake_min = -1*float(veh["f_brake_max"]) / f_brake_s # min. longitudinal brake force [N] - f_brake_max = 0.0 # max. longitudinal brake force [N] - gamma_y_min = -np.inf # min. lateral wheel load transfer [N] - gamma_y_max = np.inf # max. lateral wheel load transfer [N] - - # ------------------------------------------------------------------------------------------------------------------ - # STATE BOUNDARIES ------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - v_min = 1.0 / v_s # min. velocity [m/s] - v_max = pars["veh_params"]["v_max"] / v_s # max. velocity [m/s] - beta_min = -0.5 * np.pi / beta_s # min. side slip angle [rad] - beta_max = 0.5 * np.pi / beta_s # max. side slip angle [rad] - omega_z_min = - 0.5 * np.pi / omega_z_s # min. yaw rate [rad/s] - omega_z_max = 0.5 * np.pi / omega_z_s # max. yaw rate [rad/s] - xi_min = - 0.5 * np.pi / xi_s # min. relative angle to tangent on reference line [rad] - xi_max = 0.5 * np.pi / xi_s # max. relative angle to tangent on reference line [rad] - - # ------------------------------------------------------------------------------------------------------------------ - # INITIAL GUESS FOR DECISION VARIABLES ----------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - v_guess = 20.0 / v_s - - # ------------------------------------------------------------------------------------------------------------------ - # HELPER FUNCTIONS ------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # continuous time dynamics - f_dyn = ca.Function('f_dyn', [x, u, kappa], [dx, sf], ['x', 'u', 'kappa'], ['dx', 'sf']) - - # longitudinal tire forces [N] - f_fx = ca.Function('f_fx', [x, u], [f_x_f, f_x_r], - ['x', 'u'], ['f_x_f', 'f_x_r']) - # lateral tire forces [N] - f_fy = ca.Function('f_fy', [x, u], [f_y_f, f_y_r], - ['x', 'u'], ['f_y_f', 'f_y_r']) - # vertical tire forces [N] - f_fz = ca.Function('f_fz', [x, u], [f_z_f, f_z_r], - ['x', 'u'], ['f_z_f', 'f_z_r']) - - # longitudinal and lateral acceleration [m/s²] - f_a = ca.Function('f_a', [x, u], [ax, ay], ['x', 'u'], ['ax', 'ay']) - - if pars["pwr_params_mintime"]["pwr_behavior"]: - - machine.ini_nlp_state(x=x, u=u) - inverter.ini_nlp_state(x=x, u=u) - batt.ini_nlp_state(x=x, u=u) - radiators.ini_nlp_state(x=x, u=u) - - # ------------------------------------------------------------------------------------------------------------------ - # FORMULATE NONLINEAR PROGRAM -------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # initialize NLP vectors - w = [] - w0 = [] - lbw = [] - ubw = [] - J = 0 - g = [] - lbg = [] - ubg = [] - - # initialize ouput vectors - x_opt = [] - u_opt = [] - dt_opt = [] - tf_opt = [] - ax_opt = [] - ay_opt = [] - ec_opt = [] - - # initialize control vectors (for regularization) - delta_p = [] - F_p = [] - - # boundary constraint: lift initial conditions - Xk = ca.MX.sym('X0', nx) - w.append(Xk) - # print(w,type(-w_tr_right_interp(0))) - # print(type(pars["optim_opts"]["width_opt"])) - n_min = (float(-w_tr_right_interp(0)) + pars["optim_opts"]["width_opt"] / 2) / n_s - n_max = (float(w_tr_left_interp(0)) - pars["optim_opts"]["width_opt"] / 2) / n_s - # print(type(n_max),type(n_min)) - if pars["pwr_params_mintime"]["pwr_behavior"]: - lbw.append([v_min, beta_min, omega_z_min, n_min, xi_min, - machine.temp_min, batt.temp_min, inverter.temp_min, - radiators.temp_cool_mi_min, radiators.temp_cool_b_min, - batt.soc_min]) - ubw.append([v_max, beta_max, omega_z_max, n_max, xi_max, - machine.temp_max, batt.temp_max, inverter.temp_max, - radiators.temp_cool_mi_max, radiators.temp_cool_b_max, - batt.soc_max]) - w0.append([v_guess, 0.0, 0.0, 0.0, 0.0, - machine.temp_guess, batt.temp_guess, inverter.temp_guess, - radiators.temp_cool_mi_guess, radiators.temp_cool_b_guess, - batt.soc_guess]) - - # Initial powertrain conditions - g.append(Xk[5] - pwr_pars["T_mot_ini"] / machine.temp_mot_s) - lbg.append([0]) - ubg.append([0]) - - g.append(Xk[6] - pwr_pars["T_batt_ini"] / batt.temp_batt_s) - lbg.append([0]) - ubg.append([0]) - - g.append(Xk[7] - pwr_pars["T_inv_ini"] / inverter.temp_inv_s) - lbg.append([0]) - ubg.append([0]) - - g.append(Xk[8] - pwr_pars["T_cool_mi_ini"] / radiators.temp_cool_mi_s) - lbg.append([0]) - ubg.append([0]) - - g.append(Xk[9] - pwr_pars["T_cool_b_ini"] / radiators.temp_cool_b_s) - lbg.append([0]) - ubg.append([0]) - - g.append(Xk[10] - pwr_pars["SOC_ini"] / batt.soc_batt_s) - lbg.append([0]) - ubg.append([0]) - - else: - lbw.append([v_min, beta_min, omega_z_min, n_min, xi_min]) - ubw.append([v_max, beta_max, omega_z_max, n_max, xi_max]) - w0.append([v_guess, 0.0, 0.0, 0.0, 0.0]) - print(n_min,n_max,"nminmax") - x_opt.append(Xk * x_s) - - # loop along the racetrack and formulate path constraints & system dynamic - # retrieve step-sizes of optimization along reference line - # print(w,w0,lbw,ubw,J,g) - h = np.diff(s_opt) - for k in range(N): - # add decision variables for the control - Uk = ca.MX.sym('U_' + str(k), nu) - w.append(Uk) - lbw.append([delta_min, f_drive_min, f_brake_min, gamma_y_min]) - ubw.append([delta_max, f_drive_max, f_brake_max, gamma_y_max]) - w0.append([0.0] * nu) - - # add decision variables for the state at collocation points - Xc = [] - for j in range(d): - Xkj = ca.MX.sym('X_' + str(k) + '_' + str(j), nx) - Xc.append(Xkj) - w.append(Xkj) - lbw.append([-np.inf] * nx) - ubw.append([np.inf] * nx) - if pars["pwr_params_mintime"]["pwr_behavior"]: - w0.append([v_guess, 0.0, 0.0, 0.0, 0.0, - machine.temp_guess, batt.temp_guess, inverter.temp_guess, - radiators.temp_cool_mi_guess, radiators.temp_cool_b_guess, - batt.soc_guess]) - else: - w0.append([v_guess, 0.0, 0.0, 0.0, 0.0]) - - # loop over all collocation points - Xk_end = D[0] * Xk - sf_opt = [] - for j in range(1, d + 1): - # calculate the state derivative at the collocation point - xp = C[0, j] * Xk - for r in range(d): - xp = xp + C[r + 1, j] * Xc[r] - - # interpolate kappa at the collocation point - kappa_col = kappa_interp(k + tau[j]) - - # append collocation equations (system dynamic) - fj, qj = f_dyn(Xc[j - 1], Uk, kappa_col) - g.append(h[k] * fj - xp) - lbg.append([0.0] * nx) - ubg.append([0.0] * nx) - - # add contribution to the end state - Xk_end = Xk_end + D[j] * Xc[j - 1] - - # add contribution to quadrature function - J = J + B[j] * qj * h[k] - - # add contribution to scaling factor (for calculating lap time) - sf_opt.append(B[j] * qj * h[k]) - - # calculate used energy - dt_opt.append(sf_opt[0] + sf_opt[1] + sf_opt[2]) - if pars["pwr_params_mintime"]["pwr_behavior"]: - # Add battery output power [kW] and battery loss power [kW] to retireve entire system power [W] and - # multiply by dt for energy consumption [Ws] - ec_opt.append((batt.f_nlp(Xk, Uk)[0] + batt.f_nlp(Xk, Uk)[1]) * 1000 * dt_opt[-1]) - else: - ec_opt.append(Xk[0] * v_s * Uk[1] * f_drive_s * dt_opt[-1]) - - # add new decision variables for state at end of the collocation interval - Xk = ca.MX.sym('X_' + str(k + 1), nx) - w.append(Xk) - n_min = (-float(w_tr_right_interp(k + 1)) + pars["optim_opts"]["width_opt"] / 2.0) / n_s - n_max = (float(w_tr_left_interp(k + 1)) - pars["optim_opts"]["width_opt"] / 2.0) / n_s - if pars["pwr_params_mintime"]["pwr_behavior"]: - lbw.append([v_min, beta_min, omega_z_min, n_min, xi_min, - machine.temp_min, batt.temp_min, inverter.temp_min, - radiators.temp_cool_mi_min, radiators.temp_cool_b_min, - batt.soc_min]) - ubw.append([v_max, beta_max, omega_z_max, n_max, xi_max, - machine.temp_max, batt.temp_max, inverter.temp_max, - radiators.temp_cool_mi_max, radiators.temp_cool_b_max, - batt.soc_max]) - w0.append([v_guess, 0.0, 0.0, 0.0, 0.0, - machine.temp_guess, batt.temp_guess, inverter.temp_guess, - radiators.temp_cool_mi_guess, radiators.temp_cool_mi_guess, - batt.soc_guess]) - else: - lbw.append([v_min, beta_min, omega_z_min, n_min, xi_min]) - ubw.append([v_max, beta_max, omega_z_max, n_max, xi_max]) - w0.append([v_guess, 0.0, 0.0, 0.0, 0.0]) - - # add equality constraint - g.append(Xk_end - Xk) - lbg.append([0.0] * nx) - ubg.append([0.0] * nx) - - # get tire forces - f_x_fk, f_x_rk = f_fx(Xk, Uk) - f_y_fk, f_y_rk = f_fy(Xk, Uk) - f_z_fk, f_z_rk = f_fz(Xk, Uk) - - # get accelerations (longitudinal + lateral) - axk, ayk = f_a(Xk, Uk) - - # path constraint: limitied engine power - # g.append(Xk[0] * Uk[1]) - # lbg.append([-np.inf]) - # ubg.append([veh["power_max"] / (f_drive_s * v_s)]) - - # get constant friction coefficient - if pars["optim_opts"]["var_friction"] is None: - mue_f = pars["optim_opts"]["mue"] - mue_r = pars["optim_opts"]["mue"] - - # # calculate variable friction coefficients along the reference line (regression with linear equations) - # elif pars["optim_opts"]["var_friction"] == "linear": - # # friction coefficient for each tire - # mue_fl = w_mue_fl[k + 1, 0] * Xk[3] * n_s + w_mue_fl[k + 1, 1] - # mue_fr = w_mue_fr[k + 1, 0] * Xk[3] * n_s + w_mue_fr[k + 1, 1] - # mue_rl = w_mue_rl[k + 1, 0] * Xk[3] * n_s + w_mue_rl[k + 1, 1] - # mue_rr = w_mue_rr[k + 1, 0] * Xk[3] * n_s + w_mue_rr[k + 1, 1] - - # # calculate variable friction coefficients along the reference line (regression with gaussian basis functions) - # elif pars["optim_opts"]["var_friction"] == "gauss": - # # gaussian basis functions - # sigma = 2.0 * center_dist[k + 1, 0] - # n_gauss = pars["optim_opts"]["n_gauss"] - # n_q = np.linspace(-n_gauss, n_gauss, 2 * n_gauss + 1) * center_dist[k + 1, 0] - - # gauss_basis = [] - # for i in range(2 * n_gauss + 1): - # gauss_basis.append(ca.exp(-(Xk[3] * n_s - n_q[i]) ** 2 / (2 * (sigma ** 2)))) - # gauss_basis = ca.vertcat(*gauss_basis) - - # mue_fl = ca.dot(w_mue_fl[k + 1, :-1], gauss_basis) + w_mue_fl[k + 1, -1] - # mue_fr = ca.dot(w_mue_fr[k + 1, :-1], gauss_basis) + w_mue_fr[k + 1, -1] - # mue_rl = ca.dot(w_mue_rl[k + 1, :-1], gauss_basis) + w_mue_rl[k + 1, -1] - # mue_rr = ca.dot(w_mue_rr[k + 1, :-1], gauss_basis) + w_mue_rr[k + 1, -1] - - else: - raise ValueError("No friction coefficients are available!") - - # path constraint: Kamm's Circle for each wheel - - """ - REPLACE WITH - EQUATION #3 in the AMZ paper - """ - g.append(((f_x_fk / (mue_f * f_z_fk)) ** 2 + (f_y_fk / (mue_f * f_z_fk)) ** 2)) - # g.append(((f_x_frk / (mue_fr * f_z_frk)) ** 2 + (f_y_frk / (mue_fr * f_z_frk)) ** 2)) - g.append(((f_x_rk / (mue_r * f_z_rk)) ** 2 + (f_y_rk / (mue_r * f_z_rk)) ** 2)) - # g.append(((f_x_rrk / (mue_rr * f_z_rrk)) ** 2 + (f_y_rrk / (mue_rr * f_z_rrk)) ** 2)) - lbg.append([0.0] * 2) - ubg.append([1.0] * 2) - - # # path constraint: lateral wheel load transfer - # g.append(((f_y_flk + f_y_frk) * ca.cos(Uk[0] * delta_s) + f_y_rlk + f_y_rrk - # + (f_x_flk + f_x_frk) * ca.sin(Uk[0] * delta_s)) - # * veh["cog_z"] / ((veh["track_width_front"] + veh["track_width_rear"]) / 2) - Uk[3] * gamma_y_s) - # lbg.append([0.0]) - # ubg.append([0.0]) - - # # path constraint: f_drive * f_brake == 0 (no simultaneous operation of brake and accelerator pedal) - # g.append(Uk[1] * Uk[2]) - # lbg.append([-20000.0 / (f_drive_s * f_brake_s)]) - # ubg.append([0.0]) - - # # path constraint: actor dynamic - # if k > 0: - # sigma = (1 - kappa_interp(k) * Xk[3] * n_s) / (Xk[0] * v_s) - # g.append((Uk - w[1 + (k - 1) * (nx - nx_pwr)]) / (h[k - 1] * sigma)) - # lbg.append([delta_min / (veh["t_delta"]), -np.inf, f_brake_min / (veh["t_brake"]), -np.inf]) - # ubg.append([delta_max / (veh["t_delta"]), f_drive_max / (veh["t_drive"]), np.inf, np.inf]) - - # # path constraint: safe trajectories with acceleration ellipse - # if pars["optim_opts"]["safe_traj"]: - # g.append((ca.fmax(axk, 0) / pars["optim_opts"]["ax_pos_safe"]) ** 2 - # + (ayk / pars["optim_opts"]["ay_safe"]) ** 2) - # g.append((ca.fmin(axk, 0) / pars["optim_opts"]["ax_neg_safe"]) ** 2 - # + (ayk / pars["optim_opts"]["ay_safe"]) ** 2) - # lbg.append([0.0] * 2) - # ubg.append([1.0] * 2) - - # append controls (for regularization) - delta_p.append(Uk[0] * delta_s) - F_p.append(Uk[1] * f_drive_s / 10000.0 + Uk[2] * f_brake_s / 10000.0) - - # append outputs - x_opt.append(Xk * x_s) - u_opt.append(Uk * u_s) - tf_opt.extend([f_x_fk, f_y_fk, f_z_fk]) - tf_opt.extend([f_x_rk, f_y_rk, f_z_rk]) - ax_opt.append(axk) - ay_opt.append(ayk) - - if pars["pwr_params_mintime"]["pwr_behavior"]: - machine.p_losses_opt.extend(machine.f_nlp(Xk, Uk)) - inverter.p_losses_opt.extend(inverter.f_nlp(Xk, Uk)) - batt.p_losses_opt.extend(batt.f_nlp(Xk, Uk)) - radiators.temps_opt.extend(radiators.f_nlp(Xk, Uk)) - - # boundary constraint: start states = final states - g.append(w[0] - Xk) - if pars["pwr_params_mintime"]["pwr_behavior"]: - lbg.append([0.0, 0.0, 0.0, 0.0, 0.0, -np.inf, -np.inf, -np.inf, -np.inf, -np.inf, -np.inf]) - ubg.append([0.0, 0.0, 0.0, 0.0, 0.0, np.inf, np.inf, np.inf, np.inf, np.inf, np.inf]) - else: - lbg.append([0.0, 0.0, 0.0, 0.0, 0.0]) - ubg.append([0.0, 0.0, 0.0, 0.0, 0.0]) - - - - # formulate differentiation matrix (for regularization) - diff_matrix = np.eye(N) - for i in range(N - 1): - diff_matrix[i, i + 1] = -1.0 - diff_matrix[N - 1, 0] = -1.0 - - # regularization (delta) - delta_p = ca.vertcat(*delta_p) - Jp_delta = ca.mtimes(ca.MX(diff_matrix), delta_p) - Jp_delta = ca.dot(Jp_delta, Jp_delta) - - # regularization (f_drive + f_brake) - F_p = ca.vertcat(*F_p) - Jp_f = ca.mtimes(ca.MX(diff_matrix), F_p) - Jp_f = ca.dot(Jp_f, Jp_f) - - # formulate objective - J = J + pars["optim_opts"]["penalty_F"] * Jp_f + pars["optim_opts"]["penalty_delta"] * Jp_delta - - print(len(w0),len(lbw),len(ubw)) - - # concatenate NLP vectors - w = ca.vertcat(*w) - g = ca.vertcat(*g) - w0 = np.concatenate(w0) - lbw = np.concatenate(lbw) - ubw = np.concatenate(ubw) - lbg = np.concatenate(lbg) - ubg = np.concatenate(ubg) - - # concatenate output vectors - x_opt = ca.vertcat(*x_opt) - u_opt = ca.vertcat(*u_opt) - tf_opt = ca.vertcat(*tf_opt) - dt_opt = ca.vertcat(*dt_opt) - ax_opt = ca.vertcat(*ax_opt) - ay_opt = ca.vertcat(*ay_opt) - ec_opt = ca.vertcat(*ec_opt) - if pars["pwr_params_mintime"]["pwr_behavior"]: - machine.p_losses_opt = ca.vertcat(*machine.p_losses_opt) - inverter.p_losses_opt = ca.vertcat(*inverter.p_losses_opt) - batt.p_losses_opt = ca.vertcat(*batt.p_losses_opt) - radiators.temps_opt = ca.vertcat(*radiators.temps_opt) - - # ------------------------------------------------------------------------------------------------------------------ - # CREATE NLP SOLVER ------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # fill nlp structure - nlp = {'f': J, 'x': w, 'g': g} - - # solver options - opts = {"expand": True, - "verbose": print_debug, - "ipopt.max_iter": 1000, - "ipopt.tol": 1e-7} - - # solver options for warm start - if pars["optim_opts"]["warm_start"]: - opts_warm_start = {"ipopt.warm_start_init_point": "yes", - "ipopt.warm_start_bound_push": 1e-3, - "ipopt.warm_start_mult_bound_push": 1e-3, - "ipopt.warm_start_slack_bound_push": 1e-3, - "ipopt.mu_init": 1e-3} - opts.update(opts_warm_start) - - # load warm start files - if pars["optim_opts"]["warm_start"]: - try: - w0 = np.loadtxt(os.path.join(export_path, 'w0.csv')) - lam_x0 = np.loadtxt(os.path.join(export_path, 'lam_x0.csv')) - lam_g0 = np.loadtxt(os.path.join(export_path, 'lam_g0.csv')) - except IOError: - print('\033[91m' + 'WARNING: Failed to load warm start files!' + '\033[0m') - sys.exit(1) - - # check warm start files - if pars["optim_opts"]["warm_start"] and not len(w0) == len(lbw): - print('\033[91m' + 'WARNING: Warm start files do not fit to the dimension of the NLP!' + '\033[0m') - sys.exit(1) - - # create solver instance - solver = ca.nlpsol("solver", "ipopt", nlp, opts) - - # ------------------------------------------------------------------------------------------------------------------ - # SOLVE NLP -------------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # start time measure - t0 = time.perf_counter() - - # solve NLP - # print(w0.shape,lbw.shape,ubw.shape) - # return - - if pars["optim_opts"]["warm_start"]: - sol = solver(x0=w0, lbx=lbw, ubx=ubw, lbg=lbg, ubg=ubg, lam_x0=lam_x0, lam_g0=lam_g0) - else: - sol = solver(x0=w0, lbx=lbw, ubx=ubw, lbg=lbg, ubg=ubg) - - # end time measure - tend = time.perf_counter() - - if solver.stats()['return_status'] != 'Solve_Succeeded': - print('\033[91m' + 'ERROR: Optimization did not succeed!' + '\033[0m') - # sys.exit(1) - - # ------------------------------------------------------------------------------------------------------------------ - # EXTRACT SOLUTION ------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # helper function to extract solution for state variables, control variables, tire forces, time - f_sol = ca.Function('f_sol', [w], [x_opt, u_opt, tf_opt, dt_opt, ax_opt, ay_opt, ec_opt], - ['w'], ['x_opt', 'u_opt', 'tf_opt', 'dt_opt', 'ax_opt', 'ay_opt', 'ec_opt']) - - if pars["pwr_params_mintime"]["pwr_behavior"]: - - machine.extract_sol(w=w, - sol_states=sol['x']) - inverter.extract_sol(w=w, - sol_states=sol['x']) - batt.extract_sol(w=w, - sol_states=sol['x']) - radiators.extract_sol(w=w, - sol_states=sol['x']) - - # Store for convenient export - pwr_comps = {"machine": machine, - "inverter": inverter, - "batt": batt, - "radiators": radiators} - else: - - pwr_comps = None - - # extract solution - x_opt, u_opt, tf_opt, dt_opt, ax_opt, ay_opt, ec_opt = f_sol(sol['x']) - - # solution for state variables - x_opt = np.reshape(x_opt, (N + 1, nx)) - - # solution for control variables - u_opt = np.reshape(u_opt, (N, nu)) - - # solution for tire forces - tf_opt = np.append(tf_opt[-6:], tf_opt[:]) - tf_opt = np.reshape(tf_opt, (N + 1, 6)) - - # solution for time - t_opt = np.hstack((0.0, np.cumsum(dt_opt))) - - # solution for acceleration - ax_opt = np.append(ax_opt[-1], ax_opt) - ay_opt = np.append(ay_opt[-1], ay_opt) - atot_opt = np.sqrt(np.power(ax_opt, 2) + np.power(ay_opt, 2)) - - # solution for energy consumption - ec_opt_cum = np.hstack((0.0, np.cumsum(ec_opt))) / 3600.0 - - # ------------------------------------------------------------------------------------------------------------------ - # EXPORT SOLUTION -------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # export data to CSVs - opt_mintime_traj.src.export_mintime_solution.export_mintime_solution(file_path=export_path, - pars=pars, - s=s_opt, - t=t_opt, - x=x_opt, - u=u_opt, - tf=tf_opt, - ax=ax_opt, - ay=ay_opt, - atot=atot_opt, - w0=sol["x"], - lam_x0=sol["lam_x"], - lam_g0=sol["lam_g"], - pwr=pwr_comps) - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT & PRINT RESULTS --------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_debug: - opt_mintime_traj.src.result_plots_mintime.result_plots_mintime(pars=pars, - reftrack=reftrack, - s=s_opt, - t=t_opt, - x=x_opt, - u=u_opt, - ax=ax_opt, - ay=ay_opt, - atot=atot_opt, - tf=tf_opt, - ec=ec_opt_cum, - pwr=pwr_comps) - - if print_debug: - print("INFO: Laptime: %.3fs" % t_opt[-1]) - print("INFO: NLP solving time: %.3fs" % (tend - t0)) - print("INFO: Maximum abs(ay): %.2fm/s2" % np.amax(ay_opt)) - print("INFO: Maximum ax: %.2fm/s2" % np.amax(ax_opt)) - print("INFO: Minimum ax: %.2fm/s2" % np.amin(ax_opt)) - print("INFO: Maximum total acc: %.2fm/s2" % np.amax(atot_opt)) - print('INFO: Energy consumption: %.3fWh' % ec_opt_cum[-1]) - - return -x_opt[:-1, 3], x_opt[:-1, 0], reftrack, a_interp, normvectors - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass \ No newline at end of file diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/result_plots_mintime.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/result_plots_mintime.py deleted file mode 100644 index e80766b43..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/src/result_plots_mintime.py +++ /dev/null @@ -1,483 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt - - -def result_plots_mintime(pars: dict, - reftrack: np.ndarray, - s: np.ndarray, - t: np.ndarray, - x: np.ndarray, - u: np.ndarray, - ax: np.ndarray, - ay: np.ndarray, - atot: np.ndarray, - tf: np.ndarray, - ec: np.ndarray, - pwr: dict = None) -> None: - - """ - Created by: - Fabian Christ - - Extended by: - Thomas Herrmann (thomas.herrmann@tum.de) - - Documentation: - This function plots several figures containing relevant trajectory information after trajectory optimization. - - Inputs: - pars: parameters dictionary - reftrack: contains the information of the reftrack -> [x, y, w_tr_right, w_tr_left] - s: contains the curvi-linear distance along the trajectory - t: contains the time along the trajectory - x: contains all state variables along the trajectory - u: contains all control variables along the trajectory - ax: contains the longitudinal acceleration along the trajectory - ay: contains the lateral acceleration along the trajectory - atot: contains the total acceleration along the trajectory - tf: contains all tire forces along the trajectory - ec: contains the used energy along the trajectory - """ - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT OPTIONS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - plt.rcParams['axes.labelsize'] = 10.0 - plt.rcParams['axes.titlesize'] = 11.0 - plt.rcParams['legend.fontsize'] = 10.0 - plt.rcParams['figure.figsize'] = 25 / 2.54, 20 / 2.54 - - plot_opts = {"v_a_t": True, - "general": True, - "lateral_distance": True, - "power": True, - "kamm_circle": True, - "tire_forces": True, - "tire_forces_longitudinal": True, - "tire_forces_dynamic": True, - "energy_consumption": True, - "pwr_states": True, - "pwr_soc": True, - "pwr_losses": True} - - # ------------------------------------------------------------------------------------------------------------------ - # EXTRACT PLOT DATA ------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # state variables - v = x[:, 0] - beta = x[:, 1] - omega_z = x[:, 2] - n = x[:, 3] - xi = x[:, 4] - if pars["pwr_params_mintime"]["pwr_behavior"]: - temp_mot = x[:, 5] - temp_batt = x[:, 6] - temp_inv = x[:, 7] - temp_radiators_cool_mi = x[:, 8] - temp_radiators_cool_b = x[:, 9] - soc_batt = x[:, 10] - - # control variables - delta = np.append(u[:, 0], u[0, 0]) - f_drive = np.append(u[:, 1], u[0, 1]) - f_brake = np.append(u[:, 2], u[0, 2]) - gamma_y = np.append(u[:, 3], u[0, 3]) - - # tire forces - tf_x_fl = tf[:, 0] - tf_y_fl = tf[:, 1] - tf_z_fl = tf[:, 2] - tf_x_fr = tf[:, 3] - tf_y_fr = tf[:, 4] - tf_z_fr = tf[:, 5] - tf_x_rl = tf[:, 6] - tf_y_rl = tf[:, 7] - tf_z_rl = tf[:, 8] - tf_x_rr = tf[:, 9] - tf_y_rr = tf[:, 10] - tf_z_rr = tf[:, 11] - - # parameters - g = pars["veh_params"]["g"] - veh = pars["vehicle_params_mintime"] - tire = pars["tire_params_mintime"] - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: VELOCITY + LONGITUDINAL ACCELERATION + LATERAL ACCELERATION + TOTAL ACCELERATION + TIME -------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["v_a_t"]: - - plt.figure(1) - plt.clf() - plt.plot(s, v) - plt.plot(s, ax) - plt.plot(s, ay) - plt.plot(s, atot) - plt.plot(s, t) - - plt.grid() - plt.ylim(bottom=-15) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.legend([r'$\it{v}$' + ' in ' + r'$\it{\frac{m}{s}}$', - r'$\it{a_x}$' + ' in ' + r'$\it{\frac{m}{s^2}}$', - r'$\it{a_y}$' + ' in ' + r'$\it{\frac{m}{s^2}}$', - r'$\it{a_{tot}}$' + ' in ' + r'$\it{\frac{m}{s^2}}$', - r'$\it{t}$' + ' in ' + r'$\it{s}$']) - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: SIDE SLIP ANGLE + YAW RATE + RELATIVE ANGLE TO TANGENT ON REFLINE + STEERING ANGLE ------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["general"]: - - plt.figure(2) - plt.clf() - plt.subplot(221) - plt.plot(s, beta * 180 / np.pi) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel('side slip angle ' + r'$\beta$' + ' in ' + r'$\it{°}$') - plt.grid() - plt.subplot(222) - plt.plot(s, omega_z * 180 / np.pi) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel('yaw rate ' + r'$\omega_{z}$' + ' in ' + r'$\it{\frac{°}{s}}$') - plt.grid() - plt.subplot(223) - plt.plot(s, xi * 180 / np.pi) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel('relative angle to tangent on reference line ' + r'$\xi$' + ' in ' + r'$\it{°}$') - plt.grid() - plt.subplot(224) - plt.step(s, delta * 180 / np.pi, where='post') - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel('steering angle ' + r'$\delta$' + ' in ' + r'$\it{°}$') - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: LATERAL DISTANCE TO REFERENCE LINE + ROAD BOUNDARIES ------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["lateral_distance"]: - - plt.figure(3) - plt.clf() - plt.plot(s, n) - reftrack_cl = np.vstack((reftrack, reftrack[0, :])) - plt.plot(s, reftrack_cl[:, 3], color='black') - plt.plot(s, reftrack_cl[:, 3] - pars["optim_opts"]["width_opt"] / 2, color='grey') - plt.plot(s, -reftrack_cl[:, 2], color='black') - plt.plot(s, -reftrack_cl[:, 2] + pars["optim_opts"]["width_opt"] / 2, color='grey') - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel('lateral distance to reference line ' + r'$\it{n}$' + ' in ' + r'$\it{m}$') - plt.legend(['raceline', 'road boundaries', 'road boundaries - safety margin'], ncol=1, loc=4) - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: KAMM's CIRCLE ---------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["kamm_circle"]: - - plt.figure(5) - plt.clf() - plt.suptitle("Kamm's Circle") - plt.subplot(221) - circle1 = plt.Circle((0, 0), 1, fill=False) - fig = plt.gcf() - ax = fig.gca() - ax.add_artist(circle1) - plt.plot(tf_y_fl / (tf_z_fl * pars["optim_opts"]["mue"]), - tf_x_fl / (tf_z_fl * pars["optim_opts"]["mue"]), '^:') - plt.xlim(-1.2, 1.2) - plt.ylim(-1.2, 1.2) - plt.xlabel(r'$\it{\frac{F_{y}}{F_{ymax}}}$') - plt.ylabel(r'$\it{\frac{F_{x}}{F_{xmax}}}$') - plt.axis('equal') - plt.grid() - - plt.subplot(222) - circle1 = plt.Circle((0, 0), 1, fill=False) - fig = plt.gcf() - ax = fig.gca() - ax.add_artist(circle1) - plt.plot(tf_y_fr / (tf_z_fr * pars["optim_opts"]["mue"]), - tf_x_fr / (tf_z_fr * pars["optim_opts"]["mue"]), '^:') - plt.xlim(-1.2, 1.2) - plt.ylim(-1.2, 1.2) - plt.xlabel(r'$\it{\frac{F_{y}}{F_{ymax}}}$') - plt.ylabel(r'$\it{\frac{F_{x}}{F_{xmax}}}$') - plt.axis('equal') - plt.grid() - - plt.subplot(223) - circle1 = plt.Circle((0, 0), 1, fill=False) - fig = plt.gcf() - ax = fig.gca() - ax.add_artist(circle1) - plt.plot(tf_y_rl / (tf_z_rl * pars["optim_opts"]["mue"]), - tf_x_rl / (tf_z_rl * pars["optim_opts"]["mue"]), '^:') - plt.xlim(-1.2, 1.2) - plt.ylim(-1.2, 1.2) - plt.xlabel(r'$\it{\frac{F_{y}}{F_{ymax}}}$') - plt.ylabel(r'$\it{\frac{F_{x}}{F_{xmax}}}$') - plt.axis('equal') - plt.grid() - - plt.subplot(224) - circle1 = plt.Circle((0, 0), 1, fill=False) - fig = plt.gcf() - ax = fig.gca() - ax.add_artist(circle1) - plt.plot(tf_y_rr / (tf_z_rr * pars["optim_opts"]["mue"]), - tf_x_rr / (tf_z_rr * pars["optim_opts"]["mue"]), '^:') - plt.xlim(-1.2, 1.2) - plt.ylim(-1.2, 1.2) - plt.xlabel(r'$\it{\frac{F_{y}}{F_{ymax}}}$') - plt.ylabel(r'$\it{\frac{F_{x}}{F_{xmax}}}$') - plt.axis('equal') - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: TIRE FORCES (LONGITUDINAL + LATERAL + NORMAL) -------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["tire_forces"]: - - plt.figure(6) - plt.clf() - plt.suptitle("Tire Forces") - plt.subplot(221) - plt.plot(s, tf_x_fl) - plt.plot(s, tf_y_fl) - plt.plot(s, tf_z_fl) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F_{i}}$' + ' in ' + r'$\it{N}$') - plt.legend([r'$\it{F_{x}}$', r'$\it{F_{y}}$', r'$\it{F_{z}}$'], ncol=3, loc=4) - plt.grid() - - plt.subplot(222) - plt.plot(s, tf_x_fr) - plt.plot(s, tf_y_fr) - plt.plot(s, tf_z_fr) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F_{i}}$' + ' in ' + r'$\it{N}$') - plt.legend([r'$\it{F_{x}}$', r'$\it{F_{y}}$', r'$\it{F_{z}}$'], ncol=3, loc=4) - plt.grid() - - plt.subplot(223) - plt.plot(s, tf_x_rl) - plt.plot(s, tf_y_rl) - plt.plot(s, tf_z_rl) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F_{i}}$' + ' in ' + r'$\it{N}$') - plt.legend([r'$\it{F_{x}}$', r'$\it{F_{y}}$', r'$\it{F_{z}}$'], ncol=3, loc=4) - plt.grid() - - plt.subplot(224) - plt.plot(s, tf_x_rr) - plt.plot(s, tf_y_rr) - plt.plot(s, tf_z_rr) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F_{i}}$' + ' in ' + r'$\it{N}$') - plt.legend([r'$\it{F_{x}}$', r'$\it{F_{y}}$', r'$\it{F_{z}}$'], ncol=3, loc=4) - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: TIRE FORCES (LONGITUDINAL) --------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["tire_forces_longitudinal"]: - plt.figure(7) - plt.step(s, f_drive / 1000, where="post") - plt.step(s, f_brake / 1000, where='post') - plt.step(s, (f_drive + f_brake) / 1000, where='post') - plt.plot(s, veh["power_max"] / (v * 1000), linewidth=0.5) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F}$' + ' in ' + r'$\it{kN}$') - plt.legend([r'$\it{F_{drive}}$', r'$\it{F_{brake}}$', - r'$\it{F_{drive}}$' + " + " + r'$\it{F_{brake}}$', - r'$\it{F_{P_{max}}}$'], ncol=1, loc=4) - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: DYNAMIC WHEEL LOAD TRANSFER -------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["tire_forces_dynamic"]: - - f_xroll = tire["c_roll"] * pars["veh_params"]["mass"] * g - f_xdrag = pars["veh_params"]["dragcoeff"] * v ** 2 - - f_zlift_fl = 0.5 * veh["liftcoeff_front"] * v ** 2 - f_zlift_fr = 0.5 * veh["liftcoeff_front"] * v ** 2 - f_zlift_rl = 0.5 * veh["liftcoeff_rear"] * v ** 2 - f_zlift_rr = 0.5 * veh["liftcoeff_rear"] * v ** 2 - - f_zlong_fl = -0.5 * veh["cog_z"] / veh["wheelbase"] * (f_drive + f_brake - f_xroll - f_xdrag) - f_zlong_fr = -0.5 * veh["cog_z"] / veh["wheelbase"] * (f_drive + f_brake - f_xroll - f_xdrag) - f_zlong_rl = 0.5 * veh["cog_z"] / veh["wheelbase"] * (f_drive + f_drive - f_xroll - f_xdrag) - f_zlong_rr = 0.5 * veh["cog_z"] / veh["wheelbase"] * (f_drive + f_drive - f_xroll - f_xdrag) - - f_zlat_fl = - veh["k_roll"] * gamma_y - f_zlat_fr = veh["k_roll"] * gamma_y - f_zlat_rl = - (1 - veh["k_roll"]) * gamma_y - f_zlat_rr = (1 - veh["k_roll"]) * gamma_y - - plt.figure(8) - plt.suptitle("Dynamic Wheel Load") - plt.subplot(221) - plt.plot(s, f_zlift_fl) - plt.plot(s, f_zlong_fl) - plt.plot(s, f_zlat_fl) - plt.plot(s, f_zlift_fl + f_zlong_fl + f_zlat_fl, color='black') - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F_{i}}$' + ' in ' + r'$\it{N}$') - - plt.grid() - plt.subplot(222) - plt.plot(s, f_zlift_fr) - plt.plot(s, f_zlong_fr) - plt.plot(s, f_zlat_fr) - plt.plot(s, f_zlift_fr + f_zlong_fr + f_zlat_fr, color='black') - plt.xlabel(r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F_{i}}$' + ' in ' + r'$\it{N}$') - - plt.grid() - plt.subplot(223) - plt.plot(s, f_zlift_rl) - plt.plot(s, f_zlong_rl) - plt.plot(s, f_zlat_rl) - plt.plot(s, f_zlift_rl + f_zlong_rl + f_zlat_rl, color='black') - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F_{i}}$' + ' in ' + r'$\it{N}$') - - plt.grid() - plt.subplot(224) - plt.plot(s, f_zlift_rr) - plt.plot(s, f_zlong_rr) - plt.plot(s, f_zlat_rr) - plt.plot(s, f_zlift_rr + f_zlong_rr + f_zlat_rr, color='black') - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel(r'$\it{F_{i}}$' + ' in ' + r'$\it{N}$') - plt.legend([r'$\it{F_{lift}}$', r'$\it{F_{dyn,long}}$', r'$\it{F_{dyn,lat}}$', - r'$\it{F_{lift}}$' + ' + ' + r'$\it{F_{dyn,long}}$' + ' + ' + r'$\it{F_{dyn,lat}}$'], ncol=2, loc=4) - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: ENERGY CONSUMPTION ----------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["energy_consumption"]: - - plt.figure(9) - plt.clf() - plt.plot(s, ec) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel('energy consumption ' + r'$\it{ec}$' + ' in ' + r'$\it{Wh}$') - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: POWER ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - if plot_opts["power"]: - plt.figure(4) - plt.clf() - plt.plot(s, v * (f_drive + f_brake) / 1000.0) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$m$') - plt.ylabel('power ' + r'$\it{P}$' + ' in ' + r'$kW$') - plt.grid() - plt.legend(r'$\it{P_{wheel}}$') - if pwr is not None: - plt.plot(s[:-1], pwr["batt"].p_loss_total + pwr["batt"].p_out_batt) - plt.legend([r'$\it{P_{wheel}}$', r'$\it{P_{system}}$']) - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: POWERTRAIN TEMPERATURES ------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - if pars["pwr_params_mintime"]["pwr_behavior"] and plot_opts["pwr_states"]: - - plt.figure(10) - plt.plot(s, temp_mot) - plt.plot(s, temp_batt) - plt.plot(s, temp_inv) - plt.plot(s, temp_radiators_cool_mi) - plt.plot(s, temp_radiators_cool_b) - - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel('component temperatures ' + r'$\it{T}$' + ' in ' + r'°C') - plt.legend([r'$\it{T_\mathrm{Machine}}$', r'$\it{T_\mathrm{Battery}}$', r'$\it{T_\mathrm{Inverter}}$', - r'$\it{T_\mathrm{Fluid_{MI}}}$', r'$\it{T_\mathrm{Fluid_B}}$']) - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: SOC BATTERY ------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - if pars["pwr_params_mintime"]["pwr_behavior"] and plot_opts["pwr_soc"]: - - plt.figure(11) - plt.plot(s, soc_batt) - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.ylabel('SOC battery [1 - 0]') - plt.grid() - plt.show() - - # ------------------------------------------------------------------------------------------------------------------ - # PLOT: POWER LOSSES ----------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if pars["pwr_params_mintime"]["pwr_behavior"] and plot_opts["pwr_losses"]: - - if pars["pwr_params_mintime"]["simple_loss"]: - plt.figure(12) - plt.plot(s[:-1], pwr["machine"].p_loss_total) - plt.plot(s[:-1], pwr["inverter"].p_loss_total) - plt.plot(s[:-1], pwr["batt"].p_loss_total) - plt.legend([r'$\it{P_\mathrm{loss,machine}}$', r'$\it{P_\mathrm{loss,inverter}}$', - r'$\it{P_\mathrm{loss,battery}}$']) - plt.ylabel('Power loss ' + r'$\it{P_\mathrm{loss}}$' + ' in ' + r'kW') - else: - plt.figure(12) - plt.subplot(311) - plt.plot(s[:-1], pwr["machine"].p_loss_total) - plt.plot(s[:-1], pwr["machine"].p_loss_copper) - plt.plot(s[:-1], pwr["machine"].p_loss_stator_iron) - plt.plot(s[:-1], pwr["machine"].p_loss_rotor) - plt.ylabel('Power loss single machine\n' + r'$\it{P_\mathrm{loss}}$' + ' in ' + r'kW') - plt.legend([r'$\it{P_\mathrm{loss,total}}$', r'$\it{P_\mathrm{loss,copper}}$', - r'$\it{P_\mathrm{loss,statorIron}}$', r'$\it{P_\mathrm{loss,rotor}}$']) - plt.grid() - plt.subplot(312) - plt.plot(s[:-1], pwr["inverter"].p_loss_total) - plt.plot(s[:-1], pwr["inverter"].p_loss_switch) - plt.plot(s[:-1], pwr["inverter"].p_loss_cond) - plt.legend([r'$\it{P_\mathrm{loss,total}}$', r'$\it{P_\mathrm{loss,switching}}$', - r'$\it{P_\mathrm{loss,conducting}}$']) - plt.ylabel('Power loss single inverter\n' + r'$\it{P_\mathrm{loss}}$' + ' in ' + r'kW') - plt.grid() - plt.subplot(313) - plt.plot(s[:-1], pwr["batt"].p_loss_total) - plt.ylabel('Power loss battery\n' + r'$\it{P_\mathrm{loss}}$' + ' in ' + r'kW') - - plt.xlabel('distance ' + r'$\it{s}$' + ' in ' + r'$\it{m}$') - plt.grid() - plt.show() - -# testing -------------------------------------------------------------------------------------------------------------- - if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/var_friction_berlin.png b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/opt_mintime_traj/var_friction_berlin.png deleted file mode 100644 index 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z&8D1*^v?d%K71+ZN=2trDx4>3*loo9Hh1#F`!)Jk(g5`r_cq`!-T3^L3y8^ec6N?| z-W#|IkzARO_0RYgq7~7>a-Pv}73mdO4rD8Uu{YYZF7U9+q||1BnVehi31B@oeGr79 z;WI}YfnskfWPhK+(0>U`Fjy!F(0ZI5;)Ul$Y;418OwNrWwL8}U60Q|6aekoE+Yd1pOy>>QeCzClgdzm2 z)6s94bI|cakc-y)XnKK*iwl@l%J?6oGGbvEhJL8vuW~hpne|Z_#7ZP~v$(%d)ffuGQT^824EG}zm3p5 zy=$${Haj#wf9?7fgL?+3xWQN+1`jWjlesP+BEprdnDGCzCqV;x0}^FugZEEPs=$>n z9|hM|l8T9#DJKr#fdEefBy4?a=|AX1A(4*UsMypD|g#rd_)eg@J*==B}XU z{>aSTQryDL68^yu;Nus&$tQeMKvbJwSX@9zTtN5+pMW?YAFfM_(trB~N9RYjRzCmp zH+bLl-+^zSLjML!Z(A#I1^7$Z(ahRX#nQ>z-3Ei7k5BA~THG2gqWu3a(zShrzJ^~& zB#Kif9j>|d->y-&vU+Ukjv*{8;$>|HU#0thU)6H9a`!TGv&7J{ad!8zbZ}tg;}H standard: 3 -# s_reg: [-] smoothing factor, range [1.0, 100.0] - -reg_smooth_opts={"k_reg": 3, - "s_reg": 10} - -### preview and review distances for numerical curvature calculation (used in minimum time optimization) -# d_preview_curv: [m] preview distance (curvature) -# d_review_curv: [m] review distance (curvature) -# d_preview_head: [m] preview distance (heading) -# d_review_head: [m] review distance (heading) - -curv_calc_opts = {"d_preview_curv": 2.0, - "d_review_curv": 2.0, - "d_preview_head": 1.0, - "d_review_head": 1.0} - -### general vehicle parameters required in several functions -# v_max: [m/s] maximal vehicle speed -# length: [m] vehicle length -# width: [m] vehicle width -# mass: [kg] vehicle mass -# dragcoeff: [kg*m2/m3] drag coefficient calculated by 0.5 * rho_air * c_w * A_front -# curvlim: [rad/m] curvature limit of the vehicle -# g: [N/kg] gravity acceleration - -veh_params = {"v_max": 70.0, - "length": 4.7, - "width": 2.0, - "mass": 1200.0, - "dragcoeff": 0.75, - "curvlim": 0.12, - "g": 9.81} - -### velocity profile calculation options -# dyn_model_exp: [-] exponent used in the vehicle dynamics model (range [1.0, 2.0]) -# vel_profile_conv_filt_window: [-] moving average filter window size for velocity profile (set null if not used) - -vel_calc_opts = {"dyn_model_exp": 1.0, - "vel_profile_conv_filt_window": null} - -# ---------------------------------------------------------------------------------------------------------------------- -[OPTIMIZATION_OPTIONS] - -### optimization problem options (shortest path optimization) ---------------------------------------------------------- -# width_opt: [m] vehicle width for optimization including safety distance - -optim_opts_shortest_path={"width_opt": 3.4} - -### optimization problem options (minimum curvature optimization) ------------------------------------------------------ -# width_opt: [m] vehicle width for optimization including safety distance -# iqp_iters_min: [-] minimum number of iterations for the IQP -# iqp_curverror_allowed: [rad/m] maximum allowed curvature error for the IQP - -optim_opts_mincurv={"width_opt": 3.4, - "iqp_iters_min": 3, - "iqp_curverror_allowed": 0.01} - -### optimization problem options (minimum lap time optimization) ------------------------------------------------------- -# width_opt: [m] vehicle width for optimization including safety distance -# penalty_delta: [-] penalty of delta derivative for improved smoothness of controls (range [0.0, 50.0]) -# penalty_F: [-] penalty of F derivative for improved smoothness of controls (range [0.0, 2.0]) -# mue: [-] constant friction coefficient (determines tire's D parameter of MF by D = F_z * mue) -# n_gauss [-] number of gaussian basis functions on each side (var_friction: "gauss") -# dn [m] distance of equidistant points on normal vectors for extracting friction - # coefficients (var_friction: "linear" or "gauss") -# limit_energy: [true/false] limit energy consumption -# energy_limit: [kWh/lap] energy consumption limit (limit_energy: true) -# safe_traj: [true/false] safe trajectories -> limit accelerations -# ax_pos_safe: [m/s2] a_x+ limit for safe trajectories (safe_traj: true) -> null if ggv should be used -# ax_neg_safe: [m/s2] a_x- limit for safe trajectories (safe_traj: true) -> null if ggv should be used -# ay_safe: [m/s2] a_y limit for safe trajectories (safe_traj: true) -> null if ggv should be used -# w_tr_reopt: [m] total track width in case of reoptimization using the IQP -# w_veh_reopt: [m] vehicle width in case of reoptimization using the IQP -# w_add_spl_regr: [m] width added in case of reoptimization to compensate second spline regression -# step_non_reg: [-] defines how many points to be skipped per step during non-regular point sampling -# (dependent on curvature) -# eps_kappa: [rad/m] curvature threshold to skip discretization points on straights (if -# step_non_reg > 0) - -optim_opts_mintime={"width_opt": 3.4, - "penalty_delta": 10.0, - "penalty_F": 0.01, - "mue": 1.0, - "n_gauss": 5, - "dn": 0.25, - "limit_energy": false, - "energy_limit": 2.0, - "safe_traj": false, - "ax_pos_safe": null, - "ax_neg_safe": null, - "ay_safe": null, - "w_tr_reopt": 2.0, - "w_veh_reopt": 1.6, - "w_add_spl_regr": 0.2, - "step_non_reg": 0, - "eps_kappa": 1e-3} - -### vehicle parameters (minimum lap time optimization) -# wheelbase_front: [m] wheelbase front -# wheelbase_rear: [m] wheelbase rear -# track_width_front: [m] track width front -# track_width_rear: [m] track width rear -# cog_z: [m] center of gravity -# I_z: [kgm^2] yaw inertia -# liftcoeff_front: [kg*m2/m3] lift coefficient front axle calculated by 0.5 * rho_air * c_l_f * A_spoiler_f -# liftcoeff_rear: [kg*m2/m3] lift coefficient rear axle calculated by 0.5 * rho_air * c_l_r * A_spoiler_r -# k_brake_front: [-] portion of braking force at the front axle of the total braking force -# k_drive_front: [-] portion of driving force at the front axle of the total driving force -# k_roll: [-] portion of roll moment at the front axle of the total roll moment -# t_delta: [s] time constant for steering dynamic -# t_drive: [s] time constant for acceleration dynamic -# t_brake: [s] time constant for braking dynamic -# power_max: [W] maximal engine power -# f_drive_max: [N] maximal drive force -# f_brake_max: [N] maximal brake force (only needed for actor dynamics) -# delta_max: [rad] maximal steer angle - -vehicle_params_mintime = {"wheelbase_front": 1.6, - "wheelbase_rear": 1.4, - "track_width_front": 1.6, - "track_width_rear": 1.6, - "cog_z": 0.38, - "I_z": 1200.0, - "liftcoeff_front": 0.45, - "liftcoeff_rear": 0.75, - "k_brake_front": 0.6, - "k_drive_front": 0.0, - "k_roll": 0.5, - "t_delta": 0.2, - "t_drive": 0.05, - "t_brake": 0.05, - "power_max": 230000.0, - "f_drive_max": 7000.0, - "f_brake_max": 20000.0, - "delta_max": 0.35} - -### tire parameters (minimum lap time optimization) -# c_roll: [-] rolling resistance coefficient -# f_z0: [N] nominal normal force -# B_front: [-] Coefficient B for front tire -# C_front: [-] Coefficient C for front tire -# eps_front: [-] load dependence of Coefficient D for front tire -# E_front: [-] Coefficient E for front tire -# B_rear: [-] Coefficient B for rear tire -# C_rear: [-] Coefficient C for rear tire -# eps_rear: [-] load dependence of Coefficient D for rear tire -# E_rear: [-] Coefficient E for rear tire -# Hint: The D parameter of the Magic Formula is determined by D = F_z * mue. mue can be set above in optim_opts_mintime! - -tire_params_mintime = {"c_roll": 0.013, - "f_z0": 3000.0, - "B_front": 10.0, - "C_front": 2.5, - "eps_front": -0.1, - "E_front": 1.0, - "B_rear": 10.0, - "C_rear": 2.5, - "eps_rear": -0.1, - "E_rear": 1.0} - -### powertrain behavior (minimum lap time optimization) -# [1] Prof. Dr.-Ing. Markus Lienkamp, „Auslegung von Elektrofahrzeugen: Lecture slides,“ Unpublished manuscript, 2018 -# [2] F. P. Incropera, Fundamentals of heat and mass transfer, 6th ed., Hoboken NJ, John Wiley, 2007, ISBN: 9780471457282 -# [3] M. Grabowski, K. Urbaniec, J. Wernik and K. J. WoÅ‚osz, „Numerical simulation and experimental verification of heat transfer from a finned housing of an electric motor,“Energy Conversion and Management, vol. 125, pp. 91–96, 2016 -# [4] K. Li, S. Wang and J. P. Sullivan, „A novel thermal network for the maximum temperaturerise of hollow cylinder,“ Applied Thermal Engineering, vol. 52, no. 1, pp. 198–208, 2013 - -# pwr_behavior: [-] consider powertrain behavior -# simple_loss: [-] use simple loss models (fitted to measured data, input -- ouput power) -# T_env: [°C] temperature of environment -# T_mot_ini: [°C] initial temperature electric machines -# T_batt_ini: [°C] initial temperature battery -# T_inv_ini: [°C] initial temperature inverter -# T_cool_mi_ini: [°C] initial temperature cooling fluid machine and inverter -# T_cool_b_ini: [°C] initial temperature battery fluid -# r_wheel: [m] Wheel radius -# R_i_sumo: [Ohm] internal resistance of battery (SUMO model fit) -# R_i_simple: [Ohm] internal resistance of simple battery model -# R_i_offset: [Ohm] single cell resistance, offset in temperature dependency -# R_i_slope : [Ohm/°C] single cell resistance, slope in temperature dependency -# V_OC_simple: [V] Open Circuit Voltage of simple battery model -# SOC_ini: [-] initial SOC of battery -# C_batt: [kWh] Capacity of battery (spreadsheet) -# N_cells_serial: [-] Number of battery cells in series in battery pack -# N_cells_parallel: [-] Number of battery cells in parallel in battery pack -# temp_mot_max: [°C] max. allowed temperature of electric machines (spreadsheet) -# temp_batt_max: [°C] max. allowed temperature of battery (spreadsheet) -# temp_inv_max: [°C] max. allowed temperature of inverters [1, p 7.19] -# N_machines: [-] number of electric machines (spreadsheet) -# transmission: [-] gear transmission -# MotorConstant: [Nm/A] motor constant (linear dependency current and torque) -# C_therm_machine: [J/K] Absolute thermal capacity electric machine - # c_iro = 420 J/kgK; c_magnet = 460 J/kgK; m_machine = 18 kg (spreadsheet) - # -> C_therm_machine = 99 % * m_machine * c_iro + 1 % * m_machine * c_magnet -# C_therm_inv: [J/K] Absolute thermal capacity inverter (equal to that of motor) -# C_therm_cell: [J/K] Absolute thermal capacity battery pouch cell -# C_TempCopper: [1/°C] temperature coefficient copper in electric machine -# m_therm_fluid_mi [kg] mass of cooling fluid (machine inverter circuit) -# m_therm_fluid_b [kg] mass of cooling fluid (battery circuit) -# R_Phase: [kOhm] phase resistance electric machine -# r_rotor_int: [m] radius rotor internal (spreadsheet) -# r_rotor_ext: [m] radius rotor external (spreadsheet) -# r_stator_int: [m] radius stator internal (spreadsheet) -# r_stator_ext: [m] radius stator external (spreadsheet) -# l_machine: [m] length electric machine (spreadsheet) -# A_cool_inflate_machine: [-] factor of which cooling surface of machine is bigger than raw outer surface -# A_cool_inv: [m^2] cooling area of inverter: length * width -# A_cool_rad: [m^2] cooling area of radiator [2, p 704] -# k_iro: [W/m^2K] thermal conductivity of iron [3] -# h_air: [W/m^2K] convective heat flux coefficient of radiator to air [1, p 9.95] -# h_air_gap: [W/m^2K] convective heat flux coefficient of machine air gap [4] -# h_fluid_mi: [W/m^2K] convective heat flux coefficient of cooling fluid machine + inverter [1, p 9.95] -# c_heat_fluid [J/kgK] specific heat capacity cooling fluid (similar to water) [2] -# flow_rate_inv [kg/s] flow rate of cooling fluid through inverters -# flow_rate_rad [kg/s] flow rate of cooling fluid through radiator (estimated from spreadsheet) -# machine_simple_a,b,c: [-] fitting coefficients (ax^2 + bx + c) of machine efficiency (input -- output power) -# V_ref: [V] reference voltage inverter -# I_ref: [A] reference current inverter -# V_ce_offset: [V] current dependent Collector-Emitter voltage IGBT 'SKim459GD12E4' (linear dependency) -# V_ce_slope: [V] current dependent Collector-Emitter voltage IGBT 'SKim459GD12E4' (linear dependency) -# E_on: [J] loss energy switching ON IGBT-bridge 'SKim459GD12E4', value for bridge (2 IGBTS) -# E_off: [J] loss energy switching OFF IGBT-bridge 'SKim459GD12E4', value for bridge (2 IGBTS) -# E_rr: [J] loss energy reverse recovery IGBT-bridge 'SKim459GD12E4', value for bridge (2 IGBTS) -# f_sw: [Hz] constantly assumed inverter frequency -# inverter_fit_a,b,c [-] fitting coefficients (ax^2 + bx + c) of inverter efficiency (input -- output power) - -pwr_params_mintime = {"pwr_behavior": false, - "simple_loss": true, - "T_env": 30, - "T_mot_ini": 30, - "T_batt_ini": 30, - "T_inv_ini": 30, - "T_cool_mi_ini": 30, - "T_cool_b_ini": 30, - "r_wheel": 0.3, - "R_i_sumo": 0.001, - "R_i_simple": 0.125, - "R_i_offset": 0.0013871, - "R_i_slope": 7.5133e-6, - "V_OC_simple": 700, - "SOC_ini": 0.4, - "C_batt": 41.0, - "N_cells_serial": 176, - "N_cells_parallel": 3, - "temp_mot_max": 170.0, - "temp_batt_max": 50.0, - "temp_inv_max": 100.0, - "N_machines": 2, - "transmission": 6.25, - "MotorConstant": 0.465, - "C_therm_machine": 7567.2, - "C_therm_inv": 7567.2, - "C_therm_cell": 824.0, - "C_TempCopper": 0.004041, - "m_therm_fluid_mi": 5, - "m_therm_fluid_b": 5, - "R_Phase": 0.0105, - "r_rotor_int": 0.03, - "r_rotor_ext": 0.087, - "r_stator_int": 0.088, - "r_stator_ext": 0.121, - "l_machine": 0.055, - "A_cool_inflate_machine": 3.0, - "A_cool_inv": 0.3969, - "A_cool_rad": 5.0, - "k_iro": 45.0, - "h_air": 50.0, - "h_air_gap": 60.0, - "h_fluid_mi": 5000.0, - "c_heat_fluid": 4181.0, - "flow_rate_inv": 0.2, - "flow_rate_rad": 0.2, - "machine_simple_a": -0.000027510784764, - "machine_simple_b": 1.046187222759047, - "machine_simple_c": 1.001964003837042, - "V_ref": 600.0, - "I_ref": 450.0, - "V_ce_offset": 0.8, - "V_ce_slope": 0.0036, - "E_on": 0.022, - "E_off": 0.057, - "E_rr": 0.04, - "f_sw": 12000.0, - "inverter_simple_a": -0.000707138661579, - "inverter_simple_b": 1.139958410466637, - "inverter_simple_c": 1.004970807882952} diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/requirements.txt b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/requirements.txt deleted file mode 100644 index b77182d7b..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/requirements.txt +++ /dev/null @@ -1,6 +0,0 @@ -numpy>=1.18.1 -matplotlib>=3.3.1 -# the following is required for minimum time optimization only -casadi>=3.5.1 -scipy>=1.3.3 -scikit-learn>=0.23.1 diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/__init__.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/__init__.py deleted file mode 100644 index 385737be2..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/__init__.py +++ /dev/null @@ -1,31 +0,0 @@ -import trajectory_planning_helpers.interp_splines -import trajectory_planning_helpers.calc_spline_lengths -import trajectory_planning_helpers.calc_splines -import trajectory_planning_helpers.calc_normal_vectors -import trajectory_planning_helpers.normalize_psi -import trajectory_planning_helpers.calc_head_curv_an -import trajectory_planning_helpers.calc_head_curv_num -import trajectory_planning_helpers.calc_t_profile -import trajectory_planning_helpers.import_veh_dyn_info -import trajectory_planning_helpers.calc_ax_profile -import trajectory_planning_helpers.angle3pt -import trajectory_planning_helpers.progressbar -import trajectory_planning_helpers.calc_vel_profile -import trajectory_planning_helpers.calc_vel_profile_brake -import trajectory_planning_helpers.spline_approximation -import trajectory_planning_helpers.side_of_line -import trajectory_planning_helpers.conv_filt -import trajectory_planning_helpers.path_matching_global -import trajectory_planning_helpers.path_matching_local -import trajectory_planning_helpers.get_rel_path_part -import trajectory_planning_helpers.create_raceline -import trajectory_planning_helpers.iqp_handler -import trajectory_planning_helpers.opt_min_curv -# import trajectory_planning_helpers.opt_shortest_path -import trajectory_planning_helpers.interp_track_widths -import trajectory_planning_helpers.check_normals_crossing -import trajectory_planning_helpers.calc_tangent_vectors -import trajectory_planning_helpers.calc_normal_vectors_ahead -import trajectory_planning_helpers.import_veh_dyn_info_2 -import trajectory_planning_helpers.nonreg_sampling -import trajectory_planning_helpers.interp_track diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/angle3pt.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/angle3pt.py deleted file mode 100644 index 4cd0b2cee..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/angle3pt.py +++ /dev/null @@ -1,41 +0,0 @@ -import math -from typing import Union -import numpy as np - - -def angle3pt(a: Union[tuple, np.ndarray], - b: Union[tuple, np.ndarray], - c: Union[tuple, np.ndarray]) -> float: - """ - author: - Tim Stahl - - .. description:: - Calculates angle by turning from a to c around b. - - .. inputs:: - :param a: point coordinates [x, y] - :type a: Union[tuple, np.ndarray] - :param b: point coordinates [x, y] - :type b: Union[tuple, np.ndarray] - :param c: point coordinates [x, y] - :type c: Union[tuple, np.ndarray] - - .. outputs:: - :return ang: angle in the range [-pi,pi[ - :rtype ang: float - """ - - ang = math.atan2(c[1] - b[1], c[0] - b[0]) - math.atan2(a[1] - b[1], a[0] - b[0]) - - if ang >= math.pi: - ang -= 2 * math.pi - elif ang < -math.pi: - ang += 2 * math.pi - - return ang - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_ax_profile.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_ax_profile.py deleted file mode 100644 index f92516771..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_ax_profile.py +++ /dev/null @@ -1,51 +0,0 @@ -import numpy as np - - -def calc_ax_profile(vx_profile: np.ndarray, - el_lengths: np.ndarray, - eq_length_output: bool = False) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - The function calculates the acceleration profile for a given velocity profile. - - .. inputs:: - :param vx_profile: array containing the velocity profile used as a basis for the acceleration calculations. - :type vx_profile: np.ndarray - :param el_lengths: array containing the element lengths between every point of the velocity profile. - :type el_lengths: np.ndarray - :param eq_length_output: assumes zero acceleration for the last point of the acceleration profile and therefore - returns ax_profile with equal length to vx_profile. - :type eq_length_output: bool - - .. outputs:: - :return ax_profile: acceleration profile calculated for the inserted vx_profile. - :rtype ax_profile: np.ndarray - - .. notes:: - case eq_length_output is True: - len(vx_profile) = len(el_lengths) + 1 = len(ax_profile) - - case eq_length_output is False: - len(vx_profile) = len(el_lengths) + 1 = len(ax_profile) + 1 - """ - - # check inputs - if vx_profile.size != el_lengths.size + 1: - raise RuntimeError("Array size of vx_profile should be 1 element bigger than el_lengths!") - - # calculate longitudinal acceleration profile array numerically: (v_end^2 - v_beg^2) / 2*s - if eq_length_output: - ax_profile = np.zeros(vx_profile.size) - ax_profile[:-1] = (np.power(vx_profile[1:], 2) - np.power(vx_profile[:-1], 2)) / (2 * el_lengths) - else: - ax_profile = (np.power(vx_profile[1:], 2) - np.power(vx_profile[:-1], 2)) / (2 * el_lengths) - - return ax_profile - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_head_curv_an.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_head_curv_an.py deleted file mode 100644 index 6ac666db6..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_head_curv_an.py +++ /dev/null @@ -1,116 +0,0 @@ -import numpy as np -import math -import trajectory_planning_helpers.normalize_psi - - -def calc_head_curv_an(coeffs_x: np.ndarray, - coeffs_y: np.ndarray, - ind_spls: np.ndarray, - t_spls: np.ndarray, - calc_curv: bool = True, - calc_dcurv: bool = False) -> tuple: - """ - author: - Alexander Heilmeier - Marvin Ochsenius (dcurv extension) - - .. description:: - Analytical calculation of heading psi, curvature kappa, and first derivative of the curvature dkappa - on the basis of third order splines for x- and y-coordinate. - - .. inputs:: - :param coeffs_x: coefficient matrix of the x splines with size (no_splines x 4). - :type coeffs_x: np.ndarray - :param coeffs_y: coefficient matrix of the y splines with size (no_splines x 4). - :type coeffs_y: np.ndarray - :param ind_spls: contains the indices of the splines that hold the points for which we want to calculate heading/curv. - :type ind_spls: np.ndarray - :param t_spls: containts the relative spline coordinate values (t) of every point on the splines. - :type t_spls: np.ndarray - :param calc_curv: bool flag to show if curvature should be calculated as well (kappa is set 0.0 otherwise). - :type calc_curv: bool - :param calc_dcurv: bool flag to show if first derivative of curvature should be calculated as well. - :type calc_dcurv: bool - - .. outputs:: - :return psi: heading at every point. - :rtype psi: float - :return kappa: curvature at every point. - :rtype kappa: float - :return dkappa: first derivative of curvature at every point (if calc_dcurv bool flag is True). - :rtype dkappa: float - - .. notes:: - len(ind_spls) = len(t_spls) = len(psi) = len(kappa) = len(dkappa) - """ - - # check inputs - if coeffs_x.shape[0] != coeffs_y.shape[0]: - raise ValueError("Coefficient matrices must have the same length!") - - if ind_spls.size != t_spls.size: - raise ValueError("ind_spls and t_spls must have the same length!") - - if not calc_curv and calc_dcurv: - raise ValueError("dkappa cannot be calculated without kappa!") - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE HEADING ------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # calculate required derivatives - x_d = coeffs_x[ind_spls, 1] \ - + 2 * coeffs_x[ind_spls, 2] * t_spls \ - + 3 * coeffs_x[ind_spls, 3] * np.power(t_spls, 2) - - y_d = coeffs_y[ind_spls, 1] \ - + 2 * coeffs_y[ind_spls, 2] * t_spls \ - + 3 * coeffs_y[ind_spls, 3] * np.power(t_spls, 2) - - # calculate heading psi (pi/2 must be substracted due to our convention that psi = 0 is north) - psi = np.arctan2(y_d, x_d) - math.pi / 2 - psi = trajectory_planning_helpers.normalize_psi.normalize_psi(psi) - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE CURVATURE ---------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if calc_curv: - # calculate required derivatives - x_dd = 2 * coeffs_x[ind_spls, 2] \ - + 6 * coeffs_x[ind_spls, 3] * t_spls - - y_dd = 2 * coeffs_y[ind_spls, 2] \ - + 6 * coeffs_y[ind_spls, 3] * t_spls - - # calculate curvature kappa - kappa = (x_d * y_dd - y_d * x_dd) / np.power(np.power(x_d, 2) + np.power(y_d, 2), 1.5) - - else: - kappa = 0.0 - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE FIRST DERIVATIVE OF CURVATURE -------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if calc_dcurv: - # calculate required derivatives - x_ddd = 6 * coeffs_x[ind_spls, 3] - - y_ddd = 6 * coeffs_y[ind_spls, 3] - - # calculate first derivative of curvature dkappa - dkappa = ((np.power(x_d, 2) + np.power(y_d, 2)) * (x_d * y_ddd - y_d * x_ddd) - - 3 * (x_d * y_dd - y_d * x_dd) * (x_d * x_dd + y_d * y_dd)) / \ - np.power(np.power(x_d, 2) + np.power(y_d, 2), 3) - - return psi, kappa, dkappa - - else: - - return psi, kappa - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_head_curv_num.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_head_curv_num.py deleted file mode 100644 index 12d96921d..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_head_curv_num.py +++ /dev/null @@ -1,188 +0,0 @@ -import numpy as np -import math -import trajectory_planning_helpers.normalize_psi - - -def calc_head_curv_num(path: np.ndarray, - el_lengths: np.ndarray, - is_closed: bool, - stepsize_psi_preview: float = 1.0, - stepsize_psi_review: float = 1.0, - stepsize_curv_preview: float = 2.0, - stepsize_curv_review: float = 2.0, - calc_curv: bool = True) -> tuple: - """ - author: - Alexander Heilmeier - - .. description:: - Numerical calculation of heading psi and curvature kappa on the basis of a given path. - - .. inputs:: - :param path: array of points [x, y] (always unclosed). - :type path: np.ndarray - :param el_lengths: array containing the element lengths. - :type el_lengths: np.ndarray - :param is_closed: close path for heading and curvature calculation. - :type is_closed: bool - :param stepsize_psi_preview: preview/review distances used for numerical heading/curvature calculation. - :type stepsize_psi_preview: float - :param stepsize_psi_review: preview/review distances used for numerical heading/curvature calculation. - :type stepsize_psi_review: float - :param stepsize_curv_preview: preview/review distances used for numerical heading/curvature calculation. - :type stepsize_curv_preview: float - :param stepsize_curv_review: preview/review distances used for numerical heading/curvature calculation. - :type stepsize_curv_review: float - :param calc_curv: bool flag to show if curvature should be calculated (kappa is set 0.0 otherwise). - :type calc_curv: bool - - .. outputs:: - :return psi: heading at every point (always unclosed). - :rtype psi: float - :return kappa: curvature at every point (always unclosed). - :rtype kappa: float - - .. notes:: - path must be inserted unclosed, i.e. path[-1] != path[0], even if is_closed is set True! (el_lengths is kind - of closed if is_closed is True of course!) - - case is_closed is True: - len(path) = len(el_lengths) = len(psi) = len(kappa) - - case is_closed is False: - len(path) = len(el_lengths) + 1 = len(psi) = len(kappa) - """ - - # check inputs - if is_closed and path.shape[0] != el_lengths.size: - raise RuntimeError("path and el_lenghts must have the same length!") - - elif not is_closed and path.shape[0] != el_lengths.size + 1: - raise RuntimeError("path must have the length of el_lengths + 1!") - - # get number if points - no_points = path.shape[0] - - # ------------------------------------------------------------------------------------------------------------------ - # CASE: CLOSED PATH ------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - if is_closed: - - # -------------------------------------------------------------------------------------------------------------- - # PREVIEW/REVIEW DISTANCES ------------------------------------------------------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - # calculate how many points we look to the front and rear of the current position for the head/curv calculations - ind_step_preview_psi = round(stepsize_psi_preview / float(np.average(el_lengths))) - ind_step_review_psi = round(stepsize_psi_review / float(np.average(el_lengths))) - ind_step_preview_curv = round(stepsize_curv_preview / float(np.average(el_lengths))) - ind_step_review_curv = round(stepsize_curv_review / float(np.average(el_lengths))) - - ind_step_preview_psi = max(ind_step_preview_psi, 1) - ind_step_review_psi = max(ind_step_review_psi, 1) - ind_step_preview_curv = max(ind_step_preview_curv, 1) - ind_step_review_curv = max(ind_step_review_curv, 1) - - steps_tot_psi = ind_step_preview_psi + ind_step_review_psi - steps_tot_curv = ind_step_preview_curv + ind_step_review_curv - - # -------------------------------------------------------------------------------------------------------------- - # HEADING ------------------------------------------------------------------------------------------------------ - # -------------------------------------------------------------------------------------------------------------- - - # calculate tangent vectors for every point - path_temp = np.vstack((path[-ind_step_review_psi:], path, path[:ind_step_preview_psi])) - tangvecs = np.stack((path_temp[steps_tot_psi:, 0] - path_temp[:-steps_tot_psi, 0], - path_temp[steps_tot_psi:, 1] - path_temp[:-steps_tot_psi, 1]), axis=1) - - # calculate psi of tangent vectors (pi/2 must be substracted due to our convention that psi = 0 is north) - psi = np.arctan2(tangvecs[:, 1], tangvecs[:, 0]) - math.pi / 2 - psi = trajectory_planning_helpers.normalize_psi.normalize_psi(psi) - - # -------------------------------------------------------------------------------------------------------------- - # CURVATURE ---------------------------------------------------------------------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - if calc_curv: - psi_temp = np.insert(psi, 0, psi[-ind_step_review_curv:]) - psi_temp = np.append(psi_temp, psi[:ind_step_preview_curv]) - - # calculate delta psi - delta_psi = np.zeros(no_points) - - for i in range(no_points): - delta_psi[i] = trajectory_planning_helpers.normalize_psi.\ - normalize_psi(psi_temp[i + steps_tot_curv] - psi_temp[i]) - - # calculate kappa - s_points_cl = np.cumsum(el_lengths) - s_points_cl = np.insert(s_points_cl, 0, 0.0) - s_points = s_points_cl[:-1] - s_points_cl_reverse = np.flipud(-np.cumsum(np.flipud(el_lengths))) # should not include 0.0 as last value - - s_points_temp = np.insert(s_points, 0, s_points_cl_reverse[-ind_step_review_curv:]) - s_points_temp = np.append(s_points_temp, s_points_cl[-1] + s_points[:ind_step_preview_curv]) - - kappa = delta_psi / (s_points_temp[steps_tot_curv:] - s_points_temp[:-steps_tot_curv]) - - else: - kappa = 0.0 - - # ------------------------------------------------------------------------------------------------------------------ - # CASE: UNCLOSED PATH ---------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - else: - - # -------------------------------------------------------------------------------------------------------------- - # HEADING ------------------------------------------------------------------------------------------------------ - # -------------------------------------------------------------------------------------------------------------- - - # calculate tangent vectors for every point - tangvecs = np.zeros((no_points, 2)) - - tangvecs[0, 0] = path[1, 0] - path[0, 0] # i == 0 - tangvecs[0, 1] = path[1, 1] - path[0, 1] - - tangvecs[1:-1, 0] = path[2:, 0] - path[:-2, 0] # 0 < i < no_points - 1 - tangvecs[1:-1, 1] = path[2:, 1] - path[:-2, 1] - - tangvecs[-1, 0] = path[-1, 0] - path[-2, 0] # i == -1 - tangvecs[-1, 1] = path[-1, 1] - path[-2, 1] - - # calculate psi of tangent vectors (pi/2 must be substracted due to our convention that psi = 0 is north) - psi = np.arctan2(tangvecs[:, 1], tangvecs[:, 0]) - math.pi / 2 - psi = trajectory_planning_helpers.normalize_psi.normalize_psi(psi) - - # -------------------------------------------------------------------------------------------------------------- - # CURVATURE ---------------------------------------------------------------------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - if calc_curv: - # calculate delta psi - delta_psi = np.zeros(no_points) - - delta_psi[0] = psi[1] - psi[0] # i == 0 - delta_psi[1:-1] = psi[2:] - psi[:-2] # 0 < i < no_points - 1 - delta_psi[-1] = psi[-1] - psi[-2] # i == -1 - - # normalize delta_psi - delta_psi = trajectory_planning_helpers.normalize_psi.normalize_psi(delta_psi) - - # calculate kappa - kappa = np.zeros(no_points) - - kappa[0] = delta_psi[0] / el_lengths[0] # i == 0 - kappa[1:-1] = delta_psi[1:-1] / (el_lengths[1:] + el_lengths[:-1]) # 0 < i < no_points - 1 - kappa[-1] = delta_psi[-1] / el_lengths[-1] # i == -1 - - else: - kappa = 0.0 - - return psi, kappa - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_normal_vectors.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_normal_vectors.py deleted file mode 100644 index af7e6daed..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_normal_vectors.py +++ /dev/null @@ -1,35 +0,0 @@ -import numpy as np -import trajectory_planning_helpers as tph -import math - - -def calc_normal_vectors(psi: np.ndarray) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - Use heading to calculate normalized (i.e. unit length) normal vectors. Normal vectors point in direction psi - pi/2. - - .. inputs:: - :param psi: array containing the heading of every point (north up, range [-pi,pi[). - :type psi: np.ndarray - - .. outputs:: - :return normvec_normalized: unit length normal vectors for every point [x, y]. - :rtype normvec_normalized: np.ndarray - - .. notes:: - len(psi) = len(normvec_normalized) - """ - - # calculate normal vectors - normvec_normalized = -tph.calc_normal_vectors_ahead.calc_normal_vectors_ahead(psi=psi) - - return normvec_normalized - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - psi_test = np.array([0.0, math.pi / 4, math.pi / 2, math.pi, -math.pi, -math.pi / 2]) - print("Result:\n", calc_normal_vectors(psi=psi_test)) diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_normal_vectors_ahead.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_normal_vectors_ahead.py deleted file mode 100644 index 59fd7b517..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_normal_vectors_ahead.py +++ /dev/null @@ -1,38 +0,0 @@ -import numpy as np -import trajectory_planning_helpers as tph -import math - - -def calc_normal_vectors_ahead(psi: np.ndarray) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - Use heading to calculate normalized (i.e. unit length) normal vectors. Normal vectors point in direction psi + pi/2. - - .. inputs:: - :param psi: array containing the heading of every point (north up, range [-pi,pi[). - :type psi: np.ndarray - - .. outputs:: - :return normvec_normalized: unit length normal vectors for every point [x, y]. - :rtype normvec_normalized: np.ndarray - - .. notes:: - len(psi) = len(normvec_normalized) - """ - - # calculate tangent vectors - tangvec_normalized = tph.calc_tangent_vectors.calc_tangent_vectors(psi=psi) - - # find normal vectors - normvec_normalized = np.stack((-tangvec_normalized[:, 1], tangvec_normalized[:, 0]), axis=1) - - return normvec_normalized - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - psi_test = np.array([0.0, math.pi / 4, math.pi / 2, math.pi, -math.pi, -math.pi / 2]) - print("Result:\n", calc_normal_vectors_ahead(psi=psi_test)) diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_spline_lengths.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_spline_lengths.py deleted file mode 100644 index 32d473253..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_spline_lengths.py +++ /dev/null @@ -1,83 +0,0 @@ -import numpy as np -import math - - -def calc_spline_lengths(coeffs_x: np.ndarray, - coeffs_y: np.ndarray, - quickndirty: bool = False, - no_interp_points: int = 15) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - Calculate spline lengths for third order splines defining x- and y-coordinates by usage of intermediate steps. - - .. inputs:: - :param coeffs_x: coefficient matrix of the x splines with size (no_splines x 4). - :type coeffs_x: np.ndarray - :param coeffs_y: coefficient matrix of the y splines with size (no_splines x 4). - :type coeffs_y: np.ndarray - :param quickndirty: True returns lengths based on distance between first and last spline point instead of - using interpolation. - :type quickndirty: bool - :param no_interp_points: length calculation is carried out with the given number of interpolation steps. - :type no_interp_points: int - - .. outputs:: - :return spline_lengths: length of every spline segment. - :rtype spline_lengths: np.ndarray - - .. notes:: - len(coeffs_x) = len(coeffs_y) = len(spline_lengths) - """ - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARATIONS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # check inputs - if coeffs_x.shape[0] != coeffs_y.shape[0]: - raise RuntimeError("Coefficient matrices must have the same length!") - - # catch case with only one spline - if coeffs_x.size == 4 and coeffs_x.shape[0] == 4: - coeffs_x = np.expand_dims(coeffs_x, 0) - coeffs_y = np.expand_dims(coeffs_y, 0) - - # get number of splines and create output array - no_splines = coeffs_x.shape[0] - spline_lengths = np.zeros(no_splines) - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE LENGHTS ------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - if quickndirty: - for i in range(no_splines): - spline_lengths[i] = math.sqrt(math.pow(np.sum(coeffs_x[i]) - coeffs_x[i, 0], 2) - + math.pow(np.sum(coeffs_y[i]) - coeffs_y[i, 0], 2)) - - else: - # loop through all the splines and calculate intermediate coordinates - t_steps = np.linspace(0.0, 1.0, no_interp_points) - spl_coords = np.zeros((no_interp_points, 2)) - - for i in range(no_splines): - spl_coords[:, 0] = coeffs_x[i, 0] \ - + coeffs_x[i, 1] * t_steps \ - + coeffs_x[i, 2] * np.power(t_steps, 2) \ - + coeffs_x[i, 3] * np.power(t_steps, 3) - spl_coords[:, 1] = coeffs_y[i, 0] \ - + coeffs_y[i, 1] * t_steps \ - + coeffs_y[i, 2] * np.power(t_steps, 2) \ - + coeffs_y[i, 3] * np.power(t_steps, 3) - - spline_lengths[i] = np.sum(np.sqrt(np.sum(np.power(np.diff(spl_coords, axis=0), 2), axis=1))) - - return spline_lengths - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_splines.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_splines.py deleted file mode 100644 index 28eb31e9b..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_splines.py +++ /dev/null @@ -1,221 +0,0 @@ -import numpy as np -import math - - -def calc_splines(path: np.ndarray, - el_lengths: np.ndarray = None, - psi_s: float = None, - psi_e: float = None, - use_dist_scaling: bool = True) -> tuple: - """ - author: - Tim Stahl & Alexander Heilmeier - - .. description:: - Solve for curvature continuous cubic splines (spline parameter t) between given points i (splines evaluated at - t = 0 and t = 1). The splines must be set up separately for x- and y-coordinate. - - Spline equations: - P_{x,y}(t) = a_3 * t³ + a_2 * t² + a_1 * t + a_0 - P_{x,y}'(t) = 3a_3 * t² + 2a_2 * t + a_1 - P_{x,y}''(t) = 6a_3 * t + 2a_2 - - a * {x; y} = {b_x; b_y} - - .. inputs:: - :param path: x and y coordinates as the basis for the spline construction (closed or unclosed). If - path is provided unclosed, headings psi_s and psi_e are required! - :type path: np.ndarray - :param el_lengths: distances between path points (closed or unclosed). The input is optional. The distances - are required for the scaling of heading and curvature values. They are calculated using - euclidian distances if required but not supplied. - :type el_lengths: np.ndarray - :param psi_s: orientation of the {start, end} point. - :type psi_s: float - :param psi_e: orientation of the {start, end} point. - :type psi_e: float - :param use_dist_scaling: bool flag to indicate if heading and curvature scaling should be performed. This should - be done if the distances between the points in the path are not equal. - :type use_dist_scaling: bool - - .. outputs:: - :return x_coeff: spline coefficients of the x-component. - :rtype x_coeff: np.ndarray - :return y_coeff: spline coefficients of the y-component. - :rtype y_coeff: np.ndarray - :return M: LES coefficients. - :rtype M: np.ndarray - :return normvec_normalized: normalized normal vectors [x, y]. - :rtype normvec_normalized: np.ndarray - - .. notes:: - Outputs are always unclosed! - - path and el_lengths inputs can either be closed or unclosed, but must be consistent! The function detects - automatically if the path was inserted closed. - - Coefficient matrices have the form a_0i, a_1i * t, a_2i * t^2, a_3i * t^3. - """ - - # check if path is closed - if np.all(np.isclose(path[0], path[-1])) and psi_s is None: - closed = True - else: - closed = False - - # check inputs - if not closed and (psi_s is None or psi_e is None): - raise RuntimeError("Headings must be provided for unclosed spline calculation!") - - if el_lengths is not None and path.shape[0] != el_lengths.size + 1: - raise RuntimeError("el_lengths input must be one element smaller than path input!") - - # if distances between path coordinates are not provided but required, calculate euclidean distances as el_lengths - if use_dist_scaling and el_lengths is None: - el_lengths = np.sqrt(np.sum(np.power(np.diff(path, axis=0), 2), axis=1)) - elif el_lengths is not None: - el_lengths = np.copy(el_lengths) - - # if closed and use_dist_scaling active append element length in order to obtain overlapping elements for proper - # scaling of the last element afterwards - if use_dist_scaling and closed: - el_lengths = np.append(el_lengths, el_lengths[0]) - - # get number of splines - no_splines = path.shape[0] - 1 - - # calculate scaling factors between every pair of splines - if use_dist_scaling: - scaling = el_lengths[:-1] / el_lengths[1:] - else: - scaling = np.ones(no_splines - 1) - - # ------------------------------------------------------------------------------------------------------------------ - # DEFINE LINEAR EQUATION SYSTEM ------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # M_{x,y} * a_{x,y} = b_{x,y}) with a_{x,y} being the desired spline param - # *4 because of 4 parameters in cubic spline - M = np.zeros((no_splines * 4, no_splines * 4)) - b_x = np.zeros((no_splines * 4, 1)) - b_y = np.zeros((no_splines * 4, 1)) - - # create template for M array entries - # row 1: beginning of current spline should be placed on current point (t = 0) - # row 2: end of current spline should be placed on next point (t = 1) - # row 3: heading at end of current spline should be equal to heading at beginning of next spline (t = 1 and t = 0) - # row 4: curvature at end of current spline should be equal to curvature at beginning of next spline (t = 1 and - # t = 0) - template_M = np.array( # current point | next point | bounds - [[1, 0, 0, 0, 0, 0, 0, 0], # a_0i = {x,y}_i - [1, 1, 1, 1, 0, 0, 0, 0], # a_0i + a_1i + a_2i + a_3i = {x,y}_i+1 - [0, 1, 2, 3, 0, -1, 0, 0], # _ a_1i + 2a_2i + 3a_3i - a_1i+1 = 0 - [0, 0, 2, 6, 0, 0, -2, 0]]) # _ 2a_2i + 6a_3i - 2a_2i+1 = 0 - - for i in range(no_splines): - j = i * 4 - - if i < no_splines - 1: - M[j: j + 4, j: j + 8] = template_M - - M[j + 2, j + 5] *= scaling[i] - M[j + 3, j + 6] *= math.pow(scaling[i], 2) - - else: - # no curvature and heading bounds on last element (handled afterwards) - M[j: j + 2, j: j + 4] = [[1, 0, 0, 0], - [1, 1, 1, 1]] - - b_x[j: j + 2] = [[path[i, 0]], - [path[i + 1, 0]]] - b_y[j: j + 2] = [[path[i, 1]], - [path[i + 1, 1]]] - - # ------------------------------------------------------------------------------------------------------------------ - # SET BOUNDARY CONDITIONS FOR LAST AND FIRST POINT ----------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if not closed: - # if the path is unclosed we want to fix heading at the start and end point of the path (curvature cannot be - # determined in this case) -> set heading boundary conditions - - # heading start point - M[-2, 1] = 1 # heading start point (evaluated at t = 0) - - if el_lengths is None: - el_length_s = 1.0 - else: - el_length_s = el_lengths[0] - - b_x[-2] = math.cos(psi_s + math.pi / 2) * el_length_s - b_y[-2] = math.sin(psi_s + math.pi / 2) * el_length_s - - # heading end point - M[-1, -4:] = [0, 1, 2, 3] # heading end point (evaluated at t = 1) - - if el_lengths is None: - el_length_e = 1.0 - else: - el_length_e = el_lengths[-1] - - b_x[-1] = math.cos(psi_e + math.pi / 2) * el_length_e - b_y[-1] = math.sin(psi_e + math.pi / 2) * el_length_e - - else: - # heading boundary condition (for a closed spline) - M[-2, 1] = scaling[-1] - M[-2, -3:] = [-1, -2, -3] - # b_x[-2] = 0 - # b_y[-2] = 0 - - # curvature boundary condition (for a closed spline) - M[-1, 2] = 2 * math.pow(scaling[-1], 2) - M[-1, -2:] = [-2, -6] - # b_x[-1] = 0 - # b_y[-1] = 0 - - # ------------------------------------------------------------------------------------------------------------------ - # SOLVE ------------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - x_les = np.squeeze(np.linalg.solve(M, b_x)) # squeeze removes single-dimensional entries - y_les = np.squeeze(np.linalg.solve(M, b_y)) - - # get coefficients of every piece into one row -> reshape - coeffs_x = np.reshape(x_les, (no_splines, 4)) - coeffs_y = np.reshape(y_les, (no_splines, 4)) - - # get normal vector (behind used here instead of ahead for consistency with other functions) (second coefficient of - # cubic splines is relevant for the heading) - normvec = np.stack((coeffs_y[:, 1], -coeffs_x[:, 1]), axis=1) - - # normalize normal vectors - norm_factors = 1.0 / np.sqrt(np.sum(np.power(normvec, 2), axis=1)) - normvec_normalized = np.expand_dims(norm_factors, axis=1) * normvec - - return coeffs_x, coeffs_y, M, normvec_normalized - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - import os - import sys - import matplotlib.pyplot as plt - sys.path.append(os.path.dirname(__file__)) - from interp_splines import interp_splines - - path_coords = np.array([[50.0, 10.0], [10.0, 4.0], [0.0, 0.0]]) - psi_s_ = np.pi / 2.0 - psi_e_ = np.pi / 1.3 - coeffs_x_, coeffs_y_ = calc_splines(path=path_coords, - psi_s=psi_s_, - psi_e=psi_e_)[0:2] - - path_interp = interp_splines(coeffs_x=coeffs_x_, - coeffs_y=coeffs_y_, - incl_last_point=True, - stepsize_approx=0.5)[0] - - plt.plot(path_interp[:, 0], path_interp[:, 1]) - plt.axis('equal') - plt.show() diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_t_profile.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_t_profile.py deleted file mode 100644 index b0db81f40..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_t_profile.py +++ /dev/null @@ -1,71 +0,0 @@ -import numpy as np -import math -import trajectory_planning_helpers.calc_ax_profile - - -def calc_t_profile(vx_profile: np.ndarray, - el_lengths: np.ndarray, - t_start: float = 0.0, - ax_profile: np.ndarray = None) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - Calculate a temporal duration profile for a given trajectory. - - .. inputs:: - :param vx_profile: array containing the velocity profile. - :type vx_profile: np.ndarray - :param el_lengths: array containing the element lengths between every point of the velocity profile. - :type el_lengths: np.ndarray - :param t_start: start time in seconds added to first array element. - :type t_start: float - :param ax_profile: acceleration profile fitting to the velocity profile. - :type ax_profile: np.ndarray - - .. outputs:: - :return t_profile: time profile for the given velocity profile. - :rtype t_profile: np.ndarray - - .. notes:: - len(el_lengths) + 1 = len(t_profile) - - len(vx_profile) and len(ax_profile) must be >= len(el_lengths) as the temporal duration from one point to the next - is only calculated based on the previous point. - """ - - # check inputs - if vx_profile.size < el_lengths.size: - raise RuntimeError("vx_profile and el_lenghts must have at least the same length!") - - if ax_profile is not None and ax_profile.size < el_lengths.size: - raise RuntimeError("ax_profile and el_lenghts must have at least the same length!") - - # calculate acceleration profile if required - if ax_profile is None: - ax_profile = trajectory_planning_helpers.calc_ax_profile.calc_ax_profile(vx_profile=vx_profile, - el_lengths=el_lengths, - eq_length_output=False) - - # calculate temporal duration of every step between two points - no_points = el_lengths.size - t_steps = np.zeros(no_points) - - for i in range(no_points): - if not math.isclose(ax_profile[i], 0.0): - t_steps[i] = (-vx_profile[i] + math.sqrt((math.pow(vx_profile[i], 2) + 2 * ax_profile[i] * el_lengths[i])))\ - / ax_profile[i] - - else: # ax == 0.0 - t_steps[i] = el_lengths[i] / vx_profile[i] - - # calculate temporal duration profile out of steps - t_profile = np.insert(np.cumsum(t_steps), 0, 0.0) + t_start - - return t_profile - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_tangent_vectors.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_tangent_vectors.py deleted file mode 100644 index 3d41c0e05..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_tangent_vectors.py +++ /dev/null @@ -1,43 +0,0 @@ -import numpy as np -import math -import trajectory_planning_helpers.normalize_psi - - -def calc_tangent_vectors(psi: np.ndarray) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - Use heading to calculate normalized (i.e. unit length) tangent vectors. - - .. inputs:: - :param psi: array containing the heading of every point (north up, range [-pi,pi[). - :type psi: np.ndarray - - .. outputs:: - :return tangvec_normalized: unit length tangent vectors for every point [x, y]. - :rtype tangvec_normalized: np.ndarray - - .. notes:: - len(psi) = len(tangvec_normalized) - """ - - psi_ = np.copy(psi) - - # remap psi_vel to x-axis - psi_ += math.pi / 2 - psi_ = trajectory_planning_helpers.normalize_psi.normalize_psi(psi_) - - # get normalized tangent vectors - tangvec_normalized = np.zeros((psi_.size, 2)) - tangvec_normalized[:, 0] = np.cos(psi_) - tangvec_normalized[:, 1] = np.sin(psi_) - - return tangvec_normalized - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - psi_test = np.array([0.0, math.pi/4, math.pi/2, math.pi, -math.pi, -math.pi/2]) - print("Result:\n", calc_tangent_vectors(psi=psi_test)) diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_vel_profile.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_vel_profile.py deleted file mode 100644 index 64bfc58c9..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_vel_profile.py +++ /dev/null @@ -1,628 +0,0 @@ -import numpy as np -import math -import trajectory_planning_helpers.conv_filt - - -def calc_vel_profile(ax_max_machines: np.ndarray, - kappa: np.ndarray, - el_lengths: np.ndarray, - closed: bool, - drag_coeff: float, - m_veh: float, - ggv: np.ndarray = None, - loc_gg: np.ndarray = None, - v_max: float = None, - dyn_model_exp: float = 1.0, - mu: np.ndarray = None, - v_start: float = None, - v_end: float = None, - filt_window: int = None) -> np.ndarray: - """ - author: - Alexander Heilmeier - - modified by: - Tim Stahl - - .. description:: - Calculates a velocity profile using the tire and motor limits as good as possible. - - .. inputs:: - :param ax_max_machines: longitudinal acceleration limits by the electrical motors: [vx, ax_max_machines]. Velocity - in m/s, accelerations in m/s2. They should be handed in without considering drag resistance, - i.e. simply by calculating F_x_drivetrain / m_veh - :type ax_max_machines: np.ndarray - :param kappa: curvature profile of given trajectory in rad/m (always unclosed). - :type kappa: np.ndarray - :param el_lengths: element lengths (distances between coordinates) of given trajectory. - :type el_lengths: np.ndarray - :param closed: flag to set if the velocity profile must be calculated for a closed or unclosed trajectory. - :type closed: bool - :param drag_coeff: drag coefficient including all constants: drag_coeff = 0.5 * c_w * A_front * rho_air - :type drag_coeff: float - :param m_veh: vehicle mass in kg. - :type m_veh: float - :param ggv: ggv-diagram to be applied: [vx, ax_max, ay_max]. Velocity in m/s, accelerations in m/s2. - ATTENTION: Insert either ggv + mu (optional) or loc_gg! - :type ggv: np.ndarray - :param loc_gg: local gg diagrams along the path points: [[ax_max_0, ay_max_0], [ax_max_1, ay_max_1], ...], - accelerations in m/s2. ATTENTION: Insert either ggv + mu (optional) or loc_gg! - :type loc_gg: np.ndarray - :param v_max: Maximum longitudinal speed in m/s (optional if ggv is supplied, taking the minimum of the - fastest velocities covered by the ggv and ax_max_machines arrays then). - :type v_max: float - :param dyn_model_exp: exponent used in the vehicle dynamics model (usual range [1.0,2.0]). - :type dyn_model_exp: float - :param mu: friction coefficients (always unclosed). - :type mu: np.ndarray - :param v_start: start velocity in m/s (used in unclosed case only). - :type v_start: float - :param v_end: end velocity in m/s (used in unclosed case only). - :type v_end: float - :param filt_window: filter window size for moving average filter (must be odd). - :type filt_window: int - - .. outputs:: - :return vx_profile: calculated velocity profile (always unclosed). - :rtype vx_profile: np.ndarray - - .. notes:: - All inputs must be inserted unclosed, i.e. kappa[-1] != kappa[0], even if closed is set True! (el_lengths is kind of - closed if closed is True of course!) - - case closed is True: - len(kappa) = len(el_lengths) = len(mu) = len(vx_profile) - - case closed is False: - len(kappa) = len(el_lengths) + 1 = len(mu) = len(vx_profile) - """ - - # ------------------------------------------------------------------------------------------------------------------ - # INPUT CHECKS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # check if either ggv (and optionally mu) or loc_gg are handed in - if (ggv is not None or mu is not None) and loc_gg is not None: - raise RuntimeError("Either ggv and optionally mu OR loc_gg must be supplied, not both (or all) of them!") - - if ggv is None and loc_gg is None: - raise RuntimeError("Either ggv or loc_gg must be supplied!") - - # check shape of loc_gg - if loc_gg is not None: - if loc_gg.ndim != 2: - raise RuntimeError("loc_gg must have two dimensions!") - - if loc_gg.shape[0] != kappa.size: - raise RuntimeError("Length of loc_gg and kappa must be equal!") - - if loc_gg.shape[1] != 2: - raise RuntimeError("loc_gg must consist of two columns: [ax_max, ay_max]!") - - # check shape of ggv - if ggv is not None and ggv.shape[1] != 3: - raise RuntimeError("ggv diagram must consist of the three columns [vx, ax_max, ay_max]!") - - # check size of mu - if mu is not None and kappa.size != mu.size: - raise RuntimeError("kappa and mu must have the same length!") - - # check size of kappa and element lengths - if closed and kappa.size != el_lengths.size: - raise RuntimeError("kappa and el_lengths must have the same length if closed!") - - elif not closed and kappa.size != el_lengths.size + 1: - raise RuntimeError("kappa must have the length of el_lengths + 1 if unclosed!") - - # check start and end velocities - if not closed and v_start is None: - raise RuntimeError("v_start must be provided for the unclosed case!") - - if v_start is not None and v_start < 0.0: - v_start = 0.0 - print('WARNING: Input v_start was < 0.0. Using v_start = 0.0 instead!') - - if v_end is not None and v_end < 0.0: - v_end = 0.0 - print('WARNING: Input v_end was < 0.0. Using v_end = 0.0 instead!') - - # check dyn_model_exp - if not 1.0 <= dyn_model_exp <= 2.0: - print('WARNING: Exponent for the vehicle dynamics model should be in the range [1.0, 2.0]!') - - # check shape of ax_max_machines - if ax_max_machines.shape[1] != 2: - raise RuntimeError("ax_max_machines must consist of the two columns [vx, ax_max_machines]!") - - # check v_max - if v_max is None: - if ggv is None: - raise RuntimeError("v_max must be supplied if ggv is None!") - else: - v_max = min(ggv[-1, 0], ax_max_machines[-1, 0]) - - else: - # check if ggv covers velocity until v_max - if ggv is not None and ggv[-1, 0] < v_max: - raise RuntimeError("ggv has to cover the entire velocity range of the car (i.e. >= v_max)!") - - # check if ax_max_machines covers velocity until v_max - if ax_max_machines[-1, 0] < v_max: - raise RuntimeError("ax_max_machines has to cover the entire velocity range of the car (i.e. >= v_max)!") - - # ------------------------------------------------------------------------------------------------------------------ - # BRINGING GGV OR LOC_GG INTO SHAPE FOR EQUAL HANDLING AFTERWARDS -------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - """For an equal/easier handling of every case afterwards we bring all cases into a form where the local ggv is made - available for every waypoint, i.e. [ggv_0, ggv_1, ggv_2, ...] -> we have a three dimensional array p_ggv (path_ggv) - where the first dimension is the waypoint, the second is the velocity and the third is the two acceleration columns - -> DIM = NO_WAYPOINTS_CLOSED x NO_VELOCITY ENTRIES x 3""" - - # CASE 1: ggv supplied -> copy it for every waypoint - if ggv is not None: - p_ggv = np.repeat(np.expand_dims(ggv, axis=0), kappa.size, axis=0) - op_mode = 'ggv' - - # CASE 2: local gg diagram supplied -> add velocity dimension (artificial velocity of 10.0 m/s) - else: - p_ggv = np.expand_dims(np.column_stack((np.ones(loc_gg.shape[0]) * 10.0, loc_gg)), axis=1) - op_mode = 'loc_gg' - - # ------------------------------------------------------------------------------------------------------------------ - # SPEED PROFILE CALCULATION (FB) ----------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # transform curvature kappa into corresponding radii (abs because curvature has a sign in our convention) - radii = np.abs(np.divide(1.0, kappa, out=np.full(kappa.size, np.inf), where=kappa != 0.0)) - - # call solver - if not closed: - vx_profile = __solver_fb_unclosed(p_ggv=p_ggv, - ax_max_machines=ax_max_machines, - v_max=v_max, - radii=radii, - el_lengths=el_lengths, - mu=mu, - v_start=v_start, - v_end=v_end, - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh, - op_mode=op_mode) - - else: - vx_profile = __solver_fb_closed(p_ggv=p_ggv, - ax_max_machines=ax_max_machines, - v_max=v_max, - radii=radii, - el_lengths=el_lengths, - mu=mu, - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh, - op_mode=op_mode) - - # ------------------------------------------------------------------------------------------------------------------ - # POSTPROCESSING --------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if filt_window is not None: - vx_profile = trajectory_planning_helpers.conv_filt.conv_filt(signal=vx_profile, - filt_window=filt_window, - closed=closed) - - return vx_profile - - -def __solver_fb_unclosed(p_ggv: np.ndarray, - ax_max_machines: np.ndarray, - v_max: float, - radii: np.ndarray, - el_lengths: np.ndarray, - v_start: float, - drag_coeff: float, - m_veh: float, - op_mode: str, - mu: np.ndarray = None, - v_end: float = None, - dyn_model_exp: float = 1.0) -> np.ndarray: - - # ------------------------------------------------------------------------------------------------------------------ - # FORWARD BACKWARD SOLVER ------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # handle mu - if mu is None: - mu = np.ones(radii.size) - mu_mean = 1.0 - else: - mu_mean = np.mean(mu) - - # run through all the points and check for possible lateral acceleration - if op_mode == 'ggv': - # in ggv mode all ggvs are equal -> we can use the first one - ay_max_global = mu_mean * np.amin(p_ggv[0, :, 2]) # get first lateral acceleration estimate - vx_profile = np.sqrt(ay_max_global * radii) # get first velocity profile estimate - - ay_max_curr = mu * np.interp(vx_profile, p_ggv[0, :, 0], p_ggv[0, :, 2]) - vx_profile = np.sqrt(np.multiply(ay_max_curr, radii)) - - else: - # in loc_gg mode all ggvs consist of a single line due to the missing velocity dependency, mu is None in this - # case - vx_profile = np.sqrt(p_ggv[:, 0, 2] * radii) # get first velocity profile estimate - - # cut vx_profile to car's top speed - vx_profile[vx_profile > v_max] = v_max - - # consider v_start - if vx_profile[0] > v_start: - vx_profile[0] = v_start - - # calculate acceleration profile - vx_profile = __solver_fb_acc_profile(p_ggv=p_ggv, - ax_max_machines=ax_max_machines, - v_max=v_max, - radii=radii, - el_lengths=el_lengths, - mu=mu, - vx_profile=vx_profile, - backwards=False, - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh) - - # consider v_end - if v_end is not None and vx_profile[-1] > v_end: - vx_profile[-1] = v_end - - # calculate deceleration profile - vx_profile = __solver_fb_acc_profile(p_ggv=p_ggv, - ax_max_machines=ax_max_machines, - v_max=v_max, - radii=radii, - el_lengths=el_lengths, - mu=mu, - vx_profile=vx_profile, - backwards=True, - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh) - - return vx_profile - - -def __solver_fb_closed(p_ggv: np.ndarray, - ax_max_machines: np.ndarray, - v_max: float, - radii: np.ndarray, - el_lengths: np.ndarray, - drag_coeff: float, - m_veh: float, - op_mode: str, - mu: np.ndarray = None, - dyn_model_exp: float = 1.0) -> np.ndarray: - - # ------------------------------------------------------------------------------------------------------------------ - # FORWARD BACKWARD SOLVER ------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - no_points = radii.size - - # handle mu - if mu is None: - mu = np.ones(no_points) - mu_mean = 1.0 - else: - mu_mean = np.mean(mu) - - # run through all the points and check for possible lateral acceleration - if op_mode == 'ggv': - # in ggv mode all ggvs are equal -> we can use the first one - ay_max_global = mu_mean * np.amin(p_ggv[0, :, 2]) # get first lateral acceleration estimate - vx_profile = np.sqrt(ay_max_global * radii) # get first velocity estimate (radii must be positive!) - - # iterate until the initial velocity profile converges (break after max. 100 iterations) - converged = False - - for i in range(100): - vx_profile_prev_iteration = vx_profile - - ay_max_curr = mu * np.interp(vx_profile, p_ggv[0, :, 0], p_ggv[0, :, 2]) - vx_profile = np.sqrt(np.multiply(ay_max_curr, radii)) - - # break the loop if the maximum change of the velocity profile was below 0.5% - if np.max(np.abs(vx_profile / vx_profile_prev_iteration - 1.0)) < 0.005: - converged = True - break - - if not converged: - print("The initial vx profile did not converge after 100 iterations, please check radii and ggv!") - - else: - # in loc_gg mode all ggvs consist of a single line due to the missing velocity dependency, mu is None in this - # case - vx_profile = np.sqrt(p_ggv[:, 0, 2] * radii) # get first velocity estimate (radii must be positive!) - - # cut vx_profile to car's top speed - vx_profile[vx_profile > v_max] = v_max - - """We need to calculate the speed profile for two laps to get the correct starting and ending velocity.""" - - # double arrays - vx_profile_double = np.concatenate((vx_profile, vx_profile), axis=0) - radii_double = np.concatenate((radii, radii), axis=0) - el_lengths_double = np.concatenate((el_lengths, el_lengths), axis=0) - mu_double = np.concatenate((mu, mu), axis=0) - p_ggv_double = np.concatenate((p_ggv, p_ggv), axis=0) - - # calculate acceleration profile - vx_profile_double = __solver_fb_acc_profile(p_ggv=p_ggv_double, - ax_max_machines=ax_max_machines, - v_max=v_max, - radii=radii_double, - el_lengths=el_lengths_double, - mu=mu_double, - vx_profile=vx_profile_double, - backwards=False, - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh) - - # use second lap of acceleration profile - vx_profile_double = np.concatenate((vx_profile_double[no_points:], vx_profile_double[no_points:]), axis=0) - - # calculate deceleration profile - vx_profile_double = __solver_fb_acc_profile(p_ggv=p_ggv_double, - ax_max_machines=ax_max_machines, - v_max=v_max, - radii=radii_double, - el_lengths=el_lengths_double, - mu=mu_double, - vx_profile=vx_profile_double, - backwards=True, - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh) - - # use second lap of deceleration profile - vx_profile = vx_profile_double[no_points:] - - return vx_profile - - -def __solver_fb_acc_profile(p_ggv: np.ndarray, - ax_max_machines: np.ndarray, - v_max: float, - radii: np.ndarray, - el_lengths: np.ndarray, - mu: np.ndarray, - vx_profile: np.ndarray, - drag_coeff: float, - m_veh: float, - dyn_model_exp: float = 1.0, - backwards: bool = False) -> np.ndarray: - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARATIONS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - no_points = vx_profile.size - - # check for reversed direction - if backwards: - radii_mod = np.flipud(radii) - el_lengths_mod = np.flipud(el_lengths) - mu_mod = np.flipud(mu) - vx_profile = np.flipud(vx_profile) - mode = 'decel_backw' - else: - radii_mod = radii - el_lengths_mod = el_lengths - mu_mod = mu - mode = 'accel_forw' - - # ------------------------------------------------------------------------------------------------------------------ - # SEARCH START POINTS FOR ACCELERATION PHASES ---------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - vx_diffs = np.diff(vx_profile) - acc_inds = np.where(vx_diffs > 0.0)[0] # indices of points with positive acceleration - if acc_inds.size != 0: - # check index diffs -> we only need the first point of every acceleration phase - acc_inds_diffs = np.diff(acc_inds) - acc_inds_diffs = np.insert(acc_inds_diffs, 0, 2) # first point is always a starting point - acc_inds_rel = acc_inds[acc_inds_diffs > 1] # starting point indices for acceleration phases - else: - acc_inds_rel = [] # if vmax is low and can be driven all the time - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE VELOCITY PROFILE --------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # cast np.array as a list - acc_inds_rel = list(acc_inds_rel) - - # while we have indices remaining in the list - while acc_inds_rel: - # set index to first list element - i = acc_inds_rel.pop(0) - - # start from current index and run until either the end of the lap or a termination criterion are reached - while i < no_points - 1: - - ax_possible_cur = calc_ax_poss(vx_start=vx_profile[i], - radius=radii_mod[i], - ggv=p_ggv[i], - ax_max_machines=ax_max_machines, - mu=mu_mod[i], - mode=mode, - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh) - - vx_possible_next = math.sqrt(math.pow(vx_profile[i], 2) + 2 * ax_possible_cur * el_lengths_mod[i]) - - if backwards: - """ - We have to loop the calculation if we are in the backwards iteration (currently just once). This is - because we calculate the possible ax at a point i which does not necessarily fit for point i + 1 - (which is i - 1 in the real direction). At point i + 1 (or i - 1 in real direction) we have a different - start velocity (vx_possible_next), radius and mu value while the absolute value of ax remains the same - in both directions. - """ - - # looping just once at the moment - for j in range(1): - ax_possible_next = calc_ax_poss(vx_start=vx_possible_next, - radius=radii_mod[i + 1], - ggv=p_ggv[i + 1], - ax_max_machines=ax_max_machines, - mu=mu_mod[i + 1], - mode=mode, - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh) - - vx_tmp = math.sqrt(math.pow(vx_profile[i], 2) + 2 * ax_possible_next * el_lengths_mod[i]) - - if vx_tmp < vx_possible_next: - vx_possible_next = vx_tmp - else: - break - - # save possible next velocity if it is smaller than the current value - if vx_possible_next < vx_profile[i + 1]: - vx_profile[i + 1] = vx_possible_next - - i += 1 - - # break current acceleration phase if next speed would be higher than the maximum vehicle velocity or if we - # are at the next acceleration phase start index - if vx_possible_next > v_max or (acc_inds_rel and i >= acc_inds_rel[0]): - break - - # ------------------------------------------------------------------------------------------------------------------ - # POSTPROCESSING --------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # flip output vel_profile if necessary - if backwards: - vx_profile = np.flipud(vx_profile) - - return vx_profile - - -def calc_ax_poss(vx_start: float, - radius: float, - ggv: np.ndarray, - mu: float, - dyn_model_exp: float, - drag_coeff: float, - m_veh: float, - ax_max_machines: np.ndarray = None, - mode: str = 'accel_forw') -> float: - """ - This function returns the possible longitudinal acceleration in the current step/point. - - .. inputs:: - :param vx_start: [m/s] velocity at current point - :type vx_start: float - :param radius: [m] radius on which the car is currently driving - :type radius: float - :param ggv: ggv-diagram to be applied: [vx, ax_max, ay_max]. Velocity in m/s, accelerations in m/s2. - :type ggv: np.ndarray - :param mu: [-] current friction value - :type mu: float - :param dyn_model_exp: [-] exponent used in the vehicle dynamics model (usual range [1.0,2.0]). - :type dyn_model_exp: float - :param drag_coeff: [m2*kg/m3] drag coefficient incl. all constants: drag_coeff = 0.5 * c_w * A_front * rho_air - :type drag_coeff: float - :param m_veh: [kg] vehicle mass - :type m_veh: float - :param ax_max_machines: longitudinal acceleration limits by the electrical motors: [vx, ax_max_machines]. Velocity - in m/s, accelerations in m/s2. They should be handed in without considering drag resistance. - Can be set None if using one of the decel modes. - :type ax_max_machines: np.ndarray - :param mode: [-] operation mode, can be 'accel_forw', 'decel_forw', 'decel_backw' - -> determines if machine limitations are considered and if ax should be considered negative - or positive during deceleration (for possible backwards iteration) - :type mode: str - - .. outputs:: - :return ax_final: [m/s2] final acceleration from current point to next one - :rtype ax_final: float - """ - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARATIONS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # check inputs - if mode not in ['accel_forw', 'decel_forw', 'decel_backw']: - raise RuntimeError("Unknown operation mode for calc_ax_poss!") - - if mode == 'accel_forw' and ax_max_machines is None: - raise RuntimeError("ax_max_machines is required if operation mode is accel_forw!") - - if ggv.ndim != 2 or ggv.shape[1] != 3: - raise RuntimeError("ggv must have two dimensions and three columns [vx, ax_max, ay_max]!") - - # ------------------------------------------------------------------------------------------------------------------ - # CONSIDER TIRE POTENTIAL ------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # calculate possible and used accelerations (considering tires) - ax_max_tires = mu * np.interp(vx_start, ggv[:, 0], ggv[:, 1]) - ay_max_tires = mu * np.interp(vx_start, ggv[:, 0], ggv[:, 2]) - ay_used = math.pow(vx_start, 2) / radius - - # during forward acceleration and backward deceleration ax_max_tires must be considered positive, during forward - # deceleration it must be considered negative - if mode in ['accel_forw', 'decel_backw'] and ax_max_tires < 0.0: - print("WARNING: Inverting sign of ax_max_tires because it should be positive but was negative!") - ax_max_tires *= -1.0 - elif mode == 'decel_forw' and ax_max_tires > 0.0: - print("WARNING: Inverting sign of ax_max_tires because it should be negative but was positve!") - ax_max_tires *= -1.0 - - radicand = 1.0 - math.pow(ay_used / ay_max_tires, dyn_model_exp) - - if radicand > 0.0: - ax_avail_tires = ax_max_tires * math.pow(radicand, 1.0 / dyn_model_exp) - else: - ax_avail_tires = 0.0 - - # ------------------------------------------------------------------------------------------------------------------ - # CONSIDER MACHINE LIMITATIONS ------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # consider limitations imposed by electrical machines during forward acceleration - if mode == 'accel_forw': - # interpolate machine acceleration to be able to consider varying gear ratios, efficiencies etc. - ax_max_machines_tmp = np.interp(vx_start, ax_max_machines[:, 0], ax_max_machines[:, 1]) - ax_avail_vehicle = min(ax_avail_tires, ax_max_machines_tmp) - else: - ax_avail_vehicle = ax_avail_tires - - # ------------------------------------------------------------------------------------------------------------------ - # CONSIDER DRAG ---------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # calculate equivalent longitudinal acceleration of drag force at the current speed - ax_drag = -math.pow(vx_start, 2) * drag_coeff / m_veh - - # drag reduces the possible acceleration in the forward case and increases it in the backward case - if mode in ['accel_forw', 'decel_forw']: - ax_final = ax_avail_vehicle + ax_drag - # attention: this value will now be negative in forward direction if tire is entirely used for cornering - else: - ax_final = ax_avail_vehicle - ax_drag - - return ax_final - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_vel_profile_brake.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_vel_profile_brake.py deleted file mode 100644 index 43223e67e..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/calc_vel_profile_brake.py +++ /dev/null @@ -1,196 +0,0 @@ -import numpy as np -import math -import trajectory_planning_helpers.calc_vel_profile - - -def calc_vel_profile_brake(kappa: np.ndarray, - el_lengths: np.ndarray, - v_start: float, - drag_coeff: float, - m_veh: float, - ggv: np.ndarray = None, - loc_gg: np.ndarray = None, - dyn_model_exp: float = 1.0, - mu: np.ndarray = None, - decel_max: float = None) -> np.ndarray: - """ - author: - Alexander Heilmeier - - modified by: - Tim Stahl - - .. description:: - Calculate brake (may also be emergency) velocity profile based on a local trajectory. - - .. inputs:: - :param kappa: curvature profile of given trajectory in rad/m. - :type kappa: np.ndarray - :param el_lengths: element lengths (distances between coordinates) of given trajectory. - :type el_lengths: np.ndarray - :param v_start: start velocity in m/s. - :type v_start: float - :param drag_coeff: drag coefficient including all constants: drag_coeff = 0.5 * c_w * A_front * rho_air - :type drag_coeff: float - :param m_veh: vehicle mass in kg. - :type m_veh: float - :param ggv: ggv-diagram to be applied: [vx, ax_max, ay_max]. Velocity in m/s, accelerations in m/s2. - ATTENTION: Insert either ggv + mu (optional) or loc_gg! - :type ggv: np.ndarray - :param loc_gg: local gg diagrams along the path points: [[ax_max_0, ay_max_0], [ax_max_1, ay_max_1], ...], - accelerations in m/s2. ATTENTION: Insert either ggv + mu (optional) or loc_gg! - :type loc_gg: np.ndarray - :param dyn_model_exp: exponent used in the vehicle dynamics model (usual range [1.0,2.0]). - :type dyn_model_exp: float - :param mu: friction coefficients. - :type mu: np.ndarray - :param decel_max: maximum deceleration to be applied (if set to "None", the max. based on ggv and kappa will - be used). - :type decel_max: float - - .. outputs:: - :return vx_profile: calculated velocity profile using maximum deceleration of the car. - :rtype vx_profile: np.ndarray - - .. notes:: - len(kappa) = len(el_lengths) + 1 = len(mu) = len(vx_profile) - """ - - # ------------------------------------------------------------------------------------------------------------------ - # INPUT CHECKS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # check deceleration input - if decel_max is not None and not decel_max < 0.0: - raise RuntimeError("Deceleration input must be negative!") - - # check if either ggv (and optionally mu) or loc_gg are handed in - if (ggv is not None or mu is not None) and loc_gg is not None: - raise RuntimeError("Either ggv and optionally mu OR loc_gg must be supplied, not both (or all) of them!") - - if ggv is None and loc_gg is None: - raise RuntimeError("Either ggv or loc_gg must be supplied!") - - # check shape of loc_gg - if loc_gg is not None: - if loc_gg.ndim != 2: - raise RuntimeError("loc_gg must have two dimensions!") - - if loc_gg.shape[0] != kappa.size: - raise RuntimeError("Length of loc_gg and kappa must be equal!") - - if loc_gg.shape[1] != 2: - raise RuntimeError("loc_gg must consist of two columns: [ax_max, ay_max]!") - - # check shape of ggv - if ggv is not None and ggv.shape[1] != 3: - raise RuntimeError("ggv diagram must consist of the three columns [vx, ax_max, ay_max]!") - - # check size of mu - if mu is not None and kappa.size != mu.size: - raise RuntimeError("kappa and mu must have the same length!") - - # check size of kappa and element lengths - if kappa.size != el_lengths.size + 1: - raise RuntimeError("kappa must have the length of el_lengths + 1!") - - # check start and end velocities - if v_start < 0.0: - v_start = 0.0 - print('WARNING: Input v_start was < 0.0. Using v_start = 0.0 instead!') - - # check dyn_model_exp - if not 1.0 <= dyn_model_exp <= 2.0: - print('WARNING: Exponent for the vehicle dynamics model should be in the range [1.0, 2.0]!') - - # check if ggv covers velocity until v_start - if ggv is not None and ggv[-1, 0] < v_start: - raise RuntimeError("ggv has to cover the entire velocity range of the car (i.e. >= v_start)!") - - # ------------------------------------------------------------------------------------------------------------------ - # BRINGING GGV OR LOC_GG INTO SHAPE FOR EQUAL HANDLING AFTERWARDS -------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - """For an equal/easier handling of every case afterwards we bring all cases into a form where the local ggv is made - available for every waypoint, i.e. [ggv_0, ggv_1, ggv_2, ...] -> we have a three dimensional array p_ggv where - the first dimension is the waypoint, the second is the velocity and the third is the two acceleration columns - -> DIM = NO_WAYPOINTS_CLOSED x NO_VELOCITY ENTRIES x 3""" - - # CASE 1: ggv supplied -> copy it for every waypoint - if ggv is not None: - p_ggv = np.repeat(np.expand_dims(ggv, axis=0), kappa.size, axis=0) - - # CASE 2: local gg diagram supplied -> add velocity dimension (artificial velocity of 10.0 m/s) - else: - p_ggv = np.expand_dims(np.column_stack((np.ones(loc_gg.shape[0]) * 10.0, loc_gg)), axis=1) - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARATIONS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - no_points = kappa.size - - # create velocity profile array and set initial speed - vx_profile = np.zeros(no_points) - vx_profile[0] = v_start - - # transform curvature kappa into corresponding radii (abs because curvature has a sign in our convention) - radii = np.abs(np.divide(1, kappa, out=np.full(kappa.size, np.inf), where=kappa != 0)) - - # set mu if it is None - if mu is None: - mu = np.ones(no_points) - - # ------------------------------------------------------------------------------------------------------------------ - # PURE FORWARD SOLVER ---------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - for i in range(no_points - 1): - # calculate longitudinal acceleration - ggv_mod = np.copy(p_ggv[i]) - ggv_mod[:, 1] *= -1.0 # use negative acceleration in x axis for forward deceleration - ax_final = trajectory_planning_helpers.calc_vel_profile.calc_ax_poss(vx_start=vx_profile[i], - radius=radii[i], - ggv=ggv_mod, - ax_max_machines=None, - mu=mu[i], - mode='decel_forw', - dyn_model_exp=dyn_model_exp, - drag_coeff=drag_coeff, - m_veh=m_veh) - - # -------------------------------------------------------------------------------------------------------------- - # CONSIDER DESIRED MAXIMUM DECELERATION ------------------------------------------------------------------------ - # -------------------------------------------------------------------------------------------------------------- - - # calculate equivalent longitudinal acceleration of drag force at the current speed - ax_drag = -math.pow(vx_profile[i], 2) * drag_coeff / m_veh - - # consider desired maximum deceleration - if decel_max is not None and ax_final < decel_max: - # since this planner cannot use positive tire accelerations (this would require another interpolation of - # ggv[:, 1]) to overcome drag we plan with the drag acceleration if it is greater (i.e. more negative) than - # the desired maximum deceleration - if ax_drag < decel_max: - ax_final = ax_drag - else: - ax_final = decel_max - - # -------------------------------------------------------------------------------------------------------------- - # CALCULATE VELOCITY IN THE NEXT POINT ------------------------------------------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - radicand = math.pow(vx_profile[i], 2) + 2 * ax_final * el_lengths[i] - - if radicand < 0.0: - # standstill is reached - break - else: - vx_profile[i + 1] = math.sqrt(radicand) - - return vx_profile - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/check_normals_crossing.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/check_normals_crossing.py deleted file mode 100644 index aceb01467..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/check_normals_crossing.py +++ /dev/null @@ -1,81 +0,0 @@ -import numpy as np - - -def check_normals_crossing(track: np.ndarray, - normvec_normalized: np.ndarray, - horizon: int = 10) -> bool: - """ - author: - Alexander Heilmeier - - .. description:: - This function checks spline normals for crossings. Returns True if a crossing was found, otherwise False. - - .. inputs:: - :param track: array containing the track [x, y, w_tr_right, w_tr_left] to check - :type track: np.ndarray - :param normvec_normalized: array containing normalized normal vectors for every track point - [x_component, y_component] - :type normvec_normalized: np.ndarray - :param horizon: determines the number of normals in forward and backward direction that are checked - against each normal on the line - :type horizon: int - - .. outputs:: - :return found_crossing: bool value indicating if a crossing was found or not - :rtype found_crossing: bool - - .. notes:: - The checks can take a while if full check is performed. Inputs are unclosed. - """ - - # check input - no_points = track.shape[0] - - if horizon >= no_points: - raise RuntimeError("Horizon of %i points is too large for a track with %i points, reduce horizon!" - % (horizon, no_points)) - - elif horizon >= no_points / 2: - print("WARNING: Horizon of %i points makes no sense for a track with %i points, reduce horizon!" - % (horizon, no_points)) - - # initialization - les_mat = np.zeros((2, 2)) - idx_list = list(range(0, no_points)) - idx_list = idx_list[-horizon:] + idx_list + idx_list[:horizon] - - # loop through all points of the track to check for crossings in their neighbourhoods - for idx in range(no_points): - - # determine indices of points in the neighbourhood of the current index - idx_neighbours = idx_list[idx:idx + 2 * horizon + 1] - del idx_neighbours[horizon] - idx_neighbours = np.array(idx_neighbours) - - # remove indices of normal vectors that are collinear to the current index - is_collinear_b = np.isclose(np.cross(normvec_normalized[idx], normvec_normalized[idx_neighbours]), 0.0) - idx_neighbours_rel = idx_neighbours[np.nonzero(np.invert(is_collinear_b))[0]] - - # check crossings solving an LES - for idx_comp in list(idx_neighbours_rel): - - # LES: x_1 + lambda_1 * nx_1 = x_2 + lambda_2 * nx_2; y_1 + lambda_1 * ny_1 = y_2 + lambda_2 * ny_2; - const = track[idx_comp, :2] - track[idx, :2] - les_mat[:, 0] = normvec_normalized[idx] - les_mat[:, 1] = -normvec_normalized[idx_comp] - - # solve LES - lambdas = np.linalg.solve(les_mat, const) - - # we have a crossing within the relevant part if both lambdas lie between -w_tr_left and w_tr_right - if -track[idx, 3] <= lambdas[0] <= track[idx, 2] \ - and -track[idx_comp, 3] <= lambdas[1] <= track[idx_comp, 2]: - return True # found crossing - - return False - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/conv_filt.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/conv_filt.py deleted file mode 100644 index 2217eaf28..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/conv_filt.py +++ /dev/null @@ -1,78 +0,0 @@ -import numpy as np - - -def conv_filt(signal: np.ndarray, - filt_window: int, - closed: bool) -> np.ndarray: - """ - author: - Alexander Heilmeier - - modified by: - Tim Stahl - - .. description:: - Filter a given temporal signal using a convolution (moving average) filter. - - .. inputs:: - :param signal: temporal signal that should be filtered (always unclosed). - :type signal: np.ndarray - :param filt_window: filter window size for moving average filter (must be odd). - :type filt_window: int - :param closed: flag showing if the signal can be considered as closable, e.g. for velocity profiles. - :type closed: bool - - .. outputs:: - :return signal_filt: filtered input signal (always unclosed). - :rtype signal_filt: np.ndarray - - .. notes:: - signal input is always unclosed! - - len(signal) = len(signal_filt) - """ - - # check if window width is odd - if not filt_window % 2 == 1: - raise RuntimeError("Window width of moving average filter must be odd!") - - # calculate half window width - 1 - w_window_half = int((filt_window - 1) / 2) - - # apply filter - if closed: - # temporarily add points in front of and behind signal - signal_tmp = np.concatenate((signal[-w_window_half:], signal, signal[:w_window_half]), axis=0) - - # apply convolution filter used as a moving average filter and remove temporary points - signal_filt = np.convolve(signal_tmp, - np.ones(filt_window) / float(filt_window), - mode="same")[w_window_half:-w_window_half] - - else: - # implementation 1: include boundaries during filtering - # no_points = signal.size - # signal_filt = np.zeros(no_points) - # - # for i in range(no_points): - # if i < w_window_half: - # signal_filt[i] = np.average(signal[:i + w_window_half + 1]) - # - # elif i < no_points - w_window_half: - # signal_filt[i] = np.average(signal[i - w_window_half:i + w_window_half + 1]) - # - # else: - # signal_filt[i] = np.average(signal[i - w_window_half:]) - - # implementation 2: start filtering at w_window_half and stop at -w_window_half - signal_filt = np.copy(signal) - signal_filt[w_window_half:-w_window_half] = np.convolve(signal, - np.ones(filt_window) / float(filt_window), - mode="same")[w_window_half:-w_window_half] - - return signal_filt - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/create_raceline.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/create_raceline.py deleted file mode 100644 index eaf18c1e9..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/create_raceline.py +++ /dev/null @@ -1,83 +0,0 @@ -import numpy as np -import trajectory_planning_helpers as tph - - -def create_raceline(refline: np.ndarray, - normvectors: np.ndarray, - alpha: np.ndarray, - stepsize_interp: float) -> tuple: - """ - author: - Alexander Heilmeier - - .. description:: - This function includes the algorithm part connected to the interpolation of the raceline after the optimization. - - .. inputs:: - :param refline: array containing the track reference line [x, y] (unit is meter, must be unclosed!) - :type refline: np.ndarray - :param normvectors: normalized normal vectors for every point of the reference line [x_component, y_component] - (unit is meter, must be unclosed!) - :type normvectors: np.ndarray - :param alpha: solution vector of the optimization problem containing the lateral shift in m for every point. - :type alpha: np.ndarray - :param stepsize_interp: stepsize in meters which is used for the interpolation after the raceline creation. - :type stepsize_interp: float - - .. outputs:: - :return raceline_interp: interpolated raceline [x, y] in m. - :rtype raceline_interp: np.ndarray - :return A_raceline: linear equation system matrix of the splines on the raceline. - :rtype A_raceline: np.ndarray - :return coeffs_x_raceline: spline coefficients of the x-component. - :rtype coeffs_x_raceline: np.ndarray - :return coeffs_y_raceline: spline coefficients of the y-component. - :rtype coeffs_y_raceline: np.ndarray - :return spline_inds_raceline_interp: contains the indices of the splines that hold the interpolated points. - :rtype spline_inds_raceline_interp: np.ndarray - :return t_values_raceline_interp: containts the relative spline coordinate values (t) of every point on the - splines. - :rtype t_values_raceline_interp: np.ndarray - :return s_raceline_interp: total distance in m (i.e. s coordinate) up to every interpolation point. - :rtype s_raceline_interp: np.ndarray - :return spline_lengths_raceline: lengths of the splines on the raceline in m. - :rtype spline_lengths_raceline: np.ndarray - :return el_lengths_raceline_interp_cl: distance between every two points on interpolated raceline in m (closed!). - :rtype el_lengths_raceline_interp_cl: np.ndarray - """ - - # calculate raceline on the basis of the optimized alpha values - raceline = refline + np.expand_dims(alpha, 1) * normvectors - - # calculate new splines on the basis of the raceline - raceline_cl = np.vstack((raceline, raceline[0])) - - coeffs_x_raceline, coeffs_y_raceline, A_raceline, normvectors_raceline = tph.calc_splines.\ - calc_splines(path=raceline_cl, - use_dist_scaling=False) - - # calculate new spline lengths - spline_lengths_raceline = tph.calc_spline_lengths. \ - calc_spline_lengths(coeffs_x=coeffs_x_raceline, - coeffs_y=coeffs_y_raceline) - - # interpolate splines for evenly spaced raceline points - raceline_interp, spline_inds_raceline_interp, t_values_raceline_interp, s_raceline_interp = tph.\ - interp_splines.interp_splines(spline_lengths=spline_lengths_raceline, - coeffs_x=coeffs_x_raceline, - coeffs_y=coeffs_y_raceline, - incl_last_point=False, - stepsize_approx=stepsize_interp) - - # calculate element lengths - s_tot_raceline = float(np.sum(spline_lengths_raceline)) - el_lengths_raceline_interp = np.diff(s_raceline_interp) - el_lengths_raceline_interp_cl = np.append(el_lengths_raceline_interp, s_tot_raceline - s_raceline_interp[-1]) - - return raceline_interp, A_raceline, coeffs_x_raceline, coeffs_y_raceline, spline_inds_raceline_interp, \ - t_values_raceline_interp, s_raceline_interp, spline_lengths_raceline, el_lengths_raceline_interp_cl - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/get_rel_path_part.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/get_rel_path_part.py deleted file mode 100644 index 49ae0a4d1..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/get_rel_path_part.py +++ /dev/null @@ -1,119 +0,0 @@ -import numpy as np - - -def get_rel_path_part(path_cl: np.ndarray, - s_pos: float, - s_dist_back: float = 20.0, - s_dist_forw: float = 20.0, - bound_right_cl: np.ndarray = None, - bound_left_cl: np.ndarray = None) -> tuple: - """ - author: - Alexander Heilmeier - - .. description:: - This function returns the relevant part of a closed path (e.g. on the racetrack) on the basis of a given s position. - The distances s_dist_forw and s_dist_backw are used to determine how much the path should reach forward and - backward from this position. - - .. inputs:: - :param path_cl: Closed path of which we want to extract the relevant part ([s, x, y]). - :type path_cl: np.ndarray - :param s_pos: s position of the vehicle in m (matched to the s coordinate of path_cl). - :type s_pos: float - :param s_dist_back: Backward distance in m from current s position. Including last point before that value! - :type s_dist_back: float - :param s_dist_forw: Forward distance in m from current s position. Including first point after that value! - :type s_dist_forw: float - :param bound_right_cl: Optional input: Right boundary ([x, y]) of path_cl. Every boundary point belongs to the path - point on the same index, i.e. they have the same number of points. - :type bound_right_cl: np.ndarray - :param bound_left_cl: Optional input: Right boundary ([x, y]) of path_cl. Every boundary point belongs to the path - point on the same index, i.e. they have the same number of points. - :type bound_left_cl: np.ndarray - - .. outputs:: - :return path_rel: Relevant part of the path ([s, x, y]). Attention: s coordinate does not start at 0m! - :rtype path_rel: np.ndarray - :return bound_right_rel: Relevant part of right boundary ([x, y]). None if not inserted. - :rtype bound_right_rel: np.ndarray - :return bound_left_rel: Relevant part of left boundary ([x, y]). None if not inserted. - :rtype bound_left_rel: np.ndarray - """ - - # get s_tot into a variable - s_tot = path_cl[-1, 0] - - # check distance input - if s_dist_back + s_dist_forw >= s_tot: - raise RuntimeError('Summed distance inputs are greater or equal to the total distance of the given path!') - - # check boundaries - if bound_right_cl is not None and bound_right_cl.shape[0] != path_cl.shape[0]: - raise RuntimeError('Inserted right boundary does not have the same number of points as the path!') - - if bound_left_cl is not None and bound_left_cl.shape[0] != path_cl.shape[0]: - raise RuntimeError('Inserted left boundary does not have the same number of points as the path!') - - # cut s position if it exceeds the path length - if s_pos >= s_tot: - s_pos -= s_tot - - # set s boundaries - s_min = s_pos - s_dist_back - s_max = s_pos + s_dist_forw - - if s_min < 0.0: - s_min += s_tot - - if s_max > s_tot: - s_max -= s_tot - - # now the following holds: s_min -> [0.0; s_tot[ s_max -> ]0.0; s_tot] - - # get indices of according points - # - 1 to include trajectory point before s_min - idx_start = np.searchsorted(path_cl[:, 0], s_min, side="right") - 1 - # + 1 to include trajectory point after s_max when slicing - idx_stop = np.searchsorted(path_cl[:, 0], s_max, side="left") + 1 - - # catch case of reaching into the next lap - if idx_start < idx_stop: - # common case - path_rel = path_cl[idx_start:idx_stop] - - if bound_right_cl is not None: - bound_right_rel = bound_right_cl[idx_start:idx_stop] - else: - bound_right_rel = None - - if bound_left_cl is not None: - bound_left_rel = bound_left_cl[idx_start:idx_stop] - else: - bound_left_rel = None - - else: - # overlapping case - # temporarily add s_tot to the part in the "next lap" for convenient interpolation afterwards - path_rel_part2 = np.copy(path_cl[:idx_stop]) - path_rel_part2[:, 0] += s_tot - - # :-1 for first part to include last/first point of closed trajectory only once - path_rel = np.vstack((path_cl[idx_start:-1], path_rel_part2)) - - if bound_right_cl is not None: - bound_right_rel = np.vstack((bound_right_cl[idx_start:-1], bound_right_cl[:idx_stop])) - else: - bound_right_rel = None - - if bound_left_cl is not None: - bound_left_rel = np.vstack((bound_left_cl[idx_start:-1], bound_left_cl[:idx_stop])) - else: - bound_left_rel = None - - return path_rel, bound_right_rel, bound_left_rel - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/import_veh_dyn_info.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/import_veh_dyn_info.py deleted file mode 100644 index 01292924b..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/import_veh_dyn_info.py +++ /dev/null @@ -1,87 +0,0 @@ -import numpy as np - - -def import_veh_dyn_info(ggv_import_path: str = None, - ax_max_machines_import_path: str = None) -> tuple: - """ - author: - Alexander Heilmeier - - .. description:: - This function imports the required vehicle dynamics information from several files: The vehicle ggv diagram - ([vx, ax_max, ay_max], velocity in m/s, accelerations in m/s2) and the ax_max_machines array containing the - longitudinal acceleration limits by the electrical motors ([vx, ax_max_machines], velocity in m/s, acceleration in - m/s2). - - .. inputs:: - :param ggv_import_path: Path to the ggv csv file. - :type ggv_import_path: str - :param ax_max_machines_import_path: Path to the ax_max_machines csv file. - :type ax_max_machines_import_path: str - - .. outputs:: - :return ggv: ggv diagram - :rtype ggv: np.ndarray - :return ax_max_machines: ax_max_machines array - :rtype ax_max_machines: np.ndarray - """ - - # GGV -------------------------------------------------------------------------------------------------------------- - if ggv_import_path is not None: - - # load csv - with open(ggv_import_path, "rb") as fh: - ggv = np.loadtxt(fh, comments='#', delimiter=",") - - # expand dimension in case of a single row - if ggv.ndim == 1: - ggv = np.expand_dims(ggv, 0) - - # check columns - if ggv.shape[1] != 3: - raise RuntimeError("ggv diagram must consist of the three columns [vx, ax_max, ay_max]!") - - # check values - invalid_1 = ggv[:, 0] < 0.0 # assure velocities > 0.0 - invalid_2 = ggv[:, 1:] > 50.0 # assure valid maximum accelerations - invalid_3 = ggv[:, 1] < 0.0 # assure positive accelerations - invalid_4 = ggv[:, 2] < 0.0 # assure positive accelerations - - if np.any(invalid_1) or np.any(invalid_2) or np.any(invalid_3) or np.any(invalid_4): - raise RuntimeError("ggv seems unreasonable!") - - else: - ggv = None - - # AX_MAX_MACHINES -------------------------------------------------------------------------------------------------- - if ax_max_machines_import_path is not None: - - # load csv - with open(ax_max_machines_import_path, "rb") as fh: - ax_max_machines = np.loadtxt(fh, comments='#', delimiter=",") - - # expand dimension in case of a single row - if ax_max_machines.ndim == 1: - ax_max_machines = np.expand_dims(ax_max_machines, 0) - - # check columns - if ax_max_machines.shape[1] != 2: - raise RuntimeError("ax_max_machines must consist of the two columns [vx, ax_max_machines]!") - - # check values - invalid_1 = ax_max_machines[:, 0] < 0.0 # assure velocities > 0.0 - invalid_2 = ax_max_machines[:, 1] > 20.0 # assure valid maximum accelerations - invalid_3 = ax_max_machines[:, 1] < 0.0 # assure positive accelerations - - if np.any(invalid_1) or np.any(invalid_2) or np.any(invalid_3): - raise RuntimeError("ax_max_machines seems unreasonable!") - - else: - ax_max_machines = None - - return ggv, ax_max_machines - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/import_veh_dyn_info_2.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/import_veh_dyn_info_2.py deleted file mode 100644 index 5fbb995dd..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/import_veh_dyn_info_2.py +++ /dev/null @@ -1,79 +0,0 @@ -import numpy as np - - -def import_veh_dyn_info_2(filepath2localgg: str = "") -> np.ndarray: - """ - author: - Leonhard Hermansdorfer - - .. description:: - This function imports the local acceleration limits specified by a 'localgg' file and checks validity of the - imported data. The file contains the s-, x- and y-coordinates of the underlying reference line and the - corresponding acceleration limits in longitudinal and lateral direction. The file consists of a single row, - which results in a constant acceleration limit for the whole racetrack, or of multiple rows, which results in - location-dependent accelerations limits. - The file format is [s_m, x_m, y_m, ax_max_mps2, ay_max_mps2] with units [m, m, m, m/s^2, m/s^2]. - - .. inputs:: - :param filepath2localgg: absolute path to 'localgg' file which contains vehicle acceleration limits - :type filepath2localgg: str - - .. outputs:: - :return tpamap: tire performance assessment (tpa) map containing the reference line and long./lat. - local acceleration limits - :rtype tpamap: np.ndarray - """ - - # raise error if no path is provided - if not filepath2localgg: - raise RuntimeError('Missing path to file which contains vehicle acceleration limits!') - - # load localgg file - with open(filepath2localgg, 'rb') as fh: - data_localggfile = np.loadtxt(fh, comments='#', delimiter=',') - - # Check Imported Data for Validity ----------------------------------------------------------------------------- - - # check whether local ggv file contains only one row; - # if so, the class assumes globally constant acceleration limits - if data_localggfile.ndim == 1: - - if data_localggfile.size != 5: - raise RuntimeError('TPA MapInterface: wrong shape of localgg file data -> five columns required!') - - tpamap = np.hstack((np.zeros(3), data_localggfile[3:5]))[np.newaxis, :] - - elif data_localggfile.ndim == 2: - - if data_localggfile.shape[1] != 5: - raise RuntimeError('TPA MapInterface: wrong shape of localgg file data -> five columns required!') - - tpamap = data_localggfile - - if np.any(tpamap[:, 0] < 0.0): - raise RuntimeError('TPA MapInterface: one or more s-coordinate values are smaller than zero!') - - if np.any(np.diff(tpamap[:, 0]) <= 0.0): - raise RuntimeError('TPA MapInterface: s-coordinates are not strictly monotone increasing!') - - # check whether endpoint and start point of s is close together in xy - if not np.isclose(np.hypot(tpamap[0, 1] - tpamap[-1, 1], tpamap[0, 2] - tpamap[-1, 2]), 0.0): - raise RuntimeError('TPA MapInterface: s-coordinates representing the race track are not closed; ' - 'first and last point are not equal!') - - else: - raise RuntimeError("Localgg file must provide one or two dimensions!") - - # check local acceleration limits for validity - if np.any(tpamap[:, 3:] > 20.0): - raise RuntimeError('TPA MapInterface: max. acceleration limit in localgg file exceeds 20 m/s^2!') - - if np.any(tpamap[:, 3:] < 1.0): - raise RuntimeError('TPA MapInterface: min. acceleration limit in localgg file is below 1 m/s^2!') - - return tpamap - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == '__main__': - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_splines.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_splines.py deleted file mode 100644 index 5bc959477..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_splines.py +++ /dev/null @@ -1,190 +0,0 @@ -import numpy as np -import math -import trajectory_planning_helpers.calc_spline_lengths - - -def interp_splines(coeffs_x: np.ndarray, - coeffs_y: np.ndarray, - spline_lengths: np.ndarray = None, - incl_last_point: bool = False, - stepsize_approx: float = None, - stepnum_fixed: list = None) -> tuple: - """ - author: - Alexander Heilmeier & Tim Stahl - - .. description:: - Interpolate points on one or more splines with third order. The last point (i.e. t = 1.0) - can be included if option is set accordingly (should be prevented for a closed raceline in most cases). The - algorithm keeps stepsize_approx as good as possible. - - .. inputs:: - :param coeffs_x: coefficient matrix of the x splines with size (no_splines x 4). - :type coeffs_x: np.ndarray - :param coeffs_y: coefficient matrix of the y splines with size (no_splines x 4). - :type coeffs_y: np.ndarray - :param spline_lengths: array containing the lengths of the inserted splines with size (no_splines x 1). - :type spline_lengths: np.ndarray - :param incl_last_point: flag to set if last point should be kept or removed before return. - :type incl_last_point: bool - :param stepsize_approx: desired stepsize of the points after interpolation. \\ Provide only one - :type stepsize_approx: float - :param stepnum_fixed: return a fixed number of coordinates per spline, list of length no_splines. \\ of these two! - :type stepnum_fixed: list - - .. outputs:: - :return path_interp: interpolated path points. - :rtype path_interp: np.ndarray - :return spline_inds: contains the indices of the splines that hold the interpolated points. - :rtype spline_inds: np.ndarray - :return t_values: containts the relative spline coordinate values (t) of every point on the splines. - :rtype t_values: np.ndarray - :return dists_interp: total distance up to every interpolation point. - :rtype dists_interp: np.ndarray - - .. notes:: - len(coeffs_x) = len(coeffs_y) = len(spline_lengths) - - len(path_interp = len(spline_inds) = len(t_values) = len(dists_interp) - """ - - # ------------------------------------------------------------------------------------------------------------------ - # INPUT CHECKS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # check sizes - if coeffs_x.shape[0] != coeffs_y.shape[0]: - raise RuntimeError("Coefficient matrices must have the same length!") - - if spline_lengths is not None and coeffs_x.shape[0] != spline_lengths.size: - raise RuntimeError("coeffs_x/y and spline_lengths must have the same length!") - - # check if coeffs_x and coeffs_y have exactly two dimensions and raise error otherwise - if not (coeffs_x.ndim == 2 and coeffs_y.ndim == 2): - raise RuntimeError("Coefficient matrices do not have two dimensions!") - - # check if step size specification is valid - if (stepsize_approx is None and stepnum_fixed is None) \ - or (stepsize_approx is not None and stepnum_fixed is not None): - raise RuntimeError("Provide one of 'stepsize_approx' and 'stepnum_fixed' and set the other to 'None'!") - - if stepnum_fixed is not None and len(stepnum_fixed) != coeffs_x.shape[0]: - raise RuntimeError("The provided list 'stepnum_fixed' must hold an entry for every spline!") - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE NUMBER OF INTERPOLATION POINTS AND ACCORDING DISTANCES ------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if stepsize_approx is not None: - # get the total distance up to the end of every spline (i.e. cumulated distances) - if spline_lengths is None: - spline_lengths = trajectory_planning_helpers.calc_spline_lengths.calc_spline_lengths(coeffs_x=coeffs_x, - coeffs_y=coeffs_y, - quickndirty=False) - - dists_cum = np.cumsum(spline_lengths) - - # calculate number of interpolation points and distances (+1 because last point is included at first) - no_interp_points = math.ceil(dists_cum[-1] / stepsize_approx) + 1 - dists_interp = np.linspace(0.0, dists_cum[-1], no_interp_points) - - else: - # get total number of points to be sampled (subtract overlapping points) - no_interp_points = sum(stepnum_fixed) - (len(stepnum_fixed) - 1) - dists_interp = None - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE INTERMEDIATE STEPS ------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # create arrays to save the values - path_interp = np.zeros((no_interp_points, 2)) # raceline coords (x, y) array - spline_inds = np.zeros(no_interp_points, dtype=int) # save the spline index to which a point belongs - t_values = np.zeros(no_interp_points) # save t values - - if stepsize_approx is not None: - - # -------------------------------------------------------------------------------------------------------------- - # APPROX. EQUAL STEP SIZE ALONG PATH OF ADJACENT SPLINES ------------------------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - # loop through all the elements and create steps with stepsize_approx - for i in range(no_interp_points - 1): - # find the spline that hosts the current interpolation point - j = np.argmax(dists_interp[i] < dists_cum) - spline_inds[i] = j - - # get spline t value depending on the progress within the current element - if j > 0: - t_values[i] = (dists_interp[i] - dists_cum[j - 1]) / spline_lengths[j] - else: - if spline_lengths.ndim == 0: - t_values[i] = dists_interp[i] / spline_lengths - else: - t_values[i] = dists_interp[i] / spline_lengths[0] - - # calculate coords - path_interp[i, 0] = coeffs_x[j, 0] \ - + coeffs_x[j, 1] * t_values[i]\ - + coeffs_x[j, 2] * math.pow(t_values[i], 2) \ - + coeffs_x[j, 3] * math.pow(t_values[i], 3) - - path_interp[i, 1] = coeffs_y[j, 0]\ - + coeffs_y[j, 1] * t_values[i]\ - + coeffs_y[j, 2] * math.pow(t_values[i], 2) \ - + coeffs_y[j, 3] * math.pow(t_values[i], 3) - - else: - - # -------------------------------------------------------------------------------------------------------------- - # FIXED STEP SIZE FOR EVERY SPLINE SEGMENT --------------------------------------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - j = 0 - - for i in range(len(stepnum_fixed)): - # skip last point except for last segment - if i < len(stepnum_fixed) - 1: - t_values[j:(j + stepnum_fixed[i] - 1)] = np.linspace(0, 1, stepnum_fixed[i])[:-1] - spline_inds[j:(j + stepnum_fixed[i] - 1)] = i - j += stepnum_fixed[i] - 1 - - else: - t_values[j:(j + stepnum_fixed[i])] = np.linspace(0, 1, stepnum_fixed[i]) - spline_inds[j:(j + stepnum_fixed[i])] = i - j += stepnum_fixed[i] - - t_set = np.column_stack((np.ones(no_interp_points), t_values, np.power(t_values, 2), np.power(t_values, 3))) - - # remove overlapping samples - n_samples = np.array(stepnum_fixed) - n_samples[:-1] -= 1 - - path_interp[:, 0] = np.sum(np.multiply(np.repeat(coeffs_x, n_samples, axis=0), t_set), axis=1) - path_interp[:, 1] = np.sum(np.multiply(np.repeat(coeffs_y, n_samples, axis=0), t_set), axis=1) - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE LAST POINT IF REQUIRED (t = 1.0) ----------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - if incl_last_point: - path_interp[-1, 0] = np.sum(coeffs_x[-1]) - path_interp[-1, 1] = np.sum(coeffs_y[-1]) - spline_inds[-1] = coeffs_x.shape[0] - 1 - t_values[-1] = 1.0 - - else: - path_interp = path_interp[:-1] - spline_inds = spline_inds[:-1] - t_values = t_values[:-1] - - if dists_interp is not None: - dists_interp = dists_interp[:-1] - - # NOTE: dists_interp is None, when using a fixed step size - return path_interp, spline_inds, t_values, dists_interp - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_track.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_track.py deleted file mode 100644 index 2f760333a..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_track.py +++ /dev/null @@ -1,63 +0,0 @@ -import numpy as np -import math - - -def interp_track(track: np.ndarray, - stepsize: float) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - Interpolate track points linearly to a new stepsize. - - .. inputs:: - :param track: track in the format [x, y, w_tr_right, w_tr_left, (banking)]. - :type track: np.ndarray - :param stepsize: desired stepsize after interpolation in m. - :type stepsize: float - - .. outputs:: - :return track_interp: interpolated track [x, y, w_tr_right, w_tr_left, (banking)]. - :rtype track_interp: np.ndarray - - .. notes:: - Track input and output are unclosed! track input must however be closable in the current form! - The banking angle is optional and must not be provided! - """ - - # ------------------------------------------------------------------------------------------------------------------ - # LINEAR INTERPOLATION OF TRACK ------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # create closed track - track_cl = np.vstack((track, track[0])) - - # calculate element lengths (euclidian distance) - el_lengths_cl = np.sqrt(np.sum(np.power(np.diff(track_cl[:, :2], axis=0), 2), axis=1)) - - # sum up total distance (from start) to every element - dists_cum_cl = np.cumsum(el_lengths_cl) - dists_cum_cl = np.insert(dists_cum_cl, 0, 0.0) - - # calculate desired lenghts depending on specified stepsize (+1 because last element is included) - no_points_interp_cl = math.ceil(dists_cum_cl[-1] / stepsize) + 1 - dists_interp_cl = np.linspace(0.0, dists_cum_cl[-1], no_points_interp_cl) - - # interpolate closed track points - track_interp_cl = np.zeros((no_points_interp_cl, track_cl.shape[1])) - - track_interp_cl[:, 0] = np.interp(dists_interp_cl, dists_cum_cl, track_cl[:, 0]) - track_interp_cl[:, 1] = np.interp(dists_interp_cl, dists_cum_cl, track_cl[:, 1]) - track_interp_cl[:, 2] = np.interp(dists_interp_cl, dists_cum_cl, track_cl[:, 2]) - track_interp_cl[:, 3] = np.interp(dists_interp_cl, dists_cum_cl, track_cl[:, 3]) - - if track_cl.shape[1] == 5: - track_interp_cl[:, 4] = np.interp(dists_interp_cl, dists_cum_cl, track_cl[:, 4]) - - return track_interp_cl[:-1] - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_track_widths.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_track_widths.py deleted file mode 100644 index 702202d32..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/interp_track_widths.py +++ /dev/null @@ -1,67 +0,0 @@ -import numpy as np - - -def interp_track_widths(w_track: np.ndarray, - spline_inds: np.ndarray, - t_values: np.ndarray, - incl_last_point: bool = False) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - The function (linearly) interpolates the track widths in the same steps as the splines were interpolated before. - - Keep attention that the (multiple) interpolation of track widths can lead to unwanted effects, e.g. that peaks - in the track widths can disappear if the stepsize is too large (kind of an aliasing effect). - - .. inputs:: - :param w_track: array containing the track widths in meters [w_track_right, w_track_left] to interpolate, - optionally with banking angle in rad: [w_track_right, w_track_left, banking] - :type w_track: np.ndarray - :param spline_inds: indices that show which spline (and here w_track element) shall be interpolated. - :type spline_inds: np.ndarray - :param t_values: relative spline coordinate values (t) of every point on the splines specified by spline_inds - :type t_values: np.ndarray - :param incl_last_point: bool flag to show if last point should be included or not. - :type incl_last_point: bool - - .. outputs:: - :return w_track_interp: array with interpolated track widths (and optionally banking angle). - :rtype w_track_interp: np.ndarray - - .. notes:: - All inputs are unclosed. - """ - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE INTERMEDIATE STEPS ------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - w_track_cl = np.vstack((w_track, w_track[0])) - no_interp_points = t_values.size # unclosed - - if incl_last_point: - w_track_interp = np.zeros((no_interp_points + 1, w_track.shape[1])) - w_track_interp[-1] = w_track_cl[-1] - else: - w_track_interp = np.zeros((no_interp_points, w_track.shape[1])) - - # loop through every interpolation point - for i in range(no_interp_points): - # find the spline that hosts the current interpolation point - ind_spl = spline_inds[i] - - # calculate track widths (linear approximation assumed along one spline) - w_track_interp[i, 0] = np.interp(t_values[i], (0.0, 1.0), w_track_cl[ind_spl:ind_spl + 2, 0]) - w_track_interp[i, 1] = np.interp(t_values[i], (0.0, 1.0), w_track_cl[ind_spl:ind_spl + 2, 1]) - - if w_track.shape[1] == 3: - w_track_interp[i, 2] = np.interp(t_values[i], (0.0, 1.0), w_track_cl[ind_spl:ind_spl + 2, 2]) - - return w_track_interp - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/iqp_handler.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/iqp_handler.py deleted file mode 100644 index 9d8448e6e..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/iqp_handler.py +++ /dev/null @@ -1,201 +0,0 @@ -import numpy as np -import trajectory_planning_helpers as tph - - -def iqp_handler(reftrack: np.ndarray, - normvectors: np.ndarray, - A: np.ndarray, - spline_len: np.ndarray, - psi: np.ndarray, - kappa: np.ndarray, - dkappa: np.ndarray, - kappa_bound: float, - w_veh: float, - print_debug: bool, - plot_debug: bool, - stepsize_interp: float, - iters_min: int = 3, - curv_error_allowed: float = 0.01) -> tuple: - - """ - author: - Alexander Heilmeier - Marvin Ochsenius - - .. description:: - This function handles the iterative call of the quadratic optimization problem (minimum curvature) during - trajectory optimization. The interface to this function was kept as similar as possible to the interface of - opt_min_curv.py. - - The basic idea is to repeatedly call the minimum curvature optimization while we limit restrict the solution space - for an improved validity (the linearization for the optimization problems is the problem here). After every step - we update the reference track on the basis of the solution for the next iteration to increase the validity of the - linearization. Since the optimization problem is based on the assumption of equal stepsizes we have to interpolate - the track in every iteration. - - Please refer to our paper for further information: - Heilmeier, Wischnewski, Hermansdorfer, Betz, Lienkamp, Lohmann - Minimum Curvature Trajectory Planning and Control for an Autonomous Racecar - DOI: 10.1080/00423114.2019.1631455 - - .. inputs:: - :param reftrack: array containing the reference track, i.e. a reference line and the according track - widths to the right and to the left [x, y, w_tr_right, w_tr_left] (unit is meter, must - be unclosed!) - :type reftrack: np.ndarray - :param normvectors: normalized normal vectors for every point of the reference track [x, y] - (unit is meter, must be unclosed!) - :type normvectors: np.ndarray - :param A: linear equation system matrix for splines (applicable for both, x and y direction) - -> System matrices have the form a_i, b_i * t, c_i * t^2, d_i * t^3 - -> see calc_splines.py for further information or to obtain this matrix - :type A: np.ndarray - :param spline_len: spline lengths for every point of the reference track [x, y] - (unit is meter, must be unclosed!) - :type spline_len: np.ndarray - :param psi: heading for every point of the reference track [x, y] - (unit is rad, must be unclosed!) - :type psi: np.ndarray - :param kappa: curvature for every point of the reference track [x, y] - (unit is 1/m, must be unclosed!) - :type kappa: np.ndarray - :param dkappa: derivative of curvature for every point of the reference track [x, y] - (unit is 1/m^2, must be unclosed!) - :type dkappa: np.ndarray - :param kappa_bound: curvature boundary to consider during optimization. - :type kappa_bound: float - :param w_veh: vehicle width in m. It is considered during the calculation of the allowed deviations - from the reference line. - :type w_veh: float - :param print_debug: bool flag to print debug messages. - :type print_debug: bool - :param plot_debug: bool flag to plot the curvatures that are calculated based on the original linearization - and on a linearization around the solution. - :type plot_debug: bool - :param stepsize_interp: stepsize in meters which is used for an interpolation after the spline approximation. - This stepsize determines the steps within the optimization problem. - :type stepsize_interp: float - :param iters_min: number if minimum iterations of the IQP (termination criterion). - :type iters_min: int - :param curv_error_allowed: allowed curvature error in rad/m between the original linearization and the - linearization around the solution (termination criterion). - :type curv_error_allowed: float - - .. outputs:: - :return alpha_mincurv_tmp: solution vector of the optimization problem containing the lateral shift in m for every - point. - :rtype alpha_mincurv_tmp: np.ndarray - :return reftrack_tmp: reference track data [x, y, w_tr_right, w_tr_left] as it was used in the final iteration - of the IQP. - :rtype reftrack_tmp: np.ndarray - :return normvectors_tmp: normalized normal vectors as they were used in the final iteration of the IQP [x, y]. - :rtype normvectors_tmp: np.ndarray - :return spline_len_tmp: spline lengths of reference track data [x, y, w_tr_right, w_tr_left] as it was used in - the final iteration of the IQP. - :rtype spline_len_tmp: np.ndarray - :return psi_reftrack_tmp: heading of reference track data [x, y, w_tr_right, w_tr_left] as it was used in the - final iteration of the IQP. - :rtype psi_reftrack_tmp: np.ndarray - :return kappa_reftrack_tmp: curvtaure of reference track data [x, y, w_tr_right, w_tr_left] as it was used in the - final iteration of the IQP. - :rtype psi_reftrack_tmp: np.ndarray - :return dkappa_reftrack_tmp:derivative of curvature of reference track data [x, y, w_tr_right, w_tr_left] as it was - used in the final iteration of the IQP. - :rtype psi_reftrack_tmp: np.ndarray - """ - - # ------------------------------------------------------------------------------------------------------------------ - # IQP (ITERATIVE QUADRATIC PROGRAMMING) ---------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # set initial data - reftrack_tmp = reftrack - normvectors_tmp = normvectors - A_tmp = A - spline_len_tmp = spline_len - psi_reftrack_tmp = psi - kappa_reftrack_tmp = kappa - dkappa_reftrack_tmp = dkappa - - # loop - iter_cur = 0 - - while True: - iter_cur += 1 - - # calculate intermediate solution and catch sum of squared curvature errors - alpha_mincurv_tmp, curv_error_max_tmp = tph.opt_min_curv.\ - opt_min_curv(reftrack=reftrack_tmp, - normvectors=normvectors_tmp, - A=A_tmp, - kappa_bound=kappa_bound, - w_veh=w_veh, - print_debug=print_debug, - plot_debug=plot_debug) - - # print some progress information - if print_debug: - print("Minimum curvature IQP: iteration %i, curv_error_max: %.4frad/m" % (iter_cur, curv_error_max_tmp)) - - # restrict solution space to improve validity of the linearization during the first steps - if iter_cur < iters_min: - alpha_mincurv_tmp *= iter_cur * 1.0 / iters_min - - # check termination criterions: minimum number of iterations and curvature error - if iter_cur >= iters_min and curv_error_max_tmp <= curv_error_allowed: - if print_debug: - print("Finished IQP!") - break - - # -------------------------------------------------------------------------------------------------------------- - # INTERPOLATION FOR EQUAL STEPSIZES ---------------------------------------------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - refline_tmp, _, _, _, spline_inds_tmp, t_values_tmp = tph.create_raceline.\ - create_raceline(refline=reftrack_tmp[:, :2], - normvectors=normvectors_tmp, - alpha=alpha_mincurv_tmp, - stepsize_interp=stepsize_interp)[:6] - - # calculate new track boundaries on the basis of the intermediate alpha values and interpolate them accordingly - reftrack_tmp[:, 2] -= alpha_mincurv_tmp - reftrack_tmp[:, 3] += alpha_mincurv_tmp - - ws_track_tmp = tph.interp_track_widths.interp_track_widths(w_track=reftrack_tmp[:, 2:], - spline_inds=spline_inds_tmp, - t_values=t_values_tmp, - incl_last_point=False) - - # create new reftrack - reftrack_tmp = np.column_stack((refline_tmp, ws_track_tmp)) - - # -------------------------------------------------------------------------------------------------------------- - # CALCULATE NEW SPLINES ON THE BASIS OF THE INTERPOLATED REFERENCE TRACK --------------------------------------- - # -------------------------------------------------------------------------------------------------------------- - - # calculate new splines - refline_tmp_cl = np.vstack((reftrack_tmp[:, :2], reftrack_tmp[0, :2])) - - coeffs_x_tmp, coeffs_y_tmp, A_tmp, normvectors_tmp = tph.calc_splines.\ - calc_splines(path=refline_tmp_cl, - use_dist_scaling=False) - - # calculate spline lengths - spline_len_tmp = tph.calc_spline_lengths.calc_spline_lengths(coeffs_x=coeffs_x_tmp, coeffs_y=coeffs_y_tmp) - - # calculate heading, curvature, and first derivative of curvature (analytically) - psi_reftrack_tmp, kappa_reftrack_tmp, dkappa_reftrack_tmp = tph.calc_head_curv_an.calc_head_curv_an( - coeffs_x=coeffs_x_tmp, - coeffs_y=coeffs_y_tmp, - ind_spls=np.arange(reftrack_tmp.shape[0]), - t_spls=np.zeros(reftrack_tmp.shape[0]), - calc_dcurv=True - ) - - return alpha_mincurv_tmp, reftrack_tmp, normvectors_tmp, spline_len_tmp, psi_reftrack_tmp, kappa_reftrack_tmp,\ - dkappa_reftrack_tmp - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/nonreg_sampling.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/nonreg_sampling.py deleted file mode 100644 index 3462adece..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/nonreg_sampling.py +++ /dev/null @@ -1,60 +0,0 @@ -import numpy as np -import trajectory_planning_helpers as tph - - -def nonreg_sampling(track: np.ndarray, - eps_kappa: float = 1e-3, - step_non_reg: int = 0) -> tuple: - """ - author: - Thomas Herrmann - - .. description:: - The non-regular sampling function runs through the curvature profile and determines straight and corner sections. - During straight sections it reduces the amount of points by skipping them depending on the step_non_reg parameter. - - .. inputs:: - :param track: [x, y, w_tr_right, w_tr_left] (always unclosed). - :type track: np.ndarray - :param eps_kappa: identify straights using this threshold in curvature in rad/m, i.e. straight if - kappa < eps_kappa - :type eps_kappa: float - :param step_non_reg: determines how many points are skipped in straight sections, e.g. step_non_reg = 3 means - every fourth point is used while three points are skipped - :type step_non_reg: int - - .. outputs:: - :return track_sampled: [x, y, w_tr_right, w_tr_left] sampled track (always unclosed). - :rtype track_sampled: np.ndarray - :return sample_idxs: indices of points that are kept - :rtype sample_idxs: np.ndarray - """ - - # if stepsize is equal to zero simply return the input - if step_non_reg == 0: - return track, np.arange(0, track.shape[0]) - - # calculate curvature (required to be able to differentiate straight and corner sections) - path_cl = np.vstack((track[:, :2], track[0, :2])) - coeffs_x, coeffs_y = tph.calc_splines.calc_splines(path=path_cl)[:2] - kappa_path = tph.calc_head_curv_an.calc_head_curv_an(coeffs_x=coeffs_x, - coeffs_y=coeffs_y, - ind_spls=np.arange(0, coeffs_x.shape[0]), - t_spls=np.zeros(coeffs_x.shape[0]))[1] - - # run through the profile to determine the indices of the points that are kept - idx_latest = step_non_reg + 1 - sample_idxs = [0] - - for idx in range(1, len(kappa_path)): - if np.abs(kappa_path[idx]) >= eps_kappa or idx >= idx_latest: - # keep this point - sample_idxs.append(idx) - idx_latest = idx + step_non_reg + 1 - - return track[sample_idxs], np.array(sample_idxs) - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/normalize_psi.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/normalize_psi.py deleted file mode 100644 index a7a43ea13..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/normalize_psi.py +++ /dev/null @@ -1,45 +0,0 @@ -import numpy as np -import math -from typing import Union - - -def normalize_psi(psi: Union[np.ndarray, float]) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - Normalize heading psi such that [-pi,pi[ holds as interval boundaries. - - .. inputs:: - :param psi: array containing headings psi to be normalized. - :type psi: Union[np.ndarray, float] - - .. outputs:: - :return psi_out: array with normalized headings psi. - :rtype psi_out: np.ndarray - - .. notes:: - len(psi) = len(psi_out) - """ - - # use modulo operator to remove multiples of 2*pi - psi_out = np.sign(psi) * np.mod(np.abs(psi), 2 * math.pi) - - # restrict psi to [-pi,pi[ - if type(psi_out) is np.ndarray: - psi_out[psi_out >= math.pi] -= 2 * math.pi - psi_out[psi_out < -math.pi] += 2 * math.pi - - else: - if psi_out >= math.pi: - psi_out -= 2 * math.pi - elif psi_out < -math.pi: - psi_out += 2 * math.pi - - return psi_out - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/opt_min_curv.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/opt_min_curv.py deleted file mode 100644 index 7b88083d7..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/opt_min_curv.py +++ /dev/null @@ -1,401 +0,0 @@ -import numpy as np -import math -# import quadprog -import cvxopt -import time - - -def opt_min_curv(reftrack: np.ndarray, - normvectors: np.ndarray, - A: np.ndarray, - kappa_bound: float, - w_veh: float, - print_debug: bool = False, - plot_debug: bool = False, - closed: bool = True, - psi_s: float = None, - psi_e: float = None, - fix_s: bool = False, - fix_e: bool = False) -> tuple: - """ - author: - Alexander Heilmeier - Tim Stahl - Alexander Wischnewski - Levent Ögretmen - - .. description:: - This function uses a QP solver to minimize the summed curvature of a path by moving the path points along their - normal vectors within the track width. The function can be used for closed and unclosed tracks. For unclosed tracks - the heading psi_s and psi_e is enforced on the first and last point of the reftrack. Furthermore, in case of an - unclosed track, the first and last point of the reftrack are not subject to optimization and stay same. - - Please refer to our paper for further information: - Heilmeier, Wischnewski, Hermansdorfer, Betz, Lienkamp, Lohmann - Minimum Curvature Trajectory Planning and Control for an Autonomous Racecar - DOI: 10.1080/00423114.2019.1631455 - - Hint: CVXOPT can be used as a solver instead of quadprog by uncommenting the import and corresponding code section. - - .. inputs:: - :param reftrack: array containing the reference track, i.e. a reference line and the according track widths to - the right and to the left [x, y, w_tr_right, w_tr_left] (unit is meter, must be unclosed!) - :type reftrack: np.ndarray - :param normvectors: normalized normal vectors for every point of the reference track [x_component, y_component] - (unit is meter, must be unclosed!) - :type normvectors: np.ndarray - :param A: linear equation system matrix for splines (applicable for both, x and y direction) - -> System matrices have the form a_i, b_i * t, c_i * t^2, d_i * t^3 - -> see calc_splines.py for further information or to obtain this matrix - :type A: np.ndarray - :param kappa_bound: curvature boundary to consider during optimization. - :type kappa_bound: float - :param w_veh: vehicle width in m. It is considered during the calculation of the allowed deviations from the - reference line. - :type w_veh: float - :param print_debug: bool flag to print debug messages. - :type print_debug: bool - :param plot_debug: bool flag to plot the curvatures that are calculated based on the original linearization and on - a linearization around the solution. - :type plot_debug: bool - :param closed: bool flag specifying whether a closed or unclosed track should be assumed - :type closed: bool - :param psi_s: heading to be enforced at the first point for unclosed tracks - :type psi_s: float - :param psi_e: heading to be enforced at the last point for unclosed tracks - :type psi_e: float - :param fix_s: determines if start point is fixed to reference line for unclosed tracks - :type fix_s: bool - :param fix_e: determines if last point is fixed to reference line for unclosed tracks - :type fix_e: bool - - .. outputs:: - :return alpha_mincurv: solution vector of the opt. problem containing the lateral shift in m for every point. - :rtype alpha_mincurv: np.ndarray - :return curv_error_max: maximum curvature error when comparing the curvature calculated on the basis of the - linearization around the original refererence track and around the solution. - :rtype curv_error_max: float - """ - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARATIONS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - no_points = reftrack.shape[0] - - no_splines = no_points - if not closed: - no_splines -= 1 - - # check inputs - if no_points != normvectors.shape[0]: - raise RuntimeError("Array size of reftrack should be the same as normvectors!") - - if (no_points * 4 != A.shape[0] and closed) or (no_splines * 4 != A.shape[0] and not closed)\ - or A.shape[0] != A.shape[1]: - raise RuntimeError("Spline equation system matrix A has wrong dimensions!") - - # create extraction matrix -> only b_i coefficients of the solved linear equation system are needed for gradient - # information - A_ex_b = np.zeros((no_points, no_splines * 4), dtype=int) - - for i in range(no_splines): - A_ex_b[i, i * 4 + 1] = 1 # 1 * b_ix = E_x * x - - # coefficients for end of spline (t = 1) - if not closed: - A_ex_b[-1, -4:] = np.array([0, 1, 2, 3]) - - # create extraction matrix -> only c_i coefficients of the solved linear equation system are needed for curvature - # information - A_ex_c = np.zeros((no_points, no_splines * 4), dtype=int) - - for i in range(no_splines): - A_ex_c[i, i * 4 + 2] = 2 # 2 * c_ix = D_x * x - - # coefficients for end of spline (t = 1) - if not closed: - A_ex_c[-1, -4:] = np.array([0, 0, 2, 6]) - - # invert matrix A resulting from the spline setup linear equation system and apply extraction matrix - A_inv = np.linalg.inv(A) - T_c = np.matmul(A_ex_c, A_inv) - - # set up M_x and M_y matrices including the gradient information, i.e. bring normal vectors into matrix form - M_x = np.zeros((no_splines * 4, no_points)) - M_y = np.zeros((no_splines * 4, no_points)) - - for i in range(no_splines): - j = i * 4 - - if i < no_points - 1: - M_x[j, i] = normvectors[i, 0] - M_x[j + 1, i + 1] = normvectors[i + 1, 0] - - M_y[j, i] = normvectors[i, 1] - M_y[j + 1, i + 1] = normvectors[i + 1, 1] - else: - M_x[j, i] = normvectors[i, 0] - M_x[j + 1, 0] = normvectors[0, 0] # close spline - - M_y[j, i] = normvectors[i, 1] - M_y[j + 1, 0] = normvectors[0, 1] - - # set up q_x and q_y matrices including the point coordinate information - q_x = np.zeros((no_splines * 4, 1)) - q_y = np.zeros((no_splines * 4, 1)) - - for i in range(no_splines): - j = i * 4 - - if i < no_points - 1: - q_x[j, 0] = reftrack[i, 0] - q_x[j + 1, 0] = reftrack[i + 1, 0] - - q_y[j, 0] = reftrack[i, 1] - q_y[j + 1, 0] = reftrack[i + 1, 1] - else: - q_x[j, 0] = reftrack[i, 0] - q_x[j + 1, 0] = reftrack[0, 0] - - q_y[j, 0] = reftrack[i, 1] - q_y[j + 1, 0] = reftrack[0, 1] - - # for unclosed tracks, specify start- and end-heading constraints - if not closed: - q_x[-2, 0] = math.cos(psi_s + math.pi / 2) - q_y[-2, 0] = math.sin(psi_s + math.pi / 2) - - q_x[-1, 0] = math.cos(psi_e + math.pi / 2) - q_y[-1, 0] = math.sin(psi_e + math.pi / 2) - - # set up P_xx, P_xy, P_yy matrices - x_prime = np.eye(no_points, no_points) * np.matmul(np.matmul(A_ex_b, A_inv), q_x) - y_prime = np.eye(no_points, no_points) * np.matmul(np.matmul(A_ex_b, A_inv), q_y) - - x_prime_sq = np.power(x_prime, 2) - y_prime_sq = np.power(y_prime, 2) - x_prime_y_prime = -2 * np.matmul(x_prime, y_prime) - - curv_den = np.power(x_prime_sq + y_prime_sq, 1.5) # calculate curvature denominator - curv_part = np.divide(1, curv_den, out=np.zeros_like(curv_den), - where=curv_den != 0) # divide where not zero (diag elements) - curv_part_sq = np.power(curv_part, 2) - - P_xx = np.matmul(curv_part_sq, y_prime_sq) - P_yy = np.matmul(curv_part_sq, x_prime_sq) - P_xy = np.matmul(curv_part_sq, x_prime_y_prime) - - # ------------------------------------------------------------------------------------------------------------------ - # SET UP FINAL MATRICES FOR SOLVER --------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - T_nx = np.matmul(T_c, M_x) - T_ny = np.matmul(T_c, M_y) - - H_x = np.matmul(T_nx.T, np.matmul(P_xx, T_nx)) - H_xy = np.matmul(T_ny.T, np.matmul(P_xy, T_nx)) - H_y = np.matmul(T_ny.T, np.matmul(P_yy, T_ny)) - H = H_x + H_xy + H_y - H = (H + H.T) / 2 # make H symmetric - - f_x = 2 * np.matmul(np.matmul(q_x.T, T_c.T), np.matmul(P_xx, T_nx)) - f_xy = np.matmul(np.matmul(q_x.T, T_c.T), np.matmul(P_xy, T_ny)) \ - + np.matmul(np.matmul(q_y.T, T_c.T), np.matmul(P_xy, T_nx)) - f_y = 2 * np.matmul(np.matmul(q_y.T, T_c.T), np.matmul(P_yy, T_ny)) - f = f_x + f_xy + f_y - f = np.squeeze(f) # remove non-singleton dimensions - - # ------------------------------------------------------------------------------------------------------------------ - # KAPPA CONSTRAINTS ------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - Q_x = np.matmul(curv_part, y_prime) - Q_y = np.matmul(curv_part, x_prime) - - # this part is multiplied by alpha within the optimization (variable part) - E_kappa = np.matmul(Q_y, T_ny) - np.matmul(Q_x, T_nx) - - # original curvature part (static part) - k_kappa_ref = np.matmul(Q_y, np.matmul(T_c, q_y)) - np.matmul(Q_x, np.matmul(T_c, q_x)) - - con_ge = np.ones((no_points, 1)) * kappa_bound - k_kappa_ref - con_le = -(np.ones((no_points, 1)) * -kappa_bound - k_kappa_ref) # multiplied by -1 as only LE conditions are poss. - con_stack = np.append(con_ge, con_le) - - # ------------------------------------------------------------------------------------------------------------------ - # CALL QUADRATIC PROGRAMMING ALGORITHM ----------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - """ - quadprog interface description taken from - https://github.com/stephane-caron/qpsolvers/blob/master/qpsolvers/quadprog_.py - - Solve a Quadratic Program defined as: - - minimize - (1/2) * alpha.T * H * alpha + f.T * alpha - - subject to - G * alpha <= h - A * alpha == b - - using quadprog . - - Parameters - ---------- - H : numpy.array - Symmetric quadratic-cost matrix. - f : numpy.array - Quadratic-cost vector. - G : numpy.array - Linear inequality constraint matrix. - h : numpy.array - Linear inequality constraint vector. - A : numpy.array, optional - Linear equality constraint matrix. - b : numpy.array, optional - Linear equality constraint vector. - initvals : numpy.array, optional - Warm-start guess vector (not used). - - Returns - ------- - alpha : numpy.array - Solution to the QP, if found, otherwise ``None``. - - Note - ---- - The quadprog solver only considers the lower entries of `H`, therefore it - will use a wrong cost function if a non-symmetric matrix is provided. - """ - - # calculate allowed deviation from refline - dev_max_right = reftrack[:, 2] - w_veh / 2 - dev_max_left = reftrack[:, 3] - w_veh / 2 - - # constrain resulting path to reference line at start- and end-point for open tracks - if not closed and fix_s: - dev_max_left[0] = 0.05 - dev_max_right[0] = 0.05 - - if not closed and fix_e: - dev_max_left[-1] = 0.05 - dev_max_right[-1] = 0.05 - - # check that there is space remaining between left and right maximum deviation (both can be negative as well!) - if np.any(-dev_max_right > dev_max_left) or np.any(-dev_max_left > dev_max_right): - raise RuntimeError("Problem not solvable, track might be too small to run with current safety distance!") - - # consider value boundaries (-dev_max_left <= alpha <= dev_max_right) - G = np.vstack((np.eye(no_points), -np.eye(no_points), E_kappa, -E_kappa)) - h = np.append(dev_max_right, dev_max_left) - h = np.append(h, con_stack) - - # save start time - t_start = time.perf_counter() - - # solve problem (CVXOPT) ------------------------------------------------------------------------------------------- - args = [cvxopt.matrix(H), cvxopt.matrix(f), cvxopt.matrix(G), cvxopt.matrix(h)] - sol = cvxopt.solvers.qp(*args) - - if 'optimal' not in sol['status']: - print("WARNING: Optimal solution not found!") - - alpha_mincurv = np.array(sol['x']).reshape((H.shape[1],)) - - # solve problem (quadprog) ----------------------------------------------------------------------------------------- - # alpha_mincurv = quadprog.solve_qp(H, -f, -G.T, -h, 0)[0] - - # print runtime into console window - if print_debug: - print("Solver runtime opt_min_curv: " + "{:.3f}".format(time.perf_counter() - t_start) + "s") - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE CURVATURE ERROR ---------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # calculate curvature once based on original linearization and once based on a new linearization around the solution - q_x_tmp = q_x + np.matmul(M_x, np.expand_dims(alpha_mincurv, 1)) - q_y_tmp = q_y + np.matmul(M_y, np.expand_dims(alpha_mincurv, 1)) - - x_prime_tmp = np.eye(no_points, no_points) * np.matmul(np.matmul(A_ex_b, A_inv), q_x_tmp) - y_prime_tmp = np.eye(no_points, no_points) * np.matmul(np.matmul(A_ex_b, A_inv), q_y_tmp) - - x_prime_prime = np.squeeze(np.matmul(T_c, q_x) + np.matmul(T_nx, np.expand_dims(alpha_mincurv, 1))) - y_prime_prime = np.squeeze(np.matmul(T_c, q_y) + np.matmul(T_ny, np.expand_dims(alpha_mincurv, 1))) - - curv_orig_lin = np.zeros(no_points) - curv_sol_lin = np.zeros(no_points) - - for i in range(no_points): - curv_orig_lin[i] = (x_prime[i, i] * y_prime_prime[i] - y_prime[i, i] * x_prime_prime[i]) \ - / math.pow(math.pow(x_prime[i, i], 2) + math.pow(y_prime[i, i], 2), 1.5) - curv_sol_lin[i] = (x_prime_tmp[i, i] * y_prime_prime[i] - y_prime_tmp[i, i] * x_prime_prime[i]) \ - / math.pow(math.pow(x_prime_tmp[i, i], 2) + math.pow(y_prime_tmp[i, i], 2), 1.5) - - if plot_debug: - plt.plot(curv_orig_lin) - plt.plot(curv_sol_lin) - plt.legend(("original linearization", "solution based linearization")) - plt.show() - - # calculate maximum curvature error - curv_error_max = np.amax(np.abs(curv_sol_lin - curv_orig_lin)) - - return alpha_mincurv, curv_error_max - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - import os - import sys - import matplotlib.pyplot as plt - sys.path.append(os.path.dirname(__file__)) - from calc_splines import calc_splines - - # --- PARAMETERS --- - CLOSED = True - - # --- IMPORT TRACK --- - # load data from csv file - csv_data_temp = np.loadtxt(os.path.dirname(__file__) + '/../example_files/berlin_2018.csv', - comments='#', delimiter=',') - - # get coords and track widths out of array - reftrack = csv_data_temp[:, 0:4] - psi_s = 0.0 - psi_e = 2.0 - - # --- CALCULATE MIN CURV --- - if CLOSED: - coeffs_x, coeffs_y, M, normvec_norm = calc_splines(path=np.vstack((reftrack[:, 0:2], reftrack[0, 0:2]))) - else: - reftrack = reftrack[200:600, :] - coeffs_x, coeffs_y, M, normvec_norm = calc_splines(path=reftrack[:, 0:2], - psi_s=psi_s, - psi_e=psi_e) - - # extend norm-vec to same size of ref track (quick fix for testing only) - normvec_norm = np.vstack((normvec_norm[0, :], normvec_norm)) - - alpha_mincurv, curv_error_max = opt_min_curv(reftrack=reftrack, - normvectors=normvec_norm, - A=M, - kappa_bound=0.4, - w_veh=2.0, - closed=CLOSED, - psi_s=psi_s, - psi_e=psi_e) - - # --- PLOT RESULTS --- - path_result = reftrack[:, 0:2] + normvec_norm * np.expand_dims(alpha_mincurv, axis=1) - bound1 = reftrack[:, 0:2] - normvec_norm * np.expand_dims(reftrack[:, 2], axis=1) - bound2 = reftrack[:, 0:2] + normvec_norm * np.expand_dims(reftrack[:, 3], axis=1) - - plt.plot(reftrack[:, 0], reftrack[:, 1], ":") - plt.plot(path_result[:, 0], path_result[:, 1]) - plt.plot(bound1[:, 0], bound1[:, 1], 'k') - plt.plot(bound2[:, 0], bound2[:, 1], 'k') - plt.axis('equal') - plt.show() diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/opt_shortest_path.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/opt_shortest_path.py deleted file mode 100644 index cf43c3237..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/opt_shortest_path.py +++ /dev/null @@ -1,159 +0,0 @@ -import numpy as np -import math -import quadprog -import time - - -def opt_shortest_path(reftrack: np.ndarray, - normvectors: np.ndarray, - w_veh: float, - print_debug: bool = False) -> np.ndarray: - """ - author: - Alexander Heilmeier - - .. description:: - This function uses a QP solver to minimize the summed length of a path by moving the path points along their - normal vectors within the track width. - - Please refer to the following paper for further information: - Braghin, Cheli, Melzi, Sabbioni - Race Driver Model - DOI: 10.1016/j.compstruc.2007.04.028 - - .. inputs:: - :param reftrack: array containing the reference track, i.e. a reference line and the according track widths - to the right and to the left [x, y, w_tr_right, w_tr_left] (unit is meter, must be unclosed) - :type reftrack: np.ndarray - :param normvectors: normalized normal vectors for every point of the reference track [x_component, y_component] - (unit is meter, must be unclosed!) - :type normvectors: np.ndarray - :param w_veh: vehicle width in m. It is considered during the calculation of the allowed deviations from - the reference line. - :type w_veh: float - :param print_debug: bool flag to print debug messages. - :type print_debug: bool - - .. outputs:: - :return alpha_shpath: solution vector of the optimization problem containing lateral shift in m for every point. - :rtype alpha_shpath: np.ndarray - """ - - # ------------------------------------------------------------------------------------------------------------------ - # PREPARATIONS ----------------------------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - no_points = reftrack.shape[0] - - # check inputs - if no_points != normvectors.shape[0]: - raise RuntimeError("Array size of reftrack should be the same as normvectors!") - - # ------------------------------------------------------------------------------------------------------------------ - # SET UP FINAL MATRICES FOR SOLVER --------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - H = np.zeros((no_points, no_points)) - f = np.zeros(no_points) - - for i in range(no_points): - if i < no_points - 1: - H[i, i] += 2 * (math.pow(normvectors[i, 0], 2) + math.pow(normvectors[i, 1], 2)) - H[i, i + 1] = 0.5 * 2 * (-2 * normvectors[i, 0] * normvectors[i + 1, 0] - - 2 * normvectors[i, 1] * normvectors[i + 1, 1]) - H[i + 1, i] = H[i, i + 1] - H[i + 1, i + 1] = 2 * (math.pow(normvectors[i + 1, 0], 2) + math.pow(normvectors[i + 1, 1], 2)) - - f[i] += 2 * normvectors[i, 0] * reftrack[i, 0] - 2 * normvectors[i, 0] * reftrack[i + 1, 0] \ - + 2 * normvectors[i, 1] * reftrack[i, 1] - 2 * normvectors[i, 1] * reftrack[i + 1, 1] - f[i + 1] = -2 * normvectors[i + 1, 0] * reftrack[i, 0] \ - - 2 * normvectors[i + 1, 1] * reftrack[i, 1] \ - + 2 * normvectors[i + 1, 0] * reftrack[i + 1, 0] \ - + 2 * normvectors[i + 1, 1] * reftrack[i + 1, 1] - - else: - H[i, i] += 2 * (math.pow(normvectors[i, 0], 2) + math.pow(normvectors[i, 1], 2)) - H[i, 0] = 0.5 * 2 * (-2 * normvectors[i, 0] * normvectors[0, 0] - 2 * normvectors[i, 1] * normvectors[0, 1]) - H[0, i] = H[i, 0] - H[0, 0] += 2 * (math.pow(normvectors[0, 0], 2) + math.pow(normvectors[0, 1], 2)) - - f[i] += 2 * normvectors[i, 0] * reftrack[i, 0] - 2 * normvectors[i, 0] * reftrack[0, 0] \ - + 2 * normvectors[i, 1] * reftrack[i, 1] - 2 * normvectors[i, 1] * reftrack[0, 1] - f[0] += -2 * normvectors[0, 0] * reftrack[i, 0] - 2 * normvectors[0, 1] * reftrack[i, 1] \ - + 2 * normvectors[0, 0] * reftrack[0, 0] + 2 * normvectors[0, 1] * reftrack[0, 1] - - # ------------------------------------------------------------------------------------------------------------------ - # CALL QUADRATIC PROGRAMMING ALGORITHM ----------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - """ - quadprog interface description taken from - https://github.com/stephane-caron/qpsolvers/blob/master/qpsolvers/quadprog_.py - - Solve a Quadratic Program defined as: - - minimize - (1/2) * alpha.T * H * alpha + f.T * alpha - - subject to - G * alpha <= h - A * alpha == b - - using quadprog . - - Parameters - ---------- - H : numpy.array - Symmetric quadratic-cost matrix. - f : numpy.array - Quadratic-cost vector. - G : numpy.array - Linear inequality constraint matrix. - h : numpy.array - Linear inequality constraint vector. - A : numpy.array, optional - Linear equality constraint matrix. - b : numpy.array, optional - Linear equality constraint vector. - initvals : numpy.array, optional - Warm-start guess vector (not used). - - Returns - ------- - alpha : numpy.array - Solution to the QP, if found, otherwise ``None``. - - Note - ---- - The quadprog solver only considers the lower entries of `H`, therefore it - will use a wrong cost function if a non-symmetric matrix is provided. - """ - - # calculate allowed deviation from refline - dev_max_right = reftrack[:, 2] - w_veh / 2 - dev_max_left = reftrack[:, 3] - w_veh / 2 - - # set minimum deviation to zero - dev_max_right[dev_max_right < 0.001] = 0.001 - dev_max_left[dev_max_left < 0.001] = 0.001 - - # consider value boundaries (-dev_max <= alpha <= dev_max) - G = np.vstack((np.eye(no_points), -np.eye(no_points))) - h = np.ones(2 * no_points) * np.append(dev_max_right, dev_max_left) - - # save start time - t_start = time.perf_counter() - - # solve problem - alpha_shpath = quadprog.solve_qp(H, -f, -G.T, -h, 0)[0] - - # print runtime into console window - if print_debug: - print("Solver runtime opt_shortest_path: " + "{:.3f}".format(time.perf_counter() - t_start) + "s") - - return alpha_shpath - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/path_matching_global.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/path_matching_global.py deleted file mode 100644 index 66282cf5e..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/path_matching_global.py +++ /dev/null @@ -1,93 +0,0 @@ -import numpy as np -import trajectory_planning_helpers.path_matching_local -import trajectory_planning_helpers.get_rel_path_part -from typing import Union - - -def path_matching_global(path_cl: np.ndarray, - ego_position: np.ndarray, - s_expected: Union[float, None] = None, - s_range: float = 20.0, - no_interp_values: int = 11) -> tuple: - """ - author: - Alexander Heilmeier - - .. description:: - Get the corresponding s coordinate and the displacement of the own vehicle in relation to the global path. - - .. inputs:: - :param path_cl: Closed path used to match ego position ([s, x, y]). - :type path_cl: np.ndarray - :param ego_position: Ego position of the vehicle ([x, y]). - :type ego_position: np.ndarray - :param s_expected: Expected s position of the vehicle in m. - :type s_expected: Union[float, None] - :param s_range: Range around expected s position of the vehicle to search for the match in m. - :type s_range: float - :param no_interp_values: Number of interpolation points that are created between the two closest points on the - path to obtain a more accurate result. - :type no_interp_values: int - - .. outputs:: - :return s_interp: Interpolated s position of the vehicle in m. The following holds: s_interp in range - [0.0,s_tot[. - :rtype s_interp: float - :return d_displ: Estimated displacement from the trajectory in m. - :rtype d_displ: float - """ - - # ------------------------------------------------------------------------------------------------------------------ - # CHECK INPUT ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - if path_cl.shape[1] != 3: - raise RuntimeError("Inserted path must have 3 columns [s, x, y]!") - - # ------------------------------------------------------------------------------------------------------------------ - # GET RELEVANT PART OF PATH FOR EXPECTED S ------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # get s_tot into a variable - s_tot = path_cl[-1, 0] - - if s_expected is not None: - path_rel = trajectory_planning_helpers.get_rel_path_part.get_rel_path_part(path_cl=path_cl, - s_pos=s_expected, - s_dist_back=s_range, - s_dist_forw=s_range)[0] - - # path must not be considered closed specifically as it is continuous and unclosed by construction - consider_as_closed = False - - else: - path_rel = path_cl[:-1] - - # path is unclosed to keep every point unique but must be considered closed to get proper matching between - # last and first point - consider_as_closed = True - - # ------------------------------------------------------------------------------------------------------------------ - # USE PATH MATCHING FUNCTION ON RELEVANT PART ---------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # get s_interp and d_displ - s_interp, d_displ = trajectory_planning_helpers.path_matching_local.\ - path_matching_local(path=path_rel, - ego_position=ego_position, - consider_as_closed=consider_as_closed, - s_tot=s_tot, - no_interp_values=no_interp_values) - - # cut length if bigger than s_tot - if s_interp >= s_tot: - s_interp -= s_tot - - # now the following holds: s_interp -> [0.0; s_tot[ - - return s_interp, d_displ - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/path_matching_local.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/path_matching_local.py deleted file mode 100644 index 6238dfdea..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/path_matching_local.py +++ /dev/null @@ -1,128 +0,0 @@ -import numpy as np -import trajectory_planning_helpers.angle3pt -from typing import Union - - -def path_matching_local(path: np.ndarray, - ego_position: np.ndarray, - consider_as_closed: bool = False, - s_tot: Union[float, None] = None, - no_interp_values: int = 11) -> tuple: - """ - author: - Alexander Heilmeier - - .. description:: - Get the corresponding s coordinate and the displacement of the own vehicle in relation to a local path. - - .. inputs:: - :param path: Unclosed path used to match ego position ([s, x, y]). - :type path: np.ndarray - :param ego_position: Ego position of the vehicle ([x, y]). - :type ego_position: np.ndarray - :param consider_as_closed: If the path is closed in reality we can interpolate between last and first point. This - can be enforced by setting consider_as_closed = True. - :type consider_as_closed: bool - :param s_tot: Total length of path in m. - :type s_tot: Union[float, None] - :param no_interp_values: Number of interpolation points that are created between the two closest points on the - path to obtain a more accurate result. - :type no_interp_values: int - - .. outputs:: - :return s_interp: Interpolated s position of the vehicle in m. - :rtype s_interp: np.ndarray - :return d_displ: Estimated displacement from the trajectory in m. - :rtype d_displ: np.ndarray - """ - - # ------------------------------------------------------------------------------------------------------------------ - # CHECK INPUT ------------------------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - if path.shape[1] != 3: - raise RuntimeError("Inserted path must have 3 columns [s, x, y]!") - - if consider_as_closed and s_tot is None: - print("WARNING: s_tot is not handed into path_matching_local function! Estimating s_tot on the basis of equal" - "stepsizes") - s_tot = path[-1, 0] + path[1, 0] - path[0, 0] # assume equal stepsize - - # ------------------------------------------------------------------------------------------------------------------ - # SELF LOCALIZATION ON RACELINE ------------------------------------------------------------------------------------ - # ------------------------------------------------------------------------------------------------------------------ - - # get the nearest path point to ego position - dists_to_cg = np.hypot(path[:, 1] - ego_position[0], path[:, 2] - ego_position[1]) - ind_min = np.argpartition(dists_to_cg, 1)[0] - - # get previous and following point on path - if consider_as_closed: - if ind_min == 0: - ind_prev = dists_to_cg.shape[0] - 1 - ind_follow = 1 - - elif ind_min == dists_to_cg.shape[0] - 1: - ind_prev = ind_min - 1 - ind_follow = 0 - - else: - ind_prev = ind_min - 1 - ind_follow = ind_min + 1 - - else: - ind_prev = max(ind_min - 1, 0) - ind_follow = min(ind_min + 1, dists_to_cg.shape[0] - 1) - - # get angle between selected point and neighbours: ang1 to previous point, ang2 to following point on path - ang_prev = np.abs(trajectory_planning_helpers.angle3pt.angle3pt(path[ind_min, 1:3], - ego_position, - path[ind_prev, 1:3])) - - ang_follow = np.abs(trajectory_planning_helpers.angle3pt.angle3pt(path[ind_min, 1:3], - ego_position, - path[ind_follow, 1:3])) - - # extract neighboring points -> closest point and the point resulting in the larger angle - if ang_prev > ang_follow: - a_pos = path[ind_prev, 1:3] - b_pos = path[ind_min, 1:3] - s_curs = np.append(path[ind_prev, 0], path[ind_min, 0]) - else: - a_pos = path[ind_min, 1:3] - b_pos = path[ind_follow, 1:3] - s_curs = np.append(path[ind_min, 0], path[ind_follow, 0]) - - # adjust s if closed path shell be considered and we have the case of interpolation between last and first point - if consider_as_closed: - if ind_min == 0 and ang_prev > ang_follow: - s_curs[1] = s_tot - elif ind_min == dists_to_cg.shape[0] - 1 and ang_prev <= ang_follow: - s_curs[1] = s_tot - - # interpolate between those points (linear) for better positioning - t_lin = np.linspace(0.0, 1.0, no_interp_values) # set relative lengths that are evaluated for interpolation - x_cg_interp = np.linspace(a_pos[0], b_pos[0], no_interp_values) - y_cg_interp = np.linspace(a_pos[1], b_pos[1], no_interp_values) - - # get nearest of those interpolated points relative to ego position - dists_to_cg = np.hypot(x_cg_interp - ego_position[0], y_cg_interp - ego_position[1]) - ind_min_interp = np.argpartition(dists_to_cg, 1)[0] - t_lin_used = t_lin[ind_min_interp] - - # ------------------------------------------------------------------------------------------------------------------ - # CALCULATE REQUIRED INFORMATION ----------------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # calculate current path length - s_interp = np.interp(t_lin_used, (0.0, 1.0), s_curs) - - # get displacement between ego position and path (needed for lookahead distance) - d_displ = dists_to_cg[ind_min_interp] - - return s_interp, d_displ - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/progressbar.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/progressbar.py deleted file mode 100644 index 8dc34c612..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/progressbar.py +++ /dev/null @@ -1,51 +0,0 @@ -import sys - - -def progressbar(i: int, - i_total: int, - prefix: str = '', - suffix: str = '', - decimals: int = 1, - length: int = 50) -> None: - """ - author: - Tim Stahl - - .. description:: - Commandline progressbar (to be called in a for loop). - - .. inputs:: - :param i: current iteration / progress index. - :type i: int - :param i_total: maximum iteration number / progress (where 100% should be reached). - :type i_total: int - :param prefix: prefix string to be displayed right in front of progressbar. - :type prefix: str - :param suffix: suffix string to be displayed behind the progressbar. - :type suffix: str - :param decimals: number of decimals behind comma (of printed percentage). - :type decimals: int - :param length: length of progressbar (in character spaces). - :type length: int - """ - - # Calculate current percentage based on i and i_total - percent = ("{0:." + str(decimals) + "f}").format(100 * (i / float(i_total))) - - # elements to be filled based on length and current status - filled_length = int(length * i // i_total) - - # generate progress sting - bar = 'â–ˆ' * filled_length + '-' * (length - filled_length) - - # print ("\r" for same line) - sys.stdout.write('\r%s |%s| %s%% %s' % (prefix, bar, percent, suffix)) - - # new line when done - if i >= i_total: - print() - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/side_of_line.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/side_of_line.py deleted file mode 100644 index f40cf7e30..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/side_of_line.py +++ /dev/null @@ -1,38 +0,0 @@ -import numpy as np -from typing import Union - - -def side_of_line(a: Union[tuple, np.ndarray], - b: Union[tuple, np.ndarray], - z: Union[tuple, np.ndarray]) -> float: - """ - author: - Alexander Heilmeier - - .. description:: - Function determines if a point z is on the left or right side of a line from a to b. It is based on the z component - orientation of the cross product, see question on - https://stackoverflow.com/questions/1560492/how-to-tell-whether-a-point-is-to-the-right-or-left-side-of-a-line - - .. inputs:: - :param a: point coordinates [x, y] - :type a: Union[tuple, np.ndarray] - :param b: point coordinates [x, y] - :type b: Union[tuple, np.ndarray] - :param z: point coordinates [x, y] - :type z: Union[tuple, np.ndarray] - - .. outputs:: - :return side: 0.0 = on line, 1.0 = left side, -1.0 = right side. - :rtype side: float - """ - - # calculate side - side = np.sign((b[0] - a[0]) * (z[1] - a[1]) - (b[1] - a[1]) * (z[0] - a[0])) - - return side - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/spline_approximation.py b/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/spline_approximation.py deleted file mode 100644 index d465ab7f6..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/global_racetrajectory_optimization/trajectory_planning_helpers/spline_approximation.py +++ /dev/null @@ -1,155 +0,0 @@ -from scipy import interpolate -from scipy import optimize -from scipy import spatial -import numpy as np -import math -import trajectory_planning_helpers as tph - - -def spline_approximation(track: np.ndarray, - k_reg: int = 3, - s_reg: int = 10, - stepsize_prep: float = 1.0, - stepsize_reg: float = 3.0, - debug: bool = False) -> np.ndarray: - """ - author: - Fabian Christ - - modified by: - Alexander Heilmeier - - .. description:: - Smooth spline approximation for a track (e.g. centerline, reference line). - - .. inputs:: - :param track: [x, y, w_tr_right, w_tr_left, (banking)] (always unclosed). - :type track: np.ndarray - :param k_reg: order of B splines. - :type k_reg: int - :param s_reg: smoothing factor (usually between 5 and 100). - :type s_reg: int - :param stepsize_prep: stepsize used for linear track interpolation before spline approximation. - :type stepsize_prep: float - :param stepsize_reg: stepsize after smoothing. - :type stepsize_reg: float - :param debug: flag for printing debug messages - :type debug: bool - - .. outputs:: - :return track_reg: [x, y, w_tr_right, w_tr_left, (banking)] (always unclosed). - :rtype track_reg: np.ndarray - - .. notes:: - The function can only be used for closable tracks, i.e. track is closed at the beginning! - The banking angle is optional and must not be provided! - """ - - # ------------------------------------------------------------------------------------------------------------------ - # LINEAR INTERPOLATION BEFORE SMOOTHING ---------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - track_interp = tph.interp_track.interp_track(track=track, - stepsize=stepsize_prep) - track_interp_cl = np.vstack((track_interp, track_interp[0])) - - # ------------------------------------------------------------------------------------------------------------------ - # SPLINE APPROXIMATION / PATH SMOOTHING ---------------------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # create closed track (original track) - track_cl = np.vstack((track, track[0])) - no_points_track_cl = track_cl.shape[0] - el_lengths_cl = np.sqrt(np.sum(np.power(np.diff(track_cl[:, :2], axis=0), 2), axis=1)) - dists_cum_cl = np.cumsum(el_lengths_cl) - dists_cum_cl = np.insert(dists_cum_cl, 0, 0.0) - - # find B spline representation of the inserted path and smooth it in this process - # (tck_cl: tuple (vector of knots, the B-spline coefficients, and the degree of the spline)) - tck_cl, t_glob_cl = interpolate.splprep([track_interp_cl[:, 0], track_interp_cl[:, 1]], - k=k_reg, - s=s_reg, - per=1)[:2] - - # calculate total length of smooth approximating spline based on euclidian distance with points at every 0.25m - no_points_lencalc_cl = math.ceil(dists_cum_cl[-1]) * 4 - path_smoothed_tmp = np.array(interpolate.splev(np.linspace(0.0, 1.0, no_points_lencalc_cl), tck_cl)).T - len_path_smoothed_tmp = np.sum(np.sqrt(np.sum(np.power(np.diff(path_smoothed_tmp, axis=0), 2), axis=1))) - - # get smoothed path - no_points_reg_cl = math.ceil(len_path_smoothed_tmp / stepsize_reg) + 1 - path_smoothed = np.array(interpolate.splev(np.linspace(0.0, 1.0, no_points_reg_cl), tck_cl)).T[:-1] - - # ------------------------------------------------------------------------------------------------------------------ - # PROCESS TRACK WIDTHS (AND BANKING ANGLE IF GIVEN) ---------------------------------------------------------------- - # ------------------------------------------------------------------------------------------------------------------ - - # find the closest points on the B spline to input points - dists_cl = np.zeros(no_points_track_cl) # contains (min) distances between input points and spline - closest_point_cl = np.zeros((no_points_track_cl, 2)) # contains the closest points on the spline - closest_t_glob_cl = np.zeros(no_points_track_cl) # containts the t_glob values for closest points - t_glob_guess_cl = dists_cum_cl / dists_cum_cl[-1] # start guess for the minimization - - for i in range(no_points_track_cl): - # get t_glob value for the point on the B spline with a minimum distance to the input points - closest_t_glob_cl[i] = optimize.fmin(dist_to_p, - x0=t_glob_guess_cl[i], - args=(tck_cl, track_cl[i, :2]), - disp=False) - - # evaluate B spline on the basis of t_glob to obtain the closest point - closest_point_cl[i] = interpolate.splev(closest_t_glob_cl[i], tck_cl) - - # save distance from closest point to input point - dists_cl[i] = math.sqrt(math.pow(closest_point_cl[i, 0] - track_cl[i, 0], 2) - + math.pow(closest_point_cl[i, 1] - track_cl[i, 1], 2)) - - if debug: - print("Spline approximation: mean deviation %.2fm, maximum deviation %.2fm" - % (float(np.mean(dists_cl)), float(np.amax(np.abs(dists_cl))))) - - # get side of smoothed track compared to the inserted track - sides = np.zeros(no_points_track_cl - 1) - - for i in range(no_points_track_cl - 1): - sides[i] = tph.side_of_line.side_of_line(a=track_cl[i, :2], - b=track_cl[i+1, :2], - z=closest_point_cl[i]) - - sides_cl = np.hstack((sides, sides[0])) - - # calculate new track widths on the basis of the new reference line, but not interpolated to new stepsize yet - w_tr_right_new_cl = track_cl[:, 2] + sides_cl * dists_cl - w_tr_left_new_cl = track_cl[:, 3] - sides_cl * dists_cl - - # interpolate track widths after smoothing (linear) - w_tr_right_smoothed_cl = np.interp(np.linspace(0.0, 1.0, no_points_reg_cl), closest_t_glob_cl, w_tr_right_new_cl) - w_tr_left_smoothed_cl = np.interp(np.linspace(0.0, 1.0, no_points_reg_cl), closest_t_glob_cl, w_tr_left_new_cl) - - track_reg = np.column_stack((path_smoothed, w_tr_right_smoothed_cl[:-1], w_tr_left_smoothed_cl[:-1])) - - # interpolate banking if given (linear) - if track_cl.shape[1] == 5: - banking_smoothed_cl = np.interp(np.linspace(0.0, 1.0, no_points_reg_cl), closest_t_glob_cl, track_cl[:, 4]) - track_reg = np.column_stack((track_reg, banking_smoothed_cl[:-1])) - - return track_reg - - -# ---------------------------------------------------------------------------------------------------------------------- -# DISTANCE CALCULATION FOR OPTIMIZATION -------------------------------------------------------------------------------- -# ---------------------------------------------------------------------------------------------------------------------- - -# return distance from point p to a point on the spline at spline parameter t_glob -def dist_to_p(t_glob: np.ndarray, path: list, p: np.ndarray): - s = np.array(interpolate.splev(t_glob, path)).flatten() - # print(p,p.shape,p.ndim) - # print(s) - # print(type(s[0])) - # p = p.reshape() - return spatial.distance.euclidean(p, s) - - -# testing -------------------------------------------------------------------------------------------------------------- -if __name__ == "__main__": - pass diff --git a/driverless_ws/src/planning/src/raceline/optimizer/runpy.cpp b/driverless_ws/src/planning/src/raceline/optimizer/runpy.cpp deleted file mode 100644 index d49f5e6f7..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/runpy.cpp +++ /dev/null @@ -1,122 +0,0 @@ -#include "runpy.hpp" - -PyObject *double_list_Py(std::vector x){ - PyObject *ret = PyList_New(x.size()); - for(long i=0;i PyList_DoubleVec(PyObject *DL,int i){ - PyObject* L=PyList_GetItem(DL,i); - ssize_t sze = PyList_GET_SIZE(L); - std::vector ret; - for(ssize_t i =0;i> runlto(std::vector x,std::vector y,std::vector wl,std::vector wr){ - - Py_Initialize(); - PyRun_SimpleString("import os\n"); - - PyObject *obj = Py_BuildValue("s", "/optimizer/lto/global_racetrajectory_optimization/main_globaltraj.py"); - FILE *file = _Py_fopen_obj(obj, "r+"); - // PyRun_SimpleString("import os\n"); - // PyRun_SimpleString("import moduler\n"); - // PyRun_SimpleString("print (os.getcwd())"); - - - - // PyRun_SimpleFile(file,"pyshit.py"); - // PyRun_StringFlags(myString,0,NULL,NULL,NULL); - - - - - PyObject *py_x,*py_y,*py_wl,*py_wr; - py_x=double_list_Py(x); - py_y=double_list_Py(y); - py_wl=double_list_Py(wl); - py_wr=double_list_Py(wr); - - PyObject *globals =PyDict_New(); - PyDict_SetItemString(globals,"x",py_x); - PyDict_SetItemString(globals,"y",py_y); - PyDict_SetItemString(globals,"wl",py_wl); - PyDict_SetItemString(globals,"wr",py_wr); - - PyObject *ret= PyRun_SimpleFile(file,"pyshit.py"); - - std::vector xpts =PyList_DoubleVec(ret,0); - std::vector ypts =PyList_DoubleVec(ret,1); - - assert(xpts.size()==ypts.size()); - - - std::vector> values; - for(int i=0;i x,std::vector y,std::vector wl,std::vector wr){ - - Py_Initialize(); - PyRun_SimpleString("import os\n"); - - PyObject *obj = Py_BuildValue("s", "/optimizer/lto/global_racetrajectory_optimization/main_globaltraj.py"); - FILE *file = _Py_fopen_obj(obj, "r+"); - // PyRun_SimpleString("import os\n"); - // PyRun_SimpleString("import moduler\n"); - // PyRun_SimpleString("print (os.getcwd())"); - - - - // PyRun_SimpleFile(file,"pyshit.py"); - // PyRun_StringFlags(myString,0,NULL,NULL,NULL); - - - - - PyObject *py_x,*py_y,*py_wl,*py_wr; - py_x=double_list_Py(x); - py_y=double_list_Py(y); - py_wl=double_list_Py(wl); - py_wr=double_list_Py(wr); - - PyObject *globals =PyDict_New(); - PyObject *local =PyDict_New(); - PyDict_SetItemString(globals,"x",py_x); - PyDict_SetItemString(globals,"y",py_y); - PyDict_SetItemString(globals,"wl",py_wl); - PyDict_SetItemString(globals,"wr",py_wr); - - PyRun_File(file,"stuff",0,globals,local); - - - Py_Finalize(); - - // PyList_DoubleVec(y_pts); - -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/raceline/optimizer/runpy.hpp b/driverless_ws/src/planning/src/raceline/optimizer/runpy.hpp deleted file mode 100644 index b68179423..000000000 --- a/driverless_ws/src/planning/src/raceline/optimizer/runpy.hpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include -#include - -_IO_FILE *pythonfile; - -PyObject *double_list_Py(std::vector x); -// void AddToDict(PyObject* dict, std::string k,PyObject *v){ - -// } - -std::vector PyList_DoubleVec(PyObject* ); - -void runlto(std::vector x,std::vector y,std::vector wl,std::vector wr); -// std::vector> runlto(std::vector x,std::vector y,std::vector wl,std::vector wr); \ No newline at end of file diff --git a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp b/driverless_ws/src/planning/src/raceline/racelineEigen.cpp deleted file mode 100644 index 9bfac7de8..000000000 --- a/driverless_ws/src/planning/src/raceline/racelineEigen.cpp +++ /dev/null @@ -1,445 +0,0 @@ -#include "racelineEigen.hpp" -#include -// #include "random.h" - -polynomial poly(int deg = 3){ - polynomial inst; - inst.deg=deg; - Eigen::VectorXd nums(deg+1); - inst.nums = nums; - - return inst; -} - -polynomial poly_one(){ - polynomial p = poly(1); - p.nums(0)=1; - return p; -} - -polynomial poly_root(double root){ - polynomial p = poly(1); - p.nums(0)= -root; - p.nums(1)=1; - return p; -} - -polynomial polyder(polynomial p){ - if (p.deg ==0) return poly(0); - polynomial der = poly(p.deg-1); - for(int i=0;ispl_poly,this->rotated_points(0,0),this->rotated_points(0,this->rotated_points.cols()-1)); -} - -// Eigen::MatrixXd Spline::interpolate(int number, std::pair bounds){ -// return interpolate(*this,number,bounds); -// } - -bool Spline::operator==(Spline const & other) const{ - return this->sort_index==other.sort_index; -} - -bool Spline::operator<(Spline const & other) const{ - return this->sort_indexfirst_der; -} - -polynomial Spline::get_second_der(){ - return this->second_der; -} - -Eigen::MatrixXd& Spline::get_points(){ - return points;} - -Eigen::MatrixXd& Spline::get_rotated_points(){ - return rotated_points; -} - -Eigen::MatrixXd& Spline::get_Q(){ - return Q; -} - -Eigen::VectorXd& Spline::get_translation(){ - return translation_vector; -} - -int Spline::get_path_id(){ - return path_id; -} - -int Spline::get_sort_index(){ - return sort_index; -} - - - - -std::tuple Spline::along(double progress, double point_index, int precision){ - std::tuple ret; - - - double len = this->length(); - - - double first_x = this->get_rotated_points()(0,0); - double last_x = this->get_rotated_points()(0,this->get_rotated_points().cols()); - - double delta = last_x - first_x; - - std::pair boundaries = std::make_pair(first_x,last_x); - int ratio = progress / len + 1; - - - - if (ratio >= 2){ - double x = first_x + delta*ratio; - double shoot = arclength(this->spl_poly,first_x,x); - - double lower_bound = first_x + delta * (ratio - 1); - double upper_bound = first_x + delta * ratio; - - if (shoot < progress){ - while (shoot < progress){ - lower_bound = x; - // add approximately one spline length to shoot - shoot = arclength(this->spl_poly,first_x,x+delta); - x=x+delta; - } - upper_bound = x; // upper bound is direct first overshoot (separated by delta from the lower bound) - } - else if (shoot >= progress){ // equality not very important - while (shoot >= progress){ - upper_bound = x; - // # remove approximately one splien length to shoot - shoot = arclength(this->spl_poly,first_x,x - delta); - } - lower_bound = x; // lower bound is direct first undershoot (separated by delta from the upper bound) - } - std::pair boundaries = std::make_pair(lower_bound, upper_bound); - - } - // Perform a more precise search between the two computed bounds - - std::vector guesses; - guesses.resize(precision+1); - for(int i=0;i<=precision;i++){ - guesses[i] = (boundaries.first*i + boundaries.second*(precision-i))/precision; - } - - // Evaluate progress along the (extrapolated) spline - // As arclength is expensive and cannot take multiple points - // at the same time, it is faster to use a for loop - double past = -1, best_guess = -1, best_length = -1; - for (double guess : guesses){ - double guess_length = arclength(this->spl_poly, first_x, guess); - if (abs(progress - guess_length) > abs(progress - past)) //# if we did worst than before - break; - best_guess = guess; - best_length = guess_length; - past = guess_length; - } - Eigen::VectorXd rotated_point(2); - rotated_point(0)=best_guess; - - rotated_point(1)=poly_eval(this->spl_poly,best_guess); - - Eigen::MatrixXd rotated_points(2,1); - rotated_points(0,0)=rotated_point(0); - rotated_points(0,1)=rotated_point(1); - - Eigen::MatrixXd point_mat =reverse_transform(rotated_points,this->Q,this->translation_vector); - - Eigen::VectorXd point (2); - point(0)=point_mat(0); - point(1)=point_mat(1); - - ret = std::make_tuple(point,best_length,rotated_point,best_guess); - - return ret; -} - -double Spline::getderiv(double x){ - Eigen::MatrixXd point_x(1,2); - point_x(0,0)=x; - point_x(0,1)=0; - - Eigen::MatrixXd gm= reverse_transform(point_x,this->Q,this->translation_vector); - return poly_eval(this->first_der,gm.data()[0]); - - - -} - -Eigen::MatrixXd& Spline::interpolate(int number, std::pair bounds){ - - if(bounds.first == -1 && bounds.second == -1){ - double bound1 = get_rotated_points()(0,0); - // MAKE PROPER BOUND 2 - double bound2 = get_rotated_points()(0,get_rotated_points().cols()); - bounds = std::make_pair(bound1,bound2); - } - - Eigen::MatrixXd points(number,2); - - for(int i=0;i,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id ,int points_per_spline,bool loop){ - - int n = res.cols(); - - std::vector splines; - - // Eigen::MatrixXd points=res; - - int shift = points_per_spline-1; - int group_numbers; - - if (shift == 1){ - group_numbers = n/shift; - - if (loop) - group_numbers += (int)(n % shift != 0); - } - else{ - group_numbers = n; - } - std::vector> groups; - - std::vector lengths; - std::vector cumsum; - lengths.resize(group_numbers); - - for(int i=0;i -#include -#include -#include -#include -#include -#include - - -#ifndef RACELINE -#define RACELINE - -const int prefered_degree = 3,overlap = 0; -struct polynomial -{ - int deg; - Eigen::VectorXd nums; -}; - -polynomial poly(int deg); - -polynomial poly_one(); - -polynomial poly_root(double root); - -polynomial polyder(polynomial p); - - -polynomial poly_mult(polynomial a,polynomial b); - -double poly_eval(polynomial a,double x); - -class Spline -{ -private: - polynomial spl_poly; - - Eigen::MatrixXd points; - Eigen::MatrixXd rotated_points; - - Eigen::MatrixXd Q; - Eigen::VectorXd translation_vector; - - polynomial first_der; - polynomial second_der; - - - int path_id; - int sort_index; - -public: - polynomial get_SplPoly(){ return spl_poly;} - void set_SplPoly(polynomial p){ - spl_poly.deg = p.deg; - spl_poly.nums = p.nums; - first_der = polyder(spl_poly); - second_der = polyder(first_der); - } - - - polynomial get_first_der(); - polynomial get_second_der(); - - Eigen::MatrixXd& get_points(); - void set_points(Eigen::MatrixXd newpoints); - - Eigen::MatrixXd& get_rotated_points(); - void set_rotated_points(Eigen::MatrixXd newpoints); - - Eigen::MatrixXd& get_Q(); - void set_Q(Eigen::MatrixXd new_Q); - - Eigen::VectorXd& get_translation(); - void set_translation(Eigen::VectorXd new_trans); - - int get_path_id(); - void set_path_id(int new_id); - - int get_sort_index(); - void set_sort_index(int new_sort); - double length(); - - // Eigen::MatrixXd interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); - - Eigen::MatrixXd& interpolate(int number,std::pair bounds); - - bool operator==(Spline const & other) const; - bool operator<(Spline const & other) const; - - std::tuple along(double progress, double point_index=0, int precision=20); - double getderiv(double x); - - std::pair along(double progress) const; - - Spline(polynomial interpolation_poly,Eigen::MatrixXd& points_mat,Eigen::MatrixXd& rotated,Eigen::MatrixXd& Q_mat, Eigen::VectorXd& translation,polynomial first, polynomial second, int path, int sort_ind); - - Spline() {}; - - ~Spline(); -}; - - - -Eigen::MatrixXd& interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); - -Eigen::MatrixXd& rotation_matrix_gen(Eigen::MatrixXd pnts); -Eigen::VectorXd& get_translation_vector(Eigen::MatrixXd group); - -Eigen::MatrixXd& transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); - -Eigen::MatrixXd& reverse_transform(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); - -polynomial lagrange_gen(Eigen::MatrixXd points); - -double arclength_f(double, void* params); - -double arclength(polynomial poly, double x0,double x1); - -std::pair,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); - -#endif diff --git a/driverless_ws/src/planning/src/raceline/racelineOld.cpp b/driverless_ws/src/planning/src/raceline/racelineOld.cpp deleted file mode 100644 index bff0e4936..000000000 --- a/driverless_ws/src/planning/src/raceline/racelineOld.cpp +++ /dev/null @@ -1,434 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "raceline.hpp" -// #include "random.h" - -polynomial poly(int deg = 3){ - polynomial inst; - inst.deg=deg; - inst.nums = gsl_vector_alloc(deg+1); - return inst; -} - -polynomial poly_one(){ - polynomial p = poly(1); - gsl_vector_set(p.nums,0,1); - return p; -} - -polynomial poly_root(double root){ - polynomial p = poly(1); - gsl_vector_set(p.nums,0,-root); - gsl_vector_set(p.nums,1,1); - return p; -} - -polynomial polyder(polynomial p){ - if (p.deg ==0) return poly(0); - polynomial der = poly(p.deg-1); - for(int i=0;ispl_poly,gsl_matrix_get(this->rotated_points,0,0),gsl_matrix_get(this->rotated_points,0,this->rotated_points->size2-1)); -} - -// gsl_matrix* Spline::interpolate(int number, std::pair bounds){ -// return interpolate(*this,number,bounds); -// } - -bool Spline::operator==(Spline const & other) const{ - return this->sort_index==other.sort_index; -} - -bool Spline::operator<(Spline const & other) const{ - return this->sort_indexfirst_der; -} - -polynomial Spline::get_second_der(){ - return this->second_der; -} - -gsl_matrix* Spline::get_points(){ - return points;} - -gsl_matrix* Spline::get_rotated_points(){ - return rotated_points; -} - -gsl_matrix* Spline::get_Q(){ - return Q; -} - -gsl_vector* Spline::get_translation(){ - return translation_vector; -} - -int Spline::get_path_id(){ - return path_id; -} - -int Spline::get_sort_index(){ - return sort_index; -} - - - - -std::tuple Spline::along(double progress, double point_index, int precision){ - std::tuple ret; - - - double len = this->length(); - - - double first_x = gsl_matrix_get(this->get_rotated_points(),0,0); - double last_x = gsl_matrix_get(this->get_rotated_points(),0,this->get_rotated_points()->size2); - - double delta = last_x - first_x; - - std::pair boundaries = std::make_pair(first_x,last_x); - int ratio = progress / len + 1; - - - - if (ratio >= 2){ - double x = first_x + delta*ratio; - double shoot = arclength(this->spl_poly,first_x,x); - - double lower_bound = first_x + delta * (ratio - 1); - double upper_bound = first_x + delta * ratio; - - if (shoot < progress){ - while (shoot < progress){ - lower_bound = x; - // add approximately one spline length to shoot - shoot = arclength(this->spl_poly,first_x,x+delta); - x=x+delta; - } - upper_bound = x; // upper bound is direct first overshoot (separated by delta from the lower bound) - } - else if (shoot >= progress){ // equality not very important - while (shoot >= progress){ - upper_bound = x; - // # remove approximately one splien length to shoot - shoot = arclength(this->spl_poly,first_x,x - delta); - } - lower_bound = x; // lower bound is direct first undershoot (separated by delta from the upper bound) - } - std::pair boundaries = std::make_pair(lower_bound, upper_bound); - - } - // Perform a more precise search between the two computed bounds - - std::vector guesses; - guesses.resize(precision+1); - for(int i=0;i<=precision;i++){ - guesses[i] = (boundaries.first*i + boundaries.second*(precision-i))/precision; - } - - // Evaluate progress along the (extrapolated) spline - // As arclength is expensive and cannot take multiple points - // at the same time, it is faster to use a for loop - double past = -1, best_guess = -1, best_length = -1; - for (double guess : guesses){ - double guess_length = arclength(this->spl_poly, first_x, guess); - if (abs(progress - guess_length) > abs(progress - past)) //# if we did worst than before - break; - best_guess = guess; - best_length = guess_length; - past = guess_length; - } - gsl_vector *rotated_point = gsl_vector_alloc(2); - gsl_vector_set(rotated_point,0,best_guess); - gsl_vector_set(rotated_point,1,gsl_poly_eval(this->spl_poly.nums->data,this->spl_poly.deg,best_guess)); - - gsl_matrix *rotated_points = gsl_matrix_alloc(2,1); - gsl_matrix_set(rotated_points,0,0,rotated_point->data[0]); - gsl_matrix_set(rotated_points,0,1,rotated_point->data[1]); - - gsl_matrix *point_mat =reverse_transform(rotated_points,this->Q,this->translation_vector); - - gsl_vector *point = gsl_vector_alloc(2); - gsl_vector_set(point,0,point_mat->data[0]); - gsl_vector_set(point,0,point_mat->data[1]); - - ret = std::make_tuple(point,best_length,rotated_point,best_guess); - - return ret; -} - -double Spline::getderiv(double x){ - gsl_matrix *point_x = gsl_matrix_alloc(1,2); - gsl_matrix_set(point_x,0,0,x); - gsl_matrix_set(point_x,0,1,0); - - gsl_matrix *gm= reverse_transform(point_x,this->Q,this->translation_vector); - - return gsl_poly_eval(this->first_der.nums->data,this->first_der.deg,gm->data[0]); - - - -} - -gsl_matrix* Spline::interpolate(int number, std::pair bounds){ - - if(bounds.first == -1 && bounds.second == -1){ - double bound1 = gsl_matrix_get(get_rotated_points(),0,0); - // MAKE PROPER BOUND 2 - double bound2 = gsl_matrix_get(get_rotated_points(),0,get_rotated_points()->size2); - bounds = std::make_pair(bound1,bound2); - } - - gsl_matrix *points = gsl_matrix_alloc(number,2); - - for(int i=0;idata,get_SplPoly().deg,x); - gsl_matrix_set(points,i,0,x); - gsl_matrix_set(points,i,1,y); - } - - - - - gsl_matrix *ret= reverse_transform(points,get_Q(),get_translation()); - - return ret; -} - -gsl_matrix* rotation_matrix_gen(gsl_matrix *pnts){ - gsl_vector *beg= gsl_vector_alloc_col_from_matrix(pnts,0); - gsl_vector *end = gsl_vector_alloc_col_from_matrix(pnts,pnts->size2-1); - - gsl_vector_sub(end,beg); - gsl_vector_free(beg); - - double norm = gsl_blas_dnrm2(end); - - double cos = gsl_vector_get(end,0)/norm; - double sin = gsl_vector_get(end,1)/norm; - - gsl_vector_free(end); - - gsl_matrix *ret = gsl_matrix_alloc(2,2); - gsl_matrix_set(ret,0,0,cos); - gsl_matrix_set(ret,1,0,-sin); - gsl_matrix_set(ret,0,1,sin); - gsl_matrix_set(ret,1,1,cos); - - - return ret; -} - -gsl_vector *get_translation_vector(gsl_matrix *group){ - return gsl_vector_alloc_col_from_matrix(group,0); -} - -gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ - gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); - for(int i=0;isize2;++i){ - gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)-gsl_vector_get(get_translation_vector,0)); - gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)-gsl_vector_get(get_translation_vector,1)); - } - - gsl_matrix_transpose(Q); - - gsl_matrix *ret = gsl_matrix_alloc(points->size1,points->size2); - gsl_linalg_matmult(temp,Q,ret); - gsl_matrix_free(temp); - gsl_matrix_transpose(Q); - - return ret; -} - -gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector){ - gsl_matrix *temp = gsl_matrix_alloc(points->size1,points->size2); - for(int i=0;isize2;++i){ - gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)); - gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)); - } - - gsl_matrix *ret = gsl_matrix_alloc(points->size1,points->size2); - gsl_linalg_matmult(temp,Q,ret); - gsl_matrix_free(temp); - - for(int i=0;isize2;++i){ - gsl_matrix_set(temp,0,i,gsl_matrix_get(points,0,i)+gsl_vector_get(get_translation_vector,0)); - gsl_matrix_set(temp,1,i,gsl_matrix_get(points,1,i)+gsl_vector_get(get_translation_vector,1)); - } - - return ret; -} - -polynomial lagrange_gen(gsl_matrix* points){ - polynomial lagrange_poly = poly(3); - - for(int col = 0;col size2;col++){ - - - } - double x[points->size2]; - double y[points->size2]; - for(int i=0;isize2;i++){ - x[i] = gsl_matrix_get(points,i,0); - y[i] = gsl_matrix_get(points,i,1); - } - - - for(int i=0;isize2;i++){ - polynomial p = poly_one(); - for(int j=0;jsize2;j++){ - if(j!=i){ - polynomial pr =poly_root(x[j]); - polynomial q =poly_mult(p,pr); - gsl_vector_free(p.nums); - gsl_vector_free(pr.nums); - p=q; - } - } - polynomial p1 = poly_one(); - gsl_vector_set(p1.nums,0,1/gsl_poly_eval(p.nums->data,p.deg+1,x[i])); - polynomial q = poly_mult(p1,p); - gsl_vector_free(p.nums); - gsl_vector_free(p1.nums); - - gsl_vector_add(lagrange_poly.nums,q.nums); - gsl_vector_free(q.nums); - - } - - return lagrange_poly; - -} - -double arclength_f(double, void* params){ - - polynomial p = *(polynomial*)params; - - double x = gsl_poly_eval(p.nums->data,p.deg+1,x); - return x*x+1; -} - -double arclength(polynomial poly, double x0,double x1){ - - gsl_function F; - F.function = &arclength_f; - F.params = &poly; - - double result, error; - gsl_integration_workspace * w - = gsl_integration_workspace_alloc (1000); - - gsl_integration_qags (&F, x0, x1, 0, 1e-7, 1000, - w, &result, &error); - gsl_integration_workspace_free(w); - - return result; - -} - -std::pair,std::vector> raceline_gen(gsl_matrix *res,int path_id ,int points_per_spline,bool loop){ - - int n = res->size2; - - std::vector splines; - - // gsl_matrix *points=res; - - int shift = points_per_spline-1; - - int group_numbers = n/shift; - - - if (loop) - group_numbers += (int)(n % shift != 0); - - std::vector> groups; - - std::vector lengths; - std::vector cumsum; - lengths.resize(group_numbers); - - for(int i=0;i -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -#ifndef RACELINE -#define RACELINE - -const int prefered_degree = 3,overlap = 0; -struct polynomial -{ - int deg; - gsl_vector *nums; -}; - -polynomial poly(int deg); - -polynomial poly_one(); - -polynomial poly_root(double root); - -polynomial polyder(polynomial p); - -polynomial poly_mult(polynomial a,polynomial b); - - - - -class Spline -{ -private: - polynomial spl_poly; - - gsl_matrix *points; - gsl_matrix *rotated_points; - - gsl_matrix *Q; - gsl_vector *translation_vector; - - polynomial first_der; - polynomial second_der; - - - int path_id; - int sort_index; - -public: - polynomial get_SplPoly(){ return spl_poly;} - void set_SplPoly(polynomial p){ - spl_poly.deg = p.deg; - spl_poly.nums = p.nums; - first_der = polyder(spl_poly); - second_der = polyder(first_der); - } - - - polynomial get_first_der(); - polynomial get_second_der(); - - gsl_matrix* get_points(); - void set_points(gsl_matrix *newpoints); - - gsl_matrix* get_rotated_points(); - void set_rotated_points(gsl_matrix *newpoints); - - gsl_matrix* get_Q(); - void set_Q(gsl_matrix *new_Q); - - gsl_vector* get_translation(); - void set_translation(gsl_vector *new_trans); - - int get_path_id(); - void set_path_id(int new_id); - - int get_sort_index(); - void set_sort_index(int new_sort); - double length(); - - // gsl_matrix *interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); - - gsl_matrix *interpolate(int number,std::pair bounds); - - bool operator==(Spline const & other) const; - bool operator<(Spline const & other) const; - - std::tuple along(double progress, double point_index=0, int precision=20); - double getderiv(double x); - - std::pair along(double progress) const; - - Spline(polynomial interpolation_poly,gsl_matrix *points_mat,gsl_matrix *rotated,gsl_matrix *Q_mat, gsl_vector *translation,polynomial first, polynomial second, int path, int sort_ind); - - Spline() {}; - - ~Spline(); -}; - - - -gsl_matrix *interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); - -gsl_matrix* rotation_matrix_gen(gsl_matrix *pnts); -gsl_vector *get_translation_vector(gsl_matrix *group); - -gsl_matrix *transform_points(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector); - -gsl_matrix *reverse_transform(gsl_matrix *points, gsl_matrix *Q, gsl_vector *get_translation_vector); - -polynomial lagrange_gen(gsl_matrix* points); - -double arclength_f(double, void* params); - -double arclength(polynomial poly, double x0,double x1); - -std::pair,std::vector> raceline_gen(gsl_matrix *res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); - -#endif diff --git a/driverless_ws/src/planning/src/talker.cpp b/driverless_ws/src/planning/src/talker.cpp deleted file mode 100644 index 95438a78c..000000000 --- a/driverless_ws/src/planning/src/talker.cpp +++ /dev/null @@ -1,55 +0,0 @@ -#include -#include -#include -#include - -#include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" -#include "eufs_msgs/msg/waypoint.hpp" -#include "geometry_msgs/msg/point.hpp" - -using namespace std::chrono_literals; - -/* This example creates a subclass of Node and uses std::bind() to register a -* member function as a callback from the timer. */ - -class MinimalPublisher : public rclcpp::Node -{ - public: - MinimalPublisher() - : Node("minimal_publisher"), count_(0) - { - publisher_ = this->create_publisher("topic", 10); - timer_ = this->create_wall_timer( - 500ms, std::bind(&MinimalPublisher::timer_callback, this)); - } - - private: - void timer_callback() - { - // auto message = std_msgs::msg::String(); - // message.data = "Hello, world! " + std::to_string(count_++); - // RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); - auto position = geometry_msgs::msg::Point(); - position.x = 1.0; - position.y = 2.0; - position.z = 2.0; - auto message = eufs_msgs::msg::Waypoint(); - message.set__position(position); - message.set__speed(4.0); - message.set__suggested_steering(5.0); - RCLCPP_INFO(this->get_logger(), "Publishing"); - publisher_->publish(message); - } - rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr publisher_; - size_t count_; -}; - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/sub.cpp b/driverless_ws/src/planning/sub.cpp deleted file mode 100644 index 83345b48b..000000000 --- a/driverless_ws/src/planning/sub.cpp +++ /dev/null @@ -1,31 +0,0 @@ -#include - -#include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" -using std::placeholders::_1; - -class MinimalSubscriber : public rclcpp::Node -{ - public: - MinimalSubscriber() - : Node("minimal_subscriber") - { - subscription_ = this->create_subscription( - "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); - } - - private: - void topic_callback(const std_msgs::msg::String::SharedPtr msg) const - { - RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); - } - rclcpp::Subscription::SharedPtr subscription_; -}; - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/driverless_ws/src/ros2_numpy b/driverless_ws/src/ros2_numpy new file mode 160000 index 000000000..780ef66b7 --- /dev/null +++ b/driverless_ws/src/ros2_numpy @@ -0,0 +1 @@ +Subproject commit 780ef66b7e800bf278c6f72b82f821cc542eed7d diff --git a/driverless_ws/src/ros2_numpy_dv/CHANGELOG.rst b/driverless_ws/src/ros2_numpy_dv/CHANGELOG.rst new file mode 100644 index 000000000..a15fc4eb9 --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/CHANGELOG.rst @@ -0,0 +1,44 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ros2_numpy +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.9 (2023-01-03) +------------------ +* Fix for numpy 1.24.0 +* Contributors: Florian Vahl + +2.0.8 (2022-06-12) +------------------ +* Update for ROS2 Humble (`#5 `_) +* Contributors: Sean Kelly + +2.0.7 (2022-05-16) +------------------ +* Remove unneeded array and handle bigendian (`#4 `_) +* Contributors: Florian Vahl + +2.0.6 (2022-04-15) +------------------ +* Improve speed of msgify(point_cloud_2_np) by 115x (`#3 `_) +* Contributors: Alex Thiel + + +2.0.5 (2022-02-24) +------------------ +* Ported to `tf_transformations `_ +* Contributors: Tom Panzarella + + +2.0.4 (2021-11-02) +------------------ +* Modified transformations.py for quaternion convention (`#2 `_) +* Added a test case for the quaternion convention +* Fixed rosdep dependencies in package.xml +* Contributors: Asil Orgen, Tom Panzarella + + +2.0.3 (2020-07-12) +------------------ +* Renamed fork to ``ros2_numpy`` +* Start tracking changes in CHANGELOG at 2.0.3 +* Contributors: Tom Panzarella diff --git a/driverless_ws/src/ros2_numpy_dv/CMakeLists.txt b/driverless_ws/src/ros2_numpy_dv/CMakeLists.txt new file mode 100644 index 000000000..2128d601c --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.5) +project(ros2_numpy_dv) + +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +ament_python_install_package(${PROJECT_NAME}) + +############## +ament_export_dependencies(ament_cmake) +ament_export_dependencies(ament_cmake_python) +ament_package() diff --git a/driverless_ws/src/ros2_numpy_dv/LICENSE b/driverless_ws/src/ros2_numpy_dv/LICENSE new file mode 100644 index 000000000..cdec63e5f --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2016 Eric Wieser + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/driverless_ws/src/ros2_numpy_dv/README.md b/driverless_ws/src/ros2_numpy_dv/README.md new file mode 100644 index 000000000..64cc8cb82 --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/README.md @@ -0,0 +1,84 @@ +# ros2_numpy +This project is a fork of [ros_numpy](https://github.com/eric-wieser/ros_numpy) +to work with ROS 2. It provides tools for converting ROS messages to and from +numpy arrays. In the ROS 2 port, the module has been renamed to +`ros2_numpy`. Users are encouraged to update their application code to import +the module as shown below. + +ROS 2: + +``` +import ros2_numpy as rnp +``` + +ROS 1: + +``` +import ros_numpy as rnp +``` + +Prefacing your calls like `rnp.numpify(...)` or `rnp.msgify(...)` should help +future proof your codebase while the ROS 1 and ROS 2 ports are API compatible. + +The ROS 2 port has been bootstrapped as version `2.0.3`. The `MAJOR` +version has been set to `2` to indicate ROS 2 and the `MINOR` and `PATCH` +versions match the ROS 1 version from which the ROS 2 port was +bootstrapped. The reasoning behind this is to allow for creating tags in this +fork that can be released into the ROS 2 distribution while not conflicting +with existing tags on the upstream repository. A release into Foxy is still +pending. + +This module contains two core functions: + +* `arr = numpify(msg, ...)` - try to get a numpy object from a message +* `msg = msgify(MessageType, arr, ...)` - try and convert a numpy object to a message + +Currently supports: + +* `sensor_msgs.msg.PointCloud2` ↔ structured `np.array`: + + ```python + data = np.zeros(100, dtype=[ + ('x', np.float32), + ('y', np.float32), + ('vectors', np.float32, (3,)) + ]) + data['x'] = np.arange(100) + data['y'] = data['x']*2 + data['vectors'] = np.arange(100)[:,np.newaxis] + + msg = ros2_numpy.msgify(PointCloud2, data) + ``` + + ``` + data = ros2_numpy.numpify(msg) + ``` + +* `sensor_msgs.msg.Image` ↔ 2/3-D `np.array`, similar to the function of `cv_bridge`, but without the dependency on `cv2` +* `nav_msgs.msg.OccupancyGrid` ↔ `np.ma.array` +* `geometry.msg.Vector3` ↔ 1-D `np.array`. `hom=True` gives `[x, y, z, 0]` +* `geometry.msg.Point` ↔ 1-D `np.array`. `hom=True` gives `[x, y, z, 1]` +* `geometry.msg.Quaternion` ↔ 1-D `np.array`, `[x, y, z, w]` +* `geometry.msg.Transform` ↔ 4×4 `np.array`, the homogeneous transformation matrix +* `geometry.msg.Pose` ↔ 4×4 `np.array`, the homogeneous transformation matrix from the origin + +Support for more types can be added with: + +```python +@ros2_numpy.converts_to_numpy(SomeMessageClass) +def convert(my_msg): + return np.array(...) + +@ros2_numpy.converts_from_numpy(SomeMessageClass) +def convert(my_array): + return SomeMessageClass(...) +``` + +Any extra args or kwargs to `numpify` or `msgify` will be forwarded to your conversion function + + +## Future work + +* Add simple conversions for: + + * `geometry_msgs.msg.Inertia` diff --git a/driverless_ws/src/ros2_numpy_dv/package.xml b/driverless_ws/src/ros2_numpy_dv/package.xml new file mode 100644 index 000000000..cb9578c5b --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/package.xml @@ -0,0 +1,35 @@ + + + + ros2_numpy_dv + + 2.0.9 + A collection of conversion functions for extracting numpy arrays from messages + + Eric Wieser + Tom Panzarella + + MIT + + https://github.com/Box-Robotics/ros2_numpy + + https://github.com/eric-wieser/ros_numpy/issues + + geometry_msgs + nav_msgs + python3-transforms3d + python3-numpy + sensor_msgs + tf_transformations + + ament_cmake_python + + ament_cmake_nose + python3-nose + rclpy + + + ament_cmake + + diff --git a/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/__init__.py b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/__init__.py new file mode 100644 index 000000000..0e9c83716 --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/__init__.py @@ -0,0 +1,9 @@ +""" +A module for converting ROS message types into numpy types, where appropriate +""" + +from .registry import numpify, msgify +from . import point_cloud2 +from . import image +from . import occupancy_grid +from . import geometry diff --git a/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/geometry.py b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/geometry.py new file mode 100644 index 000000000..642c8c8a3 --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/geometry.py @@ -0,0 +1,133 @@ +from .registry import converts_from_numpy, converts_to_numpy +from geometry_msgs.msg import Transform, Vector3, Quaternion, Point, Pose +import tf_transformations as transformations +from . import numpify + +import numpy as np + +# basic types + +@converts_to_numpy(Vector3) +def vector3_to_numpy(msg, hom=False): + if hom: + return np.array([msg.x, msg.y, msg.z, 0]) + else: + return np.array([msg.x, msg.y, msg.z]) + +@converts_from_numpy(Vector3) +def numpy_to_vector3(arr): + if arr.shape[-1] == 4: + assert np.all(arr[...,-1] == 0) + arr = arr[...,:-1] + + if len(arr.shape) == 1: + return Vector3(**dict(zip(['x', 'y', 'z'], arr))) + else: + return np.apply_along_axis( + lambda v: Vector3(**dict(zip(['x', 'y', 'z'], v))), axis=-1, + arr=arr) + +@converts_to_numpy(Point) +def point_to_numpy(msg, hom=False): + if hom: + return np.array([msg.x, msg.y, msg.z, 1]) + else: + return np.array([msg.x, msg.y, msg.z]) + +@converts_from_numpy(Point) +def numpy_to_point(arr): + if arr.shape[-1] == 4: + arr = arr[...,:-1] / arr[...,-1] + + if len(arr.shape) == 1: + return Point(**dict(zip(['x', 'y', 'z'], arr))) + else: + return np.apply_along_axis( + lambda v: Point(**dict(zip(['x', 'y', 'z'], v))), axis=-1, arr=arr) + +@converts_to_numpy(Quaternion) +def quat_to_numpy(msg): + return np.array([msg.x, msg.y, msg.z, msg.w]) + +@converts_from_numpy(Quaternion) +def numpy_to_quat(arr): + assert arr.shape[-1] == 4 + + if len(arr.shape) == 1: + return Quaternion(**dict(zip(['x', 'y', 'z', 'w'], arr))) + else: + return np.apply_along_axis( + lambda v: Quaternion(**dict(zip(['x', 'y', 'z', 'w'], v))), + axis=-1, arr=arr) + + +# compound types +# all of these take ...x4x4 homogeneous matrices + +@converts_to_numpy(Transform) +def transform_to_numpy(msg): + return np.dot( + transformations.translation_matrix(numpify(msg.translation)), + transformations.quaternion_matrix(numpify(msg.rotation)) + ) + +@converts_from_numpy(Transform) +def numpy_to_transform(arr): + shape, rest = arr.shape[:-2], arr.shape[-2:] + assert rest == (4,4) + + if len(shape) == 0: + trans = transformations.translation_from_matrix(arr) + quat = transformations.quaternion_from_matrix(arr) + + return Transform( + translation=Vector3(**dict(zip(['x', 'y', 'z'], trans))), + rotation=Quaternion(**dict(zip(['x', 'y', 'z', 'w'], quat))) + ) + else: + res = np.empty(shape, dtype=np.object_) + for idx in np.ndindex(shape): + res[idx] = Transform( + translation=Vector3( + **dict( + zip(['x', 'y', 'z'], + transformations.translation_from_matrix(arr[idx])))), + rotation=Quaternion( + **dict( + zip(['x', 'y', 'z', 'w'], + transformations.quaternion_from_matrix(arr[idx])))) + ) + +@converts_to_numpy(Pose) +def pose_to_numpy(msg): + return np.dot( + transformations.translation_matrix(numpify(msg.position)), + transformations.quaternion_matrix(numpify(msg.orientation)) + ) + +@converts_from_numpy(Pose) +def numpy_to_pose(arr): + shape, rest = arr.shape[:-2], arr.shape[-2:] + assert rest == (4,4) + + if len(shape) == 0: + trans = transformations.translation_from_matrix(arr) + quat = transformations.quaternion_from_matrix(arr) + + return Pose( + position=Point(**dict(zip(['x', 'y', 'z'], trans))), + orientation=Quaternion(**dict(zip(['x', 'y', 'z', 'w'], quat))) + ) + else: + res = np.empty(shape, dtype=np.object_) + for idx in np.ndindex(shape): + res[idx] = Pose( + position=Point( + **dict( + zip(['x', 'y', 'z'], + transformations.translation_from_matrix(arr[idx])))), + orientation=Quaternion( + **dict( + zip(['x', 'y', 'z', 'w'], + transformations.quaternion_from_matrix(arr[idx])))) + ) diff --git a/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/image.py b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/image.py new file mode 100644 index 000000000..bee1ded42 --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/image.py @@ -0,0 +1,120 @@ +import sys + +from .registry import converts_from_numpy, converts_to_numpy +from sensor_msgs.msg import Image + +import numpy as np +from numpy.lib.stride_tricks import as_strided + +name_to_dtypes = { + "rgb8": (np.uint8, 3), + "rgba8": (np.uint8, 4), + "rgb16": (np.uint16, 3), + "rgba16": (np.uint16, 4), + "bgr8": (np.uint8, 3), + "bgra8": (np.uint8, 4), + "bgr16": (np.uint16, 3), + "bgra16": (np.uint16, 4), + "mono8": (np.uint8, 1), + "mono16": (np.uint16, 1), + + # for bayer image (based on cv_bridge.cpp) + "bayer_rggb8": (np.uint8, 1), + "bayer_bggr8": (np.uint8, 1), + "bayer_gbrg8": (np.uint8, 1), + "bayer_grbg8": (np.uint8, 1), + "bayer_rggb16": (np.uint16, 1), + "bayer_bggr16": (np.uint16, 1), + "bayer_gbrg16": (np.uint16, 1), + "bayer_grbg16": (np.uint16, 1), + + # OpenCV CvMat types + "8UC1": (np.uint8, 1), + "8UC2": (np.uint8, 2), + "8UC3": (np.uint8, 3), + "8UC4": (np.uint8, 4), + "8SC1": (np.int8, 1), + "8SC2": (np.int8, 2), + "8SC3": (np.int8, 3), + "8SC4": (np.int8, 4), + "16UC1": (np.uint16, 1), + "16UC2": (np.uint16, 2), + "16UC3": (np.uint16, 3), + "16UC4": (np.uint16, 4), + "16SC1": (np.int16, 1), + "16SC2": (np.int16, 2), + "16SC3": (np.int16, 3), + "16SC4": (np.int16, 4), + "32SC1": (np.int32, 1), + "32SC2": (np.int32, 2), + "32SC3": (np.int32, 3), + "32SC4": (np.int32, 4), + "32FC1": (np.float32, 1), + "32FC2": (np.float32, 2), + "32FC3": (np.float32, 3), + "32FC4": (np.float32, 4), + "64FC1": (np.float64, 1), + "64FC2": (np.float64, 2), + "64FC3": (np.float64, 3), + "64FC4": (np.float64, 4) +} + +@converts_to_numpy(Image) +def image_to_numpy(msg): + if not msg.encoding in name_to_dtypes: + raise TypeError('Unrecognized encoding {}'.format(msg.encoding)) + + dtype_class, channels = name_to_dtypes[msg.encoding] + dtype = np.dtype(dtype_class) + dtype = dtype.newbyteorder('>' if msg.is_bigendian else '<') + shape = (msg.height, msg.width, channels) + + data = np.frombuffer(msg.data, dtype=dtype).reshape(shape) + data.strides = ( + msg.step, + dtype.itemsize * channels, + dtype.itemsize + ) + + if channels == 1: + data = data[...,0] + return data + + +@converts_from_numpy(Image) +def numpy_to_image(arr, encoding): + if not encoding in name_to_dtypes: + raise TypeError('Unrecognized encoding {}'.format(encoding)) + + im = Image(encoding=encoding) + + # extract width, height, and channels + dtype_class, exp_channels = name_to_dtypes[encoding] + dtype = np.dtype(dtype_class) + if len(arr.shape) == 2: + im.height, im.width, channels = arr.shape + (1,) + elif len(arr.shape) == 3: + im.height, im.width, channels = arr.shape + else: + raise TypeError("Array must be two or three dimensional") + + # check type and channels + if exp_channels != channels: + raise TypeError("Array has {} channels, {} requires {}".format( + channels, encoding, exp_channels + )) + if dtype_class != arr.dtype.type: + raise TypeError("Array is {}, {} requires {}".format( + arr.dtype.type, encoding, dtype_class + )) + + # make the array contiguous in memory, as mostly required by the format + contig = np.ascontiguousarray(arr) + im.data = contig.tostring() + im.step = contig.strides[0] + im.is_bigendian = ( + arr.dtype.byteorder == '>' or + arr.dtype.byteorder == '=' and sys.byteorder == 'big' + ) + + return im diff --git a/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/occupancy_grid.py b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/occupancy_grid.py new file mode 100644 index 000000000..f638eca64 --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/occupancy_grid.py @@ -0,0 +1,36 @@ +from array import array as Array +import sys + +from .registry import converts_from_numpy, converts_to_numpy +from nav_msgs.msg import OccupancyGrid, MapMetaData + +import numpy as np +from numpy.lib.stride_tricks import as_strided + +@converts_to_numpy(OccupancyGrid) +def occupancygrid_to_numpy(msg): + data = \ + np.asarray(msg.data, + dtype=np.int8).reshape(msg.info.height, msg.info.width) + + return np.ma.array(data, mask=data==-1, fill_value=-1) + + +@converts_from_numpy(OccupancyGrid) +def numpy_to_occupancy_grid(arr, info=None): + if not len(arr.shape) == 2: + raise TypeError('Array must be 2D') + if not arr.dtype == np.int8: + raise TypeError('Array must be of int8s') + + grid = OccupancyGrid() + if isinstance(arr, np.ma.MaskedArray): + # We assume that the masked value are already -1, for speed + arr = arr.data + + grid.data = Array('b', arr.ravel().astype(np.int8)) + grid.info = info or MapMetaData() + grid.info.height = arr.shape[0] + grid.info.width = arr.shape[1] + + return grid diff --git a/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/point_cloud2.py b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/point_cloud2.py new file mode 100644 index 000000000..59ebb0038 --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/point_cloud2.py @@ -0,0 +1,271 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2008, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# Author: Jon Binney +''' +Functions for working with PointCloud2. +''' + +__docformat__ = "restructuredtext en" + +import sys + +from .registry import converts_from_numpy, converts_to_numpy + +import array +import numpy as np +from sensor_msgs.msg import PointCloud2, PointField + +# prefix to the names of dummy fields we add to get byte alignment +# correct. this needs to not clash with any actual field names +DUMMY_FIELD_PREFIX = '__' + +# mappings between PointField types and numpy types +type_mappings = [(PointField.INT8, np.dtype('int8')), + (PointField.UINT8, np.dtype('uint8')), + (PointField.INT16, np.dtype('int16')), + (PointField.UINT16, np.dtype('uint16')), + (PointField.INT32, np.dtype('int32')), + (PointField.UINT32, np.dtype('uint32')), + (PointField.FLOAT32, np.dtype('float32')), + (PointField.FLOAT64, np.dtype('float64'))] +pftype_to_nptype = dict(type_mappings) +nptype_to_pftype = dict((nptype, pftype) for pftype, nptype in type_mappings) + + +@converts_to_numpy(PointField, plural=True) +def fields_to_dtype(fields, point_step): + '''Convert a list of PointFields to a numpy record datatype. + ''' + offset = 0 + np_dtype_list = [] + for f in fields: + while offset < f.offset: + # might be extra padding between fields + np_dtype_list.append( + ('%s%d' % (DUMMY_FIELD_PREFIX, offset), np.uint8)) + offset += 1 + + dtype = pftype_to_nptype[f.datatype] + if f.count != 1: + dtype = np.dtype((dtype, f.count)) + + np_dtype_list.append((f.name, dtype)) + offset += pftype_to_nptype[f.datatype].itemsize * f.count + + # might be extra padding between points + while offset < point_step: + np_dtype_list.append(('%s%d' % (DUMMY_FIELD_PREFIX, offset), np.uint8)) + offset += 1 + + return np_dtype_list + + +@converts_from_numpy(PointField, plural=True) +def dtype_to_fields(dtype): + '''Convert a numpy record datatype into a list of PointFields. + ''' + fields = [] + for field_name in dtype.names: + np_field_type, field_offset = dtype.fields[field_name] + pf = PointField() + pf.name = field_name + if np_field_type.subdtype: + item_dtype, shape = np_field_type.subdtype + pf.count = int(np.prod(shape)) + np_field_type = item_dtype + else: + pf.count = 1 + + pf.datatype = nptype_to_pftype[np_field_type] + pf.offset = field_offset + fields.append(pf) + return fields + +@converts_to_numpy(PointCloud2) +def pointcloud2_to_array(cloud_msg, squeeze=True): + ''' Converts a rospy PointCloud2 message to a numpy recordarray + + Reshapes the returned array to have shape (height, width), even if the + height is 1. + + The reason for using np.frombuffer rather than struct.unpack is + speed... especially for large point clouds, this will be faster. + ''' + # construct a numpy record type equivalent to the point type of this cloud + dtype_list = fields_to_dtype(cloud_msg.fields, cloud_msg.point_step) + + # parse the cloud into an array + cloud_arr = np.frombuffer(cloud_msg.data, dtype_list) + + # remove the dummy fields that were added + cloud_arr = cloud_arr[ + [fname for fname, _type in dtype_list if not ( + fname[:len(DUMMY_FIELD_PREFIX)] == DUMMY_FIELD_PREFIX)]] + + if squeeze and cloud_msg.height == 1: + return np.reshape(cloud_arr, (cloud_msg.width,)) + else: + return np.reshape(cloud_arr, (cloud_msg.height, cloud_msg.width)) + +@converts_from_numpy(PointCloud2) +def array_to_pointcloud2(cloud_arr, stamp=None, frame_id=None): + '''Converts a numpy record array to a sensor_msgs.msg.PointCloud2. + ''' + # make it 2d (even if height will be 1) + cloud_arr = np.atleast_2d(cloud_arr) + + cloud_msg = PointCloud2() + + if stamp is not None: + cloud_msg.header.stamp = stamp + if frame_id is not None: + cloud_msg.header.frame_id = frame_id + cloud_msg.height = cloud_arr.shape[0] + cloud_msg.width = cloud_arr.shape[1] + cloud_msg.fields = dtype_to_fields(cloud_arr.dtype) + cloud_msg.is_bigendian = sys.byteorder != 'little' + cloud_msg.point_step = cloud_arr.dtype.itemsize + cloud_msg.row_step = cloud_msg.point_step*cloud_arr.shape[1] + cloud_msg.is_dense = \ + all([np.isfinite( + cloud_arr[fname]).all() for fname in cloud_arr.dtype.names]) + + # The PointCloud2.data setter will create an array.array object for you if you don't + # provide it one directly. This causes very slow performance because it iterates + # over each byte in python. + # Here we create an array.array object using a memoryview, limiting copying and + # increasing performance. + memory_view = memoryview(cloud_arr) + if memory_view.nbytes > 0: + array_bytes = memory_view.cast("B") + else: + # Casting raises a TypeError if the array has no elements + array_bytes = b"" + as_array = array.array("B") + as_array.frombytes(array_bytes) + cloud_msg.data = as_array + return cloud_msg + +def merge_rgb_fields(cloud_arr): + '''Takes an array with named np.uint8 fields 'r', 'g', and 'b', and returns + an array in which they have been merged into a single np.float32 'rgb' + field. The first byte of this field is the 'r' uint8, the second is the + 'g', uint8, and the third is the 'b' uint8. + + This is the way that pcl likes to handle RGB colors for some reason. + ''' + r = np.asarray(cloud_arr['r'], dtype=np.uint32) + g = np.asarray(cloud_arr['g'], dtype=np.uint32) + b = np.asarray(cloud_arr['b'], dtype=np.uint32) + rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) + + # not sure if there is a better way to do this. i'm changing the type of + # the array from uint32 to float32, but i don't want any conversion to take + # place -jdb + rgb_arr.dtype = np.float32 + + # create a new array, without r, g, and b, but with rgb float32 field + new_dtype = [] + for field_name in cloud_arr.dtype.names: + field_type, field_offset = cloud_arr.dtype.fields[field_name] + if field_name not in ('r', 'g', 'b'): + new_dtype.append((field_name, field_type)) + new_dtype.append(('rgb', np.float32)) + new_cloud_arr = np.zeros(cloud_arr.shape, new_dtype) + + # fill in the new array + for field_name in new_cloud_arr.dtype.names: + if field_name == 'rgb': + new_cloud_arr[field_name] = rgb_arr + else: + new_cloud_arr[field_name] = cloud_arr[field_name] + + return new_cloud_arr + +def split_rgb_field(cloud_arr): + '''Takes an array with a named 'rgb' float32 field, and returns an array in + which this has been split into 3 uint 8 fields: 'r', 'g', and 'b'. + + (pcl stores rgb in packed 32 bit floats) + ''' + rgb_arr = cloud_arr['rgb'].copy() + rgb_arr.dtype = np.uint32 + r = np.asarray((rgb_arr >> 16) & 255, dtype=np.uint8) + g = np.asarray((rgb_arr >> 8) & 255, dtype=np.uint8) + b = np.asarray(rgb_arr & 255, dtype=np.uint8) + + # create a new array, without rgb, but with r, g, and b fields + new_dtype = [] + for field_name in cloud_arr.dtype.names: + field_type, field_offset = cloud_arr.dtype.fields[field_name] + if not field_name == 'rgb': + new_dtype.append((field_name, field_type)) + new_dtype.append(('r', np.uint8)) + new_dtype.append(('g', np.uint8)) + new_dtype.append(('b', np.uint8)) + new_cloud_arr = np.zeros(cloud_arr.shape, new_dtype) + + # fill in the new array + for field_name in new_cloud_arr.dtype.names: + if field_name == 'r': + new_cloud_arr[field_name] = r + elif field_name == 'g': + new_cloud_arr[field_name] = g + elif field_name == 'b': + new_cloud_arr[field_name] = b + else: + new_cloud_arr[field_name] = cloud_arr[field_name] + return new_cloud_arr + +def get_xyz_points(cloud_array, remove_nans=True, dtype=float): + '''Pulls out x, y, and z columns from the cloud recordarray, and returns + a 3xN matrix. + ''' + # remove crap points + if remove_nans: + mask = np.isfinite(cloud_array['x']) & \ + np.isfinite(cloud_array['y']) & \ + np.isfinite(cloud_array['z']) + cloud_array = cloud_array[mask] + + # pull out x, y, and z values + points = np.zeros(cloud_array.shape + (3,), dtype=dtype) + points[...,0] = cloud_array['x'] + points[...,1] = cloud_array['y'] + points[...,2] = cloud_array['z'] + + return points + +def pointcloud2_to_xyz_array(cloud_msg, remove_nans=True): + return get_xyz_points( + pointcloud2_to_array(cloud_msg), remove_nans=remove_nans) diff --git a/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/registry.py b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/registry.py new file mode 100644 index 000000000..f2bf18977 --- /dev/null +++ b/driverless_ws/src/ros2_numpy_dv/ros2_numpy_dv/registry.py @@ -0,0 +1,48 @@ +import functools +from collections.abc import Sequence + +_to_numpy = {} +_from_numpy = {} + +def converts_to_numpy(msgtype, plural=False): + def decorator(f): + _to_numpy[msgtype, plural] = f + return f + return decorator + +def converts_from_numpy(msgtype, plural=False): + def decorator(f): + _from_numpy[msgtype, plural] = f + return f + return decorator + +def numpify(msg, *args, **kwargs): + if msg is None: + return + + conv = _to_numpy.get((msg.__class__, False)) + if not conv and isinstance(msg, Sequence): + if not msg: + raise ValueError("Cannot determine the type of an empty Collection") + conv = _to_numpy.get((msg[0].__class__, True)) + + + if not conv: + raise ValueError( + "Unable to convert message {} - only supports {}".format( + msg.__class__.__name__, + ', '.join(cls.__name__ + ("[]" if pl else '') + for cls, pl in _to_numpy.keys()) + )) + + return conv(msg, *args, **kwargs) + +def msgify(msg_type, numpy_obj, *args, **kwargs): + conv = _from_numpy.get((msg_type, kwargs.pop('plural', False))) + if not conv: + raise ValueError("Unable to build message {} - only supports {}".format( + msg_type.__name__, + ', '.join(cls.__name__ + ("[]" if pl else '') + for cls, pl in _to_numpy.keys()) + )) + return conv(numpy_obj, *args, **kwargs) From fcdc950f172838e093fa5d08422a089cc285693a Mon Sep 17 00:00:00 2001 From: dale Date: Sun, 12 Nov 2023 16:46:24 -0500 Subject: [PATCH 19/31] eigen bug fixes WIP --- .../planning_codebase/midline/generator.cpp | 20 ++--- .../planning_codebase/midline/generator.hpp | 6 +- .../planning_codebase/raceline/raceline.cpp | 83 ++++++++++++------- .../planning_codebase/raceline/raceline.hpp | 46 +++++----- 4 files changed, 86 insertions(+), 69 deletions(-) diff --git a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp index ad6addf9d..c5eea9047 100644 --- a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp @@ -18,7 +18,7 @@ std::vector> MidpointGenerator::sorted_by_norm(std::ve } -Eigen::MatrixXd& midpoint(Eigen::MatrixXd& left,Eigen::MatrixXd& right){ +Eigen::MatrixXd midpoint(Eigen::MatrixXd& left,Eigen::MatrixXd& right){ int cols = left.cols() +right.cols() -1; Eigen::MatrixXd midpt(2,cols); @@ -101,7 +101,7 @@ std::vector MidpointGenerator::generate_splines(Eigen::MatrixXd& midpoin -Eigen::MatrixXd& MidpointGenerator::generate_points(perceptionsData perceptions_data){ +Eigen::MatrixXd MidpointGenerator::generate_points(perceptionsData perceptions_data){ // LEFT ==BLUE perceptions_data.bluecones = sorted_by_norm(perceptions_data.bluecones); perceptions_data.yellowcones = sorted_by_norm(perceptions_data.yellowcones); @@ -122,7 +122,7 @@ Eigen::MatrixXd& MidpointGenerator::generate_points(perceptionsData perceptions_ right(1,i)=right(1,i-1)+ydiff; } } - Eigen::MatrixXd& midpoint_mat = midpoint(left,right); + Eigen::MatrixXd midpoint_mat = midpoint(left,right); // gsl_matrix_free(left); // gsl_matrix_free(right); return midpoint_mat; @@ -144,7 +144,7 @@ Eigen::MatrixXd& MidpointGenerator::generate_points(perceptionsData perceptions_ left(1,i)= left(1,i-1)+ydiff; } } - Eigen::MatrixXd& midpoint_mat = midpoint(left,right); + Eigen::MatrixXd midpoint_mat = midpoint(left,right); // gsl_matrix_free(left); // gsl_matrix_free(right); return midpoint_mat; @@ -159,7 +159,7 @@ Eigen::MatrixXd& MidpointGenerator::generate_points(perceptionsData perceptions_ right(1,i+1)=perceptions_data.yellowcones[i].second; } - Eigen::MatrixXd& midpoint_mat = midpoint(left,right); + Eigen::MatrixXd midpoint_mat = midpoint(left,right); // gsl_matrix_free(left); // gsl_matrix_free(right); return midpoint_mat; @@ -167,7 +167,7 @@ Eigen::MatrixXd& MidpointGenerator::generate_points(perceptionsData perceptions_ } -Eigen::MatrixXd& MidpointGenerator::interpolate_cones(perceptionsData perceptions_data,int interpolation_number){ +Eigen::MatrixXd MidpointGenerator::interpolate_cones(perceptionsData perceptions_data,int interpolation_number){ return spline_from_cones(perceptions_data).interpolate(interpolation_number,std::make_pair(-1,-1)); } @@ -175,10 +175,10 @@ Spline MidpointGenerator::spline_from_cones(perceptionsData perceptions_data){ Eigen::MatrixXd midpoints= generate_points(perceptions_data); std::vector splines = generate_splines(midpoints); // gsl_matrix_free(midpoints); - return splines[0]; + return (splines[0]); } -Eigen::MatrixXd& vector_to_mat(std::vector> side){ +Eigen::MatrixXd vector_to_mat(std::vector> side){ Eigen::MatrixXd mat(2,side.size()); for(int i=0;i> side){ Spline MidpointGenerator::spline_from_curve(std::vector> side){ - Eigen::MatrixXd& side_mat= vector_to_mat(side); + Eigen::MatrixXd side_mat= vector_to_mat(side); std::vector splines = generate_splines(side_mat); // gsl_matrix_free(side_mat); - return splines[0]; + return (splines[0]); } // int main(){ diff --git a/driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp b/driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp index 27f56f451..f7172480d 100644 --- a/driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp @@ -36,14 +36,14 @@ class MidpointGenerator std::vector generate_splines(Eigen::MatrixXd& midpoints); - Eigen::MatrixXd& generate_points(perceptionsData perceptions_data); - Eigen::MatrixXd& interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); + Eigen::MatrixXd generate_points(perceptionsData perceptions_data); + Eigen::MatrixXd interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); Spline spline_from_cones(perceptionsData perceptions_data); Spline spline_from_curve(std::vector> side); }; -Eigen::MatrixXd& midpoint(Eigen::MatrixXd& inner,Eigen::MatrixXd& outer); +Eigen::MatrixXd midpoint(Eigen::MatrixXd& inner,Eigen::MatrixXd& outer); #endif diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp index 3b4ea6e68..b18c0d567 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp @@ -60,27 +60,39 @@ double poly_eval(polynomial a,double x){ } -Spline::Spline(polynomial interpolation_poly, Eigen::MatrixXd& points_mat,Eigen::MatrixXd& rotated,Eigen::MatrixXd& Q_mat, Eigen::VectorXd& translation,polynomial first, polynomial second, int path, int sort_ind) +Spline::Spline(polynomial interpolation_poly, Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::MatrixXd Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind) { - spl_poly=interpolation_poly; - points = points_mat; - rotated_points=rotated; - Q = Q_mat; - translation_vector = translation; - first_der = first; - second_der = second; - path = path_id; - sort_index = sort_ind; + this->spl_poly=interpolation_poly; + // Eigen::Matrix points; + + // for (int i = 0; i < 2; i++) { + // for (int j = 0; j < 4; j++) { + // points(i, j) = points_mat(i, j); + // } + // } + this->points = points_mat; + this->rotated_points=rotated; + this->Q = Q_mat; + this->translation_vector = translation; + this->first_der = first; + this->second_der = second; + this->path_id = path_id; + this->sort_index = sort_ind; } Spline::~Spline() { + // ~spl_poly(); + // polynomial first_der; + // polynomial second_der; + //No need for this function in Eigen as it frees memory itself } double Spline::length(){ + // return 1.0; return arclength(this->spl_poly,this->rotated_points(0,0),this->rotated_points(0,this->rotated_points.cols()-1)); } @@ -104,18 +116,18 @@ polynomial Spline::get_second_der(){ return this->second_der; } -Eigen::MatrixXd& Spline::get_points(){ +Eigen::MatrixXd Spline::get_points(){ return points;} -Eigen::MatrixXd& Spline::get_rotated_points(){ +Eigen::MatrixXd Spline::get_rotated_points(){ return rotated_points; } -Eigen::MatrixXd& Spline::get_Q(){ +Eigen::MatrixXd Spline::get_Q(){ return Q; } -Eigen::VectorXd& Spline::get_translation(){ +Eigen::VectorXd Spline::get_translation(){ return translation_vector; } @@ -131,6 +143,7 @@ int Spline::get_sort_index(){ std::tuple Spline::along(double progress, double point_index, int precision){ + std::tuple ret; @@ -226,7 +239,7 @@ double Spline::getderiv(double x){ } -Eigen::MatrixXd& Spline::interpolate(int number, std::pair bounds){ +Eigen::MatrixXd Spline::interpolate(int number, std::pair bounds){ if(bounds.first == -1 && bounds.second == -1){ double bound1 = get_rotated_points()(0,0); @@ -245,13 +258,14 @@ Eigen::MatrixXd& Spline::interpolate(int number, std::pair bounds){ - - Eigen::MatrixXd ret= reverse_transform(points,get_Q(),get_translation()); + Eigen::MatrixXd q = Spline::get_Q(); + Eigen::VectorXd trans = Spline::get_translation(); + Eigen::MatrixXd ret= reverse_transform(points, q, trans); return ret; } -Eigen::MatrixXd& rotation_matrix_gen(Eigen::MatrixXd pnts){ +Eigen::MatrixXd rotation_matrix_gen(Eigen::MatrixXd& pnts){ Eigen::Vector2d beg; beg << pnts.col(0); Eigen::Vector2d end; end << pnts.col(pnts.cols()-1); @@ -272,12 +286,14 @@ Eigen::MatrixXd& rotation_matrix_gen(Eigen::MatrixXd pnts){ return ret; } -Eigen::VectorXd& get_translation_vector(Eigen::MatrixXd group){ - Eigen::VectorXd ret; ret << group.col(0); +Eigen::VectorXd get_translation_vector(Eigen::MatrixXd& group){ + Eigen::Vector2d ret; + ret(0) = group(0, 0); + ret(1) = group(1, 0); return ret; } -Eigen::MatrixXd& transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector){ +Eigen::MatrixXd transform_points(Eigen::MatrixXd& points, Eigen::MatrixXd& Q, Eigen::VectorXd& get_translation_vector){ Eigen::MatrixXd temp(points.rows(),points.cols()); for(int i=0;i,std::vector> raceline_gen(Eigen::MatrixXd& std::vector lengths; std::vector cumsum; - lengths.resize(group_numbers); + // lengths.resize(group_numbers); for(int i=0;i,std::vector> raceline_gen(Eigen::MatrixXd& polynomial second_der = polyder(first_der); + // Spline* spline = new Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); + + lengths.emplace_back(0); Spline spline = Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); - - - splines.push_back(spline); - lengths.push_back(spline.length()); + splines.emplace_back(spline); + // Spline spline = Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); + + // lengths.push_back(spline.length()); - cumsum.push_back(cumsum.back()+spline.length()); + cumsum.push_back(cumsum.back()+splines[0].length()); } diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp index 7aab08e37..da8440cf1 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp @@ -32,21 +32,19 @@ double poly_eval(polynomial a,double x); class Spline { private: + int path_id; + int sort_index; + polynomial spl_poly; + polynomial first_der; + polynomial second_der; - Eigen::MatrixXd points; + Eigen::Matrix points; Eigen::MatrixXd rotated_points; Eigen::MatrixXd Q; Eigen::VectorXd translation_vector; - polynomial first_der; - polynomial second_der; - - - int path_id; - int sort_index; - public: polynomial get_SplPoly(){ return spl_poly;} void set_SplPoly(polynomial p){ @@ -60,16 +58,16 @@ class Spline polynomial get_first_der(); polynomial get_second_der(); - Eigen::MatrixXd& get_points(); + Eigen::MatrixXd get_points(); void set_points(Eigen::MatrixXd newpoints); - Eigen::MatrixXd& get_rotated_points(); + Eigen::MatrixXd get_rotated_points(); void set_rotated_points(Eigen::MatrixXd newpoints); - Eigen::MatrixXd& get_Q(); + Eigen::MatrixXd get_Q(); void set_Q(Eigen::MatrixXd new_Q); - Eigen::VectorXd& get_translation(); + Eigen::VectorXd get_translation(); void set_translation(Eigen::VectorXd new_trans); int get_path_id(); @@ -81,7 +79,9 @@ class Spline // Eigen::MatrixXd interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); - Eigen::MatrixXd& interpolate(int number,std::pair bounds); + // Eigen::MatrixXd interpolate(int number,std::pair bounds); + Eigen::MatrixXd interpolate(int number, std::pair bounds = std::make_pair(0,1)); + bool operator==(Spline const & other) const; bool operator<(Spline const & other) const; @@ -89,32 +89,30 @@ class Spline std::tuple along(double progress, double point_index=0, int precision=20); double getderiv(double x); - std::pair along(double progress) const; - - Spline(polynomial interpolation_poly,Eigen::MatrixXd& points_mat,Eigen::MatrixXd& rotated,Eigen::MatrixXd& Q_mat, Eigen::VectorXd& translation,polynomial first, polynomial second, int path, int sort_ind); + // std::pair along(double progress) const; - Spline() {}; + Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::MatrixXd Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); + Spline(); ~Spline(); }; -Eigen::MatrixXd& interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); -Eigen::MatrixXd& rotation_matrix_gen(Eigen::MatrixXd pnts); -Eigen::VectorXd& get_translation_vector(Eigen::MatrixXd group); +Eigen::MatrixXd rotation_matrix_gen(Eigen::MatrixXd& pnts); +Eigen::VectorXd get_translation_vector(Eigen::MatrixXd& group); -Eigen::MatrixXd& transform_points(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); +Eigen::MatrixXd transform_points(Eigen::MatrixXd& points, Eigen::MatrixXd& Q, Eigen::VectorXd& get_translation_vector); -Eigen::MatrixXd& reverse_transform(Eigen::MatrixXd points, Eigen::MatrixXd Q, Eigen::VectorXd get_translation_vector); +Eigen::MatrixXd reverse_transform(Eigen::MatrixXd& points, Eigen::MatrixXd& Q, Eigen::VectorXd& get_translation_vector); -polynomial lagrange_gen(Eigen::MatrixXd points); +polynomial lagrange_gen(Eigen::MatrixXd& points); double arclength_f(double, void* params); double arclength(polynomial poly, double x0,double x1); -std::pair,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id =std::rand() ,int points_per_spline = prefered_degree+1,bool loop = true); +std::pair,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id =std::rand(), int points_per_spline = prefered_degree+1,bool loop = true); #endif From 9a954a3b935b78b3be69933e8bf6fed02a59c571 Mon Sep 17 00:00:00 2001 From: dale Date: Sun, 12 Nov 2023 17:18:20 -0500 Subject: [PATCH 20/31] eigen bug fixes WIP x2 --- .../src/planning_codebase/midline/generator.cpp | 14 +++++++------- .../src/planning_codebase/raceline/raceline.cpp | 15 ++++++++++++--- .../src/planning_codebase/raceline/raceline.hpp | 3 ++- 3 files changed, 21 insertions(+), 11 deletions(-) diff --git a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp index c5eea9047..b2ebbeef0 100644 --- a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp @@ -150,13 +150,13 @@ Eigen::MatrixXd MidpointGenerator::generate_points(perceptionsData perceptions_d return midpoint_mat; } int size = std::min(perceptions_data.bluecones.size(),perceptions_data.yellowcones.size()); - Eigen::MatrixXd left(2,size+1); - Eigen::MatrixXd right(2,size+1); - for(int i=0;ispl_poly=interpolation_poly; + this->first_der = first; + this->second_der = second; + this->path_id = path_id; + this->sort_index = sort_ind; +} + + Spline::Spline(polynomial interpolation_poly, Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::MatrixXd Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind) { this->spl_poly=interpolation_poly; @@ -425,9 +434,9 @@ std::pair,std::vector> raceline_gen(Eigen::MatrixXd& for(int i=0;i,std::vector> raceline_gen(Eigen::MatrixXd& // Spline* spline = new Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); lengths.emplace_back(0); - Spline spline = Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); + Spline spline = Spline(interpolation_poly, first_der, second_der, path_id,i); splines.emplace_back(spline); // Spline spline = Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp index da8440cf1..222334612 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp @@ -39,7 +39,7 @@ class Spline polynomial first_der; polynomial second_der; - Eigen::Matrix points; + Eigen::MatrixXd points; Eigen::MatrixXd rotated_points; Eigen::MatrixXd Q; @@ -91,6 +91,7 @@ class Spline // std::pair along(double progress) const; + Spline(polynomial interpolation_poly, polynomial first, polynomial second, int path, int sort_ind); Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::MatrixXd Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); Spline(); From db7dd085919d88b680a738e19b6d473e2722205d Mon Sep 17 00:00:00 2001 From: dale Date: Sat, 18 Nov 2023 13:25:23 -0500 Subject: [PATCH 21/31] zoo wee mama --- .../src/planning/src/nodes/midpoint.cpp | 12 +- .../planning_codebase/midline/generator.cpp | 172 ++++++++++++------ .../planning_codebase/midline/generator.hpp | 13 +- .../midline/midpoint_tests.cpp | 12 +- .../planning_codebase/raceline/raceline.cpp | 168 ++++++++++------- .../planning_codebase/raceline/raceline.hpp | 21 ++- 6 files changed, 249 insertions(+), 149 deletions(-) diff --git a/driverless_ws/src/planning/src/nodes/midpoint.cpp b/driverless_ws/src/planning/src/nodes/midpoint.cpp index 3f6c0210a..0d3407e8f 100644 --- a/driverless_ws/src/planning/src/nodes/midpoint.cpp +++ b/driverless_ws/src/planning/src/nodes/midpoint.cpp @@ -15,7 +15,10 @@ //publish topic example -//ros2 topic pub -1 /stereo_node_cones eufs_msgs/msg/ConeArray "{blue_cones: [{x: 1.0, y: 2.0, z: 3.0}]}" +//ros2 topic pub -1 /stereo_node_cones eufs_msgs/msg/ConeArray "{blue_cones: [{x: 1.0, y: 2.0, z: 3.0}]}" + + +// ros2 topic pub -1 /stereo_node_cones eufs_msgs/msg/ConeArray "{blue_cones: [{x: 0.0, y: 3.0, z: 0.0}, {x: 1.414, y: 2.236 , z: 0.0}, {x: 3.0, y: 0.0 , z: 0.0}], yellow_cones: [{x: 0.0, y: 2.0, z: 0.0}, {x: 1.414, y: 1.414, z: 0.0}, {x: 2.0, y: 0.0, z: 0.0}]}" using std::placeholders::_1; @@ -72,7 +75,7 @@ class MidpointNode : public rclcpp::Node } //TODO: shouldn't return a spline - generator_mid.spline_from_cones(perception_data); + generator_mid.spline_from_cones(this->get_logger(), perception_data); // Spline spline_left = generator_left.spline_from_curve(perception_data.bluecones); @@ -109,8 +112,11 @@ class MidpointNode : public rclcpp::Node } message.set__points(Points); publisher_rcl_pt->publish(message); + perception_data.bluecones.clear(); + perception_data.yellowcones.clear(); + perception_data.orangecones.clear(); RCLCPP_INFO(this->get_logger(), "published midpoint cones"); - + return; } diff --git a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp index b2ebbeef0..951c5fd2b 100644 --- a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp @@ -18,62 +18,80 @@ std::vector> MidpointGenerator::sorted_by_norm(std::ve } -Eigen::MatrixXd midpoint(Eigen::MatrixXd& left,Eigen::MatrixXd& right){ +Eigen::MatrixXd midpoint(rclcpp::Logger logger, Eigen::MatrixXd& left,Eigen::MatrixXd& right){ int cols = left.cols() +right.cols() -1; - Eigen::MatrixXd midpt(2,cols); - - double lx = left(0 , 0); //x-coordinate of first inner point - double ly = left(1 , 0); //y-coordinate - double rx = right(0 , 0); //x-coordinate of first outer point - double ry = right(1 , 0); //y-coordinate - int l = 0; //index of inner - int r = 0; //index of outer - midpt(0,0)=(lx+rx)/2; - midpt(1,0)=(ly+ry)/2; + Eigen::MatrixXd midpt(2,cols);\ + + // RCLCPP_INFO(logger, "left matrix size: %d\n", left.cols()); + // RCLCPP_INFO(logger, "right matrix size: %d\n", right.cols()); + for(int i = 0 ; isize2-1 - while(r MidpointGenerator::generate_splines(Eigen::MatrixXd& midpoints){ - std::pair,std::vector> a= raceline_gen(midpoints,std::rand(),midpoints.cols(),false); +std::vector MidpointGenerator::generate_splines(rclcpp::Logger logger, Eigen::MatrixXd& midpoints){ + std::pair,std::vector> a= raceline_gen(logger, midpoints,std::rand(), 4, false); // auto result = raceline_gen(midpoints,std::rand(),midpoints->size2,false); for (auto &e:a.first){ cumulated_splines.push_back(e); @@ -101,7 +119,7 @@ std::vector MidpointGenerator::generate_splines(Eigen::MatrixXd& midpoin -Eigen::MatrixXd MidpointGenerator::generate_points(perceptionsData perceptions_data){ +Eigen::MatrixXd MidpointGenerator::generate_points(rclcpp::Logger logger, perceptionsData perceptions_data){ // LEFT ==BLUE perceptions_data.bluecones = sorted_by_norm(perceptions_data.bluecones); perceptions_data.yellowcones = sorted_by_norm(perceptions_data.yellowcones); @@ -122,7 +140,7 @@ Eigen::MatrixXd MidpointGenerator::generate_points(perceptionsData perceptions_d right(1,i)=right(1,i-1)+ydiff; } } - Eigen::MatrixXd midpoint_mat = midpoint(left,right); + Eigen::MatrixXd midpoint_mat = midpoint(logger, left, right); // gsl_matrix_free(left); // gsl_matrix_free(right); return midpoint_mat; @@ -144,38 +162,78 @@ Eigen::MatrixXd MidpointGenerator::generate_points(perceptionsData perceptions_d left(1,i)= left(1,i-1)+ydiff; } } - Eigen::MatrixXd midpoint_mat = midpoint(left,right); + + Eigen::MatrixXd midpoint_mat = midpoint(logger, left,right); // gsl_matrix_free(left); // gsl_matrix_free(right); return midpoint_mat; } - int size = std::min(perceptions_data.bluecones.size(),perceptions_data.yellowcones.size()); - Eigen::MatrixXd left(2,size); - Eigen::MatrixXd right(2,size); - for(int i = 0; i < perceptions_data.yellowcones.size(); i++){ + // int size = std::min(perceptions_data.bluecones.size(),perceptions_data.yellowcones.size()); + Eigen::MatrixXd left(2,perceptions_data.bluecones.size()); + Eigen::MatrixXd right(2,perceptions_data.yellowcones.size()); + // left(0, 0) = 0; + // left(1, 0) = 0; + // right(0, 0) = 0; + // right(1, 0) = 0; + for(int i = 0; i < perceptions_data.bluecones.size(); i++){ + assert(i < left.cols()); + left(0, i) = perceptions_data.bluecones[i].first; left(1, i) = perceptions_data.bluecones[i].second; + } + + for(int i = 0; i < perceptions_data.yellowcones.size(); i++){ + assert(i < right.cols()); + right(0, i) = perceptions_data.yellowcones[i].first; right(1, i) = perceptions_data.yellowcones[i].second; } - Eigen::MatrixXd midpoint_mat = midpoint(left,right); - // gsl_matrix_free(left); - // gsl_matrix_free(right); - return midpoint_mat; + // RCLCPP_INFO(logger, "leftcones size is %d\n", perceptions_data.bluecones.size()); + // RCLCPP_INFO(logger, "rightcones size is %d\n", perceptions_data.yellowcones.size()); + // RCLCPP_INFO(logger, "left matrix size is %d\n", left.cols()); + // RCLCPP_INFO(logger, "right matrix size is %d\n", right.cols()); + + + + Eigen::MatrixXd midpoint_mat = midpoint(logger, left, right); + Eigen::MatrixXd ret(2, midpoint_mat.cols() + 1); + ret.col(0).setZero(); + ret.block(0, 1, 2, midpoint_mat.cols()) = midpoint_mat; // equiv to ret.rightCols(midpoint_mat.cols()) = midpoint_mat; + return ret; } -Eigen::MatrixXd MidpointGenerator::interpolate_cones(perceptionsData perceptions_data,int interpolation_number){ - return spline_from_cones(perceptions_data).interpolate(interpolation_number,std::make_pair(-1,-1)); + + + +Eigen::MatrixXd MidpointGenerator::interpolate_cones(rclcpp::Logger logger, perceptionsData perceptions_data,int interpolation_number){ + return spline_from_cones(logger, perceptions_data).interpolate(interpolation_number,std::make_pair(-1,-1)); } -Spline MidpointGenerator::spline_from_cones(perceptionsData perceptions_data){ - Eigen::MatrixXd midpoints= generate_points(perceptions_data); - std::vector splines = generate_splines(midpoints); - // gsl_matrix_free(midpoints); + + + +Spline MidpointGenerator::spline_from_cones(rclcpp::Logger logger, perceptionsData perceptions_data){ + Eigen::MatrixXd midpoints= generate_points(logger, perceptions_data); + + RCLCPP_INFO(logger, "number of points: %d\n", midpoints.cols()); + for(int i = 0 ; i splines = generate_splines(logger, midpoints); return (splines[0]); + + // Spline newSpline = *(new(Spline)); } Eigen::MatrixXd vector_to_mat(std::vector> side){ @@ -188,10 +246,10 @@ Eigen::MatrixXd vector_to_mat(std::vector> side){ return mat; } -Spline MidpointGenerator::spline_from_curve(std::vector> side){ +Spline MidpointGenerator::spline_from_curve(rclcpp::Logger logger, std::vector> side){ Eigen::MatrixXd side_mat= vector_to_mat(side); - std::vector splines = generate_splines(side_mat); + std::vector splines = generate_splines(logger, side_mat); // gsl_matrix_free(side_mat); return (splines[0]); } diff --git a/driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp b/driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp index f7172480d..a6a1eb588 100644 --- a/driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/generator.hpp @@ -4,6 +4,7 @@ #include #include #include +#include #ifndef MIDPOINTGENERATOR #define MIDPOINTGENERATOR @@ -35,15 +36,15 @@ class MidpointGenerator // gsl_matrix *sorted_by_norm(gsl_matrix *list); - std::vector generate_splines(Eigen::MatrixXd& midpoints); - Eigen::MatrixXd generate_points(perceptionsData perceptions_data); - Eigen::MatrixXd interpolate_cones(perceptionsData perceptions_data, int interpolation_number = -1); - Spline spline_from_cones(perceptionsData perceptions_data); - Spline spline_from_curve(std::vector> side); + std::vector generate_splines(rclcpp::Logger logger, Eigen::MatrixXd& midpoints); + Eigen::MatrixXd generate_points(rclcpp::Logger logger, perceptionsData perceptions_data); + Eigen::MatrixXd interpolate_cones(rclcpp::Logger logger, perceptionsData perceptions_data, int interpolation_number = -1); + Spline spline_from_cones(rclcpp::Logger logger, perceptionsData perceptions_data); + Spline spline_from_curve(rclcpp::Logger logger, std::vector> side); }; -Eigen::MatrixXd midpoint(Eigen::MatrixXd& inner,Eigen::MatrixXd& outer); +Eigen::MatrixXd midpoint(rclcpp::Logger logger, Eigen::MatrixXd& inner,Eigen::MatrixXd& outer); #endif diff --git a/driverless_ws/src/planning/src/planning_codebase/midline/midpoint_tests.cpp b/driverless_ws/src/planning/src/planning_codebase/midline/midpoint_tests.cpp index 0ad016809..1e4a8a5d0 100644 --- a/driverless_ws/src/planning/src/planning_codebase/midline/midpoint_tests.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/midpoint_tests.cpp @@ -73,12 +73,12 @@ int main(){ printf("test case 4: \n"); gsl_matrix *left = gsl_matrix_alloc(2,3); gsl_matrix *right = gsl_matrix_alloc(2,3); - gsl_matrix_set(left, 0, 0, 0); - gsl_matrix_set(left, 1, 0, 2); - gsl_matrix_set(left, 0, 1, 1.414); - gsl_matrix_set(left, 1, 1, 1.414); - gsl_matrix_set(left, 0, 1, 2); - gsl_matrix_set(left, 1, 1, 0); + gsl_matrix_set(right, 0, 0, 0); + gsl_matrix_set(right, 1, 0, 2); + gsl_matrix_set(right, 0, 1, 1.414); + gsl_matrix_set(right, 1, 1, 1.414); + gsl_matrix_set(right, 0, 1, 2); + gsl_matrix_set(right, 1, 1, 0); gsl_matrix_set(left, 0, 0, 0); gsl_matrix_set(left, 1, 0, 3); diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp index 79df8b545..603685dd8 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp @@ -6,31 +6,33 @@ polynomial poly(int deg = 3){ polynomial inst; inst.deg=deg; Eigen::VectorXd nums(deg+1); + nums.setZero(); inst.nums = nums; return inst; } polynomial poly_one(){ - polynomial p = poly(1); + polynomial p = poly(0); p.nums(0)=1; return p; } polynomial poly_root(double root){ polynomial p = poly(1); - p.nums(0)= -root; - p.nums(1)=1; + p.nums(0) = -root; + p.nums(1) = 1; return p; } polynomial polyder(polynomial p){ if (p.deg ==0) return poly(0); - polynomial der = poly(p.deg-1); + polynomial der = poly(p.deg); for(int i=0;ispl_poly=interpolation_poly; // Eigen::Matrix points; @@ -102,7 +104,7 @@ Spline::~Spline() double Spline::length(){ // return 1.0; - return arclength(this->spl_poly,this->rotated_points(0,0),this->rotated_points(0,this->rotated_points.cols()-1)); + return arclength(first_der, rotated_points(0,0), rotated_points(0, rotated_points.cols()-1)); } // Eigen::MatrixXd Spline::interpolate(int number, std::pair bounds){ @@ -132,7 +134,7 @@ Eigen::MatrixXd Spline::get_rotated_points(){ return rotated_points; } -Eigen::MatrixXd Spline::get_Q(){ +Eigen::Matrix2d Spline::get_Q(){ return Q; } @@ -267,31 +269,32 @@ Eigen::MatrixXd Spline::interpolate(int number, std::pair bounds){ - Eigen::MatrixXd q = Spline::get_Q(); + Eigen::Matrix2d q = Spline::get_Q(); Eigen::VectorXd trans = Spline::get_translation(); Eigen::MatrixXd ret= reverse_transform(points, q, trans); return ret; } -Eigen::MatrixXd rotation_matrix_gen(Eigen::MatrixXd& pnts){ +Eigen::Matrix2d rotation_matrix_gen(rclcpp::Logger logger,Eigen::MatrixXd& pnts){ Eigen::Vector2d beg; beg << pnts.col(0); Eigen::Vector2d end; end << pnts.col(pnts.cols()-1); - end = end-beg; + Eigen::Vector2d diff = end-beg; - double norm = end.norm(); + double norm = diff.norm(); - double cos = end(0)/norm; - double sin = end(1)/norm; + double cos = diff(0)/norm; + double sin = diff(1)/norm; - Eigen::MatrixXd ret(2,2); + Eigen::Matrix2d ret; ret(0,0)=cos; - ret(1,0)=-sin; - ret(0,1)=sin; + ret(1,0)=sin; + ret(0,1)=-1*sin; ret(1,1)=cos; - + RCLCPP_INFO(logger, "(sin,cos),(%f, %f)\n", sin,cos); + RCLCPP_INFO(logger, "(diff,norm),(%f, %f),%f\n", diff(0),diff(1),norm); return ret; } @@ -302,25 +305,35 @@ Eigen::VectorXd get_translation_vector(Eigen::MatrixXd& group){ return ret; } -Eigen::MatrixXd transform_points(Eigen::MatrixXd& points, Eigen::MatrixXd& Q, Eigen::VectorXd& get_translation_vector){ +Eigen::MatrixXd transform_points(rclcpp::Logger logger,Eigen::MatrixXd& points, Eigen::Matrix2d& Q, Eigen::VectorXd& get_translation_vector){ Eigen::MatrixXd temp(points.rows(),points.cols()); + RCLCPP_INFO(logger, "transform points:rotation"); + RCLCPP_INFO(logger, "first point is (%f, %f)\n", Q(0, 0), Q(0, 1)); + RCLCPP_INFO(logger, "second point is (%f, %f)\n", Q(1, 0), Q(1, 1)); + for(int i=0;i,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id ,int points_per_spline,bool loop){ +std::pair,std::vector> raceline_gen(rclcpp::Logger logger, Eigen::MatrixXd& res,int path_id, int points_per_spline,bool loop){ int n = res.cols(); @@ -423,29 +431,50 @@ std::pair,std::vector> raceline_gen(Eigen::MatrixXd& group_numbers += (int)(n % shift != 0); } else{ - group_numbers = n; + if (n/3 == 0) group_numbers = 1; + else group_numbers = n/3; + RCLCPP_INFO(logger, "group numbers is %d\n", group_numbers); } std::vector> groups; + std::vector lengths; std::vector cumsum; // lengths.resize(group_numbers); - for(int i=0;i,std::vector> raceline_gen(Eigen::MatrixXd& // Spline* spline = new Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); lengths.emplace_back(0); - Spline spline = Spline(interpolation_poly, first_der, second_der, path_id,i); + // Spline spline = Spline(interpolation_poly, first_der, second_der, path_id,i); + Spline spline = Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); splines.emplace_back(spline); - // Spline spline = Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); // lengths.push_back(spline.length()); - - cumsum.push_back(cumsum.back()+splines[0].length()); + if (i == 0) { + RCLCPP_INFO(logger, "spline is %f + %fx + %fx^2 + %fx^3\n", spline.spl_poly.nums(0), spline.spl_poly.nums(1), spline.spl_poly.nums(2), spline.spl_poly.nums(3)); + RCLCPP_INFO(logger, "spline derivative is %f + %fx + %fx^2 + %fx^3\n", spline.first_der.nums(0), spline.first_der.nums(1), spline.first_der.nums(2), spline.first_der.nums(3)); + cumsum.push_back(splines[0].length()); + } else { + cumsum.push_back(cumsum.back()+splines[0].length()); + } } diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp index 222334612..b5166b2fd 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp @@ -5,6 +5,7 @@ #include #include #include +#include #ifndef RACELINE #define RACELINE @@ -31,7 +32,7 @@ double poly_eval(polynomial a,double x); class Spline { -private: +public: int path_id; int sort_index; @@ -42,10 +43,10 @@ class Spline Eigen::MatrixXd points; Eigen::MatrixXd rotated_points; - Eigen::MatrixXd Q; + Eigen::Matrix2d Q; Eigen::VectorXd translation_vector; -public: +// public: polynomial get_SplPoly(){ return spl_poly;} void set_SplPoly(polynomial p){ spl_poly.deg = p.deg; @@ -64,8 +65,8 @@ class Spline Eigen::MatrixXd get_rotated_points(); void set_rotated_points(Eigen::MatrixXd newpoints); - Eigen::MatrixXd get_Q(); - void set_Q(Eigen::MatrixXd new_Q); + Eigen::Matrix2d get_Q(); + void set_Q(Eigen::Matrix2d new_Q); Eigen::VectorXd get_translation(); void set_translation(Eigen::VectorXd new_trans); @@ -92,7 +93,7 @@ class Spline // std::pair along(double progress) const; Spline(polynomial interpolation_poly, polynomial first, polynomial second, int path, int sort_ind); - Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::MatrixXd Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); + Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); Spline(); ~Spline(); @@ -101,12 +102,12 @@ class Spline -Eigen::MatrixXd rotation_matrix_gen(Eigen::MatrixXd& pnts); +Eigen::Matrix2d rotation_matrix_gen(rclcpp::Logger logger,Eigen::MatrixXd& pnts); Eigen::VectorXd get_translation_vector(Eigen::MatrixXd& group); -Eigen::MatrixXd transform_points(Eigen::MatrixXd& points, Eigen::MatrixXd& Q, Eigen::VectorXd& get_translation_vector); +Eigen::MatrixXd transform_points(rclcpp::Logger logger,Eigen::MatrixXd& points, Eigen::Matrix2d& Q, Eigen::VectorXd& get_translation_vector); -Eigen::MatrixXd reverse_transform(Eigen::MatrixXd& points, Eigen::MatrixXd& Q, Eigen::VectorXd& get_translation_vector); +Eigen::MatrixXd reverse_transform(Eigen::MatrixXd& points, Eigen::Matrix2d& Q, Eigen::VectorXd& get_translation_vector); polynomial lagrange_gen(Eigen::MatrixXd& points); @@ -114,6 +115,6 @@ double arclength_f(double, void* params); double arclength(polynomial poly, double x0,double x1); -std::pair,std::vector> raceline_gen(Eigen::MatrixXd& res,int path_id =std::rand(), int points_per_spline = prefered_degree+1,bool loop = true); +std::pair,std::vector> raceline_gen(rclcpp::Logger logger, Eigen::MatrixXd& res,int path_id =std::rand(), int points_per_spline = prefered_degree+1,bool loop = true); #endif From f8aab89574cd025533a85046163fdb8be3b099f8 Mon Sep 17 00:00:00 2001 From: dale Date: Tue, 28 Nov 2023 15:52:16 -0500 Subject: [PATCH 22/31] manan fix ur code bruh --- driverless_ws/src/interfaces/msg/Spline.msg | 13 +- driverless_ws/src/planning/CMakeLists.txt | 3 +- .../src/planning/src/nodes/midpoint.cpp | 122 +++++++++++++----- .../planning_codebase/midline/generator.cpp | 1 + .../planning_codebase/raceline/raceline.cpp | 62 ++++----- .../planning_codebase/raceline/raceline.hpp | 3 +- .../src/testing_framework/midline_plot.py | 70 ++++++++++ .../src/testing_framework/readfile.py | 27 ++++ .../src/testing_framework/testing_node.py | 47 +++++++ .../src/testing_framework/tests/example.json | 21 +++ 10 files changed, 299 insertions(+), 70 deletions(-) create mode 100644 driverless_ws/src/planning/src/testing_framework/midline_plot.py create mode 100644 driverless_ws/src/planning/src/testing_framework/readfile.py create mode 100644 driverless_ws/src/planning/src/testing_framework/testing_node.py create mode 100644 driverless_ws/src/planning/src/testing_framework/tests/example.json diff --git a/driverless_ws/src/interfaces/msg/Spline.msg b/driverless_ws/src/interfaces/msg/Spline.msg index 781d83027..6a0c52c33 100644 --- a/driverless_ws/src/interfaces/msg/Spline.msg +++ b/driverless_ws/src/interfaces/msg/Spline.msg @@ -1,16 +1,15 @@ std_msgs/Header header float64[4] spl_poly_coefs - -sensor_msgs/Image points -sensor_msgs/Image rotated_points -sensor_msgs/Image q - -float64[2] translation_vector - float64[4] first_der_coefs float64[4] second_der_coefs +geometry_msgs/Point[] points # z field is unused +geometry_msgs/Point[] rotated_points # z field is unused + +float64[4] q # [q(0,0), q(0, 1), q(1, 0), q(1, 1)] +float64[2] translation_vector # [dx, dy] + int64 path_id int64 sort_index float64 length diff --git a/driverless_ws/src/planning/CMakeLists.txt b/driverless_ws/src/planning/CMakeLists.txt index 80bf259a0..94ab1b50c 100644 --- a/driverless_ws/src/planning/CMakeLists.txt +++ b/driverless_ws/src/planning/CMakeLists.txt @@ -17,10 +17,11 @@ find_package(eufs_msgs REQUIRED) find_package(Eigen3 3.3 REQUIRED) find_package(GSL REQUIRED) + find_package(interfaces REQUIRED) add_executable(midpoint_test src/nodes/midpoint.cpp src/planning_codebase/midline/generator.cpp src/planning_codebase/raceline/raceline.cpp) # add_executable(midline_test src/generator.cpp src/raceline/raceline.cpp) - ament_target_dependencies(midpoint_test rclcpp std_msgs geometry_msgs Eigen3 eufs_msgs GSL) + ament_target_dependencies(midpoint_test interfaces rclcpp std_msgs geometry_msgs Eigen3 eufs_msgs GSL) # ament_target_dependencies(midline_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) install(TARGETS diff --git a/driverless_ws/src/planning/src/nodes/midpoint.cpp b/driverless_ws/src/planning/src/nodes/midpoint.cpp index 0d3407e8f..407ee128e 100644 --- a/driverless_ws/src/planning/src/nodes/midpoint.cpp +++ b/driverless_ws/src/planning/src/nodes/midpoint.cpp @@ -9,6 +9,7 @@ // #include "interfaces/msg/cone_list.hpp" // #include "interfaces/msg/points.hpp" #include "../planning_codebase/midline/generator.hpp" +#include "interfaces/msg/spline.hpp" // #include "frenet.hpp" // #include "runpy.hpp" #include @@ -34,7 +35,8 @@ class MidpointNode : public rclcpp::Node rclcpp::Subscription::SharedPtr subscription_cones; // rclcpp::Subscription::SharedPtr subscription_lap_num; - rclcpp::Publisher::SharedPtr publisher_rcl_pt; + // rclcpp::Publisher::SharedPtr publisher_rcl_pt; + rclcpp::Publisher::SharedPtr publisher_rcl_pt; static const int LOOKAHEAD_NEAR = 2; static const int LOOKAHEAD_FAR = 3; @@ -75,7 +77,61 @@ class MidpointNode : public rclcpp::Node } //TODO: shouldn't return a spline - generator_mid.spline_from_cones(this->get_logger(), perception_data); + Spline midline = generator_mid.spline_from_cones(this->get_logger(), perception_data); + + interfaces::msg::Spline message; // = interfaces::message::Spline(); + + // message.spl_poly_coefs.clear(); + std::fill(std::begin(message.spl_poly_coefs), std::end(message.spl_poly_coefs), 0.0); + for (int i = 0; i < 4; i ++) { + message.spl_poly_coefs[i] = (midline.spl_poly.nums[i]); + } + + // message.first_der_coefs.clear(); + std::fill(std::begin(message.first_der_coefs), std::end(message.first_der_coefs), 0.0); + for (int i = 0; i < 4; i ++) { + message.first_der_coefs[i] = (midline.first_der.nums[i]); + } + + // message.second_der_coefs.clear(); + std::fill(std::begin(message.second_der_coefs), std::end(message.second_der_coefs), 0.0); + for (int i = 0; i < 4; i ++) { + message.second_der_coefs[i] = (midline.second_der.nums[i]); + } + + message.points.clear(); + for (int i = 0; i < midline.points.cols(); i++) { + geometry_msgs::msg::Point point; // z field is unused + point.x = midline.points(0, i); + point.y = midline.points(1, i); + message.points.push_back(point); + } + message.rotated_points.clear(); + for (int i = 0; i < midline.rotated_points.cols(); i++) { + geometry_msgs::msg::Point point; // z field is unused + point.x = midline.rotated_points(0, i); + point.y = midline.rotated_points(1, i); + message.rotated_points.push_back(point); + } + + // message.q.clear(); + std::fill(std::begin(message.q), std::end(message.q), 0.0); + message.q[0] = (midline.Q(0, 0)); + message.q[1] = (midline.Q(0, 1)); + message.q[2] = (midline.Q(1, 0)); + message.q[3] = (midline.Q(1, 1)); + + // message.translation_vector.clear(); + std::fill(std::begin(message.translation_vector), std::end(message.translation_vector), 0.0); + message.translation_vector[0] = (midline.translation_vector(0)); + message.translation_vector[1] = (midline.translation_vector(1)); + + message.path_id = midline.path_id; + message.sort_index = midline.sort_index; + message.length = midline.length(); + + + // Spline spline_left = generator_left.spline_from_curve(perception_data.bluecones); @@ -83,39 +139,41 @@ class MidpointNode : public rclcpp::Node // WILL BE USED WHEN OPTIMIZER STARTS - std::vector rcl_pt_x,rcl_pt_y;//,rcl_pt_wr, rcl_pt_wl; - double x,y;//,wl,wr,rptr,lptr; - eufs_msgs::msg::PointArray message = eufs_msgs::msg::PointArray(); - std::vector Points; - - // - for(unsigned int i =0;i0) len = generator_mid.cumulated_lengths[i-1]; - geometry_msgs::msg::Point tmpPoint; - tmpPoint.x=x; - tmpPoint.y=y; - Points.push_back(tmpPoint); - // wl = frenet(x,y,generator_left.cumulated_splines,generator_left.cumulated_lengths,generator_mid.cumulated_lengths[i-1]).min_distance; - // wr = frenet(x,y,generator_right.cumulated_splines,generator_right.cumulated_lengths,generator_mid.cumulated_lengths[i-1]).min_distance; - } - } - message.set__points(Points); + // std::vector rcl_pt_x,rcl_pt_y;//,rcl_pt_wr, rcl_pt_wl; + // double x,y;//,wl,wr,rptr,lptr; + // eufs_msgs::msg::PointArray message = eufs_msgs::msg::PointArray(); + // std::vector Points; + + // // + // for(unsigned int i =0;i0) len = generator_mid.cumulated_lengths[i-1]; + // geometry_msgs::msg::Point tmpPoint; + // tmpPoint.x=x; + // tmpPoint.y=y; + // Points.push_back(tmpPoint); + // // wl = frenet(x,y,generator_left.cumulated_splines,generator_left.cumulated_lengths,generator_mid.cumulated_lengths[i-1]).min_distance; + // // wr = frenet(x,y,generator_right.cumulated_splines,generator_right.cumulated_lengths,generator_mid.cumulated_lengths[i-1]).min_distance; + // } + // } + // message.set__points(Points); + + publisher_rcl_pt->publish(message); perception_data.bluecones.clear(); perception_data.yellowcones.clear(); perception_data.orangecones.clear(); - RCLCPP_INFO(this->get_logger(), "published midpoint cones"); + RCLCPP_INFO(this->get_logger(), "published midpoint spline"); return; } @@ -127,7 +185,7 @@ class MidpointNode : public rclcpp::Node { subscription_cones = this->create_subscription("/stereo_node_cones", 10, std::bind(&MidpointNode::cones_callback, this, _1)); // subscription_lap_num = this->create_subscription("/lap_num", 10, std::bind(&MidpointNode::lap_callback, this, _1)); - publisher_rcl_pt = this->create_publisher("/midpoint_points",10); + publisher_rcl_pt = this->create_publisher("/midpoint_spline",10); // publisher_rcl_pt = this->create_publisher("/midpoint_points",10); // rclcpp::TimerBase::SharedPtr timer_ = this->create_wall_timer( // 500ms, std::bind(&MinimalPublisher::timer_callback, this)); diff --git a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp index 951c5fd2b..37391aa73 100644 --- a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp @@ -231,6 +231,7 @@ Spline MidpointGenerator::spline_from_cones(rclcpp::Logger logger, perceptionsDa std::vector splines = generate_splines(logger, midpoints); + if (splines.size() == 0) return Spline(poly_one()); return (splines[0]); // Spline newSpline = *(new(Spline)); diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp index 603685dd8..24d1fd018 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp @@ -61,6 +61,9 @@ double poly_eval(polynomial a, double x){ return result; } +Spline::Spline(polynomial interpolation_poly) { + this->spl_poly = interpolation_poly; +} Spline::Spline(polynomial interpolation_poly, polynomial first, polynomial second, int path, int sort_ind) { this->spl_poly=interpolation_poly; @@ -293,8 +296,8 @@ Eigen::Matrix2d rotation_matrix_gen(rclcpp::Logger logger,Eigen::MatrixXd& pnts) ret(0,1)=-1*sin; ret(1,1)=cos; - RCLCPP_INFO(logger, "(sin,cos),(%f, %f)\n", sin,cos); - RCLCPP_INFO(logger, "(diff,norm),(%f, %f),%f\n", diff(0),diff(1),norm); + // RCLCPP_INFO(logger, "(sin,cos),(%f, %f)\n", sin,cos); + // RCLCPP_INFO(logger, "(diff,norm),(%f, %f),%f\n", diff(0),diff(1),norm); return ret; } @@ -307,28 +310,28 @@ Eigen::VectorXd get_translation_vector(Eigen::MatrixXd& group){ Eigen::MatrixXd transform_points(rclcpp::Logger logger,Eigen::MatrixXd& points, Eigen::Matrix2d& Q, Eigen::VectorXd& get_translation_vector){ Eigen::MatrixXd temp(points.rows(),points.cols()); - RCLCPP_INFO(logger, "transform points:rotation"); - RCLCPP_INFO(logger, "first point is (%f, %f)\n", Q(0, 0), Q(0, 1)); - RCLCPP_INFO(logger, "second point is (%f, %f)\n", Q(1, 0), Q(1, 1)); + // RCLCPP_INFO(logger, "transform points:rotation"); + // RCLCPP_INFO(logger, "first point is (%f, %f)\n", Q(0, 0), Q(0, 1)); + // RCLCPP_INFO(logger, "second point is (%f, %f)\n", Q(1, 0), Q(1, 1)); for(int i=0;i,std::vector> raceline_gen(rclcpp::Logger l group_numbers += (int)(n % shift != 0); } else{ - if (n/3 == 0) group_numbers = 1; + if (n < 4) group_numbers = 0; // NEED TO MODIFY TO 1 AND DEAL WITH FEWER THAN 4 POINTS else group_numbers = n/3; - RCLCPP_INFO(logger, "group numbers is %d\n", group_numbers); + // RCLCPP_INFO(logger, "group numbers is %d\n", group_numbers); } std::vector> groups; @@ -445,13 +448,13 @@ std::pair,std::vector> raceline_gen(rclcpp::Logger l for(int i=0; i,std::vector> raceline_gen(rclcpp::Logger l Eigen::VectorXd translation_vector = get_translation_vector(group); Eigen::MatrixXd rotated_points = transform_points(logger,group,Q,translation_vector); - RCLCPP_INFO(logger, "rotation matrix\n"); - RCLCPP_INFO(logger, "first point is (%f, %f)\n", Q(0, 0), Q(0, 1)); - RCLCPP_INFO(logger, "second point is (%f, %f)\n", Q(1, 0), Q(1, 1)); + // RCLCPP_INFO(logger, "rotation matrix\n"); + // RCLCPP_INFO(logger, "first point is (%f, %f)\n", Q(0, 0), Q(0, 1)); + // RCLCPP_INFO(logger, "second point is (%f, %f)\n", Q(1, 0), Q(1, 1)); - RCLCPP_INFO(logger, "Translation vector"); - RCLCPP_INFO(logger, "(%f, %f)\n", translation_vector(0, 0), translation_vector(0, 1)); + // RCLCPP_INFO(logger, "Translation vector"); + // RCLCPP_INFO(logger, "(%f, %f)\n", translation_vector(0, 0), translation_vector(0, 1)); - RCLCPP_INFO(logger, "rotated_points"); - for (int i = 0; i < rotated_points.cols(); i++) { - RCLCPP_INFO(logger, "point %d is (%f, %f)\n", i, rotated_points(0, i), rotated_points(1, i)); + // RCLCPP_INFO(logger, "rotated_points"); + // for (int i = 0; i < rotated_points.cols(); i++) { + // RCLCPP_INFO(logger, "point %d is (%f, %f)\n", i, rotated_points(0, i), rotated_points(1, i)); - } + // } // RCLCPP_INFO(logger, "second point is (%f, %f)\n", rotated_points(0, 1), rotated_points(1, 1)); @@ -491,9 +494,10 @@ std::pair,std::vector> raceline_gen(rclcpp::Logger l // lengths.push_back(spline.length()); if (i == 0) { RCLCPP_INFO(logger, "spline is %f + %fx + %fx^2 + %fx^3\n", spline.spl_poly.nums(0), spline.spl_poly.nums(1), spline.spl_poly.nums(2), spline.spl_poly.nums(3)); - RCLCPP_INFO(logger, "spline derivative is %f + %fx + %fx^2 + %fx^3\n", spline.first_der.nums(0), spline.first_der.nums(1), spline.first_der.nums(2), spline.first_der.nums(3)); + // RCLCPP_INFO(logger, "spline derivative is %f + %fx + %fx^2 + %fx^3\n", spline.first_der.nums(0), spline.first_der.nums(1), spline.first_der.nums(2), spline.first_der.nums(3)); cumsum.push_back(splines[0].length()); } else { + RCLCPP_INFO(logger, "spline is %f + %fx + %fx^2 + %fx^3\n", spline.spl_poly.nums(0), spline.spl_poly.nums(1), spline.spl_poly.nums(2), spline.spl_poly.nums(3)); cumsum.push_back(cumsum.back()+splines[0].length()); } diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp index b5166b2fd..a66e03abe 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp @@ -46,7 +46,7 @@ class Spline Eigen::Matrix2d Q; Eigen::VectorXd translation_vector; -// public: + polynomial get_SplPoly(){ return spl_poly;} void set_SplPoly(polynomial p){ spl_poly.deg = p.deg; @@ -92,6 +92,7 @@ class Spline // std::pair along(double progress) const; + Spline(polynomial interpolation_poly); Spline(polynomial interpolation_poly, polynomial first, polynomial second, int path, int sort_ind); Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); diff --git a/driverless_ws/src/planning/src/testing_framework/midline_plot.py b/driverless_ws/src/planning/src/testing_framework/midline_plot.py new file mode 100644 index 000000000..124dca678 --- /dev/null +++ b/driverless_ws/src/planning/src/testing_framework/midline_plot.py @@ -0,0 +1,70 @@ +import matplotlib.pyplot as plt +import numpy as np +from geometry_msgs.msg import Point +from scipy.interpolate import interp1d + + + +def plot_lin_input(blue_cone_pos, yellow_cone_pos, midline,plotnum): + bx = [] + by = [] + + yx = [] + yy = [] + + mx = [] + my = [] + + for i in range(len(blue_cone_pos)): + + bx.append(blue_cone_pos[i.x]) + by.append(blue_cone_pos[i.y]) + + for j in range(len(yellow_cone_pos)): + yx.append(yellow_cone_pos[j.x]) + yy.append(yellow_cone_pos[j.y]) + + for k in range(len(midline)): + mx.append(midline[k.x]) + my.append(midline[k.y]) + + mx_interp = np.linspace(np.min(mx), np.max(mx), 100) + my_linear = interp1d(mx, my) + + + plt.plot(bx, by, 'b*', yx, yy, 'y*', mx, my, 'r*', mx_interp, my_linear(mx_interp), "black") + # plt.show() + file_name = f'midline_visualization_linear_{plotnum}' + plt.savefig(file_name) + +def plot_cub_input(blue_cone_pos, yellow_cone_pos, midline,plotnum): + bx = [] + by = [] + + yx = [] + yy = [] + + mx = [] + my = [] + + for i in range(len(blue_cone_pos)): + bx.append(blue_cone_pos[i.x]) + by.append(blue_cone_pos[i.y]) + + for j in range(len(yellow_cone_pos)): + yx.append(yellow_cone_pos[j.x]) + yy.append(yellow_cone_pos[j.y]) + + for k in range(len(midline)): + mx.append(midline[k][0]) + my.append(midline[k][1]) + + mx_interp = np.linspace(np.min(mx), np.max(mx), 100) + my_cubic = interp1d(mx, my, kind="cubic") + + + + plt.plot(bx, by, 'b*', yx, yy, 'y*', mx, my, 'r*', mx_interp, my_cubic(mx_interp), "black") + # plt.show() + file_name = f'midline_visualization_quadratic_{plotnum}' + plt.savefig(file_name) \ No newline at end of file diff --git a/driverless_ws/src/planning/src/testing_framework/readfile.py b/driverless_ws/src/planning/src/testing_framework/readfile.py new file mode 100644 index 000000000..617e48e8f --- /dev/null +++ b/driverless_ws/src/planning/src/testing_framework/readfile.py @@ -0,0 +1,27 @@ +from eufs_msgs.msg import ConeArray as ConeArray +from geometry_msgs.msg import Point +import json + +def pointList(cones): + lst = [] + for cone in cones: + p = Point() + p.x = float(cone["x"]) + p.y = float(cone["y"]) + p.z = float(cone["z"]) + lst.append(p) + return lst + +def read(): + f = open("ex.json") + json_data = json.load(f) + f.close() + blue_cones = json_data["blue_cones"] + yellow_cones = json_data["yellow_cones"] + cones = ConeArray() + cones.blue_cones = pointList(blue_cones) + cones.yellow_cones = pointList(yellow_cones) + return cones + +if __name__ == '__main__': + print(read()) \ No newline at end of file diff --git a/driverless_ws/src/planning/src/testing_framework/testing_node.py b/driverless_ws/src/planning/src/testing_framework/testing_node.py new file mode 100644 index 000000000..3248b8e25 --- /dev/null +++ b/driverless_ws/src/planning/src/testing_framework/testing_node.py @@ -0,0 +1,47 @@ +import readfile +import driverless_ws.src.planning.testing_framework.midlineplot as midlineplot +import rclpy +from rclpy.node import Node +from std_msgs.msg import String +from eufs_msgs.msg import ConeArray as ConeArray +from geometry_msgs.msg import Point + + +blue_cones = [] +yellow_cones = [] +plotnum = 0 +class testingnode(Node): + + def _init_(self): + super()._init_("testingnode") + self.subscription = self.create_subscription(Point,'FunctionPublisher',self.listener_callback,10) + self.publisher = self.create_publisher(ConeArray, 'FunctionSubscriber', 10) + + self.publishData() + + def midlinecallback(self, msg): + plotnum += 1 + midlineplot.plot_lin_input(blue_cones,yellow_cones,msg,plotnum) + midlineplot.plot_cub_input(blue_cones,yellow_cones,msg,plotnum) + + def publishData(self): + cone_arr = readfile.read() + blue_cones = cone_arr.blue_cones + yellow_cones = cone_arr.yellow_cones + self.publisher.publish(cone_arr) + + + + + + + +def main(args=None): + rclpy.init(args=args) + closed_loop_node = testingnode() + rclpy.spin(closed_loop_node) + closed_loop_node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/driverless_ws/src/planning/src/testing_framework/tests/example.json b/driverless_ws/src/planning/src/testing_framework/tests/example.json new file mode 100644 index 000000000..15bc9912b --- /dev/null +++ b/driverless_ws/src/planning/src/testing_framework/tests/example.json @@ -0,0 +1,21 @@ +{ + "blue_cones": [ + { + "x": 1, + "y": 2, + "z": 3 + }, + { + "x": 3, + "y": 2, + "z": 1 + } + ], + "yellow_cones": [ + { + "x": 1, + "y": 2, + "z": 3 + } + ] +} \ No newline at end of file From 1882726b8bec8f526eb3b3eeb648cd43f960dee1 Mon Sep 17 00:00:00 2001 From: dale Date: Wed, 29 Nov 2023 19:28:56 -0500 Subject: [PATCH 23/31] wow worky --- driverless_ws/src/interfaces/msg/Spline.msg | 2 +- .../perceptions/ros/predictors/StereoNode.py | 2 +- .../src/planning/src/nodes/midpoint.cpp | 46 ++++++++++++------- .../planning_codebase/midline/generator.cpp | 2 +- .../planning_codebase/raceline/raceline.cpp | 2 +- 5 files changed, 34 insertions(+), 20 deletions(-) diff --git a/driverless_ws/src/interfaces/msg/Spline.msg b/driverless_ws/src/interfaces/msg/Spline.msg index 6a0c52c33..291e6cabd 100644 --- a/driverless_ws/src/interfaces/msg/Spline.msg +++ b/driverless_ws/src/interfaces/msg/Spline.msg @@ -12,4 +12,4 @@ float64[2] translation_vector # [dx, dy] int64 path_id int64 sort_index -float64 length +float64 length \ No newline at end of file diff --git a/driverless_ws/src/perceptions/perceptions/ros/predictors/StereoNode.py b/driverless_ws/src/perceptions/perceptions/ros/predictors/StereoNode.py index aad3adbc5..7e56cf749 100644 --- a/driverless_ws/src/perceptions/perceptions/ros/predictors/StereoNode.py +++ b/driverless_ws/src/perceptions/perceptions/ros/predictors/StereoNode.py @@ -12,7 +12,7 @@ class StereoNode(PredictNode): def __init__(self): - super().__init__(name=NODE_NAME, debug_flag=False, time_flag=True) + super().__init__(name=NODE_NAME, debug_flag=True, time_flag=True) return def init_predictor(self): diff --git a/driverless_ws/src/planning/src/nodes/midpoint.cpp b/driverless_ws/src/planning/src/nodes/midpoint.cpp index 407ee128e..10ce65d03 100644 --- a/driverless_ws/src/planning/src/nodes/midpoint.cpp +++ b/driverless_ws/src/planning/src/nodes/midpoint.cpp @@ -58,7 +58,8 @@ class MidpointNode : public rclcpp::Node // return; if (lap>1) return; - if((msg->blue_cones.size()==0 || msg->yellow_cones.size()==0) && (msg->orange_cones.size()<2)){ + // if((msg->blue_cones.size() < 3 || msg->yellow_cones.size() < 3) && (msg->orange_cones.size()<2)){ + if((msg->blue_cones.size() < 3 || msg->yellow_cones.size() < 3)){ return; } @@ -84,36 +85,45 @@ class MidpointNode : public rclcpp::Node // message.spl_poly_coefs.clear(); std::fill(std::begin(message.spl_poly_coefs), std::end(message.spl_poly_coefs), 0.0); for (int i = 0; i < 4; i ++) { - message.spl_poly_coefs[i] = (midline.spl_poly.nums[i]); + message.spl_poly_coefs[i] = midline.spl_poly.nums[i]; } // message.first_der_coefs.clear(); std::fill(std::begin(message.first_der_coefs), std::end(message.first_der_coefs), 0.0); - for (int i = 0; i < 4; i ++) { - message.first_der_coefs[i] = (midline.first_der.nums[i]); + for (int i = 0; i < 3; i ++) { + message.first_der_coefs[i] = midline.first_der.nums[i]; } // message.second_der_coefs.clear(); std::fill(std::begin(message.second_der_coefs), std::end(message.second_der_coefs), 0.0); - for (int i = 0; i < 4; i ++) { - message.second_der_coefs[i] = (midline.second_der.nums[i]); + for (int i = 0; i < 2; i ++) { + message.second_der_coefs[i] = midline.second_der.nums[i]; } message.points.clear(); + message.rotated_points.clear(); + for (int i = 0; i < midline.points.cols(); i++) { geometry_msgs::msg::Point point; // z field is unused point.x = midline.points(0, i); point.y = midline.points(1, i); message.points.push_back(point); - } - message.rotated_points.clear(); - for (int i = 0; i < midline.rotated_points.cols(); i++) { - geometry_msgs::msg::Point point; // z field is unused + + // geometry_msgs::msg::Point point; // z field is unused point.x = midline.rotated_points(0, i); point.y = midline.rotated_points(1, i); message.rotated_points.push_back(point); } + + // message.rotated_points.clear(); + // for (int i = 0; i < midline.rotated_points.cols(); i++) { + // geometry_msgs::msg::Point point; // z field is unused + // point.x = midline.rotated_points(0, i); + // point.y = midline.rotated_points(1, i); + // message.rotated_points.push_back(point); + // } + // message.q.clear(); std::fill(std::begin(message.q), std::end(message.q), 0.0); message.q[0] = (midline.Q(0, 0)); @@ -123,9 +133,8 @@ class MidpointNode : public rclcpp::Node // message.translation_vector.clear(); std::fill(std::begin(message.translation_vector), std::end(message.translation_vector), 0.0); - message.translation_vector[0] = (midline.translation_vector(0)); - message.translation_vector[1] = (midline.translation_vector(1)); - + message.translation_vector[0] = midline.translation_vector[0]; + message.translation_vector[1] = midline.translation_vector[1]; message.path_id = midline.path_id; message.sort_index = midline.sort_index; message.length = midline.length(); @@ -173,7 +182,7 @@ class MidpointNode : public rclcpp::Node perception_data.bluecones.clear(); perception_data.yellowcones.clear(); perception_data.orangecones.clear(); - RCLCPP_INFO(this->get_logger(), "published midpoint spline"); + RCLCPP_INFO(this->get_logger(), "published midpoint spline\n"); return; } @@ -198,9 +207,14 @@ class MidpointNode : public rclcpp::Node int main(int argc, char * argv[]) { - // RCLCPP_INFO(this->get_logger(), "Started Midpoint Node"); + // // RCLCPP_INFO(this->get_logger(), "Started Midpoint Node"); + // rclcpp::init(argc, argv); + // rclcpp::spin(std::make_shared()); + // rclcpp::shutdown(); rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + auto node = std::make_shared(); + RCLCPP_INFO(node->get_logger(), "got output\n"); + rclcpp::spin(node); rclcpp::shutdown(); return 0; } \ No newline at end of file diff --git a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp index 37391aa73..dd738527c 100644 --- a/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/midline/generator.cpp @@ -20,7 +20,7 @@ std::vector> MidpointGenerator::sorted_by_norm(std::ve Eigen::MatrixXd midpoint(rclcpp::Logger logger, Eigen::MatrixXd& left,Eigen::MatrixXd& right){ int cols = left.cols() +right.cols() -1; - Eigen::MatrixXd midpt(2,cols);\ + Eigen::MatrixXd midpt(2,cols); // RCLCPP_INFO(logger, "left matrix size: %d\n", left.cols()); // RCLCPP_INFO(logger, "right matrix size: %d\n", right.cols()); diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp index 24d1fd018..54965b0ad 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp @@ -503,7 +503,7 @@ std::pair,std::vector> raceline_gen(rclcpp::Logger l } - return std::make_pair(splines,cumsum); + return std::make_pair(splines, cumsum); From 98da0b11f42e6cfe378224216b60e044923e5666 Mon Sep 17 00:00:00 2001 From: andrewwchong Date: Sat, 9 Dec 2023 13:00:21 -0500 Subject: [PATCH 24/31] changed spline constructor --- driverless_ws/src/eufs_msgs | 2 +- driverless_ws/src/interfaces/msg/Spline.msg | 1 + .../src/planning/src/nodes/midpoint.cpp | 38 ------------------- .../planning_codebase/raceline/raceline.cpp | 15 +++----- 4 files changed, 8 insertions(+), 48 deletions(-) diff --git a/driverless_ws/src/eufs_msgs b/driverless_ws/src/eufs_msgs index 8f33f5842..d9f66a2d2 160000 --- a/driverless_ws/src/eufs_msgs +++ b/driverless_ws/src/eufs_msgs @@ -1 +1 @@ -Subproject commit 8f33f5842a0d97968e2b5df130ddeb54a8aeb91f +Subproject commit d9f66a2d24c2898561bbf5602421a3fbd0bc8463 diff --git a/driverless_ws/src/interfaces/msg/Spline.msg b/driverless_ws/src/interfaces/msg/Spline.msg index 291e6cabd..0082145ed 100644 --- a/driverless_ws/src/interfaces/msg/Spline.msg +++ b/driverless_ws/src/interfaces/msg/Spline.msg @@ -4,6 +4,7 @@ float64[4] spl_poly_coefs float64[4] first_der_coefs float64[4] second_der_coefs +#dimensions are 2xn geometry_msgs/Point[] points # z field is unused geometry_msgs/Point[] rotated_points # z field is unused diff --git a/driverless_ws/src/planning/src/nodes/midpoint.cpp b/driverless_ws/src/planning/src/nodes/midpoint.cpp index 10ce65d03..6c230978d 100644 --- a/driverless_ws/src/planning/src/nodes/midpoint.cpp +++ b/driverless_ws/src/planning/src/nodes/midpoint.cpp @@ -140,44 +140,6 @@ class MidpointNode : public rclcpp::Node message.length = midline.length(); - - - - // Spline spline_left = generator_left.spline_from_curve(perception_data.bluecones); - // Spline spline_right = generator_right.spline_from_curve(perception_data.yellowcones); - - - // WILL BE USED WHEN OPTIMIZER STARTS - // std::vector rcl_pt_x,rcl_pt_y;//,rcl_pt_wr, rcl_pt_wl; - // double x,y;//,wl,wr,rptr,lptr; - // eufs_msgs::msg::PointArray message = eufs_msgs::msg::PointArray(); - // std::vector Points; - - // // - // for(unsigned int i =0;i0) len = generator_mid.cumulated_lengths[i-1]; - // geometry_msgs::msg::Point tmpPoint; - // tmpPoint.x=x; - // tmpPoint.y=y; - // Points.push_back(tmpPoint); - // // wl = frenet(x,y,generator_left.cumulated_splines,generator_left.cumulated_lengths,generator_mid.cumulated_lengths[i-1]).min_distance; - // // wr = frenet(x,y,generator_right.cumulated_splines,generator_right.cumulated_lengths,generator_mid.cumulated_lengths[i-1]).min_distance; - // } - // } - // message.set__points(Points); - - publisher_rcl_pt->publish(message); perception_data.bluecones.clear(); perception_data.yellowcones.clear(); diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp index 54965b0ad..317b79f02 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp @@ -74,16 +74,10 @@ Spline::Spline(polynomial interpolation_poly, polynomial first, polynomial secon } -Spline::Spline(polynomial interpolation_poly, Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind) +Spline::Spline(polynomial interpolation_poly, Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind, bool calcLength = false) + : spl_poly(interpolation_poly),points(points_mat), rotated_points(rotated),Q(Q_mat),translation_vector(translation),first_der(first),second_der(second),path_id(path_id),(sort_index,sort_ind) { this->spl_poly=interpolation_poly; - // Eigen::Matrix points; - - // for (int i = 0; i < 2; i++) { - // for (int j = 0; j < 4; j++) { - // points(i, j) = points_mat(i, j); - // } - // } this->points = points_mat; this->rotated_points=rotated; this->Q = Q_mat; @@ -92,8 +86,10 @@ Spline::Spline(polynomial interpolation_poly, Eigen::MatrixXd points_mat,Eigen:: this->second_der = second; this->path_id = path_id; this->sort_index = sort_ind; + if(calcLength){ + this->length = this->length(); + } -} Spline::~Spline() { @@ -105,6 +101,7 @@ Spline::~Spline() } +//change to calculate length double Spline::length(){ // return 1.0; return arclength(first_der, rotated_points(0,0), rotated_points(0, rotated_points.cols()-1)); From b4fc65ea4c518672a3e0d33bb2fc4c3baff0bc95 Mon Sep 17 00:00:00 2001 From: andrewwchong Date: Sat, 9 Dec 2023 14:34:17 -0500 Subject: [PATCH 25/31] added function to create message from splines --- .../src/planning/src/nodes/midpoint.cpp | 96 +++++++-------- .../src/planning/src/nodes/raceline.cpp | 111 ++++++++++++++++++ 2 files changed, 155 insertions(+), 52 deletions(-) create mode 100644 driverless_ws/src/planning/src/nodes/raceline.cpp diff --git a/driverless_ws/src/planning/src/nodes/midpoint.cpp b/driverless_ws/src/planning/src/nodes/midpoint.cpp index 6c230978d..d1a614cad 100644 --- a/driverless_ws/src/planning/src/nodes/midpoint.cpp +++ b/driverless_ws/src/planning/src/nodes/midpoint.cpp @@ -77,33 +77,40 @@ class MidpointNode : public rclcpp::Node perception_data.yellowcones.emplace_back(e.x, e.y); } - //TODO: shouldn't return a spline Spline midline = generator_mid.spline_from_cones(this->get_logger(), perception_data); - - interfaces::msg::Spline message; // = interfaces::message::Spline(); - - // message.spl_poly_coefs.clear(); - std::fill(std::begin(message.spl_poly_coefs), std::end(message.spl_poly_coefs), 0.0); - for (int i = 0; i < 4; i ++) { + interfaces::msg::Spline message = splineToMessage(midline); + publisher_rcl_pt->publish(message); + perception_data.bluecones.clear(); + perception_data.yellowcones.clear(); + perception_data.orangecones.clear(); + RCLCPP_INFO(this->get_logger(), "published midpoint spline\n"); + return; + } + + + interfaces::msg::Spline splineToMessage(Spline spline){ + interfaces::msg::Spline message; + + std::fill(std::begin(message.spl_poly_coefs), std::end(message.spl_poly_coefs), 0.0); + for (int i = 0; i < 4; i ++) { message.spl_poly_coefs[i] = midline.spl_poly.nums[i]; - } + } - // message.first_der_coefs.clear(); - std::fill(std::begin(message.first_der_coefs), std::end(message.first_der_coefs), 0.0); - for (int i = 0; i < 3; i ++) { + std::fill(std::begin(message.first_der_coefs), std::end(message.first_der_coefs), 0.0); + for (int i = 0; i < 3; i ++) { message.first_der_coefs[i] = midline.first_der.nums[i]; - } + } - // message.second_der_coefs.clear(); - std::fill(std::begin(message.second_der_coefs), std::end(message.second_der_coefs), 0.0); - for (int i = 0; i < 2; i ++) { + // message.second_der_coefs.clear(); + std::fill(std::begin(message.second_der_coefs), std::end(message.second_der_coefs), 0.0); + for (int i = 0; i < 2; i ++) { message.second_der_coefs[i] = midline.second_der.nums[i]; - } + } - message.points.clear(); - message.rotated_points.clear(); + message.points.clear(); + message.rotated_points.clear(); - for (int i = 0; i < midline.points.cols(); i++) { + for (int i = 0; i < midline.points.cols(); i++) { geometry_msgs::msg::Point point; // z field is unused point.x = midline.points(0, i); point.y = midline.points(1, i); @@ -113,42 +120,27 @@ class MidpointNode : public rclcpp::Node point.x = midline.rotated_points(0, i); point.y = midline.rotated_points(1, i); message.rotated_points.push_back(point); - } - - - // message.rotated_points.clear(); - // for (int i = 0; i < midline.rotated_points.cols(); i++) { - // geometry_msgs::msg::Point point; // z field is unused - // point.x = midline.rotated_points(0, i); - // point.y = midline.rotated_points(1, i); - // message.rotated_points.push_back(point); - // } - - // message.q.clear(); - std::fill(std::begin(message.q), std::end(message.q), 0.0); - message.q[0] = (midline.Q(0, 0)); - message.q[1] = (midline.Q(0, 1)); - message.q[2] = (midline.Q(1, 0)); - message.q[3] = (midline.Q(1, 1)); - - // message.translation_vector.clear(); - std::fill(std::begin(message.translation_vector), std::end(message.translation_vector), 0.0); - message.translation_vector[0] = midline.translation_vector[0]; - message.translation_vector[1] = midline.translation_vector[1]; - message.path_id = midline.path_id; - message.sort_index = midline.sort_index; - message.length = midline.length(); - - - publisher_rcl_pt->publish(message); - perception_data.bluecones.clear(); - perception_data.yellowcones.clear(); - perception_data.orangecones.clear(); - RCLCPP_INFO(this->get_logger(), "published midpoint spline\n"); - return; + } + + std::fill(std::begin(message.q), std::end(message.q), 0.0); + message.q[0] = (midline.Q(0, 0)); + message.q[1] = (midline.Q(0, 1)); + message.q[2] = (midline.Q(1, 0)); + message.q[3] = (midline.Q(1, 1)); + + // message.translation_vector.clear(); + std::fill(std::begin(message.translation_vector), std::end(message.translation_vector), 0.0); + message.translation_vector[0] = midline.translation_vector[0]; + message.translation_vector[1] = midline.translation_vector[1]; + message.path_id = midline.path_id; + message.sort_index = midline.sort_index; + message.length = midline.length(); + + return message } + public: MidpointNode() diff --git a/driverless_ws/src/planning/src/nodes/raceline.cpp b/driverless_ws/src/planning/src/nodes/raceline.cpp new file mode 100644 index 000000000..b425089af --- /dev/null +++ b/driverless_ws/src/planning/src/nodes/raceline.cpp @@ -0,0 +1,111 @@ +#include +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" +#include "std_msgs/msg/int8.hpp" +#include "geometry_msgs/msg/point.hpp" +// #include "msg/optimizer_points.hpp" +#include "eufs_msgs/msg/cone_array.hpp" +#include "eufs_msgs/msg/point_array.hpp" +// #include "interfaces/msg/cone_list.hpp" +// #include "interfaces/msg/points.hpp" +#include "../planning_codebase/midline/generator.hpp" +#include "interfaces/msg/spline.hpp" +// #include "frenet.hpp" +// #include "runpy.hpp" +#include + + +static const std::string CONES_TOPIC = "/slam_cones"; +static const std::string RACELINE_TOPIC = "/raceline_splines"; + +using std::placeholders::_1; +#define DELTA 0.5 +struct raceline_pt{ + double x,y,w_l,w_r; +}; + + + +class RacelineNode : public rclcpp::Node +{ + private: + perceptionsData perception_data; + + rclcpp::Subscription::SharedPtr subscription_cones; + // rclcpp::Subscription::SharedPtr subscription_lap_num; + // rclcpp::Publisher::SharedPtr publisher_rcl_pt; + rclcpp::Publisher::SharedPtr publisher_rcl_pt; + + std::vector vis_lookaheads; + int lap = 1; + bool vis_spline = true; + MidpointGenerator generator_mid; + + void lap_callback(const std_msgs::msg::Int8::SharedPtr msg) + { + lap=msg->data; + } + + void cones_callback (const eufs_msgs::msg::ConeArray::SharedPtr msg) + { + //Set of cones from SLAM + + RCLCPP_INFO(this->get_logger(), "Recieved cones from SLAM"); + + //set of blue and yellow cones from the track + for (auto e : msg->blue_cones) + { + perception_data.bluecones.emplace_back(e.x, e.y); + } + for (auto e : msg->yellow_cones) + { + perception_data.yellowcones.emplace_back(e.x, e.y); + } + + //MIGHT NEED BUT LEFT OUT ORANGE CONES + // for (auto e : msg->orange_cones) + // { + // perception_data.orangecones.emplace_back(e.x, e.y); + // } + + //TODO: shouldn't return a spline + + //this returns a single spline + Spline midline = generator_mid.spline_from_cones(this->get_logger(), perception_data); + + + + //Add spline here + + interfaces::msg::Spline message = splineToMessage(midline); + + publisher_rcl_pt->publish(message); + perception_data.bluecones.clear(); + perception_data.yellowcones.clear(); + perception_data.orangecones.clear(); + RCLCPP_INFO(this->get_logger(), "published midpoint spline\n"); + return; + } + + + + + public: + RacelineNode() + : Node("raceline") + { + subscription_cones = this->create_subscription(CONES_TOPIC, 10, std::bind(&RacelineNode::cones_callback, this, _1)); + publisher_rcl_pt = this->create_publisher(RACELINE_TOPIC,10); + generator_mid = MidpointGenerator(10); + } +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); + RCLCPP_INFO(node->get_logger(), "got output\n"); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file From 2b19a30a2bf6f439252913474af0c6b8c66b05b4 Mon Sep 17 00:00:00 2001 From: andrewwchong Date: Sat, 9 Dec 2023 16:58:01 -0500 Subject: [PATCH 26/31] LINKING WORKS RAHHHHHHH --- driverless_ws/src/controls/CMakeLists.txt | 27 ++--- driverless_ws/src/controls/linkTest.cpp | 48 ++++++++ driverless_ws/src/controls/package.xml | 4 + driverless_ws/src/planning/CMakeLists.txt | 21 +++- .../src/planning/src/nodes/midpoint.cpp | 36 +++--- .../src/planning/src/nodes/raceline.cpp | 111 ------------------ .../planning_codebase/raceline/raceline.cpp | 26 ++-- .../planning_codebase/raceline/raceline.hpp | 6 +- 8 files changed, 114 insertions(+), 165 deletions(-) create mode 100644 driverless_ws/src/controls/linkTest.cpp delete mode 100644 driverless_ws/src/planning/src/nodes/raceline.cpp diff --git a/driverless_ws/src/controls/CMakeLists.txt b/driverless_ws/src/controls/CMakeLists.txt index 8d62b34e8..bc7558393 100644 --- a/driverless_ws/src/controls/CMakeLists.txt +++ b/driverless_ws/src/controls/CMakeLists.txt @@ -17,19 +17,18 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() +find_package(planning REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) + +add_executable(controls_test linkTest.cpp) +target_include_directories(controls_test PRIVATE ${PROJECT_SOURCE_DIR}/../) + +ament_target_dependencies(controls_test planning rclcpp std_msgs) +# message(WARNING ${PROJECT_SOURCE_DIR}) + +install(TARGETS +controls_test +DESTINATION lib/${PROJECT_NAME}) ament_package() diff --git a/driverless_ws/src/controls/linkTest.cpp b/driverless_ws/src/controls/linkTest.cpp new file mode 100644 index 000000000..072d1db95 --- /dev/null +++ b/driverless_ws/src/controls/linkTest.cpp @@ -0,0 +1,48 @@ +#include "planning/src/planning_codebase/raceline/raceline.hpp" + +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" + +using namespace std::chrono_literals; + +/* This example creates a subclass of Node and uses std::bind() to register a +* member function as a callback from the timer. */ + +class MinimalPublisher : public rclcpp::Node +{ + public: + MinimalPublisher() + : Node("minimal_publisher"), count_(0) + { + publisher_ = this->create_publisher("topic", 10); + timer_ = this->create_wall_timer( + 500ms, std::bind(&MinimalPublisher::timer_callback, this)); + } + + private: + void timer_callback() + { + + polynomial poly = poly_one(); + auto message = std_msgs::msg::String(); + message.data = "Poly Degree " + std::to_string(poly.deg); + RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); + publisher_->publish(message); + } + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher::SharedPtr publisher_; + size_t count_; +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/driverless_ws/src/controls/package.xml b/driverless_ws/src/controls/package.xml index 9fdfe6f53..9690a041d 100644 --- a/driverless_ws/src/controls/package.xml +++ b/driverless_ws/src/controls/package.xml @@ -9,6 +9,10 @@ ament_cmake + std_msgs + rclcpp + planning + ament_lint_auto ament_lint_common diff --git a/driverless_ws/src/planning/CMakeLists.txt b/driverless_ws/src/planning/CMakeLists.txt index 94ab1b50c..6af36bc30 100644 --- a/driverless_ws/src/planning/CMakeLists.txt +++ b/driverless_ws/src/planning/CMakeLists.txt @@ -19,13 +19,28 @@ find_package(GSL REQUIRED) find_package(interfaces REQUIRED) + add_library(planning_export src/planning_codebase/raceline/raceline.cpp) + ament_target_dependencies(planning_export interfaces rclcpp std_msgs geometry_msgs Eigen3 eufs_msgs GSL) + + add_executable(midpoint_test src/nodes/midpoint.cpp src/planning_codebase/midline/generator.cpp src/planning_codebase/raceline/raceline.cpp) # add_executable(midline_test src/generator.cpp src/raceline/raceline.cpp) ament_target_dependencies(midpoint_test interfaces rclcpp std_msgs geometry_msgs Eigen3 eufs_msgs GSL) + + ament_export_targets(planning_exportTargets HAS_LIBRARY_TARGET) + ament_export_dependencies(interfaces rclcpp std_msgs geometry_msgs Eigen3 eufs_msgs GSL) + # ament_target_dependencies(midline_test rclcpp std_msgs geometry_msgs eufs_msgs GSL) - install(TARGETS - midpoint_test - DESTINATION lib/${PROJECT_NAME}) + install( + TARGETS midpoint_test + DESTINATION lib/${PROJECT_NAME} + ) + + install( + TARGETS planning_export + EXPORT planning_exportTargets + DESTINATION lib/${PROJECT_NAME} + ) ament_package() diff --git a/driverless_ws/src/planning/src/nodes/midpoint.cpp b/driverless_ws/src/planning/src/nodes/midpoint.cpp index d1a614cad..736095846 100644 --- a/driverless_ws/src/planning/src/nodes/midpoint.cpp +++ b/driverless_ws/src/planning/src/nodes/midpoint.cpp @@ -93,50 +93,50 @@ class MidpointNode : public rclcpp::Node std::fill(std::begin(message.spl_poly_coefs), std::end(message.spl_poly_coefs), 0.0); for (int i = 0; i < 4; i ++) { - message.spl_poly_coefs[i] = midline.spl_poly.nums[i]; + message.spl_poly_coefs[i] = spline.spl_poly.nums[i]; } std::fill(std::begin(message.first_der_coefs), std::end(message.first_der_coefs), 0.0); for (int i = 0; i < 3; i ++) { - message.first_der_coefs[i] = midline.first_der.nums[i]; + message.first_der_coefs[i] = spline.first_der.nums[i]; } // message.second_der_coefs.clear(); std::fill(std::begin(message.second_der_coefs), std::end(message.second_der_coefs), 0.0); for (int i = 0; i < 2; i ++) { - message.second_der_coefs[i] = midline.second_der.nums[i]; + message.second_der_coefs[i] = spline.second_der.nums[i]; } message.points.clear(); message.rotated_points.clear(); - for (int i = 0; i < midline.points.cols(); i++) { + for (int i = 0; i < spline.points.cols(); i++) { geometry_msgs::msg::Point point; // z field is unused - point.x = midline.points(0, i); - point.y = midline.points(1, i); + point.x = spline.points(0, i); + point.y = spline.points(1, i); message.points.push_back(point); // geometry_msgs::msg::Point point; // z field is unused - point.x = midline.rotated_points(0, i); - point.y = midline.rotated_points(1, i); + point.x = spline.rotated_points(0, i); + point.y = spline.rotated_points(1, i); message.rotated_points.push_back(point); } std::fill(std::begin(message.q), std::end(message.q), 0.0); - message.q[0] = (midline.Q(0, 0)); - message.q[1] = (midline.Q(0, 1)); - message.q[2] = (midline.Q(1, 0)); - message.q[3] = (midline.Q(1, 1)); + message.q[0] = (spline.Q(0, 0)); + message.q[1] = (spline.Q(0, 1)); + message.q[2] = (spline.Q(1, 0)); + message.q[3] = (spline.Q(1, 1)); // message.translation_vector.clear(); std::fill(std::begin(message.translation_vector), std::end(message.translation_vector), 0.0); - message.translation_vector[0] = midline.translation_vector[0]; - message.translation_vector[1] = midline.translation_vector[1]; - message.path_id = midline.path_id; - message.sort_index = midline.sort_index; - message.length = midline.length(); + message.translation_vector[0] = spline.translation_vector[0]; + message.translation_vector[1] = spline.translation_vector[1]; + message.path_id = spline.path_id; + message.sort_index = spline.sort_index; + message.length = spline.calculateLength(); - return message + return message; } diff --git a/driverless_ws/src/planning/src/nodes/raceline.cpp b/driverless_ws/src/planning/src/nodes/raceline.cpp deleted file mode 100644 index b425089af..000000000 --- a/driverless_ws/src/planning/src/nodes/raceline.cpp +++ /dev/null @@ -1,111 +0,0 @@ -#include -#include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" -#include "std_msgs/msg/int8.hpp" -#include "geometry_msgs/msg/point.hpp" -// #include "msg/optimizer_points.hpp" -#include "eufs_msgs/msg/cone_array.hpp" -#include "eufs_msgs/msg/point_array.hpp" -// #include "interfaces/msg/cone_list.hpp" -// #include "interfaces/msg/points.hpp" -#include "../planning_codebase/midline/generator.hpp" -#include "interfaces/msg/spline.hpp" -// #include "frenet.hpp" -// #include "runpy.hpp" -#include - - -static const std::string CONES_TOPIC = "/slam_cones"; -static const std::string RACELINE_TOPIC = "/raceline_splines"; - -using std::placeholders::_1; -#define DELTA 0.5 -struct raceline_pt{ - double x,y,w_l,w_r; -}; - - - -class RacelineNode : public rclcpp::Node -{ - private: - perceptionsData perception_data; - - rclcpp::Subscription::SharedPtr subscription_cones; - // rclcpp::Subscription::SharedPtr subscription_lap_num; - // rclcpp::Publisher::SharedPtr publisher_rcl_pt; - rclcpp::Publisher::SharedPtr publisher_rcl_pt; - - std::vector vis_lookaheads; - int lap = 1; - bool vis_spline = true; - MidpointGenerator generator_mid; - - void lap_callback(const std_msgs::msg::Int8::SharedPtr msg) - { - lap=msg->data; - } - - void cones_callback (const eufs_msgs::msg::ConeArray::SharedPtr msg) - { - //Set of cones from SLAM - - RCLCPP_INFO(this->get_logger(), "Recieved cones from SLAM"); - - //set of blue and yellow cones from the track - for (auto e : msg->blue_cones) - { - perception_data.bluecones.emplace_back(e.x, e.y); - } - for (auto e : msg->yellow_cones) - { - perception_data.yellowcones.emplace_back(e.x, e.y); - } - - //MIGHT NEED BUT LEFT OUT ORANGE CONES - // for (auto e : msg->orange_cones) - // { - // perception_data.orangecones.emplace_back(e.x, e.y); - // } - - //TODO: shouldn't return a spline - - //this returns a single spline - Spline midline = generator_mid.spline_from_cones(this->get_logger(), perception_data); - - - - //Add spline here - - interfaces::msg::Spline message = splineToMessage(midline); - - publisher_rcl_pt->publish(message); - perception_data.bluecones.clear(); - perception_data.yellowcones.clear(); - perception_data.orangecones.clear(); - RCLCPP_INFO(this->get_logger(), "published midpoint spline\n"); - return; - } - - - - - public: - RacelineNode() - : Node("raceline") - { - subscription_cones = this->create_subscription(CONES_TOPIC, 10, std::bind(&RacelineNode::cones_callback, this, _1)); - publisher_rcl_pt = this->create_publisher(RACELINE_TOPIC,10); - generator_mid = MidpointGenerator(10); - } -}; - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared(); - RCLCPP_INFO(node->get_logger(), "got output\n"); - rclcpp::spin(node); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp index 317b79f02..819877703 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.cpp @@ -74,22 +74,14 @@ Spline::Spline(polynomial interpolation_poly, polynomial first, polynomial secon } -Spline::Spline(polynomial interpolation_poly, Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind, bool calcLength = false) - : spl_poly(interpolation_poly),points(points_mat), rotated_points(rotated),Q(Q_mat),translation_vector(translation),first_der(first),second_der(second),path_id(path_id),(sort_index,sort_ind) +Spline::Spline(polynomial interpolation_poly, Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind, bool calcLength) + : spl_poly(interpolation_poly),points(points_mat), rotated_points(rotated),Q(Q_mat),translation_vector(translation),first_der(first),second_der(second),path_id(path_id),sort_index(sort_ind) { - this->spl_poly=interpolation_poly; - this->points = points_mat; - this->rotated_points=rotated; - this->Q = Q_mat; - this->translation_vector = translation; - this->first_der = first; - this->second_der = second; - this->path_id = path_id; - this->sort_index = sort_ind; if(calcLength){ - this->length = this->length(); + this->length = this->calculateLength(); } +} Spline::~Spline() { @@ -102,7 +94,7 @@ Spline::~Spline() } //change to calculate length -double Spline::length(){ +double Spline::calculateLength(){ // return 1.0; return arclength(first_der, rotated_points(0,0), rotated_points(0, rotated_points.cols()-1)); } @@ -158,7 +150,7 @@ std::tuple Spline::along(double std::tuple ret; - double len = this->length(); + double len = this->calculateLength(); double first_x = this->get_rotated_points()(0,0); @@ -488,14 +480,14 @@ std::pair,std::vector> raceline_gen(rclcpp::Logger l Spline spline = Spline(interpolation_poly,group,rotated_points,Q,translation_vector,first_der,second_der,path_id,i); splines.emplace_back(spline); - // lengths.push_back(spline.length()); + // lengths.push_back(spline.calculateLength()); if (i == 0) { RCLCPP_INFO(logger, "spline is %f + %fx + %fx^2 + %fx^3\n", spline.spl_poly.nums(0), spline.spl_poly.nums(1), spline.spl_poly.nums(2), spline.spl_poly.nums(3)); // RCLCPP_INFO(logger, "spline derivative is %f + %fx + %fx^2 + %fx^3\n", spline.first_der.nums(0), spline.first_der.nums(1), spline.first_der.nums(2), spline.first_der.nums(3)); - cumsum.push_back(splines[0].length()); + cumsum.push_back(splines[0].calculateLength()); } else { RCLCPP_INFO(logger, "spline is %f + %fx + %fx^2 + %fx^3\n", spline.spl_poly.nums(0), spline.spl_poly.nums(1), spline.spl_poly.nums(2), spline.spl_poly.nums(3)); - cumsum.push_back(cumsum.back()+splines[0].length()); + cumsum.push_back(cumsum.back()+splines[0].calculateLength()); } } diff --git a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp index a66e03abe..fd1a82ef6 100644 --- a/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp +++ b/driverless_ws/src/planning/src/planning_codebase/raceline/raceline.hpp @@ -45,6 +45,7 @@ class Spline Eigen::Matrix2d Q; Eigen::VectorXd translation_vector; + double length; polynomial get_SplPoly(){ return spl_poly;} @@ -76,7 +77,7 @@ class Spline int get_sort_index(); void set_sort_index(int new_sort); - double length(); + double calculateLength(); // Eigen::MatrixXd interpolate(Spline spline,int number, std::pair bounds = std::make_pair(-1,-1)); @@ -94,7 +95,8 @@ class Spline Spline(polynomial interpolation_poly); Spline(polynomial interpolation_poly, polynomial first, polynomial second, int path, int sort_ind); - Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); + // Spline(polynomial interpolation_poly,Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind); + Spline(polynomial interpolation_poly, Eigen::MatrixXd points_mat,Eigen::MatrixXd rotated,Eigen::Matrix2d Q_mat, Eigen::VectorXd translation,polynomial first, polynomial second, int path, int sort_ind, bool calcLength = false); Spline(); ~Spline(); From c72ca1f8825e80a603b7401578019f022c8e139c Mon Sep 17 00:00:00 2001 From: Griffin Teller Date: Mon, 11 Dec 2023 22:03:36 -0500 Subject: [PATCH 27/31] removed submodules --- .gitmodules | 4 +--- driverless_ws/src/HesaiLidar_ROS_2.0 | 1 - driverless_ws/src/common_interfaces | 1 - driverless_ws/src/eufs_msgs | 1 - driverless_ws/src/ros2_numpy | 1 - driverless_ws/src/velodyne | 1 - driverless_ws/src/vision_opencv | 1 - driverless_ws/src/zed-ros2-wrapper | 1 - 8 files changed, 1 insertion(+), 10 deletions(-) delete mode 160000 driverless_ws/src/HesaiLidar_ROS_2.0 delete mode 160000 driverless_ws/src/common_interfaces delete mode 160000 driverless_ws/src/eufs_msgs delete mode 160000 driverless_ws/src/ros2_numpy delete mode 160000 driverless_ws/src/velodyne delete mode 160000 driverless_ws/src/vision_opencv delete mode 160000 driverless_ws/src/zed-ros2-wrapper diff --git a/.gitmodules b/.gitmodules index cb07940de..8b1378917 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1 @@ -[submodule "driverless_ws/src/eufs_msgs"] - path = driverless_ws/src/eufs_msgs - url = https://gitlab.com/eufs/eufs_msgs.git + diff --git a/driverless_ws/src/HesaiLidar_ROS_2.0 b/driverless_ws/src/HesaiLidar_ROS_2.0 deleted file mode 160000 index d08974e1a..000000000 --- a/driverless_ws/src/HesaiLidar_ROS_2.0 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit d08974e1aa6cb500243a0f1afd16fd38e4406d25 diff --git a/driverless_ws/src/common_interfaces b/driverless_ws/src/common_interfaces deleted file mode 160000 index 366eea24f..000000000 --- a/driverless_ws/src/common_interfaces +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 366eea24ffce6c87f8860cbcd27f4863f46ad822 diff --git a/driverless_ws/src/eufs_msgs b/driverless_ws/src/eufs_msgs deleted file mode 160000 index d9f66a2d2..000000000 --- a/driverless_ws/src/eufs_msgs +++ /dev/null @@ -1 +0,0 @@ -Subproject commit d9f66a2d24c2898561bbf5602421a3fbd0bc8463 diff --git a/driverless_ws/src/ros2_numpy b/driverless_ws/src/ros2_numpy deleted file mode 160000 index 780ef66b7..000000000 --- a/driverless_ws/src/ros2_numpy +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 780ef66b7e800bf278c6f72b82f821cc542eed7d diff --git a/driverless_ws/src/velodyne b/driverless_ws/src/velodyne deleted file mode 160000 index 04a7ca722..000000000 --- a/driverless_ws/src/velodyne +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 04a7ca722eaed13fe902366e0831717e91f9f77a diff --git a/driverless_ws/src/vision_opencv b/driverless_ws/src/vision_opencv deleted file mode 160000 index 72152d9d1..000000000 --- a/driverless_ws/src/vision_opencv +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 72152d9d1d8edcfcafd707a1d0103810db8613ba diff --git a/driverless_ws/src/zed-ros2-wrapper b/driverless_ws/src/zed-ros2-wrapper deleted file mode 160000 index c542554f6..000000000 --- a/driverless_ws/src/zed-ros2-wrapper +++ /dev/null @@ -1 +0,0 @@ -Subproject commit c542554f600fd95ac787330430c0163c326d5d4f From c7672d550bdd005404792fcafaf8cda35ce8cacc Mon Sep 17 00:00:00 2001 From: Griffin Teller Date: Tue, 12 Dec 2023 01:49:43 -0500 Subject: [PATCH 28/31] fixed submodules and started laying out architecture --- .gitmodules | 15 +++++++ driverless_ws/src/HesaiLidar_ROS_2.0 | 1 + driverless_ws/src/controls/CMakeLists.txt | 32 ++++++++++--- driverless_ws/src/controls/conventions.md | 17 +++++++ .../controls/src/interface/environment.cpp | 1 + .../controls/src/interface/environment.hpp | 16 +++++++ .../src/controls/src/interface/types.hpp | 9 ++++ driverless_ws/src/controls/src/mppi/mppi.cpp | 1 + driverless_ws/src/controls/src/mppi/mppi.hpp | 9 ++++ .../src/controls/src/nodes/controller.cpp | 45 +++++++++++++++++++ .../src/controls/{ => tests}/linkTest.cpp | 0 driverless_ws/src/eufs_msgs | 1 + driverless_ws/src/ros2_numpy | 1 + driverless_ws/src/vision_opencv | 1 + driverless_ws/src/zed-ros2-wrapper | 1 + 15 files changed, 143 insertions(+), 7 deletions(-) create mode 160000 driverless_ws/src/HesaiLidar_ROS_2.0 create mode 100644 driverless_ws/src/controls/conventions.md create mode 100644 driverless_ws/src/controls/src/interface/environment.cpp create mode 100644 driverless_ws/src/controls/src/interface/environment.hpp create mode 100644 driverless_ws/src/controls/src/interface/types.hpp create mode 100644 driverless_ws/src/controls/src/mppi/mppi.cpp create mode 100644 driverless_ws/src/controls/src/mppi/mppi.hpp create mode 100644 driverless_ws/src/controls/src/nodes/controller.cpp rename driverless_ws/src/controls/{ => tests}/linkTest.cpp (100%) create mode 160000 driverless_ws/src/eufs_msgs create mode 160000 driverless_ws/src/ros2_numpy create mode 160000 driverless_ws/src/vision_opencv create mode 160000 driverless_ws/src/zed-ros2-wrapper diff --git a/.gitmodules b/.gitmodules index 8b1378917..45e2f1738 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1 +1,16 @@ +[submodule "driverless_ws/src/HesaiLidar_ROS_2.0"] + path = driverless_ws/src/HesaiLidar_ROS_2.0 + url = https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0 +[submodule "driverless_ws/src/ros2_numpy"] + path = driverless_ws/src/ros2_numpy + url = https://github.com/Box-Robotics/ros2_numpy.git +[submodule "driverless_ws/src/zed-ros2-wrapper"] + path = driverless_ws/src/zed-ros2-wrapper + url = https://github.com/stereolabs/zed-ros2-wrapper.git +[submodule "driverless_ws/src/eufs_msgs"] + path = driverless_ws/src/eufs_msgs + url = https://gitlab.com/eufs/eufs_msgs.git +[submodule "driverless_ws/src/vision_opencv"] + path = driverless_ws/src/vision_opencv + url = https://github.com/ros-perception/vision_opencv.git diff --git a/driverless_ws/src/HesaiLidar_ROS_2.0 b/driverless_ws/src/HesaiLidar_ROS_2.0 new file mode 160000 index 000000000..941b3c550 --- /dev/null +++ b/driverless_ws/src/HesaiLidar_ROS_2.0 @@ -0,0 +1 @@ +Subproject commit 941b3c550fe81c6cfdbef88a12f87b30820c00d5 diff --git a/driverless_ws/src/controls/CMakeLists.txt b/driverless_ws/src/controls/CMakeLists.txt index bc7558393..05aa0dd5e 100644 --- a/driverless_ws/src/controls/CMakeLists.txt +++ b/driverless_ws/src/controls/CMakeLists.txt @@ -21,14 +21,32 @@ find_package(planning REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED) -add_executable(controls_test linkTest.cpp) -target_include_directories(controls_test PRIVATE ${PROJECT_SOURCE_DIR}/../) - +include_directories(${PROJECT_SOURCE_DIR}/src) +include_directories(${PROJECT_SOURCE_DIR}/../) + +add_library(controls_lib SHARED + src/interface/environment.cpp + src/mppi/mppi.cpp +) + +add_executable(controller + src/nodes/controller.cpp +) +target_link_libraries(controller + controls_lib +) + +add_executable(controls_test + tests/linkTest.cpp +) + +ament_target_dependencies(controls_lib planning rclcpp std_msgs) +ament_target_dependencies(controller rclcpp) ament_target_dependencies(controls_test planning rclcpp std_msgs) -# message(WARNING ${PROJECT_SOURCE_DIR}) -install(TARGETS -controls_test -DESTINATION lib/${PROJECT_NAME}) +install( + TARGETS controls_test controls_lib controller + DESTINATION lib/${PROJECT_NAME} +) ament_package() diff --git a/driverless_ws/src/controls/conventions.md b/driverless_ws/src/controls/conventions.md new file mode 100644 index 000000000..41bd15bf6 --- /dev/null +++ b/driverless_ws/src/controls/conventions.md @@ -0,0 +1,17 @@ +## Conventions + +Conventions for the controls subteam code. + +### Naming + +Use ``boost``/``STL`` naming. + + - ``lower_snake_case`` for everything except mentioned below + - ``Upper_snake_case`` for type parameters + +Reasoning: consistent with standard library. incredibly simple. + + +### Code Style + + - Follow the cpp core guidelines, except for anything that uses the GSL. Or is otherwise clearly dumb. \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/environment.cpp b/driverless_ws/src/controls/src/interface/environment.cpp new file mode 100644 index 000000000..478748005 --- /dev/null +++ b/driverless_ws/src/controls/src/interface/environment.cpp @@ -0,0 +1 @@ +#include "environment.hpp" \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/environment.hpp b/driverless_ws/src/controls/src/interface/environment.hpp new file mode 100644 index 000000000..9e28903e4 --- /dev/null +++ b/driverless_ws/src/controls/src/interface/environment.hpp @@ -0,0 +1,16 @@ +#pragma once + +#include "types.hpp" + +namespace controls { + namespace interface { + class environment { + public: + void update_spline(const spline_msg &msg); + void update_slam(const slam_msg &msg); + void update_gps(const gps_msg &msg); + + + }; + } +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/types.hpp b/driverless_ws/src/controls/src/interface/types.hpp new file mode 100644 index 000000000..27b12047e --- /dev/null +++ b/driverless_ws/src/controls/src/interface/types.hpp @@ -0,0 +1,9 @@ +#pragma once + +namespace controls { + namespace interface { + using spline_msg = interfaces::msg::SplineList; + using slam_msg = struct {}; + using gps_msg = struct {}; + } +} diff --git a/driverless_ws/src/controls/src/mppi/mppi.cpp b/driverless_ws/src/controls/src/mppi/mppi.cpp new file mode 100644 index 000000000..0b877bdeb --- /dev/null +++ b/driverless_ws/src/controls/src/mppi/mppi.cpp @@ -0,0 +1 @@ +#include "mppi.hpp" \ No newline at end of file diff --git a/driverless_ws/src/controls/src/mppi/mppi.hpp b/driverless_ws/src/controls/src/mppi/mppi.hpp new file mode 100644 index 000000000..7f14d900c --- /dev/null +++ b/driverless_ws/src/controls/src/mppi/mppi.hpp @@ -0,0 +1,9 @@ +#pragma once + +namespace controls { + namespace mppi { + class mppi_controller { + + }; + } +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/nodes/controller.cpp b/driverless_ws/src/controls/src/nodes/controller.cpp new file mode 100644 index 000000000..93b4c0e2d --- /dev/null +++ b/driverless_ws/src/controls/src/nodes/controller.cpp @@ -0,0 +1,45 @@ +#include +#include +#include +#include +#include +#include +#include + +namespace controls { + class controller_node : public rclcpp::Node { + public: + constexpr static const char *node_name = "controller"; + + controller_node () + : Node {node_name} { } + + private: + + [[noreturn]] + void mppi_loop() { + while (true) { + + } + } + + void on_spline(const interface::spline_msg &msg); + void on_slam(const interface::slam_msg &msg); + void on_gps(const interface::gps_msg &msg); + + interface::environment m_environment; + std::mutex m_environment_mutex; + std::condition_variable m_environment_notifier; + std::atomic m_environment_dirty {false}; + + mppi::mppi_controller m_mppi_controller; + }; +} + + +int main(int argc, char *argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/driverless_ws/src/controls/linkTest.cpp b/driverless_ws/src/controls/tests/linkTest.cpp similarity index 100% rename from driverless_ws/src/controls/linkTest.cpp rename to driverless_ws/src/controls/tests/linkTest.cpp diff --git a/driverless_ws/src/eufs_msgs b/driverless_ws/src/eufs_msgs new file mode 160000 index 000000000..d9eaac3f7 --- /dev/null +++ b/driverless_ws/src/eufs_msgs @@ -0,0 +1 @@ +Subproject commit d9eaac3f7f85a11ff186e33ef28099d27314a646 diff --git a/driverless_ws/src/ros2_numpy b/driverless_ws/src/ros2_numpy new file mode 160000 index 000000000..780ef66b7 --- /dev/null +++ b/driverless_ws/src/ros2_numpy @@ -0,0 +1 @@ +Subproject commit 780ef66b7e800bf278c6f72b82f821cc542eed7d diff --git a/driverless_ws/src/vision_opencv b/driverless_ws/src/vision_opencv new file mode 160000 index 000000000..72152d9d1 --- /dev/null +++ b/driverless_ws/src/vision_opencv @@ -0,0 +1 @@ +Subproject commit 72152d9d1d8edcfcafd707a1d0103810db8613ba diff --git a/driverless_ws/src/zed-ros2-wrapper b/driverless_ws/src/zed-ros2-wrapper new file mode 160000 index 000000000..336833ce5 --- /dev/null +++ b/driverless_ws/src/zed-ros2-wrapper @@ -0,0 +1 @@ +Subproject commit 336833ce5aaf18fdc64bb6ab3875406bb1fbb87b From ee1eead41ea39f978c2513c13444a730632f9f33 Mon Sep 17 00:00:00 2001 From: Griffin Teller Date: Fri, 15 Dec 2023 20:50:15 -0500 Subject: [PATCH 29/31] redid multithreading setup, created superclasses for cuda/cpu environments --- driverless_ws/src/controls/CMakeLists.txt | 2 +- driverless_ws/src/controls/conventions.md | 15 +++- .../src/controls/src/common/constants.hpp | 2 + .../src/controls/src/common/types.hpp | 29 ++++++++ .../src/interface/cpu_environment.hpp | 11 +++ .../controls/src/interface/environment.cpp | 1 - .../controls/src/interface/environment.hpp | 16 ----- .../src/controls/src/interface/interface.cpp | 13 ++++ .../src/controls/src/interface/interface.hpp | 18 +++++ .../src/controls/src/interface/types.hpp | 9 --- driverless_ws/src/controls/src/mppi/mppi.hpp | 8 ++- .../src/controls/src/nodes/controller.cpp | 68 +++++++++++++++---- 12 files changed, 150 insertions(+), 42 deletions(-) create mode 100644 driverless_ws/src/controls/src/common/constants.hpp create mode 100644 driverless_ws/src/controls/src/common/types.hpp create mode 100644 driverless_ws/src/controls/src/interface/cpu_environment.hpp delete mode 100644 driverless_ws/src/controls/src/interface/environment.cpp delete mode 100644 driverless_ws/src/controls/src/interface/environment.hpp create mode 100644 driverless_ws/src/controls/src/interface/interface.cpp create mode 100644 driverless_ws/src/controls/src/interface/interface.hpp delete mode 100644 driverless_ws/src/controls/src/interface/types.hpp diff --git a/driverless_ws/src/controls/CMakeLists.txt b/driverless_ws/src/controls/CMakeLists.txt index 05aa0dd5e..9b8213f5e 100644 --- a/driverless_ws/src/controls/CMakeLists.txt +++ b/driverless_ws/src/controls/CMakeLists.txt @@ -25,7 +25,7 @@ include_directories(${PROJECT_SOURCE_DIR}/src) include_directories(${PROJECT_SOURCE_DIR}/../) add_library(controls_lib SHARED - src/interface/environment.cpp + src/interface/interface.cpp src/mppi/mppi.cpp ) diff --git a/driverless_ws/src/controls/conventions.md b/driverless_ws/src/controls/conventions.md index 41bd15bf6..90c37f69d 100644 --- a/driverless_ws/src/controls/conventions.md +++ b/driverless_ws/src/controls/conventions.md @@ -7,11 +7,22 @@ Conventions for the controls subteam code. Use ``boost``/``STL`` naming. - ``lower_snake_case`` for everything except mentioned below - - ``Upper_snake_case`` for type parameters + - ``Upper_Snake_Case`` for type parameters Reasoning: consistent with standard library. incredibly simple. ### Code Style - - Follow the cpp core guidelines, except for anything that uses the GSL. Or is otherwise clearly dumb. \ No newline at end of file + - Follow the cpp core guidelines, except for anything that uses the GSL. Or is otherwise clearly dumb. + - Misc. notes: + - use uniform initialization (`{...}` constructor syntax) wherever possible. + - Reason: far more + readable than `(...)` in many cases (looks like a function call/declaration) + - `m_` prefix should be used for all private fields + - Reason: disambiguates fields from parameters before it becomes an issue. If you wait until + you notice ambiguity, you're already too late! + - By defualt, prefer immutable data (i.e. `const` lvalues). This also necessitates marking + methonds `const` wherever possible. + - Reason: _especially_ since we're multithreading, this makes code easier to reason about. Also + makes it easier for the compiler to reason about. \ No newline at end of file diff --git a/driverless_ws/src/controls/src/common/constants.hpp b/driverless_ws/src/controls/src/common/constants.hpp new file mode 100644 index 000000000..3f59c932d --- /dev/null +++ b/driverless_ws/src/controls/src/common/constants.hpp @@ -0,0 +1,2 @@ +#pragma once + diff --git a/driverless_ws/src/controls/src/common/types.hpp b/driverless_ws/src/controls/src/common/types.hpp new file mode 100644 index 000000000..5979fa25d --- /dev/null +++ b/driverless_ws/src/controls/src/common/types.hpp @@ -0,0 +1,29 @@ +#pragma once + +#include "constants.hpp" +#include +#include + +namespace controls { + constexpr size_t action_dims = 2; + constexpr size_t state_dims = 13; + + using action = std::array; + using state = std::array; + + using spline_msg = interfaces::msg::SplineList; + using slam_msg = struct {}; + using gps_msg = struct {}; + + enum class device { + cpu, + cuda + }; + + class controller { + public: + virtual action generate_action(const state ¤t_state) =0; + + virtual ~controller() =0; + }; +} diff --git a/driverless_ws/src/controls/src/interface/cpu_environment.hpp b/driverless_ws/src/controls/src/interface/cpu_environment.hpp new file mode 100644 index 000000000..4f8ab0b29 --- /dev/null +++ b/driverless_ws/src/controls/src/interface/cpu_environment.hpp @@ -0,0 +1,11 @@ +#pragma once + +#include "interface.hpp" + +namespace controls { + namespace interface { + class cpu_environment : public environment { + + }; + } +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/environment.cpp b/driverless_ws/src/controls/src/interface/environment.cpp deleted file mode 100644 index 478748005..000000000 --- a/driverless_ws/src/controls/src/interface/environment.cpp +++ /dev/null @@ -1 +0,0 @@ -#include "environment.hpp" \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/environment.hpp b/driverless_ws/src/controls/src/interface/environment.hpp deleted file mode 100644 index 9e28903e4..000000000 --- a/driverless_ws/src/controls/src/interface/environment.hpp +++ /dev/null @@ -1,16 +0,0 @@ -#pragma once - -#include "types.hpp" - -namespace controls { - namespace interface { - class environment { - public: - void update_spline(const spline_msg &msg); - void update_slam(const slam_msg &msg); - void update_gps(const gps_msg &msg); - - - }; - } -} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/interface.cpp b/driverless_ws/src/controls/src/interface/interface.cpp new file mode 100644 index 000000000..70af654b1 --- /dev/null +++ b/driverless_ws/src/controls/src/interface/interface.cpp @@ -0,0 +1,13 @@ +#include "interface.hpp" +#include "cpu_environment.hpp" + +namespace controls { + namespace interface { + static std::unique_ptr environment::create_environment(device dev) { + switch (dev) { + case device::cpu: + return std::make_shared() + } + } + } +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/interface.hpp b/driverless_ws/src/controls/src/interface/interface.hpp new file mode 100644 index 000000000..fa627d961 --- /dev/null +++ b/driverless_ws/src/controls/src/interface/interface.hpp @@ -0,0 +1,18 @@ +#pragma once + +#include + +namespace controls { + namespace interface { + class environment { + public: + virtual void update_spline(const spline_msg &msg) =0; + virtual void update_slam(const slam_msg &msg) =0; + virtual void update_gps(const gps_msg &msg) =0; + + virtual state get_state() const =0; + + static std::unique_ptr create_environment(device dev); + }; + } +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/types.hpp b/driverless_ws/src/controls/src/interface/types.hpp deleted file mode 100644 index 27b12047e..000000000 --- a/driverless_ws/src/controls/src/interface/types.hpp +++ /dev/null @@ -1,9 +0,0 @@ -#pragma once - -namespace controls { - namespace interface { - using spline_msg = interfaces::msg::SplineList; - using slam_msg = struct {}; - using gps_msg = struct {}; - } -} diff --git a/driverless_ws/src/controls/src/mppi/mppi.hpp b/driverless_ws/src/controls/src/mppi/mppi.hpp index 7f14d900c..7c990ba0a 100644 --- a/driverless_ws/src/controls/src/mppi/mppi.hpp +++ b/driverless_ws/src/controls/src/mppi/mppi.hpp @@ -1,9 +1,15 @@ #pragma once +#include + namespace controls { namespace mppi { - class mppi_controller { + class mppi_controller : public controller { + public: + mppi_controller () = default; // not strictly necessary but emphasizes + // this is the intended way to construct + action generate_action(const state ¤t_state) override; }; } } \ No newline at end of file diff --git a/driverless_ws/src/controls/src/nodes/controller.cpp b/driverless_ws/src/controls/src/nodes/controller.cpp index 93b4c0e2d..11b6167b7 100644 --- a/driverless_ws/src/controls/src/nodes/controller.cpp +++ b/driverless_ws/src/controls/src/nodes/controller.cpp @@ -1,12 +1,17 @@ -#include -#include +#include #include #include -#include #include +#include #include +#include namespace controls { + + /** + * @note It is undefined for the destructor to be called while the node is spun up + * (most likely, mppi will exit uncleanly) + */ class controller_node : public rclcpp::Node { public: constexpr static const char *node_name = "controller"; @@ -14,32 +19,71 @@ namespace controls { controller_node () : Node {node_name} { } + void start_mppi() { + assert (!m_mppi_loop_thread.joinable()); + + m_mppi_loop_should_exit = false; + m_mppi_loop_thread = std::thread {mppi_loop}; + } + + void stop_mppi() { + assert (m_mppi_loop_thread.joinable()); + + m_mppi_loop_should_exit = true; + m_mppi_loop_thread.join(); + } + private: + void publish_action(const action &action) const; - [[noreturn]] void mppi_loop() { - while (true) { + while (!m_mppi_loop_should_exit) { + { + // wait for the environment to be updated, then copy it + std::unique_lock lock {m_environment_updated_mutex}; + + while (!m_environment_dirty) { + m_environment_updated_notifier.wait(lock); + } + + m_environment_frozen = std::make_unique(*m_environment_updated); // copy + } + + const state current_state = m_environment_frozen->get_state(); + const action mppi_action = m_mppi_controller->generate_action(current_state); + + publish_action(mppi_action); } } - void on_spline(const interface::spline_msg &msg); - void on_slam(const interface::slam_msg &msg); - void on_gps(const interface::gps_msg &msg); + void on_shutdown() { + if (m_mppi_loop_thread.joinable()) { + stop_mppi(); + } + } + + std::unique_ptr m_environment_frozen; - interface::environment m_environment; - std::mutex m_environment_mutex; - std::condition_variable m_environment_notifier; + std::unique_ptr m_environment_updated; + std::mutex m_environment_updated_mutex; + std::condition_variable m_environment_updated_notifier; std::atomic m_environment_dirty {false}; mppi::mppi_controller m_mppi_controller; + std::thread m_mppi_loop_thread; + std::atomic m_mppi_loop_should_exit {true}; }; } int main(int argc, char *argv[]) { rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + + const auto node = std::make_shared(); + rclcpp::spin(node); + node->start_mppi(); + rclcpp::shutdown(); return 0; } \ No newline at end of file From 82778e0a109e59f715bc2e564b7083178a33bd86 Mon Sep 17 00:00:00 2001 From: Griffin Teller Date: Wed, 20 Dec 2023 21:12:42 -0500 Subject: [PATCH 30/31] idk a bunch of stuff --- driverless_ws/src/controls/CMakeLists.txt | 54 +++++--- driverless_ws/src/controls/conventions.md | 14 ++- .../src/controls/src/common/constants.hpp | 2 - .../src/controls/src/common/types.hpp | 29 ----- driverless_ws/src/controls/src/constants.hpp | 21 ++++ .../src/interface/cpu_environment.cpp | 23 ++++ .../src/interface/cpu_environment.hpp | 19 ++- .../src/interface/cuda_environment.cu | 1 + .../src/interface/cuda_environment.cuh | 25 ++++ .../src/controls/src/interface/interface.cpp | 11 +- .../src/controls/src/interface/interface.hpp | 41 +++++-- .../src/controls/src/mppi/cpu_mppi.cpp | 1 + .../src/controls/src/mppi/cpu_mppi.hpp | 15 +++ .../src/controls/src/mppi/cuda_mppi.cu | 1 + .../src/controls/src/mppi/cuda_mppi.cuh | 1 + driverless_ws/src/controls/src/mppi/mppi.cpp | 1 - driverless_ws/src/controls/src/mppi/mppi.hpp | 18 +-- .../src/controls/src/nodes/controller.cpp | 116 ++++++++---------- driverless_ws/src/controls/src/types.hpp | 29 +++++ driverless_ws/src/interfaces/CMakeLists.txt | 1 + 20 files changed, 278 insertions(+), 145 deletions(-) delete mode 100644 driverless_ws/src/controls/src/common/constants.hpp delete mode 100644 driverless_ws/src/controls/src/common/types.hpp create mode 100644 driverless_ws/src/controls/src/constants.hpp create mode 100644 driverless_ws/src/controls/src/interface/cpu_environment.cpp create mode 100644 driverless_ws/src/controls/src/interface/cuda_environment.cu create mode 100644 driverless_ws/src/controls/src/interface/cuda_environment.cuh create mode 100644 driverless_ws/src/controls/src/mppi/cpu_mppi.cpp create mode 100644 driverless_ws/src/controls/src/mppi/cpu_mppi.hpp create mode 100644 driverless_ws/src/controls/src/mppi/cuda_mppi.cu create mode 100644 driverless_ws/src/controls/src/mppi/cuda_mppi.cuh delete mode 100644 driverless_ws/src/controls/src/mppi/mppi.cpp create mode 100644 driverless_ws/src/controls/src/types.hpp diff --git a/driverless_ws/src/controls/CMakeLists.txt b/driverless_ws/src/controls/CMakeLists.txt index 9b8213f5e..9610431b1 100644 --- a/driverless_ws/src/controls/CMakeLists.txt +++ b/driverless_ws/src/controls/CMakeLists.txt @@ -1,6 +1,16 @@ cmake_minimum_required(VERSION 3.5) project(controls) +# disable cuda compilation +#set(NO_CUDA TRUE) +set(NO_CUDA FALSE) + +if(NO_CUDA) + add_compile_definitions(CONTROLS_NO_CUDA) +else() + enable_language(CUDA) +endif() + # Default to C99 if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 99) @@ -11,9 +21,9 @@ if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +#if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +# add_compile_options(-Wall -Wextra -Wpedantic) +#endif() # find dependencies find_package(ament_cmake REQUIRED) @@ -24,28 +34,36 @@ find_package(std_msgs REQUIRED) include_directories(${PROJECT_SOURCE_DIR}/src) include_directories(${PROJECT_SOURCE_DIR}/../) -add_library(controls_lib SHARED + +set(LIB_SOURCES src/interface/interface.cpp - src/mppi/mppi.cpp -) + src/interface/cpu_environment.cpp + src/mppi/cpu_mppi.cpp) +if(NOT NO_CUDA) + set(LIB_SOURCES ${LIB_SOURCES} + src/interface/cuda_environment.cu + src/mppi/cuda_mppi.cu) +endif() -add_executable(controller - src/nodes/controller.cpp -) -target_link_libraries(controller - controls_lib -) +add_library(controls_lib SHARED ${LIB_SOURCES}) +ament_target_dependencies(controls_lib planning rclcpp std_msgs) -add_executable(controls_test - tests/linkTest.cpp -) +add_executable(controller src/nodes/controller.cpp) +target_link_libraries(controller controls_lib) -ament_target_dependencies(controls_lib planning rclcpp std_msgs) ament_target_dependencies(controller rclcpp) -ament_target_dependencies(controls_test planning rclcpp std_msgs) + +ament_export_targets(controls_libExport HAS_LIBRARY_TARGET) +ament_export_dependencies(planning rclcpp std_msgs) + +install( + TARGETS controls_lib + EXPORT controls_libExport + DESTINATION lib/${PROJECT_NAME} +) install( - TARGETS controls_test controls_lib controller + TARGETS controller DESTINATION lib/${PROJECT_NAME} ) diff --git a/driverless_ws/src/controls/conventions.md b/driverless_ws/src/controls/conventions.md index 90c37f69d..3b794eb49 100644 --- a/driverless_ws/src/controls/conventions.md +++ b/driverless_ws/src/controls/conventions.md @@ -4,12 +4,14 @@ Conventions for the controls subteam code. ### Naming -Use ``boost``/``STL`` naming. - - - ``lower_snake_case`` for everything except mentioned below - - ``Upper_Snake_Case`` for type parameters - -Reasoning: consistent with standard library. incredibly simple. +Use python naming: + + - ``lower_snake_case`` for values (including functions/methods, 150 moment) + - Reason: ``lowerCamelCase`` is just ugly + - ``PascalCase`` for types + - Reason: prevents declaration issues like ``car car;`` + - Namespace-level declarations should have namespae corresponding to their directory + - e.g. a declaration in ``src/mppi`` should belong to namespace ``controls::mppi`` ### Code Style diff --git a/driverless_ws/src/controls/src/common/constants.hpp b/driverless_ws/src/controls/src/common/constants.hpp deleted file mode 100644 index 3f59c932d..000000000 --- a/driverless_ws/src/controls/src/common/constants.hpp +++ /dev/null @@ -1,2 +0,0 @@ -#pragma once - diff --git a/driverless_ws/src/controls/src/common/types.hpp b/driverless_ws/src/controls/src/common/types.hpp deleted file mode 100644 index 5979fa25d..000000000 --- a/driverless_ws/src/controls/src/common/types.hpp +++ /dev/null @@ -1,29 +0,0 @@ -#pragma once - -#include "constants.hpp" -#include -#include - -namespace controls { - constexpr size_t action_dims = 2; - constexpr size_t state_dims = 13; - - using action = std::array; - using state = std::array; - - using spline_msg = interfaces::msg::SplineList; - using slam_msg = struct {}; - using gps_msg = struct {}; - - enum class device { - cpu, - cuda - }; - - class controller { - public: - virtual action generate_action(const state ¤t_state) =0; - - virtual ~controller() =0; - }; -} diff --git a/driverless_ws/src/controls/src/constants.hpp b/driverless_ws/src/controls/src/constants.hpp new file mode 100644 index 000000000..0e5f6126c --- /dev/null +++ b/driverless_ws/src/controls/src/constants.hpp @@ -0,0 +1,21 @@ +#pragma once + +#include + +#include "types.hpp" + + +namespace controls { + constexpr const char *controller_node_name = "controller"; + constexpr const char *control_action_topic_name = "control_action"; + + constexpr Device default_device = Device::Cuda; + + /** Controller target frequency, in Hz */ + constexpr double controller_freq = 50.; + + /** Controller target period, in sec */ + constexpr auto controller_period = std::chrono::operator""ms(1000. / controller_freq); + + constexpr rclcpp::QoS control_action_qos (rclcpp::KeepLast(10)); +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/cpu_environment.cpp b/driverless_ws/src/controls/src/interface/cpu_environment.cpp new file mode 100644 index 000000000..a5590c650 --- /dev/null +++ b/driverless_ws/src/controls/src/interface/cpu_environment.cpp @@ -0,0 +1,23 @@ +#include "cpu_environment.hpp" + +namespace controls { + namespace interface { + void CpuEnvironment::update_spline(const SplineMsg& msg) { + } + + void CpuEnvironment::update_slam(const SlamMsg& msg) { + } + + void CpuEnvironment::update_gps(const GpsMsg& msg) { + } + + State CpuEnvironment::get_curv_state() const { + } + + State CpuEnvironment::get_world_state() const { + } + + double CpuEnvironment::get_curvature(double progress_from_current) const { + } + } +} diff --git a/driverless_ws/src/controls/src/interface/cpu_environment.hpp b/driverless_ws/src/controls/src/interface/cpu_environment.hpp index 4f8ab0b29..cbeb9173e 100644 --- a/driverless_ws/src/controls/src/interface/cpu_environment.hpp +++ b/driverless_ws/src/controls/src/interface/cpu_environment.hpp @@ -1,11 +1,28 @@ #pragma once +#include + #include "interface.hpp" + namespace controls { namespace interface { - class cpu_environment : public environment { + class CpuEnvironment : public Environment { + public: + CpuEnvironment() = default; + + void update_spline(const SplineMsg& msg) override; + void update_slam(const SlamMsg& msg) override; + void update_gps(const GpsMsg& msg) override; + + State get_curv_state() const override; + State get_world_state() const override; + double get_curvature(double progress_from_current) const override; + + private: + State m_curv_state; + Spline m_spline; }; } } \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/cuda_environment.cu b/driverless_ws/src/controls/src/interface/cuda_environment.cu new file mode 100644 index 000000000..8c15a2c36 --- /dev/null +++ b/driverless_ws/src/controls/src/interface/cuda_environment.cu @@ -0,0 +1 @@ +#include "cuda_environment.cuh" \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/cuda_environment.cuh b/driverless_ws/src/controls/src/interface/cuda_environment.cuh new file mode 100644 index 000000000..ff1083e4b --- /dev/null +++ b/driverless_ws/src/controls/src/interface/cuda_environment.cuh @@ -0,0 +1,25 @@ +#include + +#include "interface.hpp" + + +namespace controls { + namespace interface { + class CudaEnvironment : public Environment { + public: + void update_spline(const SplineMsg& msg) override; + void update_slam(const SlamMsg& msg) override; + void update_gps(const GpsMsg& msg) override; + + State get_curv_state() const override; + State get_world_state() const override; + double get_curvature(double progress_from_current) const override; + + std::mutex* get_mutex() override; + std::condition_variable* get_notifier() override; + std::atomic* get_dirty_flag() override; + + void save() override; + }; + } +} diff --git a/driverless_ws/src/controls/src/interface/interface.cpp b/driverless_ws/src/controls/src/interface/interface.cpp index 70af654b1..b61222ca3 100644 --- a/driverless_ws/src/controls/src/interface/interface.cpp +++ b/driverless_ws/src/controls/src/interface/interface.cpp @@ -1,13 +1,12 @@ #include "interface.hpp" -#include "cpu_environment.hpp" + namespace controls { namespace interface { - static std::unique_ptr environment::create_environment(device dev) { - switch (dev) { - case device::cpu: - return std::make_shared() - } + bool Environment::get_valid() const { + return m_valid; } + + } } \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/interface.hpp b/driverless_ws/src/controls/src/interface/interface.hpp index fa627d961..557c987c8 100644 --- a/driverless_ws/src/controls/src/interface/interface.hpp +++ b/driverless_ws/src/controls/src/interface/interface.hpp @@ -1,18 +1,43 @@ #pragma once -#include +#include +#include +#include +#include namespace controls { namespace interface { - class environment { + class Environment { public: - virtual void update_spline(const spline_msg &msg) =0; - virtual void update_slam(const slam_msg &msg) =0; - virtual void update_gps(const gps_msg &msg) =0; + virtual ~Environment() =0; - virtual state get_state() const =0; + virtual void update_spline(const SplineMsg& msg) =0; + virtual void update_slam(const SlamMsg& msg) =0; + virtual void update_gps(const GpsMsg& msg) =0; - static std::unique_ptr create_environment(device dev); + virtual State get_curv_state() const =0; + virtual State get_world_state() const =0; + virtual double get_curvature(double progress_from_current) const =0; + + bool get_valid() const; + + + std::mutex mutex; + + protected: + bool m_valid {false}; }; + + void deserialize_spline(const SplineMsg& msg, Spline& out); } -} \ No newline at end of file +} + + +// included so other classes only need to include one header for all of them +// at bottom to avoid loop + +#include "cpu_environment.hpp" + +#ifndef CONTROLS_NO_CUDA +#include "cuda_environment.cuh" +#endif diff --git a/driverless_ws/src/controls/src/mppi/cpu_mppi.cpp b/driverless_ws/src/controls/src/mppi/cpu_mppi.cpp new file mode 100644 index 000000000..99641eb74 --- /dev/null +++ b/driverless_ws/src/controls/src/mppi/cpu_mppi.cpp @@ -0,0 +1 @@ +#include "cpu_mppi.hpp" diff --git a/driverless_ws/src/controls/src/mppi/cpu_mppi.hpp b/driverless_ws/src/controls/src/mppi/cpu_mppi.hpp new file mode 100644 index 000000000..a6fc322c4 --- /dev/null +++ b/driverless_ws/src/controls/src/mppi/cpu_mppi.hpp @@ -0,0 +1,15 @@ +#pragma once + +#include + +#include "mppi.hpp" + + +namespace controls { + namespace mppi { + class CpuMppiController : public MppiController { + public: + Action generate_action(const State& current_state) override; + }; + } +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/mppi/cuda_mppi.cu b/driverless_ws/src/controls/src/mppi/cuda_mppi.cu new file mode 100644 index 000000000..572098ade --- /dev/null +++ b/driverless_ws/src/controls/src/mppi/cuda_mppi.cu @@ -0,0 +1 @@ +#include "cuda_mppi.cuh" diff --git a/driverless_ws/src/controls/src/mppi/cuda_mppi.cuh b/driverless_ws/src/controls/src/mppi/cuda_mppi.cuh new file mode 100644 index 000000000..7b9637ef9 --- /dev/null +++ b/driverless_ws/src/controls/src/mppi/cuda_mppi.cuh @@ -0,0 +1 @@ +#pragma once \ No newline at end of file diff --git a/driverless_ws/src/controls/src/mppi/mppi.cpp b/driverless_ws/src/controls/src/mppi/mppi.cpp deleted file mode 100644 index 0b877bdeb..000000000 --- a/driverless_ws/src/controls/src/mppi/mppi.cpp +++ /dev/null @@ -1 +0,0 @@ -#include "mppi.hpp" \ No newline at end of file diff --git a/driverless_ws/src/controls/src/mppi/mppi.hpp b/driverless_ws/src/controls/src/mppi/mppi.hpp index 7c990ba0a..9eae9b7cd 100644 --- a/driverless_ws/src/controls/src/mppi/mppi.hpp +++ b/driverless_ws/src/controls/src/mppi/mppi.hpp @@ -1,15 +1,15 @@ #pragma once -#include namespace controls { namespace mppi { - class mppi_controller : public controller { - public: - mppi_controller () = default; // not strictly necessary but emphasizes - // this is the intended way to construct - - action generate_action(const state ¤t_state) override; - }; + class MppiController : public Controller { }; } -} \ No newline at end of file +} + + +#include "cpu_mppi.hpp" + +#ifndef CONTROLS_NO_CUDA +#include "cuda_mppi.cuh" +#endif \ No newline at end of file diff --git a/driverless_ws/src/controls/src/nodes/controller.cpp b/driverless_ws/src/controls/src/nodes/controller.cpp index 11b6167b7..ee9e599a9 100644 --- a/driverless_ws/src/controls/src/nodes/controller.cpp +++ b/driverless_ws/src/controls/src/nodes/controller.cpp @@ -2,87 +2,73 @@ #include #include #include -#include -#include +#include +#include #include +#include -namespace controls { - - /** - * @note It is undefined for the destructor to be called while the node is spun up - * (most likely, mppi will exit uncleanly) - */ - class controller_node : public rclcpp::Node { - public: - constexpr static const char *node_name = "controller"; - - controller_node () - : Node {node_name} { } - - void start_mppi() { - assert (!m_mppi_loop_thread.joinable()); - - m_mppi_loop_should_exit = false; - m_mppi_loop_thread = std::thread {mppi_loop}; - } - void stop_mppi() { - assert (m_mppi_loop_thread.joinable()); - - m_mppi_loop_should_exit = true; - m_mppi_loop_thread.join(); - } - - private: - void publish_action(const action &action) const; - - void mppi_loop() { - while (!m_mppi_loop_should_exit) { +namespace controls { + namespace nodes { + class ControllerNode : public rclcpp::Node { + public: + ControllerNode (std::unique_ptr environment, std::unique_ptr controller) + : Node {controller_node_name}, + m_environment(std::move(environment)), + m_controller(std::move(controller)), + m_controller_timer( + create_wall_timer( + controller_period, + [this] { controller_callback(); })), + m_action_publisher( + create_publisher( + control_action_topic_name, + control_action_qos)) { } + + private: + void publish_action(const Action &action) const; + + void controller_callback() { + Action action; { - // wait for the environment to be updated, then copy it + std::lock_guard lock {m_environment->mutex}; - std::unique_lock lock {m_environment_updated_mutex}; - - while (!m_environment_dirty) { - m_environment_updated_notifier.wait(lock); - } - - m_environment_frozen = std::make_unique(*m_environment_updated); // copy + const State curv_state = m_environment->get_curv_state(); + action = m_controller->generate_action(curv_state); } - const state current_state = m_environment_frozen->get_state(); - const action mppi_action = m_mppi_controller->generate_action(current_state); - - publish_action(mppi_action); - } - } - - void on_shutdown() { - if (m_mppi_loop_thread.joinable()) { - stop_mppi(); + publish_action(action); } - } - - std::unique_ptr m_environment_frozen; - std::unique_ptr m_environment_updated; - std::mutex m_environment_updated_mutex; - std::condition_variable m_environment_updated_notifier; - std::atomic m_environment_dirty {false}; - - mppi::mppi_controller m_mppi_controller; - std::thread m_mppi_loop_thread; - std::atomic m_mppi_loop_should_exit {true}; - }; + std::unique_ptr m_environment; + std::unique_ptr m_controller; + rclcpp::TimerBase::SharedPtr m_controller_timer; + rclcpp::Publisher::SharedPtr m_action_publisher; + }; + } } int main(int argc, char *argv[]) { + using namespace controls; + + std::unique_ptr environment; + std::unique_ptr controller; + if (default_device == Device::Cpu) { + environment = std::make_unique(); + controller = std::make_unique(); + } else { +#ifdef CONTROLS_NO_CUDA + throw std::runtime_error("Cuda enabled without cuda compilation"); +#else + // TODO: implement cuda +#endif + } + rclcpp::init(argc, argv); - const auto node = std::make_shared(); + const auto node = std::make_shared(environment, controller); rclcpp::spin(node); - node->start_mppi(); rclcpp::shutdown(); return 0; diff --git a/driverless_ws/src/controls/src/types.hpp b/driverless_ws/src/controls/src/types.hpp new file mode 100644 index 000000000..1e93993fe --- /dev/null +++ b/driverless_ws/src/controls/src/types.hpp @@ -0,0 +1,29 @@ +#pragma once + +#include +#include + + +namespace controls { + constexpr size_t action_dims = 2; + constexpr size_t state_dims = 13; + + using Action = std::array; + using State = std::array; + + using SplineMsg = interfaces::msg::SplineList; + using SlamMsg = struct {}; + using GpsMsg = struct {}; + + enum class Device { + Cpu, + Cuda + }; + + class Controller { + public: + virtual Action generate_action(const State ¤t_state) =0; + + virtual ~Controller() =0; + }; +} diff --git a/driverless_ws/src/interfaces/CMakeLists.txt b/driverless_ws/src/interfaces/CMakeLists.txt index 26cf432e3..80fd3eeb3 100644 --- a/driverless_ws/src/interfaces/CMakeLists.txt +++ b/driverless_ws/src/interfaces/CMakeLists.txt @@ -46,6 +46,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/Points.msg" "msg/Spline.msg" "msg/SplineList.msg" + "msg/ControlAction.msg" DEPENDENCIES geometry_msgs sensor_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg ) ament_package() From 4f512cab3b8b8ef154a5e507cc119f4697bb5afd Mon Sep 17 00:00:00 2001 From: Griffin Teller Date: Mon, 8 Jan 2024 13:45:33 -0600 Subject: [PATCH 31/31] added cuda types --- driverless_ws/src/controls/CMakeLists.txt | 3 ++- driverless_ws/src/controls/src/constants.hpp | 11 +++++++++-- .../src/controls/src/cuda_constants.cuh | 6 ++++++ driverless_ws/src/controls/src/cuda_types.cuh | 4 ++++ .../controls/src/interface/cpu_environment.hpp | 6 +----- .../controls/src/interface/cuda_environment.cu | 17 ++++++++++++++++- .../controls/src/interface/cuda_environment.cuh | 16 ++++++++++------ .../src/controls/src/interface/interface.hpp | 10 +++++----- 8 files changed, 53 insertions(+), 20 deletions(-) create mode 100644 driverless_ws/src/controls/src/cuda_constants.cuh create mode 100644 driverless_ws/src/controls/src/cuda_types.cuh diff --git a/driverless_ws/src/controls/CMakeLists.txt b/driverless_ws/src/controls/CMakeLists.txt index 9610431b1..daa5681c2 100644 --- a/driverless_ws/src/controls/CMakeLists.txt +++ b/driverless_ws/src/controls/CMakeLists.txt @@ -1,9 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(controls) +set(NO_CUDA FALSE) + # disable cuda compilation #set(NO_CUDA TRUE) -set(NO_CUDA FALSE) if(NO_CUDA) add_compile_definitions(CONTROLS_NO_CUDA) diff --git a/driverless_ws/src/controls/src/constants.hpp b/driverless_ws/src/controls/src/constants.hpp index 0e5f6126c..60876b803 100644 --- a/driverless_ws/src/controls/src/constants.hpp +++ b/driverless_ws/src/controls/src/constants.hpp @@ -6,8 +6,15 @@ namespace controls { + + /* ROS moments */ + constexpr const char *controller_node_name = "controller"; constexpr const char *control_action_topic_name = "control_action"; + const rclcpp::QoS control_action_qos (rclcpp::KeepLast(10)); + + + // MPPI stuff constexpr Device default_device = Device::Cuda; @@ -16,6 +23,6 @@ namespace controls { /** Controller target period, in sec */ constexpr auto controller_period = std::chrono::operator""ms(1000. / controller_freq); - - constexpr rclcpp::QoS control_action_qos (rclcpp::KeepLast(10)); + constexpr uint num_samples = 1024; + constexpr uint num_timesteps = 128; } \ No newline at end of file diff --git a/driverless_ws/src/controls/src/cuda_constants.cuh b/driverless_ws/src/controls/src/cuda_constants.cuh new file mode 100644 index 000000000..aa059f9e5 --- /dev/null +++ b/driverless_ws/src/controls/src/cuda_constants.cuh @@ -0,0 +1,6 @@ +#include "cuda_types.cuh" + +namespace controls { + constexpr csize num_spline_interpolations = 512; + constexpr cfloat spline_interpolation_separation = 0.5; +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/cuda_types.cuh b/driverless_ws/src/controls/src/cuda_types.cuh new file mode 100644 index 000000000..6a2fc9e68 --- /dev/null +++ b/driverless_ws/src/controls/src/cuda_types.cuh @@ -0,0 +1,4 @@ +namespace controls { + using cfloat = float; + using csize = unsigned int; +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/cpu_environment.hpp b/driverless_ws/src/controls/src/interface/cpu_environment.hpp index cbeb9173e..3364ec4f9 100644 --- a/driverless_ws/src/controls/src/interface/cpu_environment.hpp +++ b/driverless_ws/src/controls/src/interface/cpu_environment.hpp @@ -1,6 +1,7 @@ #pragma once #include +#include #include "interface.hpp" @@ -18,11 +19,6 @@ namespace controls { State get_curv_state() const override; State get_world_state() const override; double get_curvature(double progress_from_current) const override; - - private: - - State m_curv_state; - Spline m_spline; }; } } \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/cuda_environment.cu b/driverless_ws/src/controls/src/interface/cuda_environment.cu index 8c15a2c36..0a4537adb 100644 --- a/driverless_ws/src/controls/src/interface/cuda_environment.cu +++ b/driverless_ws/src/controls/src/interface/cuda_environment.cu @@ -1 +1,16 @@ -#include "cuda_environment.cuh" \ No newline at end of file +#include + +#include "cuda_environment.cuh" + + +namespace controls { + namespace interface { + void CudaEnvironment::update_spline(const controls::SplineMsg &msg) { + throw std::runtime_error("cuda spline update not implemented"); + } + + void CudaEnvironment::update_gps(const controls::SplineMsg &msg) { + throw std::runtime_error("cuda spline update not implemented"); + } + } +} \ No newline at end of file diff --git a/driverless_ws/src/controls/src/interface/cuda_environment.cuh b/driverless_ws/src/controls/src/interface/cuda_environment.cuh index ff1083e4b..38dd2e369 100644 --- a/driverless_ws/src/controls/src/interface/cuda_environment.cuh +++ b/driverless_ws/src/controls/src/interface/cuda_environment.cuh @@ -1,10 +1,20 @@ #include +#include +#include +#include +#include #include "interface.hpp" namespace controls { + namespace cuda { + cfloat* d_spline_curvatures; // allocated on first CudaEnvironment construction + } + namespace interface { + // should be able to be constructed/destructed multiple times without an issue + // but there can only be one at once class CudaEnvironment : public Environment { public: void update_spline(const SplineMsg& msg) override; @@ -14,12 +24,6 @@ namespace controls { State get_curv_state() const override; State get_world_state() const override; double get_curvature(double progress_from_current) const override; - - std::mutex* get_mutex() override; - std::condition_variable* get_notifier() override; - std::atomic* get_dirty_flag() override; - - void save() override; }; } } diff --git a/driverless_ws/src/controls/src/interface/interface.hpp b/driverless_ws/src/controls/src/interface/interface.hpp index 557c987c8..f8bd62011 100644 --- a/driverless_ws/src/controls/src/interface/interface.hpp +++ b/driverless_ws/src/controls/src/interface/interface.hpp @@ -1,15 +1,15 @@ -#pragma once +#ifndef CONTROLS_INTERFACE_HPP +#define CONTROLS_INTERFACE_HPP #include #include #include -#include namespace controls { namespace interface { class Environment { public: - virtual ~Environment() =0; + virtual ~Environment () =0; virtual void update_spline(const SplineMsg& msg) =0; virtual void update_slam(const SlamMsg& msg) =0; @@ -27,8 +27,6 @@ namespace controls { protected: bool m_valid {false}; }; - - void deserialize_spline(const SplineMsg& msg, Spline& out); } } @@ -41,3 +39,5 @@ namespace controls { #ifndef CONTROLS_NO_CUDA #include "cuda_environment.cuh" #endif + +#endif \ No newline at end of file