Open Research Institute has recently published the solutions for a Lunar Descent CTF that they ran at BSides San Diego 2026. The CTF revolves around the Ka-band radio altimeter used by the Chandrayaan-3 lunar lander. The CTF includes a simulation of the radio altimeter and the goal is to discover why the lander is crashing in this simulation and fix the problem. The CTF is in the Github repository OpenResearchInstitute/lunar-descent-ctf, which includes both the CTF and the solutions (in a spoilers directory). This seemed like an interesting topic, and in the past I have enjoyed a lot other CTFs that were organized by Michelle Thompson, so I decided to clone the repo, delete the spoilers directory, and start playing. In this post I comment on the CTF and my solution, so read no further if you don’t want to see spoilers.
The CTF is a standalone Python script that contains the simulation of the radio altimeter and the landing autopilot. There are three scenarios that are simulated, which correspond to different descent profiles. The first is the standard one, which is similar to what Chandrayaan-3 did. The second has a fast exponential descent. The third has hovers around the radar guard bands (more on this later) and drops in between them. Initially, the lander is crashing in all these three simulations. The reason is that there is a problem with the radar measurement processing logic (the MeasurementQualifier class). The goal of the CTF is to modify this processing logic (and only this processing logic) to achieve a successful landing in all the three scenarios, and ideally, to not reject any valid measurements produced by the radar in this processing logic.
The model of the Ka-band radio altimeter is fairly accurate and based on the paper FPGA Implementation of a Hardware-Optimized Autonomous Real-Time Radar Altimeter Processor for Interplanetary Landing Missions, which describes the Radar Altimeter Processor used in Chandrayaan-3. This is what makes this CTF so interesting. Unfortunately, at the time of writing this post I haven’t been able to obtain a copy of this paper, so all I will say here is based on the Python model included in the CTF.
The radar is an FMCW radar that uses linear chirps with a bandwidth of 240 MHz. The chirp duration is configurable, and is set dynamically depending on the altitude as explained below. The radar transmits an upchirp and a downchirp in order to decouple range and Doppler. After mixing with the transmitted waveform, the returns of these chirps will produce CW tones at IF, which are sampled by a 496.53 Msps 8-bit ADC and then decimated by 48 to obtain approximately 10.34 Msps of real samples. A 8192-point FFT is used to detect and measure the frequency of the CW tone produced by the return of the FMCW chirps.
The chirp duration is chosen dynamically depending on the altitude according to the 13 modes from the following table. The target is to select a mode that gives a CW return within the processing band 1.9 – 4 MHz. Therefore, the chirp duration needs to be made shorter when the altitude is lower. In the CTF there is a best_mode_for_altitude() function that essentially selects the mode which places the CW return closest to the centre of the processing band. However, generally the mode is updated by the AutoTracker class, which increments/decrements the mode for the next measurement by one if the FFT peak is seen above/below the processing band. This AutoTracker chooses the right mode when the altitude is changing smoothly, but it unlocks if there are altitude jumps or very fast changes.
$ python3 lunar_descent_ctf.py --modes
KaRA RAP Mode Table (13 modes)
Paper: Table 2, sweep time 1.45 μs to 8.2 ms
Processing band: [1.90, 4.00] MHz
FFT size: 8192, Freq resolution: 1262.7 Hz
──────────────────────────────────────────────────────────────────────────────
Mode Sweep T (μs) Alt range (m) M (m/bin) Samples
──────────────────────────────────────────────────────────────────────────────
0 1.45 [ 1.7, 3.6] 0.000572 14/8192
1 2.98 [ 3.5, 7.4] 0.001175 30/8192
2 6.12 [ 7.3, 15.3] 0.002413 63/8192
3 12.57 [ 14.9, 31.4] 0.004958 130/8192
4 25.83 [ 30.7, 64.5] 0.010187 267/8192
5 53.07 [ 63.0, 132.6] 0.020929 549/8192
6 109.04 [ 129.4, 272.4] 0.042999 1127/8192
7 224.02 [ 265.8, 559.7] 0.088340 2317/8192
8 460.26 [ 546.2, 1149.8] 0.181494 4761/8192
9 945.59 [ 1122.1, 2362.3] 0.372878 8192/8192
10 1942.70 [ 2305.4, 4853.4] 0.766073 8192/8192
11 3991.26 [ 4736.3, 9971.2] 1.573888 8192/8192
12 8200.00 [ 9730.8, 20485.8] 3.233536 8192/8192Note that the modes for lower altitudes have chirp durations that are shorter than the 8192-point FFT, and indeed the mode for the lowest altitude range has a chirp duration of only 14 samples. For these modes, the FFT is zero-padded to 8192 points.
The Python model of the radio altimeter used in the CTF simulates the 10.34 Msps samples of the radar return. A CW tone in AWGN is generated separately for the upchirp and the downchirp, the 8192-point FFT of these two signals is taken, and a peak bin is searched within the 1.7 – 4.2 MHz band (which is the processing band plus guard bands) and returned to the measurment processing code. Note that I said a peak rather than the largest peak. The implementation returns the first peak (that is, the one at lowest frequency) above a threshold that it finds. This does not really matter this simple simulation, because the return is a single CW tone in AWGN. Also in radar processing it probably makes sense to return the first peak, because it will typically correspond to the line-of-sight return from the ground. Peaks at higher frequencies, even if they are stronger, will typically come from multiple bounces.
The radio altimeter processor computes altitude and vertical velocity form the peak indices of the upchirp and downchirp. Altitude is computed from the average of the peak indices, and Doppler (and hence velocity) is computed from the difference of peak indices divided by two.
The altitude and velocity measurements are fed into a measurement qualifier (measurement processor logic) that is the focus of the CTF and is what the participant can modify. The measurement qualifier that is given is very simple. It rejects measurements that the radio altimeter processor flags as invalid (because it did not detect a peak in the FFT), and it also rejects measurements that cause a velocity that is too large.
The output of the measurement qualifier, is fed into the autopilot, which presumably uses it to land the spacecraft. However, the autopilot is all smoke and mirrors in this CTF. There is no closed-loop simulation of how the spacecraft descends based on radar altimeter measurements and autopilot behaviour. The simulation is open-loop. There is a predetermined time series of altitude and velocity for each of the three descent profiles. The radar altimeter simulation is fed inputs based on these time series. The only thing that the autopilot does is to check that the measurement qualifier does not produce a Doppler which is too large at a low altitude. Otherwise, it is considered that the thrusters would fire at full power close to ground to counteract and the lander would crash, which is what is happening in the initial state of the CTF.
I think that this simplification in the lander model is fine for this CTF. After playing through the CTF, I see that it has a main educational goal, which is to teach participants about how this radio altimeter works. The physics simulation that would be needed to have a closed loop autopilot does not add any additional value to this goal, so it is okay to remove it completely. The beauty about a CTF like this in which you are given all the code is that how everything works is very transparent. The only difficulty is going through the code and understanding it. This is great for an educational CTF, although it removes some of the attractiveness of other CTFs more focused on competition, where key aspects of the problem are deliberately kept secret and it is always a joy to figure out and discover these secretes.
The first flag in the CTF is obtained by explaining the problem that makes the lander crash to the CTF organizers. However, this is actually explained quite well in a comment in the code, so I guess that the main intention of this first flag is to get people to read and understand the code they are given, which is excellent for an educational CTF.
The problem is basically that the Doppler measurements on the low altitude modes are garbage. The reason is that due to the short chirp duration of these modes, frequency measurement of the CW returns is inherently less accurate. In the FFT processing this is manifested by the fact that the CW tone has a length of just a few samples (14 samples in the worst case) and it is zero padded to 8192 samples. Therefore the FFT is going to have a peak which is very broad, so the location of the peak in the FFT might be wrong by multiple bins. The Doppler (or velocity) resolution does not depend on the mode, and is 1.26 kHz (or 5.3 m/s) per FFT bin. Therefore, an error of multiple bins in the peak location gives a garbage result, specially when the lander is supposed to be hovering close to ground.
Range processing is not affected by this issue because even if the frequency measurement error is inversely proportional to the chirp duration, the scale factor to transform the frequency measurement into a range measurement is proportional to the chirp duration, so the two effects cancel out. The range error depends intrinsically only on the chirp bandwidth, which is kept fixed at 240 MHz in all the modes (thus giving a range resolution on the order of 0.6 metres).
When I understood the problem, I was tempted to modify the radar signal processing code to do something fancier than peak finding on the FFT to estimate the frequency of the CW return. An improved estimator would help with the short CW tones, although it doesn’t fully solve the problem. However, this signal processing code is out-of-bounds for the CTF. Only the measurement qualifier is supposed to be editable.
Having seen how the CTF simulation and the scoring system work, it is easy to “cheat” and give a simple solution that technically solves the CTF and achieves the maximum score. The problem is that the Doppler measurement in the few modes for lower altitudes is garbage, and the only thing that the CTF is checking is that we produce valid measurements that don’t have a Doppler that is too large. Because in these low altitude modes the velocity is going to be low, as the lander is almost hovering close to ground, we can simply ignore the velocity measurement from the radar processor in some of the lower altitude modes and return zero as the velocity. This makes the CTF happy and gives us all the points.
However, this solution is not satisfactory, because we have just cheated the simplified autopilot implementation of the CTF. It would be nice to be able to produce some form of velocity estimate at low altitudes, yet the radar processor measurements are extremely noisy. The CTF presents us with this engineering challenge, and luckily for us, there are standard engineering solutions for this. A pretty common solution is to use a Kalman filter. So I decided to implement a Kalman filter in the measurement qualifier class to see how well it would work. The CTF expects the measurement qualifier to provide a valid value whenever the radar processor is outputting a value. It is also assumed that the measurement qualifier will not output a value in the time steps in which the radar processor is not able to provide a value (because the peak search has failed). The autopilot is supposed to “coast” in this case. However, if we use a Kalman filter, we can provide an output value even in the time steps in which the radar processor is not generating an output, because the Kalman filter propagates its state.
To implement a Kalman filter properly, I had to break the rules of the CTF slightly and add a time argument to some functions which are not allowed to be modified. This is because the Kalman filter propagation step needs to know the time increment corresponding to each time step, and in the CTF this is different for each descent profile.
I implemented the Kalman filter using the straightforward formulas from Wikipedia. The state is altitude and velocity, and the state update amounts to propagating altitude using velocity and leaving velocity constant (this is a constant velocity model). I used educated guesses for the process noise covariance and the measurement noise covariance. For the process noise, I made it proportional to the current state, since large altitudes or velocities are likely to change more rapidly. For the measurement noise, I modelled the standard deviation of the FFT peaks as something that is inversely proportional to the number of samples per sweep, and then used the measurement formulas to derive standard deviations for altitude and velocity.
This Kalman filter works pretty well. I didn’t have to fine tune anything. I modified some of the CTF code to print all the time steps, and to add some columns to the output table, to have a clearer idea of what is going on. The following shows the output of the simulation on the standard descent profile. We can see that the Kalman filter output matches the true altitude and velocity quite well, except at time 600 seconds, where the altitude jumps suddenly from 3 to 20 meters, and the radio altimeter fails to produce a measurement. The Kalman filter is thus not aware of this jump until the next epoch.
$ python3 lunar_descent_ctf.py
Time | True Alt | RAP Alt | Q Alt | True Vel | RAP Vel | Q.Vel | Mode | Status
──────────────────────────────────────────────────────────────────────────────────────────────
0.0 | 10000.0 | 10001.3 | 10001.3 | 60.0 | 61.1 | 61.1 | 12 | OK
1.8 | 9894.7 | 9894.6 | 9894.6 | 60.0 | 58.5 | 58.8 | 12 | OK
3.5 | 9789.5 | 9789.6 | 9789.6 | 60.0 | 58.5 | 58.5 | 11 | OK
5.3 | 9684.2 | 9684.1 | 9684.1 | 60.0 | 61.1 | 60.7 | 11 | OK
7.0 | 9578.9 | 9578.7 | 9578.7 | 60.0 | 58.5 | 58.8 | 11 | OK
8.8 | 9473.7 | 9473.2 | 9473.2 | 60.0 | 61.1 | 60.8 | 11 | OK
10.5 | 9368.4 | 9367.8 | 9367.8 | 60.0 | 58.5 | 58.8 | 11 | OK
12.3 | 9263.2 | 9262.3 | 9262.3 | 60.0 | 61.1 | 60.8 | 11 | OK
14.0 | 9157.9 | 9158.5 | 9158.5 | 60.0 | 61.1 | 61.1 | 11 | OK
15.8 | 9052.6 | 9053.0 | 9053.0 | 60.0 | 58.5 | 58.9 | 11 | OK
17.5 | 8947.4 | 8947.6 | 8947.6 | 60.0 | 61.1 | 60.8 | 11 | OK
19.3 | 8842.1 | 8842.1 | 8842.1 | 60.0 | 58.5 | 58.8 | 11 | OK
21.1 | 8736.8 | 8736.7 | 8736.7 | 60.0 | 61.1 | 60.8 | 11 | OK
22.8 | 8631.6 | 8631.2 | 8631.2 | 60.0 | 58.5 | 58.8 | 11 | OK
24.6 | 8526.3 | 8525.8 | 8525.8 | 60.0 | 61.1 | 60.8 | 11 | OK
26.3 | 8421.1 | 8421.9 | 8421.9 | 60.0 | 61.1 | 61.1 | 11 | OK
28.1 | 8315.8 | 8316.4 | 8316.4 | 60.0 | 58.5 | 58.9 | 11 | OK
29.8 | 8210.5 | 8211.0 | 8211.0 | 60.0 | 61.1 | 60.8 | 11 | OK
31.6 | 8105.3 | 8105.5 | 8105.5 | 60.0 | 58.5 | 58.8 | 11 | OK
33.3 | 8000.0 | 8000.1 | 8000.1 | 60.0 | 61.1 | 60.8 | 11 | OK
35.1 | 7894.7 | 7894.6 | 7894.6 | 60.0 | 58.5 | 58.8 | 11 | OK
36.8 | 7789.5 | 7789.2 | 7789.2 | 60.0 | 61.1 | 60.8 | 11 | OK
38.6 | 7684.2 | 7683.7 | 7683.7 | 60.0 | 58.5 | 58.8 | 11 | OK
40.4 | 7578.9 | 7578.3 | 7578.3 | 60.0 | 61.1 | 60.8 | 11 | OK
42.1 | 7473.7 | 7474.4 | 7474.4 | 60.0 | 61.1 | 61.1 | 11 | OK
43.9 | 7368.4 | 7368.9 | 7368.9 | 60.0 | 58.5 | 58.9 | 11 | OK
45.6 | 7263.2 | 7263.5 | 7263.5 | 60.0 | 61.1 | 60.8 | 11 | OK
47.4 | 7157.9 | 7158.0 | 7158.0 | 60.0 | 58.5 | 58.8 | 11 | OK
49.1 | 7052.6 | 7052.6 | 7052.6 | 60.0 | 61.1 | 60.8 | 11 | OK
50.9 | 6947.4 | 6947.1 | 6947.1 | 60.0 | 58.5 | 58.8 | 11 | OK
52.6 | 6842.1 | 6841.7 | 6841.7 | 60.0 | 61.1 | 60.8 | 11 | OK
54.4 | 6736.8 | 6736.2 | 6736.2 | 60.0 | 58.5 | 58.8 | 11 | OK
56.1 | 6631.6 | 6630.8 | 6630.8 | 60.0 | 61.1 | 60.8 | 11 | OK
57.9 | 6526.3 | 6526.9 | 6526.9 | 60.0 | 61.1 | 61.1 | 11 | OK
59.6 | 6421.1 | 6421.5 | 6421.5 | 60.0 | 58.5 | 58.9 | 11 | OK
61.4 | 6315.8 | 6316.0 | 6316.0 | 60.0 | 61.1 | 60.8 | 11 | OK
63.2 | 6210.5 | 6210.6 | 6210.6 | 60.0 | 58.5 | 58.8 | 11 | OK
64.9 | 6105.3 | 6105.1 | 6105.1 | 60.0 | 61.1 | 60.8 | 11 | OK
66.7 | 6000.0 | 5999.7 | 5999.7 | 60.0 | 58.5 | 58.8 | 11 | OK
68.4 | 5894.7 | 5894.2 | 5894.2 | 60.0 | 61.1 | 60.8 | 11 | OK
70.2 | 5789.5 | 5790.3 | 5790.3 | 60.0 | 61.1 | 61.1 | 11 | OK
71.9 | 5684.2 | 5683.3 | 5683.3 | 60.0 | 61.1 | 61.1 | 11 | OK
73.7 | 5578.9 | 5579.4 | 5579.4 | 60.0 | 61.1 | 61.1 | 11 | OK
75.4 | 5473.7 | 5474.0 | 5474.0 | 60.0 | 58.5 | 58.9 | 11 | OK
77.2 | 5368.4 | 5368.5 | 5368.5 | 60.0 | 61.1 | 60.8 | 11 | OK
78.9 | 5263.2 | 5263.1 | 5263.1 | 60.0 | 58.5 | 58.8 | 11 | OK
80.7 | 5157.9 | 5157.6 | 5157.6 | 60.0 | 61.1 | 60.8 | 11 | OK
82.5 | 5052.6 | 5052.2 | 5052.2 | 60.0 | 58.5 | 58.8 | 11 | OK
84.2 | 4947.4 | 4946.7 | 4946.7 | 60.0 | 61.1 | 60.8 | 11 | OK
86.0 | 4842.1 | 4842.9 | 4842.9 | 60.0 | 61.1 | 61.1 | 11 | OK
87.7 | 4736.8 | 4737.4 | 4737.4 | 60.0 | 58.5 | 58.9 | 10 | OK
89.5 | 4631.6 | 4631.7 | 4631.7 | 60.0 | 58.5 | 58.5 | 10 | OK
91.2 | 4526.3 | 4526.7 | 4526.7 | 60.0 | 61.1 | 60.7 | 10 | OK
93.0 | 4421.1 | 4421.0 | 4421.0 | 60.0 | 61.1 | 61.1 | 10 | OK
94.7 | 4315.8 | 4316.1 | 4316.1 | 60.0 | 58.5 | 58.9 | 10 | OK
96.5 | 4210.5 | 4210.3 | 4210.3 | 60.0 | 58.5 | 58.5 | 10 | OK
98.2 | 4105.3 | 4105.4 | 4105.4 | 60.0 | 61.1 | 60.7 | 10 | OK
100.0 | 4000.0 | 3999.7 | 3999.7 | 33.3 | 34.5 | 38.6 | 10 | OK
101.8 | 3941.9 | 3942.2 | 3942.2 | 32.8 | 31.9 | 33.7 | 10 | OK
103.5 | 3884.7 | 3884.8 | 3884.8 | 32.4 | 34.5 | 34.3 | 10 | OK
105.3 | 3828.4 | 3828.8 | 3828.8 | 31.9 | 31.9 | 32.6 | 10 | OK
107.0 | 3772.8 | 3772.9 | 3772.9 | 31.4 | 29.2 | 30.4 | 10 | OK
108.8 | 3718.0 | 3718.5 | 3718.5 | 31.0 | 31.9 | 31.4 | 10 | OK
110.5 | 3664.1 | 3664.1 | 3664.1 | 30.5 | 29.2 | 30.0 | 10 | OK
112.3 | 3610.9 | 3610.5 | 3610.5 | 30.1 | 29.2 | 29.5 | 10 | OK
114.0 | 3558.5 | 3558.4 | 3558.4 | 29.7 | 29.2 | 29.3 | 10 | OK
115.8 | 3506.8 | 3506.3 | 3506.3 | 29.2 | 29.2 | 29.3 | 10 | OK
117.5 | 3455.9 | 3455.8 | 3455.8 | 28.8 | 29.2 | 29.2 | 10 | OK
119.3 | 3405.8 | 3406.0 | 3406.0 | 28.4 | 26.6 | 27.6 | 10 | OK
121.1 | 3356.4 | 3356.2 | 3356.2 | 28.0 | 29.2 | 28.6 | 10 | OK
122.8 | 3307.6 | 3307.9 | 3307.9 | 27.6 | 26.6 | 27.3 | 10 | OK
124.6 | 3259.6 | 3259.6 | 3259.6 | 27.2 | 29.2 | 28.5 | 10 | OK
126.3 | 3212.3 | 3212.9 | 3212.9 | 26.8 | 26.6 | 27.3 | 10 | OK
128.1 | 3165.7 | 3165.4 | 3165.4 | 26.4 | 26.6 | 26.9 | 10 | OK
129.8 | 3119.8 | 3119.4 | 3119.4 | 26.0 | 26.6 | 26.7 | 10 | OK
131.6 | 3074.5 | 3074.2 | 3074.2 | 25.6 | 23.9 | 25.0 | 10 | OK
133.3 | 3029.9 | 3029.8 | 3029.8 | 25.2 | 23.9 | 24.4 | 10 | OK
135.1 | 2985.9 | 2986.2 | 2986.2 | 24.9 | 26.6 | 25.6 | 10 | OK
136.8 | 2942.6 | 2942.5 | 2942.5 | 24.5 | 23.9 | 24.6 | 10 | OK
138.6 | 2899.8 | 2899.6 | 2899.6 | 24.2 | 23.9 | 24.2 | 10 | OK
140.4 | 2857.8 | 2858.2 | 2858.2 | 23.8 | 23.9 | 24.0 | 10 | OK
142.1 | 2816.3 | 2816.8 | 2816.8 | 23.5 | 23.9 | 24.0 | 10 | OK
143.9 | 2775.4 | 2775.5 | 2775.5 | 23.1 | 23.9 | 23.9 | 10 | OK
145.6 | 2735.1 | 2734.9 | 2734.9 | 22.8 | 21.3 | 22.4 | 10 | OK
147.4 | 2695.4 | 2695.0 | 2695.0 | 22.5 | 21.3 | 21.8 | 10 | OK
149.1 | 2656.3 | 2656.7 | 2656.7 | 22.1 | 21.3 | 21.5 | 10 | OK
150.9 | 2617.8 | 2617.7 | 2617.7 | 21.8 | 23.9 | 22.8 | 10 | OK
152.6 | 2579.8 | 2580.1 | 2580.1 | 21.5 | 21.3 | 22.0 | 10 | OK
154.4 | 2542.3 | 2541.8 | 2541.8 | 21.2 | 21.3 | 21.6 | 10 | OK
156.1 | 2505.4 | 2505.1 | 2505.1 | 20.9 | 21.3 | 21.4 | 10 | OK
157.9 | 2469.1 | 2469.1 | 2469.1 | 20.6 | 18.6 | 19.9 | 10 | OK
159.6 | 2433.2 | 2433.0 | 2433.0 | 20.3 | 21.3 | 20.6 | 10 | OK
161.4 | 2397.9 | 2397.8 | 2397.8 | 20.0 | 21.3 | 20.9 | 10 | OK
163.2 | 2363.1 | 2363.3 | 2363.3 | 19.7 | 18.6 | 19.7 | 10 | OK
164.9 | 2328.8 | 2328.9 | 2328.9 | 19.4 | 21.3 | 20.5 | 10 | OK
166.7 | 2295.0 | 2295.2 | 2295.2 | 19.1 | 21.3 | 20.9 | 9 | OK
168.4 | 2261.7 | 2261.5 | 2261.5 | 18.8 | 18.6 | 19.7 | 9 | OK
170.2 | 2228.9 | 2228.7 | 2228.7 | 18.6 | 18.6 | 19.1 | 9 | OK
171.9 | 2196.5 | 2196.6 | 2196.6 | 18.3 | 18.6 | 18.9 | 9 | OK
173.7 | 2164.7 | 2164.6 | 2164.6 | 18.0 | 18.6 | 18.7 | 9 | OK
175.4 | 2133.2 | 2133.2 | 2133.2 | 17.8 | 18.6 | 18.7 | 9 | OK
177.2 | 2102.3 | 2102.3 | 2102.3 | 17.5 | 15.9 | 17.4 | 9 | OK
178.9 | 2071.8 | 2071.7 | 2071.7 | 17.3 | 15.9 | 16.7 | 9 | OK
180.7 | 2041.7 | 2041.9 | 2041.9 | 17.0 | 15.9 | 16.4 | 9 | OK
182.5 | 2012.1 | 2012.0 | 2012.0 | 16.8 | 15.9 | 16.2 | 9 | OK
184.2 | 1982.9 | 1983.0 | 1983.0 | 16.5 | 15.9 | 16.1 | 9 | OK
186.0 | 1954.1 | 1953.9 | 1953.9 | 16.3 | 15.9 | 16.0 | 9 | OK
187.7 | 1925.7 | 1925.5 | 1925.5 | 16.0 | 15.9 | 16.0 | 9 | OK
189.5 | 1897.8 | 1897.9 | 1897.9 | 15.8 | 15.9 | 16.0 | 9 | OK
191.2 | 1870.2 | 1870.4 | 1870.4 | 15.6 | 15.9 | 16.0 | 9 | OK
193.0 | 1843.1 | 1843.1 | 1843.1 | 15.4 | 13.3 | 14.8 | 9 | OK
194.7 | 1816.3 | 1816.3 | 1816.3 | 15.1 | 13.3 | 14.2 | 9 | OK
196.5 | 1790.0 | 1789.8 | 1789.8 | 14.9 | 15.9 | 14.9 | 9 | OK
198.2 | 1764.0 | 1764.1 | 1764.1 | 14.7 | 13.3 | 14.3 | 9 | OK
200.0 | 1738.4 | 1738.4 | 1738.4 | 14.5 | 15.9 | 14.9 | 9 | OK
201.8 | 1713.2 | 1713.4 | 1713.4 | 14.3 | 13.3 | 14.3 | 9 | OK
203.5 | 1688.3 | 1688.4 | 1688.4 | 14.1 | 15.9 | 14.9 | 9 | OK
205.3 | 1663.8 | 1663.8 | 1663.8 | 13.9 | 15.9 | 15.3 | 9 | OK
207.0 | 1639.6 | 1639.5 | 1639.5 | 13.7 | 13.3 | 14.5 | 9 | OK
208.8 | 1615.9 | 1615.7 | 1615.7 | 13.5 | 13.3 | 14.0 | 9 | OK
210.5 | 1592.4 | 1592.6 | 1592.6 | 13.3 | 13.3 | 13.7 | 9 | OK
212.3 | 1569.3 | 1569.4 | 1569.4 | 13.1 | 13.3 | 13.5 | 9 | OK
214.0 | 1546.5 | 1546.3 | 1546.3 | 12.9 | 13.3 | 13.4 | 9 | OK
215.8 | 1524.1 | 1524.0 | 1523.9 | 12.7 | 13.3 | 13.4 | 9 | OK
217.5 | 1501.9 | 1502.0 | 1502.0 | 12.5 | 10.6 | 12.3 | 9 | OK
219.3 | 1480.1 | 1480.0 | 1480.0 | 12.3 | 13.3 | 12.7 | 9 | OK
221.1 | 1458.7 | 1458.7 | 1458.7 | 12.2 | 10.6 | 12.0 | 9 | OK
222.8 | 1437.5 | 1437.4 | 1437.4 | 12.0 | 13.3 | 12.4 | 9 | OK
224.6 | 1416.6 | 1416.6 | 1416.6 | 11.8 | 13.3 | 12.7 | 9 | OK
226.3 | 1396.1 | 1396.1 | 1396.1 | 11.6 | 10.6 | 12.0 | 9 | OK
228.1 | 1375.8 | 1375.9 | 1375.9 | 11.5 | 10.6 | 11.5 | 9 | OK
229.8 | 1355.8 | 1355.8 | 1355.8 | 11.3 | 10.6 | 11.2 | 9 | OK
231.6 | 1336.2 | 1336.4 | 1336.4 | 11.1 | 10.6 | 11.0 | 9 | OK
233.3 | 1316.8 | 1317.0 | 1317.0 | 11.0 | 10.6 | 10.9 | 9 | OK
235.1 | 1297.7 | 1297.6 | 1297.6 | 10.8 | 10.6 | 10.8 | 9 | OK
236.8 | 1278.8 | 1279.0 | 1279.0 | 10.7 | 10.6 | 10.8 | 9 | OK
238.6 | 1260.3 | 1260.3 | 1260.3 | 10.5 | 10.6 | 10.7 | 9 | OK
240.4 | 1242.0 | 1241.7 | 1241.7 | 10.3 | 10.6 | 10.7 | 9 | OK
242.1 | 1224.0 | 1223.8 | 1223.8 | 10.2 | 10.6 | 10.7 | 9 | OK
243.9 | 1206.2 | 1206.3 | 1206.3 | 10.1 | 8.0 | 9.8 | 9 | OK
245.6 | 1188.7 | 1188.7 | 1188.7 | 9.9 | 10.6 | 10.1 | 9 | OK
247.4 | 1171.4 | 1171.6 | 1171.6 | 9.8 | 10.6 | 10.2 | 9 | OK
249.1 | 1154.4 | 1154.4 | 1154.4 | 9.6 | 10.6 | 10.3 | 9 | OK
250.9 | 1137.7 | 1137.6 | 1137.6 | 9.5 | 8.0 | 9.6 | 9 | OK
252.6 | 1121.2 | 1121.2 | 1121.2 | 9.3 | 8.0 | 9.1 | 8 | OK
254.4 | 1104.9 | 1104.9 | 1104.9 | 9.2 | 10.6 | 9.6 | 8 | OK
256.1 | 1088.9 | 1088.8 | 1088.8 | 9.1 | 8.0 | 9.1 | 8 | OK
257.9 | 1073.0 | 1073.0 | 1073.0 | 8.9 | 10.6 | 9.5 | 8 | OK
259.6 | 1057.5 | 1057.6 | 1057.6 | 8.8 | 8.0 | 9.1 | 8 | OK
261.4 | 1042.1 | 1042.1 | 1042.1 | 8.7 | 10.6 | 9.5 | 8 | OK
263.2 | 1027.0 | 1027.1 | 1027.1 | 8.6 | 8.0 | 9.0 | 8 | OK
264.9 | 1012.1 | 1012.2 | 1012.2 | 8.4 | 8.0 | 8.7 | 8 | OK
266.7 | 997.4 | 997.3 | 997.3 | 8.3 | 8.0 | 8.5 | 8 | OK
268.4 | 982.9 | 982.8 | 982.8 | 8.2 | 8.0 | 8.4 | 8 | OK
270.2 | 968.7 | 968.6 | 968.6 | 8.1 | 8.0 | 8.3 | 8 | OK
271.9 | 954.6 | 954.5 | 954.5 | 8.0 | 8.0 | 8.2 | 8 | OK
273.7 | 940.8 | 940.7 | 940.7 | 7.8 | 8.0 | 8.1 | 8 | OK
275.4 | 927.1 | 927.3 | 927.3 | 7.7 | 8.0 | 8.1 | 8 | OK
277.2 | 913.6 | 913.6 | 913.6 | 7.6 | 5.3 | 7.4 | 8 | OK
278.9 | 900.4 | 900.4 | 900.4 | 7.5 | 8.0 | 7.5 | 8 | OK
280.7 | 887.3 | 887.3 | 887.3 | 7.4 | 8.0 | 7.6 | 8 | OK
282.5 | 874.4 | 874.4 | 874.4 | 7.3 | 5.3 | 7.1 | 8 | OK
284.2 | 861.7 | 861.7 | 861.7 | 7.2 | 5.3 | 6.7 | 8 | OK
286.0 | 849.2 | 849.2 | 849.2 | 7.1 | 8.0 | 7.0 | 8 | OK
287.7 | 836.9 | 836.9 | 836.9 | 7.0 | 8.0 | 7.2 | 8 | OK
289.5 | 824.8 | 824.7 | 824.7 | 6.9 | 5.3 | 6.8 | 8 | OK
291.2 | 812.8 | 812.7 | 812.7 | 6.8 | 5.3 | 6.5 | 8 | OK
293.0 | 801.0 | 800.9 | 800.9 | 6.7 | 8.0 | 6.8 | 8 | OK
294.7 | 789.4 | 789.3 | 789.3 | 6.6 | 8.0 | 7.0 | 8 | OK
296.5 | 777.9 | 777.9 | 777.9 | 6.5 | 5.3 | 6.7 | 8 | OK
298.2 | 766.6 | 766.6 | 766.6 | 6.4 | 5.3 | 6.4 | 8 | OK
300.0 | 755.5 | 755.4 | 755.4 | 5.0 | 5.3 | 6.2 | 8 | OK
301.8 | 746.7 | 746.7 | 746.7 | 5.0 | 5.3 | 6.0 | 8 | OK
303.5 | 737.9 | 738.0 | 738.0 | 5.0 | 5.3 | 5.8 | 8 | OK
305.3 | 729.2 | 729.2 | 729.2 | 4.9 | 5.3 | 5.7 | 8 | OK
307.0 | 720.6 | 720.5 | 720.5 | 4.9 | 5.3 | 5.6 | 8 | OK
308.8 | 712.0 | 711.8 | 711.8 | 4.9 | 5.3 | 5.5 | 8 | OK
310.5 | 703.4 | 703.5 | 703.5 | 4.9 | 5.3 | 5.4 | 8 | OK
312.3 | 694.9 | 694.9 | 694.9 | 4.8 | 2.7 | 5.0 | 8 | OK
314.0 | 686.5 | 686.4 | 686.4 | 4.8 | 5.3 | 5.0 | 8 | OK
315.8 | 678.1 | 678.1 | 678.1 | 4.8 | 5.3 | 5.0 | 8 | OK
317.5 | 669.7 | 669.7 | 669.7 | 4.7 | 5.3 | 5.1 | 8 | OK
319.3 | 661.4 | 661.4 | 661.4 | 4.7 | 5.3 | 5.1 | 8 | OK
321.1 | 653.2 | 653.2 | 653.2 | 4.7 | 2.7 | 4.7 | 8 | OK
322.8 | 645.0 | 645.0 | 645.0 | 4.7 | 5.3 | 4.8 | 8 | OK
324.6 | 636.9 | 636.9 | 636.9 | 4.6 | 2.7 | 4.5 | 8 | OK
326.3 | 628.8 | 628.7 | 628.7 | 4.6 | 5.3 | 4.6 | 8 | OK
328.1 | 620.7 | 620.7 | 620.7 | 4.6 | 5.3 | 4.7 | 8 | OK
329.8 | 612.8 | 612.7 | 612.7 | 4.5 | 5.3 | 4.8 | 8 | OK
331.6 | 604.8 | 604.7 | 604.7 | 4.5 | 5.3 | 4.8 | 8 | OK
333.3 | 596.9 | 596.9 | 596.9 | 4.5 | 2.7 | 4.5 | 8 | OK
335.1 | 589.1 | 589.1 | 589.1 | 4.4 | 5.3 | 4.6 | 8 | OK
336.8 | 581.3 | 581.3 | 581.3 | 4.4 | 2.7 | 4.4 | 8 | OK
338.6 | 573.6 | 573.5 | 573.5 | 4.4 | 5.3 | 4.5 | 8 | OK
340.4 | 565.9 | 565.9 | 565.9 | 4.4 | 5.3 | 4.6 | 8 | OK
342.1 | 558.3 | 558.3 | 558.3 | 4.3 | 5.3 | 4.6 | 8 | OK
343.9 | 550.7 | 550.7 | 550.7 | 4.3 | 5.3 | 4.7 | 8 | OK
345.6 | 543.2 | 543.2 | 543.2 | 4.3 | 2.7 | 4.4 | 7 | OK
347.4 | 535.8 | 535.8 | 535.8 | 4.2 | 2.7 | 4.2 | 7 | OK
349.1 | 528.3 | 528.4 | 528.4 | 4.2 | 2.7 | 4.0 | 7 | OK
350.9 | 521.0 | 520.9 | 520.9 | 4.2 | 2.7 | 3.9 | 7 | OK
352.6 | 513.7 | 513.7 | 513.7 | 4.2 | 2.7 | 3.8 | 7 | OK
354.4 | 506.4 | 506.4 | 506.4 | 4.1 | 5.3 | 4.0 | 7 | OK
356.1 | 499.2 | 499.2 | 499.2 | 4.1 | 2.7 | 3.8 | 7 | OK
357.9 | 492.0 | 492.1 | 492.1 | 4.1 | 5.3 | 4.0 | 7 | OK
359.6 | 484.9 | 484.9 | 484.9 | 4.0 | 2.7 | 3.9 | 7 | OK
361.4 | 477.9 | 477.9 | 477.9 | 4.0 | 5.3 | 4.0 | 7 | OK
363.2 | 470.9 | 470.9 | 470.9 | 4.0 | 5.3 | 4.2 | 7 | OK
364.9 | 463.9 | 464.0 | 464.0 | 3.9 | 5.3 | 4.3 | 7 | OK
366.7 | 457.0 | 457.1 | 457.1 | 3.9 | 5.3 | 4.3 | 7 | OK
368.4 | 450.2 | 450.2 | 450.2 | 3.9 | 5.3 | 4.4 | 7 | OK
370.2 | 443.4 | 443.4 | 443.4 | 3.9 | 2.7 | 4.2 | 7 | OK
371.9 | 436.6 | 436.7 | 436.7 | 3.8 | 2.7 | 4.0 | 7 | OK
373.7 | 430.0 | 430.0 | 430.0 | 3.8 | 2.7 | 3.8 | 7 | OK
375.4 | 423.3 | 423.3 | 423.3 | 3.8 | 5.3 | 4.0 | 7 | OK
377.2 | 416.7 | 416.7 | 416.7 | 3.7 | 2.7 | 3.8 | 7 | OK
378.9 | 410.2 | 410.2 | 410.2 | 3.7 | 2.7 | 3.7 | 7 | OK
380.7 | 403.7 | 403.7 | 403.7 | 3.7 | 5.3 | 3.8 | 7 | OK
382.5 | 397.3 | 397.3 | 397.3 | 3.7 | 2.7 | 3.7 | 7 | OK
384.2 | 390.9 | 390.9 | 390.9 | 3.6 | 2.7 | 3.6 | 7 | OK
386.0 | 384.6 | 384.5 | 384.5 | 3.6 | 2.7 | 3.5 | 7 | OK
387.7 | 378.3 | 378.3 | 378.3 | 3.6 | 5.3 | 3.7 | 7 | OK
389.5 | 372.1 | 372.0 | 372.0 | 3.5 | 2.7 | 3.6 | 7 | OK
391.2 | 365.9 | 365.9 | 365.9 | 3.5 | 5.3 | 3.7 | 7 | OK
393.0 | 359.8 | 359.8 | 359.8 | 3.5 | 2.7 | 3.6 | 7 | OK
394.7 | 353.7 | 353.6 | 353.6 | 3.4 | 2.7 | 3.5 | 7 | OK
396.5 | 347.7 | 347.6 | 347.6 | 3.4 | 2.7 | 3.4 | 7 | OK
398.2 | 341.7 | 341.7 | 341.7 | 3.4 | 5.3 | 3.6 | 7 | OK
400.0 | 335.8 | 335.8 | 335.8 | 3.4 | 2.7 | 3.5 | 7 | OK
401.8 | 329.9 | 330.0 | 330.0 | 3.3 | 2.7 | 3.4 | 7 | OK
403.5 | 324.1 | 324.1 | 324.1 | 3.3 | 2.7 | 3.3 | 7 | OK
405.3 | 318.3 | 318.3 | 318.3 | 3.3 | 2.7 | 3.3 | 7 | OK
407.0 | 312.6 | 312.6 | 312.6 | 3.2 | 2.7 | 3.2 | 7 | OK
408.8 | 307.0 | 307.0 | 307.0 | 3.2 | 2.7 | 3.2 | 7 | OK
410.5 | 301.4 | 301.3 | 301.3 | 3.2 | 2.7 | 3.2 | 7 | OK
412.3 | 295.8 | 295.9 | 295.9 | 3.2 | 2.7 | 3.1 | 7 | OK
414.0 | 290.3 | 290.4 | 290.4 | 3.1 | 2.7 | 3.1 | 7 | OK
415.8 | 284.9 | 284.9 | 284.9 | 3.1 | 2.7 | 3.1 | 7 | OK
417.5 | 279.5 | 279.4 | 279.4 | 3.1 | 2.7 | 3.1 | 7 | OK
419.3 | 274.1 | 274.1 | 274.1 | 3.0 | 2.7 | 3.0 | 7 | OK
421.1 | 268.8 | 268.8 | 268.8 | 3.0 | 2.7 | 3.0 | 7 | OK
422.8 | 263.6 | 263.5 | 263.5 | 3.0 | 2.7 | 3.0 | 6 | OK
424.6 | 258.4 | 258.4 | 258.4 | 2.9 | 2.7 | 3.0 | 6 | OK
426.3 | 253.2 | 253.2 | 253.2 | 2.9 | 2.7 | 2.9 | 6 | OK
428.1 | 248.1 | 248.1 | 248.1 | 2.9 | 2.7 | 2.9 | 6 | OK
429.8 | 243.1 | 243.1 | 243.1 | 2.9 | 2.7 | 2.9 | 6 | OK
431.6 | 238.1 | 238.1 | 238.1 | 2.8 | 2.7 | 2.9 | 6 | OK
433.3 | 233.2 | 233.2 | 233.2 | 2.8 | 2.7 | 2.9 | 6 | OK
435.1 | 228.3 | 228.3 | 228.3 | 2.8 | 2.7 | 2.8 | 6 | OK
436.8 | 223.5 | 223.5 | 223.5 | 2.7 | 2.7 | 2.8 | 6 | OK
438.6 | 218.7 | 218.6 | 218.6 | 2.7 | 2.7 | 2.8 | 6 | OK
440.4 | 214.0 | 213.9 | 213.9 | 2.7 | 2.7 | 2.8 | 6 | OK
442.1 | 209.3 | 209.3 | 209.3 | 2.7 | 2.7 | 2.7 | 6 | OK
443.9 | 204.7 | 204.6 | 204.6 | 2.6 | 2.7 | 2.7 | 6 | OK
445.6 | 200.1 | 200.1 | 200.1 | 2.6 | 2.7 | 2.7 | 6 | OK
447.4 | 195.6 | 195.6 | 195.6 | 2.6 | 2.7 | 2.7 | 6 | OK
449.1 | 191.1 | 191.1 | 191.1 | 2.5 | 2.7 | 2.6 | 6 | OK
450.9 | 186.7 | 186.7 | 186.7 | 2.5 | 2.7 | 2.6 | 6 | OK
452.6 | 182.3 | 182.3 | 182.3 | 2.5 | 2.7 | 2.6 | 6 | OK
454.4 | 178.0 | 178.0 | 178.0 | 2.4 | 2.7 | 2.6 | 6 | OK
456.1 | 173.7 | 173.8 | 173.8 | 2.4 | 2.7 | 2.5 | 6 | OK
457.9 | 169.5 | 169.5 | 169.5 | 2.4 | 2.7 | 2.5 | 6 | OK
459.6 | 165.4 | 165.3 | 165.3 | 2.4 | 2.7 | 2.5 | 6 | OK
461.4 | 161.2 | 161.2 | 161.2 | 2.3 | 0.0 | 2.4 | 6 | OK
463.2 | 157.2 | 157.2 | 157.2 | 2.3 | 2.7 | 2.4 | 6 | OK
464.9 | 153.2 | 153.2 | 153.2 | 2.3 | 2.7 | 2.4 | 6 | OK
466.7 | 149.2 | 149.2 | 149.2 | 2.2 | 2.7 | 2.3 | 6 | OK
468.4 | 145.3 | 145.3 | 145.3 | 2.2 | 0.0 | 2.3 | 6 | OK
470.2 | 141.5 | 141.5 | 141.5 | 2.2 | 2.7 | 2.2 | 6 | OK
471.9 | 137.7 | 137.7 | 137.7 | 2.2 | 0.0 | 2.2 | 6 | OK
473.7 | 133.9 | 133.9 | 133.9 | 2.1 | 2.7 | 2.2 | 6 | OK
475.4 | 130.2 | 130.2 | 130.2 | 2.1 | 2.7 | 2.2 | 6 | OK
477.2 | 126.6 | 126.6 | 126.6 | 2.1 | 2.7 | 2.2 | 5 | OK
478.9 | 123.0 | 123.0 | 123.0 | 2.0 | 2.7 | 2.1 | 5 | OK
480.7 | 119.5 | 119.5 | 119.5 | 2.0 | 2.7 | 2.1 | 5 | OK
482.5 | 116.0 | 116.0 | 116.0 | 2.0 | 2.7 | 2.1 | 5 | OK
484.2 | 112.5 | 112.5 | 112.5 | 1.9 | 2.7 | 2.1 | 5 | OK
486.0 | 109.2 | 109.2 | 109.2 | 1.9 | 0.0 | 2.0 | 5 | OK
487.7 | 105.8 | 105.8 | 105.8 | 1.9 | 2.7 | 2.0 | 5 | OK
489.5 | 102.5 | 102.6 | 102.6 | 1.9 | 0.0 | 1.9 | 5 | OK
491.2 | 99.3 | 99.3 | 99.3 | 1.8 | 2.7 | 1.9 | 5 | OK
493.0 | 96.1 | 96.1 | 96.1 | 1.8 | 2.7 | 1.9 | 5 | OK
494.7 | 93.0 | 93.0 | 93.0 | 1.8 | 0.0 | 1.8 | 5 | OK
496.5 | 89.9 | 89.9 | 89.9 | 1.7 | 2.7 | 1.8 | 5 | OK
498.2 | 86.9 | 86.9 | 86.9 | 1.7 | 2.7 | 1.8 | 5 | OK
500.0 | 83.9 | 83.9 | 83.9 | 1.7 | 2.7 | 1.8 | 5 | OK
501.8 | 81.0 | 81.0 | 81.0 | 1.6 | 2.7 | 1.8 | 5 | OK
503.5 | 78.2 | 78.1 | 78.1 | 1.6 | 0.0 | 1.7 | 5 | OK
505.3 | 75.3 | 75.3 | 75.3 | 1.6 | 0.0 | 1.6 | 5 | OK
507.0 | 72.6 | 72.6 | 72.6 | 1.6 | 0.0 | 1.6 | 5 | OK
508.8 | 69.9 | 69.9 | 69.9 | 1.5 | 0.0 | 1.6 | 5 | OK
510.5 | 67.2 | 67.2 | 67.2 | 1.5 | 2.7 | 1.6 | 5 | OK
512.3 | 64.6 | 64.6 | 64.6 | 1.5 | 0.0 | 1.5 | 5 | OK
514.0 | 62.0 | 62.0 | 62.0 | 1.4 | 0.0 | 1.5 | 4 | OK
515.8 | 59.5 | 59.5 | 59.5 | 1.4 | 0.0 | 1.5 | 4 | OK
517.5 | 57.1 | 57.1 | 57.1 | 1.4 | 0.0 | 1.4 | 4 | OK
519.3 | 54.7 | 54.7 | 54.7 | 1.4 | 2.7 | 1.4 | 4 | OK
521.1 | 52.3 | 52.3 | 52.3 | 1.3 | 0.0 | 1.4 | 4 | OK
522.8 | 50.0 | 50.0 | 50.0 | 1.3 | 0.0 | 1.3 | 4 | OK
524.6 | 47.8 | 47.8 | 47.8 | 1.3 | 0.0 | 1.3 | 4 | OK
526.3 | 45.6 | 45.6 | 45.6 | 1.2 | 0.0 | 1.3 | 4 | OK
528.1 | 43.4 | 43.4 | 43.4 | 1.2 | 2.7 | 1.3 | 4 | OK
529.8 | 41.3 | 41.3 | 41.3 | 1.2 | 0.0 | 1.2 | 4 | OK
531.6 | 39.3 | 39.3 | 39.3 | 1.1 | 0.0 | 1.2 | 4 | OK
533.3 | 37.3 | 37.3 | 37.3 | 1.1 | 0.0 | 1.2 | 4 | OK
535.1 | 35.4 | 35.4 | 35.4 | 1.1 | 0.0 | 1.1 | 4 | OK
536.8 | 33.5 | 33.5 | 33.5 | 1.1 | 2.7 | 1.1 | 4 | OK
538.6 | 31.7 | 31.7 | 31.7 | 1.0 | 2.7 | 1.1 | 4 | OK
540.4 | 29.9 | 29.9 | 29.9 | 1.0 | 0.0 | 1.1 | 3 | OK
542.1 | 28.1 | 28.1 | 28.1 | 1.0 | 2.7 | 1.0 | 3 | OK
543.9 | 26.5 | 26.5 | 26.5 | 0.9 | 2.7 | 1.0 | 3 | OK
545.6 | 24.8 | 24.8 | 24.8 | 0.9 | 0.0 | 1.0 | 3 | OK
547.4 | 23.3 | 23.3 | 23.3 | 0.9 | 2.7 | 0.9 | 3 | OK
549.1 | 21.7 | 21.7 | 21.7 | 0.9 | 0.0 | 0.9 | 3 | OK
550.9 | 20.3 | 20.3 | 20.3 | 0.8 | 0.0 | 0.9 | 3 | OK
552.6 | 18.8 | 18.8 | 18.8 | 0.8 | 0.0 | 0.8 | 3 | OK
554.4 | 17.5 | 17.5 | 17.5 | 0.8 | 0.0 | 0.8 | 3 | OK
556.1 | 16.1 | 16.1 | 16.1 | 0.7 | 0.0 | 0.8 | 3 | OK
557.9 | 14.9 | 14.9 | 14.9 | 0.7 | 0.0 | 0.7 | 2 | OK
559.6 | 13.7 | 13.7 | 13.7 | 0.7 | 0.0 | 0.7 | 2 | OK
561.4 | 12.5 | 12.5 | 12.5 | 0.6 | 0.0 | 0.7 | 2 | OK
563.2 | 11.4 | 11.4 | 11.4 | 0.6 | 5.3 | 0.7 | 2 | OK
564.9 | 10.3 | 10.3 | 10.3 | 0.6 | 5.3 | 0.6 | 2 | OK
566.7 | 9.3 | 9.3 | 9.3 | 0.6 | 0.0 | 0.6 | 2 | OK
568.4 | 8.4 | 8.4 | 8.4 | 0.5 | 2.7 | 0.6 | 2 | OK
570.2 | 7.5 | 7.5 | 7.5 | 0.5 | 0.0 | 0.5 | 2 | OK
571.9 | 6.6 | 6.6 | 6.6 | 0.5 | 5.3 | 0.5 | 1 | OK
573.7 | 5.8 | 5.8 | 5.8 | 0.4 | 8.0 | 0.5 | 1 | OK
575.4 | 5.1 | 5.1 | 5.1 | 0.4 | 8.0 | 0.4 | 1 | OK
577.2 | 4.4 | 4.4 | 4.4 | 0.4 | 15.9 | 0.4 | 1 | OK
578.9 | 3.7 | 3.7 | 3.7 | 0.4 | -5.3 | 0.4 | 1 | OK
580.7 | 3.1 | --- | 3.1 | 0.3 | --- | 0.4 | 1 | OK
582.5 | 3.0 | 3.0 | 3.0 | 0.3 | 37.2 | 0.2 | 0 | OK
584.2 | 3.0 | 3.0 | 3.0 | 0.3 | 13.3 | 0.0 | 0 | OK
586.0 | 3.0 | 3.0 | 3.0 | 0.2 | 58.5 | 0.0 | 0 | OK
587.7 | 3.0 | 3.0 | 3.0 | 0.2 | 26.6 | 0.0 | 0 | OK
589.5 | 3.0 | 3.0 | 3.0 | 0.2 | 2.7 | 0.0 | 0 | OK
591.2 | 3.0 | 3.0 | 3.0 | 0.1 | 5.3 | 0.0 | 0 | OK
593.0 | 3.0 | 3.0 | 3.0 | 0.1 | -55.8 | 0.0 | 0 | OK
594.7 | 3.0 | 3.0 | 3.0 | 0.1 | 63.8 | 0.0 | 0 | OK
596.5 | 3.0 | 3.0 | 3.0 | 0.1 | 8.0 | 0.0 | 0 | OK
598.2 | 3.0 | 3.0 | 3.0 | 0.1 | 45.2 | 0.0 | 0 | OK
600.0 | 20.0 | --- | 3.0 | 0.2 | --- | 0.0 | 0 | OK
601.8 | 19.6 | 19.7 | 19.4 | 0.2 | 2.7 | -0.9 | 3 | OK
603.5 | 19.3 | 19.3 | 19.3 | 0.2 | 0.0 | -0.9 | 3 | OK
605.3 | 18.9 | 18.9 | 18.9 | 0.2 | -2.7 | -0.5 | 3 | OK
607.0 | 18.6 | 18.6 | 18.6 | 0.2 | 0.0 | -0.1 | 3 | OK
608.8 | 18.2 | 18.2 | 18.2 | 0.2 | 0.0 | 0.0 | 3 | OK
610.5 | 17.9 | 17.9 | 17.9 | 0.2 | 0.0 | 0.1 | 3 | OK
612.3 | 17.5 | 17.5 | 17.5 | 0.2 | 0.0 | 0.1 | 3 | OK
614.0 | 17.2 | 17.2 | 17.2 | 0.2 | 2.7 | 0.1 | 3 | OK
615.8 | 16.8 | 16.8 | 16.8 | 0.2 | 0.0 | 0.1 | 3 | OK
617.5 | 16.5 | 16.5 | 16.5 | 0.2 | 2.7 | 0.2 | 3 | OK
619.3 | 16.1 | 16.1 | 16.1 | 0.2 | 2.7 | 0.2 | 3 | OK
621.1 | 15.8 | 15.8 | 15.8 | 0.2 | 0.0 | 0.2 | 3 | OK
622.8 | 15.4 | 15.4 | 15.4 | 0.2 | 0.0 | 0.2 | 3 | OK
624.6 | 15.1 | 15.1 | 15.1 | 0.2 | 2.7 | 0.2 | 3 | OK
626.3 | 14.7 | 14.7 | 14.7 | 0.2 | 0.0 | 0.2 | 2 | OK
628.1 | 14.4 | 14.4 | 14.4 | 0.2 | 2.7 | 0.2 | 2 | OK
629.8 | 14.0 | 14.0 | 14.0 | 0.2 | 2.7 | 0.2 | 2 | OK
631.6 | 13.7 | 13.7 | 13.7 | 0.2 | -2.7 | 0.2 | 2 | OK
633.3 | 13.3 | 13.3 | 13.3 | 0.2 | 2.7 | 0.2 | 2 | OK
635.1 | 13.0 | 13.0 | 13.0 | 0.2 | -5.3 | 0.2 | 2 | OK
636.8 | 12.6 | 12.6 | 12.6 | 0.2 | 0.0 | 0.2 | 2 | OK
638.6 | 12.3 | 12.3 | 12.3 | 0.2 | 0.0 | 0.2 | 2 | OK
640.4 | 11.9 | 11.9 | 11.9 | 0.2 | -2.7 | 0.2 | 2 | OK
642.1 | 11.6 | 11.6 | 11.6 | 0.2 | 2.7 | 0.2 | 2 | OK
643.9 | 11.2 | 11.2 | 11.2 | 0.2 | 0.0 | 0.2 | 2 | OK
645.6 | 10.9 | 10.9 | 10.9 | 0.2 | 0.0 | 0.2 | 2 | OK
647.4 | 10.5 | 10.5 | 10.5 | 0.2 | 5.3 | 0.2 | 2 | OK
649.1 | 10.2 | 10.2 | 10.2 | 0.2 | 0.0 | 0.2 | 2 | OK
650.9 | 9.8 | 9.8 | 9.8 | 0.2 | 0.0 | 0.2 | 2 | OK
652.6 | 9.5 | 9.5 | 9.5 | 0.2 | 2.7 | 0.2 | 2 | OK
654.4 | 9.1 | 9.1 | 9.1 | 0.2 | -5.3 | 0.2 | 2 | OK
656.1 | 8.8 | 8.8 | 8.8 | 0.2 | -2.7 | 0.2 | 2 | OK
657.9 | 8.4 | 8.4 | 8.4 | 0.2 | 0.0 | 0.2 | 2 | OK
659.6 | 8.1 | 8.1 | 8.1 | 0.2 | -2.7 | 0.2 | 2 | OK
661.4 | 7.7 | 7.7 | 7.7 | 0.2 | 5.3 | 0.2 | 2 | OK
663.2 | 7.4 | 7.4 | 7.4 | 0.2 | -2.7 | 0.2 | 2 | OK
664.9 | 7.0 | 7.0 | 7.0 | 0.2 | 2.7 | 0.2 | 1 | OK
666.7 | 6.7 | 6.7 | 6.7 | 0.2 | -10.6 | 0.2 | 1 | OK
668.4 | 6.3 | 6.3 | 6.3 | 0.2 | 5.3 | 0.2 | 1 | OK
670.2 | 6.0 | 6.0 | 6.0 | 0.2 | -8.0 | 0.2 | 1 | OK
671.9 | 5.6 | 5.6 | 5.6 | 0.2 | -5.3 | 0.2 | 1 | OK
673.7 | 5.3 | 5.3 | 5.3 | 0.2 | 5.3 | 0.2 | 1 | OK
675.4 | 4.9 | 4.9 | 4.9 | 0.2 | -8.0 | 0.2 | 1 | OK
677.2 | 4.6 | 4.6 | 4.6 | 0.2 | 10.6 | 0.2 | 1 | OK
678.9 | 4.2 | 4.2 | 4.2 | 0.2 | 13.3 | 0.2 | 1 | OK
680.7 | 3.9 | 3.9 | 3.9 | 0.2 | -10.6 | 0.2 | 1 | OK
682.5 | 3.5 | 3.5 | 3.5 | 0.2 | 10.6 | 0.2 | 0 | OK
684.2 | 3.2 | 3.1 | 3.1 | 0.2 | 39.9 | 0.2 | 0 | OK
686.0 | 3.0 | 3.0 | 3.0 | 0.2 | -8.0 | 0.1 | 0 | OK
687.7 | 3.0 | 3.0 | 3.0 | 0.2 | -21.3 | 0.0 | 0 | OK
689.5 | 3.0 | 3.0 | 3.0 | 0.2 | 13.3 | 0.0 | 0 | OK
691.2 | 3.0 | 3.0 | 3.0 | 0.2 | 18.6 | 0.0 | 0 | OK
693.0 | 3.0 | 3.0 | 3.0 | 0.2 | -23.9 | 0.0 | 0 | OK
694.7 | 3.0 | 3.0 | 3.0 | 0.2 | -29.2 | 0.0 | 0 | OK
696.5 | 3.0 | 3.0 | 3.0 | 0.2 | 13.3 | 0.0 | 0 | OK
698.2 | 3.0 | 3.0 | 3.0 | 0.2 | -34.5 | 0.0 | 0 | OK
700.0 | 3.0 | 3.0 | 3.0 | 0.2 | -31.9 | 0.0 | 0 | OK
Tracking Timeline:
(. = OK, X = gap, ! = bad velocity near ground, altitude decreasing →)
................................................................................
standard: LANDED
Valid: 400/400
Gaps: 0, Position error: 17.00m
Max velocity seen: 61.1 m/sIn the aggressive descent profile there are no altitude jumps, and the Kalman filter works really well, making a maximum altitude error of only 1.7 meters.
$ python3 lunar_descent_ctf.py -p aggressive
Time | True Alt | RAP Alt | Q Alt | True Vel | RAP Vel | Q.Vel | Mode | Status
──────────────────────────────────────────────────────────────────────────────────────────────
0.0 | 10000.0 | 10001.3 | 10001.3 | 166.7 | 167.4 | 167.4 | 12 | OK
1.0 | 9834.3 | 9833.7 | 9833.7 | 163.9 | 164.8 | 164.9 | 11 | OK
2.0 | 9671.4 | 9671.5 | 9671.5 | 161.2 | 162.1 | 162.2 | 11 | OK
3.0 | 9511.1 | 9511.0 | 9511.0 | 158.5 | 156.8 | 157.1 | 11 | OK
4.0 | 9353.5 | 9353.6 | 9353.6 | 155.9 | 156.8 | 156.8 | 11 | OK
5.0 | 9198.5 | 9197.8 | 9197.8 | 153.3 | 154.1 | 154.3 | 11 | OK
6.0 | 9046.1 | 9045.1 | 9045.1 | 150.8 | 151.5 | 151.6 | 11 | OK
7.0 | 8896.2 | 8895.6 | 8895.6 | 148.3 | 148.8 | 149.0 | 11 | OK
8.0 | 8748.8 | 8749.2 | 8749.2 | 145.8 | 146.2 | 146.3 | 11 | OK
9.0 | 8603.8 | 8602.9 | 8602.9 | 143.4 | 143.5 | 143.7 | 11 | OK
10.0 | 8461.3 | 8461.2 | 8461.2 | 141.0 | 143.5 | 143.5 | 11 | OK
11.0 | 8321.1 | 8321.1 | 8321.1 | 138.7 | 140.9 | 141.0 | 11 | OK
12.0 | 8183.2 | 8182.6 | 8182.6 | 136.4 | 135.5 | 135.9 | 11 | OK
13.0 | 8047.6 | 8047.3 | 8047.3 | 134.1 | 135.5 | 135.6 | 11 | OK
14.0 | 7914.3 | 7913.5 | 7913.5 | 131.9 | 132.9 | 133.1 | 11 | OK
15.0 | 7783.1 | 7782.9 | 7782.9 | 129.7 | 130.2 | 130.4 | 11 | OK
16.0 | 7654.2 | 7655.4 | 7655.4 | 127.6 | 127.6 | 127.8 | 11 | OK
17.0 | 7527.3 | 7527.9 | 7527.9 | 125.5 | 124.9 | 125.1 | 11 | OK
18.0 | 7402.6 | 7402.0 | 7402.0 | 123.4 | 124.9 | 124.9 | 11 | OK
19.0 | 7280.0 | 7280.8 | 7280.8 | 121.3 | 122.3 | 122.5 | 11 | OK
20.1 | 7159.3 | 7159.6 | 7159.6 | 119.3 | 119.6 | 119.8 | 11 | OK
21.1 | 7040.7 | 7041.6 | 7041.6 | 117.3 | 116.9 | 117.2 | 11 | OK
22.1 | 6924.0 | 6923.5 | 6923.5 | 115.4 | 114.3 | 114.5 | 11 | OK
23.1 | 6809.3 | 6810.2 | 6810.2 | 113.5 | 114.3 | 114.3 | 11 | OK
24.1 | 6696.5 | 6695.3 | 6695.3 | 111.6 | 111.6 | 111.9 | 11 | OK
25.1 | 6585.5 | 6585.1 | 6585.1 | 109.8 | 111.6 | 111.6 | 11 | OK
26.1 | 6476.4 | 6476.5 | 6476.5 | 107.9 | 109.0 | 109.2 | 11 | OK
27.1 | 6369.1 | 6368.0 | 6367.9 | 106.2 | 106.3 | 106.6 | 11 | OK
28.1 | 6263.6 | 6262.5 | 6262.5 | 104.4 | 103.6 | 103.9 | 11 | OK
29.1 | 6159.8 | 6160.2 | 6160.2 | 102.7 | 101.0 | 101.3 | 11 | OK
30.1 | 6057.7 | 6056.3 | 6056.3 | 101.0 | 101.0 | 101.0 | 11 | OK
31.1 | 5957.3 | 5957.2 | 5957.2 | 99.3 | 98.3 | 98.6 | 11 | OK
32.1 | 5858.6 | 5859.6 | 5859.6 | 97.6 | 98.3 | 98.4 | 11 | OK
33.1 | 5761.6 | 5760.4 | 5760.4 | 96.0 | 95.7 | 96.0 | 11 | OK
34.1 | 5666.1 | 5666.0 | 5666.0 | 94.4 | 95.7 | 95.7 | 11 | OK
35.1 | 5572.2 | 5573.1 | 5573.1 | 92.9 | 93.0 | 93.3 | 11 | OK
36.1 | 5479.9 | 5480.3 | 5480.3 | 91.3 | 90.4 | 90.7 | 11 | OK
37.1 | 5389.1 | 5389.0 | 5389.0 | 89.8 | 90.4 | 90.4 | 11 | OK
38.1 | 5299.8 | 5299.3 | 5299.3 | 88.3 | 87.7 | 88.1 | 11 | OK
39.1 | 5212.0 | 5211.1 | 5211.1 | 86.9 | 87.7 | 87.8 | 11 | OK
40.1 | 5125.6 | 5124.6 | 5124.6 | 85.4 | 85.0 | 85.4 | 11 | OK
41.1 | 5040.7 | 5041.2 | 5041.2 | 84.0 | 82.4 | 82.8 | 11 | OK
42.1 | 4957.1 | 4956.2 | 4956.2 | 82.6 | 82.4 | 82.5 | 11 | OK
43.1 | 4875.0 | 4874.3 | 4874.3 | 81.3 | 82.4 | 82.4 | 11 | OK
44.1 | 4794.2 | 4794.1 | 4794.1 | 79.9 | 79.7 | 80.1 | 11 | OK
45.1 | 4714.8 | 4715.4 | 4715.4 | 78.6 | 79.7 | 79.8 | 10 | OK
46.1 | 4636.7 | 4637.0 | 4637.0 | 77.3 | 77.1 | 77.5 | 10 | OK
47.1 | 4559.8 | 4559.7 | 4559.7 | 76.0 | 74.4 | 74.9 | 10 | OK
48.1 | 4484.3 | 4484.6 | 4484.6 | 74.7 | 74.4 | 74.5 | 10 | OK
49.1 | 4410.0 | 4409.5 | 4409.5 | 73.5 | 74.4 | 74.4 | 10 | OK
50.1 | 4336.9 | 4336.7 | 4336.7 | 72.3 | 71.8 | 72.2 | 10 | OK
51.1 | 4265.1 | 4264.7 | 4264.7 | 71.1 | 71.8 | 71.8 | 10 | OK
52.1 | 4194.4 | 4194.2 | 4194.2 | 69.9 | 71.8 | 71.8 | 10 | OK
53.1 | 4124.9 | 4124.5 | 4124.5 | 68.7 | 69.1 | 69.6 | 10 | OK
54.1 | 4056.5 | 4056.4 | 4056.4 | 67.6 | 66.4 | 67.0 | 10 | OK
55.1 | 3989.3 | 3988.9 | 3988.9 | 66.5 | 66.4 | 66.6 | 10 | OK
56.1 | 3923.2 | 3923.1 | 3923.1 | 65.4 | 66.4 | 66.5 | 10 | OK
57.1 | 3858.2 | 3857.9 | 3857.9 | 64.3 | 63.8 | 64.3 | 10 | OK
58.1 | 3794.3 | 3794.4 | 3794.4 | 63.2 | 61.1 | 61.8 | 10 | OK
59.1 | 3731.4 | 3731.5 | 3731.5 | 62.2 | 61.1 | 61.3 | 10 | OK
60.2 | 3669.6 | 3670.3 | 3670.3 | 61.2 | 61.1 | 61.2 | 10 | OK
61.2 | 3608.8 | 3609.0 | 3609.0 | 60.1 | 61.1 | 61.1 | 10 | OK
62.2 | 3549.0 | 3548.4 | 3548.4 | 59.1 | 58.5 | 59.1 | 10 | OK
63.2 | 3490.2 | 3490.2 | 3490.2 | 58.2 | 58.5 | 58.6 | 10 | OK
64.2 | 3432.3 | 3432.0 | 3432.0 | 57.2 | 58.5 | 58.5 | 10 | OK
65.2 | 3375.5 | 3376.1 | 3376.1 | 56.3 | 55.8 | 56.4 | 10 | OK
66.2 | 3319.5 | 3319.4 | 3319.4 | 55.3 | 55.8 | 56.0 | 10 | OK
67.2 | 3264.5 | 3264.2 | 3264.2 | 54.4 | 55.8 | 55.8 | 10 | OK
68.2 | 3210.5 | 3209.8 | 3209.8 | 53.5 | 53.2 | 53.8 | 10 | OK
69.2 | 3157.3 | 3157.8 | 3157.7 | 52.6 | 53.2 | 53.3 | 10 | OK
70.2 | 3104.9 | 3104.9 | 3104.9 | 51.7 | 50.5 | 51.2 | 10 | OK
71.2 | 3053.5 | 3053.6 | 3053.6 | 50.9 | 53.2 | 52.6 | 10 | OK
72.2 | 3002.9 | 3003.0 | 3003.0 | 50.0 | 47.8 | 49.1 | 10 | OK
73.2 | 2953.1 | 2953.2 | 2953.2 | 49.2 | 50.5 | 50.1 | 10 | OK
74.2 | 2904.2 | 2904.2 | 2904.2 | 48.4 | 50.5 | 50.4 | 10 | OK
75.2 | 2856.1 | 2855.9 | 2855.9 | 47.6 | 47.8 | 48.6 | 10 | OK
76.2 | 2808.8 | 2808.4 | 2808.4 | 46.8 | 47.8 | 48.0 | 10 | OK
77.2 | 2762.2 | 2762.5 | 2762.5 | 46.0 | 47.8 | 47.9 | 10 | OK
78.2 | 2716.5 | 2715.7 | 2715.7 | 45.3 | 45.2 | 46.0 | 10 | OK
79.2 | 2671.4 | 2671.3 | 2671.3 | 44.5 | 45.2 | 45.4 | 10 | OK
80.2 | 2627.2 | 2626.9 | 2626.9 | 43.8 | 45.2 | 45.3 | 10 | OK
81.2 | 2583.6 | 2583.2 | 2583.2 | 43.1 | 42.5 | 43.4 | 10 | OK
82.2 | 2540.8 | 2540.3 | 2540.3 | 42.3 | 42.5 | 42.8 | 10 | OK
83.2 | 2498.7 | 2498.9 | 2498.9 | 41.6 | 42.5 | 42.6 | 10 | OK
84.2 | 2457.3 | 2457.6 | 2457.6 | 41.0 | 42.5 | 42.5 | 10 | OK
85.2 | 2416.6 | 2417.0 | 2417.0 | 40.3 | 39.9 | 40.8 | 10 | OK
86.2 | 2376.6 | 2377.1 | 2377.1 | 39.6 | 39.9 | 40.2 | 10 | OK
87.2 | 2337.2 | 2337.3 | 2337.3 | 39.0 | 39.9 | 40.0 | 10 | OK
88.2 | 2298.5 | 2298.2 | 2298.2 | 38.3 | 37.2 | 38.2 | 9 | OK
89.2 | 2260.4 | 2260.4 | 2260.4 | 37.7 | 37.2 | 37.6 | 9 | OK
90.2 | 2222.9 | 2223.1 | 2223.1 | 37.0 | 37.2 | 37.3 | 9 | OK
91.2 | 2186.1 | 2186.2 | 2186.2 | 36.4 | 34.5 | 35.6 | 9 | OK
92.2 | 2149.9 | 2150.0 | 2150.0 | 35.8 | 37.2 | 36.6 | 9 | OK
93.2 | 2114.3 | 2114.2 | 2114.2 | 35.2 | 37.2 | 37.0 | 9 | OK
94.2 | 2079.2 | 2079.5 | 2079.5 | 34.7 | 34.5 | 35.5 | 9 | OK
95.2 | 2044.8 | 2044.5 | 2044.5 | 34.1 | 34.5 | 34.9 | 9 | OK
96.2 | 2010.9 | 2010.9 | 2010.9 | 33.5 | 34.5 | 34.7 | 9 | OK
97.2 | 1977.6 | 1977.7 | 1977.7 | 33.0 | 31.9 | 33.0 | 9 | OK
98.2 | 1944.8 | 1944.9 | 1944.9 | 32.4 | 31.9 | 32.4 | 9 | OK
99.2 | 1912.6 | 1912.9 | 1912.9 | 31.9 | 31.9 | 32.1 | 9 | OK
100.3 | 1880.9 | 1880.8 | 1880.8 | 31.3 | 31.9 | 32.0 | 9 | OK
101.3 | 1849.7 | 1849.8 | 1849.8 | 30.8 | 29.2 | 30.4 | 9 | OK
102.3 | 1819.1 | 1819.3 | 1819.3 | 30.3 | 29.2 | 29.8 | 9 | OK
103.3 | 1788.9 | 1788.7 | 1788.7 | 29.8 | 29.2 | 29.5 | 9 | OK
104.3 | 1759.3 | 1759.6 | 1759.6 | 29.3 | 29.2 | 29.4 | 9 | OK
105.3 | 1730.1 | 1730.2 | 1730.2 | 28.8 | 26.6 | 27.9 | 9 | OK
106.3 | 1701.5 | 1701.4 | 1701.4 | 28.4 | 29.2 | 28.6 | 9 | OK
107.3 | 1673.3 | 1673.1 | 1673.1 | 27.9 | 29.2 | 28.9 | 9 | OK
108.3 | 1645.5 | 1645.5 | 1645.5 | 27.4 | 29.2 | 29.1 | 9 | OK
109.3 | 1618.3 | 1618.3 | 1618.3 | 27.0 | 26.6 | 27.7 | 9 | OK
110.3 | 1591.5 | 1591.4 | 1591.4 | 26.5 | 26.6 | 27.1 | 9 | OK
111.3 | 1565.1 | 1565.3 | 1565.3 | 26.1 | 26.6 | 26.8 | 9 | OK
112.3 | 1539.2 | 1539.2 | 1539.2 | 25.7 | 26.6 | 26.7 | 9 | OK
113.3 | 1513.7 | 1513.5 | 1513.5 | 25.2 | 23.9 | 25.3 | 9 | OK
114.3 | 1488.6 | 1488.5 | 1488.5 | 24.8 | 26.6 | 25.9 | 9 | OK
115.3 | 1463.9 | 1463.9 | 1463.9 | 24.4 | 26.6 | 26.2 | 9 | OK
116.3 | 1439.7 | 1439.7 | 1439.7 | 24.0 | 23.9 | 25.1 | 9 | OK
117.3 | 1415.8 | 1415.8 | 1415.8 | 23.6 | 23.9 | 24.5 | 9 | OK
118.3 | 1392.3 | 1392.3 | 1392.3 | 23.2 | 21.3 | 23.0 | 9 | OK
119.3 | 1369.3 | 1369.2 | 1369.2 | 22.8 | 21.3 | 22.2 | 9 | OK
120.3 | 1346.6 | 1346.5 | 1346.5 | 22.4 | 23.9 | 23.0 | 9 | OK
121.3 | 1324.3 | 1324.5 | 1324.5 | 22.1 | 21.3 | 22.2 | 9 | OK
122.3 | 1302.3 | 1302.1 | 1302.1 | 21.7 | 21.3 | 21.8 | 9 | OK
123.3 | 1280.8 | 1280.5 | 1280.5 | 21.3 | 21.3 | 21.6 | 9 | OK
124.3 | 1259.5 | 1259.6 | 1259.6 | 21.0 | 21.3 | 21.4 | 9 | OK
125.3 | 1238.7 | 1238.7 | 1238.7 | 20.6 | 21.3 | 21.3 | 9 | OK
126.3 | 1218.1 | 1218.2 | 1218.2 | 20.3 | 18.6 | 20.2 | 9 | OK
127.3 | 1198.0 | 1198.1 | 1198.1 | 20.0 | 18.6 | 19.5 | 9 | OK
128.3 | 1178.1 | 1177.9 | 1177.9 | 19.6 | 18.6 | 19.2 | 9 | OK
129.3 | 1158.6 | 1158.5 | 1158.5 | 19.3 | 18.6 | 19.0 | 9 | OK
130.3 | 1139.4 | 1139.1 | 1139.1 | 19.0 | 18.6 | 18.8 | 9 | OK
131.3 | 1120.5 | 1120.5 | 1120.5 | 18.7 | 18.6 | 18.7 | 8 | OK
132.3 | 1101.9 | 1101.9 | 1101.9 | 18.4 | 18.6 | 18.7 | 8 | OK
133.3 | 1083.7 | 1083.7 | 1083.7 | 18.1 | 18.6 | 18.6 | 8 | OK
134.3 | 1065.7 | 1065.7 | 1065.7 | 17.8 | 15.9 | 17.6 | 8 | OK
135.3 | 1048.1 | 1048.1 | 1048.1 | 17.5 | 18.6 | 18.0 | 8 | OK
136.3 | 1030.7 | 1030.7 | 1030.7 | 17.2 | 18.6 | 18.2 | 8 | OK
137.3 | 1013.6 | 1013.6 | 1013.6 | 16.9 | 18.6 | 18.3 | 8 | OK
138.3 | 996.8 | 996.8 | 996.8 | 16.6 | 15.9 | 17.4 | 8 | OK
139.3 | 980.3 | 980.4 | 980.4 | 16.3 | 15.9 | 16.8 | 8 | OK
140.4 | 964.1 | 964.1 | 964.1 | 16.1 | 15.9 | 16.5 | 8 | OK
141.4 | 948.1 | 948.1 | 948.1 | 15.8 | 15.9 | 16.3 | 8 | OK
142.4 | 932.4 | 932.5 | 932.5 | 15.5 | 15.9 | 16.1 | 8 | OK
143.4 | 916.9 | 916.9 | 916.9 | 15.3 | 15.9 | 16.1 | 8 | OK
144.4 | 901.7 | 901.7 | 901.7 | 15.0 | 15.9 | 16.0 | 8 | OK
145.4 | 886.8 | 886.8 | 886.8 | 14.8 | 15.9 | 15.9 | 8 | OK
146.4 | 872.1 | 872.1 | 872.1 | 14.5 | 13.3 | 15.0 | 8 | OK
147.4 | 857.7 | 857.6 | 857.6 | 14.3 | 13.3 | 14.4 | 8 | OK
148.4 | 843.4 | 843.4 | 843.4 | 14.1 | 13.3 | 14.1 | 8 | OK
149.4 | 829.5 | 829.6 | 829.6 | 13.8 | 13.3 | 13.8 | 8 | OK
150.4 | 815.7 | 815.8 | 815.8 | 13.6 | 13.3 | 13.7 | 8 | OK
151.4 | 802.2 | 802.2 | 802.2 | 13.4 | 15.9 | 14.3 | 8 | OK
152.4 | 788.9 | 789.0 | 789.0 | 13.1 | 13.3 | 14.0 | 8 | OK
153.4 | 775.8 | 775.9 | 775.9 | 12.9 | 13.3 | 13.7 | 8 | OK
154.4 | 763.0 | 763.0 | 763.0 | 12.7 | 10.6 | 12.8 | 8 | OK
155.4 | 750.3 | 750.3 | 750.3 | 12.5 | 10.6 | 12.2 | 8 | OK
156.4 | 737.9 | 738.0 | 738.0 | 12.3 | 10.6 | 11.8 | 8 | OK
157.4 | 725.7 | 725.6 | 725.6 | 12.1 | 10.6 | 11.5 | 8 | OK
158.4 | 713.7 | 713.6 | 713.6 | 11.9 | 10.6 | 11.3 | 8 | OK
159.4 | 701.8 | 701.8 | 701.8 | 11.7 | 13.3 | 11.8 | 8 | OK
160.4 | 690.2 | 690.2 | 690.2 | 11.5 | 13.3 | 12.2 | 8 | OK
161.4 | 678.8 | 678.8 | 678.8 | 11.3 | 10.6 | 11.7 | 8 | OK
162.4 | 667.5 | 667.5 | 667.5 | 11.1 | 10.6 | 11.4 | 8 | OK
163.4 | 656.5 | 656.5 | 656.5 | 10.9 | 13.3 | 11.9 | 8 | OK
164.4 | 645.6 | 645.8 | 645.8 | 10.8 | 10.6 | 11.5 | 8 | OK
165.4 | 634.9 | 634.9 | 634.9 | 10.6 | 10.6 | 11.3 | 8 | OK
166.4 | 624.4 | 624.3 | 624.3 | 10.4 | 10.6 | 11.1 | 8 | OK
167.4 | 614.0 | 614.2 | 614.2 | 10.2 | 10.6 | 10.9 | 8 | OK
168.4 | 603.8 | 603.8 | 603.8 | 10.1 | 8.0 | 10.2 | 8 | OK
169.4 | 593.8 | 593.8 | 593.8 | 9.9 | 10.6 | 10.3 | 8 | OK
170.4 | 584.0 | 584.0 | 584.0 | 9.7 | 10.6 | 10.3 | 8 | OK
171.4 | 574.3 | 574.2 | 574.2 | 9.6 | 10.6 | 10.4 | 8 | OK
172.4 | 564.8 | 564.8 | 564.8 | 9.4 | 10.6 | 10.3 | 8 | OK
173.4 | 555.5 | 555.4 | 555.4 | 9.3 | 10.6 | 10.3 | 8 | OK
174.4 | 546.2 | 546.3 | 546.3 | 9.1 | 10.6 | 10.3 | 7 | OK
175.4 | 537.2 | 537.2 | 537.2 | 9.0 | 8.0 | 9.7 | 7 | OK
176.4 | 528.3 | 528.3 | 528.3 | 8.8 | 10.6 | 9.9 | 7 | OK
177.4 | 519.5 | 519.5 | 519.5 | 8.7 | 8.0 | 9.4 | 7 | OK
178.4 | 510.9 | 510.9 | 510.9 | 8.5 | 8.0 | 9.0 | 7 | OK
179.4 | 502.5 | 502.5 | 502.5 | 8.4 | 10.6 | 9.3 | 7 | OK
180.5 | 494.1 | 494.1 | 494.1 | 8.2 | 8.0 | 9.0 | 7 | OK
181.5 | 486.0 | 486.0 | 486.0 | 8.1 | 8.0 | 8.7 | 7 | OK
182.5 | 477.9 | 477.8 | 477.8 | 8.0 | 8.0 | 8.5 | 7 | OK
183.5 | 470.0 | 470.1 | 470.1 | 7.8 | 8.0 | 8.4 | 7 | OK
184.5 | 462.2 | 462.2 | 462.2 | 7.7 | 5.3 | 7.8 | 7 | OK
185.5 | 454.5 | 454.5 | 454.5 | 7.6 | 8.0 | 7.8 | 7 | OK
186.5 | 447.0 | 447.0 | 447.0 | 7.5 | 5.3 | 7.4 | 7 | OK
187.5 | 439.6 | 439.6 | 439.6 | 7.3 | 5.3 | 7.1 | 7 | OK
188.5 | 432.3 | 432.3 | 432.3 | 7.2 | 5.3 | 6.8 | 7 | OK
189.5 | 425.2 | 425.2 | 425.2 | 7.1 | 8.0 | 7.0 | 7 | OK
190.5 | 418.1 | 418.1 | 418.1 | 7.0 | 8.0 | 7.2 | 7 | OK
191.5 | 411.2 | 411.2 | 411.2 | 6.9 | 8.0 | 7.2 | 7 | OK
192.5 | 404.4 | 404.3 | 404.3 | 6.7 | 8.0 | 7.3 | 7 | OK
193.5 | 397.7 | 397.7 | 397.7 | 6.6 | 5.3 | 7.0 | 7 | OK
194.5 | 391.1 | 391.1 | 391.1 | 6.5 | 8.0 | 7.1 | 7 | OK
195.5 | 384.6 | 384.6 | 384.6 | 6.4 | 5.3 | 6.8 | 7 | OK
196.5 | 378.2 | 378.3 | 378.3 | 6.3 | 5.3 | 6.5 | 7 | OK
197.5 | 372.0 | 371.9 | 371.9 | 6.2 | 5.3 | 6.4 | 7 | OK
198.5 | 365.8 | 365.8 | 365.8 | 6.1 | 8.0 | 6.5 | 7 | OK
199.5 | 359.7 | 359.7 | 359.7 | 6.0 | 5.3 | 6.3 | 7 | OK
200.5 | 353.8 | 353.7 | 353.7 | 5.9 | 5.3 | 6.2 | 7 | OK
201.5 | 347.9 | 347.9 | 347.9 | 5.8 | 5.3 | 6.0 | 7 | OK
202.5 | 342.1 | 342.1 | 342.1 | 5.7 | 8.0 | 6.2 | 7 | OK
203.5 | 336.5 | 336.4 | 336.4 | 5.6 | 5.3 | 6.1 | 7 | OK
204.5 | 330.9 | 330.9 | 330.9 | 5.5 | 5.3 | 5.9 | 7 | OK
205.5 | 325.4 | 325.4 | 325.4 | 5.4 | 5.3 | 5.8 | 7 | OK
206.5 | 320.0 | 320.0 | 320.0 | 5.3 | 5.3 | 5.7 | 7 | OK
207.5 | 314.7 | 314.7 | 314.7 | 5.2 | 5.3 | 5.6 | 7 | OK
208.5 | 309.5 | 309.5 | 309.5 | 5.2 | 5.3 | 5.5 | 7 | OK
209.5 | 304.4 | 304.4 | 304.4 | 5.1 | 5.3 | 5.5 | 7 | OK
210.5 | 299.3 | 299.3 | 299.3 | 5.0 | 5.3 | 5.4 | 7 | OK
211.5 | 294.4 | 294.3 | 294.3 | 4.9 | 5.3 | 5.3 | 7 | OK
212.5 | 289.5 | 289.5 | 289.5 | 4.8 | 2.7 | 5.0 | 7 | OK
213.5 | 284.7 | 284.6 | 284.6 | 4.7 | 5.3 | 5.0 | 7 | OK
214.5 | 280.0 | 280.0 | 280.0 | 4.7 | 5.3 | 5.0 | 7 | OK
215.5 | 275.3 | 275.4 | 275.4 | 4.6 | 2.7 | 4.8 | 7 | OK
216.5 | 270.8 | 270.8 | 270.8 | 4.5 | 2.7 | 4.6 | 7 | OK
217.5 | 266.3 | 266.3 | 266.3 | 4.4 | 5.3 | 4.6 | 7 | OK
218.5 | 261.9 | 261.8 | 261.8 | 4.4 | 5.3 | 4.6 | 6 | OK
219.5 | 257.5 | 257.6 | 257.6 | 4.3 | 5.3 | 4.6 | 6 | OK
220.6 | 253.3 | 253.3 | 253.3 | 4.2 | 5.3 | 4.7 | 6 | OK
221.6 | 249.1 | 249.1 | 249.1 | 4.2 | 2.7 | 4.4 | 6 | OK
222.6 | 245.0 | 245.0 | 245.0 | 4.1 | 2.7 | 4.3 | 6 | OK
223.6 | 240.9 | 240.9 | 240.9 | 4.0 | 5.3 | 4.3 | 6 | OK
224.6 | 236.9 | 236.9 | 236.9 | 3.9 | 2.7 | 4.2 | 6 | OK
225.6 | 233.0 | 233.0 | 233.0 | 3.9 | 5.3 | 4.2 | 6 | OK
226.6 | 229.1 | 229.1 | 229.1 | 3.8 | 5.3 | 4.2 | 6 | OK
227.6 | 225.3 | 225.3 | 225.3 | 3.8 | 5.3 | 4.2 | 6 | OK
228.6 | 221.6 | 221.6 | 221.6 | 3.7 | 2.7 | 4.1 | 6 | OK
229.6 | 217.9 | 217.9 | 217.9 | 3.6 | 5.3 | 4.1 | 6 | OK
230.6 | 214.3 | 214.3 | 214.3 | 3.6 | 5.3 | 4.1 | 6 | OK
231.6 | 210.8 | 210.7 | 210.7 | 3.5 | 2.7 | 3.9 | 6 | OK
232.6 | 207.3 | 207.3 | 207.3 | 3.5 | 5.3 | 3.9 | 6 | OK
233.6 | 203.8 | 203.9 | 203.9 | 3.4 | 2.7 | 3.8 | 6 | OK
234.6 | 200.5 | 200.5 | 200.5 | 3.3 | 5.3 | 3.8 | 6 | OK
235.6 | 197.1 | 197.1 | 197.1 | 3.3 | 2.7 | 3.7 | 6 | OK
236.6 | 193.9 | 193.9 | 193.9 | 3.2 | 2.7 | 3.6 | 6 | OK
237.6 | 190.7 | 190.7 | 190.7 | 3.2 | 5.3 | 3.6 | 6 | OK
238.6 | 187.5 | 187.5 | 187.5 | 3.1 | 2.7 | 3.5 | 6 | OK
239.6 | 184.4 | 184.4 | 184.4 | 3.1 | 5.3 | 3.5 | 6 | OK
240.6 | 181.3 | 181.3 | 181.3 | 3.0 | 2.7 | 3.4 | 6 | OK
241.6 | 178.3 | 178.3 | 178.3 | 3.0 | 2.7 | 3.3 | 6 | OK
242.6 | 175.4 | 175.4 | 175.4 | 2.9 | 2.7 | 3.2 | 6 | OK
243.6 | 172.5 | 172.5 | 172.5 | 2.9 | 2.7 | 3.1 | 6 | OK
244.6 | 169.6 | 169.6 | 169.6 | 2.8 | 2.7 | 3.1 | 6 | OK
245.6 | 166.8 | 166.8 | 166.8 | 2.8 | 2.7 | 3.0 | 6 | OK
246.6 | 164.0 | 164.0 | 164.0 | 2.7 | 2.7 | 3.0 | 6 | OK
247.6 | 161.3 | 161.3 | 161.3 | 2.7 | 2.7 | 2.9 | 6 | OK
248.6 | 158.6 | 158.6 | 158.6 | 2.6 | 2.7 | 2.9 | 6 | OK
249.6 | 156.0 | 156.0 | 156.0 | 2.6 | 2.7 | 2.8 | 6 | OK
250.6 | 153.4 | 153.5 | 153.5 | 2.6 | 2.7 | 2.8 | 6 | OK
251.6 | 150.9 | 150.9 | 150.9 | 2.5 | 2.7 | 2.7 | 6 | OK
252.6 | 148.4 | 148.4 | 148.4 | 2.5 | 2.7 | 2.7 | 6 | OK
253.6 | 145.9 | 145.9 | 145.9 | 2.4 | 2.7 | 2.7 | 6 | OK
254.6 | 143.5 | 143.5 | 143.5 | 2.4 | 2.7 | 2.6 | 6 | OK
255.6 | 141.1 | 141.2 | 141.2 | 2.4 | 2.7 | 2.6 | 6 | OK
256.6 | 138.8 | 138.8 | 138.8 | 2.3 | 2.7 | 2.5 | 6 | OK
257.6 | 136.5 | 136.5 | 136.5 | 2.3 | 2.7 | 2.5 | 6 | OK
258.6 | 134.2 | 134.2 | 134.2 | 2.2 | 2.7 | 2.5 | 6 | OK
259.6 | 132.0 | 132.0 | 132.0 | 2.2 | 0.0 | 2.4 | 6 | OK
260.7 | 129.8 | 129.8 | 129.8 | 2.2 | 2.7 | 2.3 | 6 | OK
261.7 | 127.7 | 127.7 | 127.7 | 2.1 | 2.7 | 2.3 | 5 | OK
262.7 | 125.6 | 125.6 | 125.6 | 2.1 | 2.7 | 2.3 | 5 | OK
263.7 | 123.5 | 123.5 | 123.5 | 2.1 | 2.7 | 2.3 | 5 | OK
264.7 | 121.4 | 121.4 | 121.4 | 2.0 | 0.0 | 2.2 | 5 | OK
265.7 | 119.4 | 119.4 | 119.4 | 2.0 | 2.7 | 2.2 | 5 | OK
266.7 | 117.4 | 117.4 | 117.4 | 2.0 | 2.7 | 2.1 | 5 | OK
267.7 | 115.5 | 115.5 | 115.5 | 1.9 | 0.0 | 2.1 | 5 | OK
268.7 | 113.6 | 113.6 | 113.6 | 1.9 | 2.7 | 2.0 | 5 | OK
269.7 | 111.7 | 111.7 | 111.7 | 1.9 | 2.7 | 2.0 | 5 | OK
270.7 | 109.8 | 109.9 | 109.9 | 1.8 | 2.7 | 2.0 | 5 | OK
271.7 | 108.0 | 108.0 | 108.0 | 1.8 | 2.7 | 2.0 | 5 | OK
272.7 | 106.2 | 106.2 | 106.2 | 1.8 | 0.0 | 1.9 | 5 | OK
273.7 | 104.5 | 104.5 | 104.5 | 1.7 | 0.0 | 1.9 | 5 | OK
274.7 | 102.7 | 102.7 | 102.7 | 1.7 | 2.7 | 1.9 | 5 | OK
275.7 | 101.0 | 101.0 | 101.0 | 1.7 | 0.0 | 1.8 | 5 | OK
276.7 | 99.4 | 99.4 | 99.4 | 1.7 | 0.0 | 1.7 | 5 | OK
277.7 | 97.7 | 97.7 | 97.7 | 1.6 | 2.7 | 1.7 | 5 | OK
278.7 | 96.1 | 96.1 | 96.1 | 1.6 | 0.0 | 1.7 | 5 | OK
279.7 | 94.5 | 94.5 | 94.5 | 1.6 | 0.0 | 1.7 | 5 | OK
280.7 | 92.9 | 92.9 | 92.9 | 1.5 | 2.7 | 1.7 | 5 | OK
281.7 | 91.4 | 91.4 | 91.4 | 1.5 | 2.7 | 1.6 | 5 | OK
282.7 | 89.9 | 89.9 | 89.9 | 1.5 | 2.7 | 1.6 | 5 | OK
283.7 | 88.4 | 88.4 | 88.4 | 1.5 | 0.0 | 1.6 | 5 | OK
284.7 | 86.9 | 86.9 | 86.9 | 1.4 | 0.0 | 1.5 | 5 | OK
285.7 | 85.5 | 85.5 | 85.5 | 1.4 | 2.7 | 1.5 | 5 | OK
286.7 | 84.1 | 84.1 | 84.1 | 1.4 | 2.7 | 1.5 | 5 | OK
287.7 | 82.7 | 82.7 | 82.7 | 1.4 | 2.7 | 1.5 | 5 | OK
288.7 | 81.3 | 81.3 | 81.3 | 1.4 | 2.7 | 1.5 | 5 | OK
289.7 | 80.0 | 80.0 | 80.0 | 1.3 | 2.7 | 1.5 | 5 | OK
290.7 | 78.6 | 78.6 | 78.6 | 1.3 | 2.7 | 1.5 | 5 | OK
291.7 | 77.3 | 77.3 | 77.3 | 1.3 | 2.7 | 1.5 | 5 | OK
292.7 | 76.1 | 76.1 | 76.1 | 1.3 | 0.0 | 1.4 | 5 | OK
293.7 | 74.8 | 74.8 | 74.8 | 1.2 | 0.0 | 1.4 | 5 | OK
294.7 | 73.6 | 73.6 | 73.6 | 1.2 | 2.7 | 1.4 | 5 | OK
295.7 | 72.3 | 72.3 | 72.3 | 1.2 | 0.0 | 1.3 | 5 | OK
296.7 | 71.1 | 71.1 | 71.1 | 1.2 | 2.7 | 1.3 | 5 | OK
297.7 | 70.0 | 70.0 | 70.0 | 1.2 | 2.7 | 1.3 | 5 | OK
298.7 | 68.8 | 68.8 | 68.8 | 1.1 | 2.7 | 1.3 | 5 | OK
299.7 | 67.7 | 67.7 | 67.7 | 1.1 | 2.7 | 1.3 | 5 | OK
300.8 | 66.5 | 66.5 | 66.5 | 1.1 | 2.7 | 1.2 | 5 | OK
301.8 | 65.4 | 65.4 | 65.4 | 1.1 | 2.7 | 1.2 | 5 | OK
302.8 | 64.4 | 64.4 | 64.4 | 1.1 | 2.7 | 1.2 | 5 | OK
303.8 | 63.3 | 63.3 | 63.3 | 1.1 | 0.0 | 1.2 | 5 | OK
304.8 | 62.2 | 62.2 | 62.2 | 1.0 | 0.0 | 1.1 | 4 | OK
305.8 | 61.2 | 61.2 | 61.2 | 1.0 | 2.7 | 1.1 | 4 | OK
306.8 | 60.2 | 60.2 | 60.2 | 1.0 | 2.7 | 1.1 | 4 | OK
307.8 | 59.2 | 59.2 | 59.2 | 1.0 | 2.7 | 1.1 | 4 | OK
308.8 | 58.2 | 58.2 | 58.2 | 1.0 | 0.0 | 1.1 | 4 | OK
309.8 | 57.3 | 57.3 | 57.3 | 1.0 | 0.0 | 1.1 | 4 | OK
310.8 | 56.3 | 56.3 | 56.3 | 0.9 | 2.7 | 1.0 | 4 | OK
311.8 | 55.4 | 55.4 | 55.4 | 0.9 | 0.0 | 1.0 | 4 | OK
312.8 | 54.5 | 54.4 | 54.4 | 0.9 | 2.7 | 1.0 | 4 | OK
313.8 | 53.5 | 53.6 | 53.6 | 0.9 | 2.7 | 1.0 | 4 | OK
314.8 | 52.7 | 52.7 | 52.7 | 0.9 | 0.0 | 1.0 | 4 | OK
315.8 | 51.8 | 51.8 | 51.8 | 0.9 | 0.0 | 0.9 | 4 | OK
316.8 | 50.9 | 50.9 | 50.9 | 0.8 | 0.0 | 0.9 | 4 | OK
317.8 | 50.1 | 50.1 | 50.1 | 0.8 | 2.7 | 0.9 | 4 | OK
318.8 | 49.3 | 49.3 | 49.3 | 0.8 | 2.7 | 0.9 | 4 | OK
319.8 | 48.4 | 48.4 | 48.4 | 0.8 | 2.7 | 0.9 | 4 | OK
320.8 | 47.6 | 47.6 | 47.6 | 0.8 | 0.0 | 0.9 | 4 | OK
321.8 | 46.8 | 46.9 | 46.9 | 0.8 | 2.7 | 0.9 | 4 | OK
322.8 | 46.1 | 46.1 | 46.1 | 0.8 | 0.0 | 0.8 | 4 | OK
323.8 | 45.3 | 45.3 | 45.3 | 0.8 | 0.0 | 0.8 | 4 | OK
324.8 | 44.6 | 44.6 | 44.6 | 0.7 | 0.0 | 0.8 | 4 | OK
325.8 | 43.8 | 43.8 | 43.8 | 0.7 | 0.0 | 0.8 | 4 | OK
326.8 | 43.1 | 43.1 | 43.1 | 0.7 | 0.0 | 0.8 | 4 | OK
327.8 | 42.4 | 42.4 | 42.4 | 0.7 | 0.0 | 0.8 | 4 | OK
328.8 | 41.7 | 41.7 | 41.7 | 0.7 | 2.7 | 0.8 | 4 | OK
329.8 | 41.0 | 41.0 | 41.0 | 0.7 | 0.0 | 0.7 | 4 | OK
330.8 | 40.3 | 40.3 | 40.3 | 0.7 | 2.7 | 0.7 | 4 | OK
331.8 | 39.6 | 39.6 | 39.6 | 0.7 | 0.0 | 0.7 | 4 | OK
332.8 | 39.0 | 39.0 | 39.0 | 0.6 | 2.7 | 0.7 | 4 | OK
333.8 | 38.3 | 38.3 | 38.3 | 0.6 | 2.7 | 0.7 | 4 | OK
334.8 | 37.7 | 37.7 | 37.7 | 0.6 | 2.7 | 0.7 | 4 | OK
335.8 | 37.1 | 37.1 | 37.1 | 0.6 | 0.0 | 0.7 | 4 | OK
336.8 | 36.5 | 36.5 | 36.5 | 0.6 | 0.0 | 0.7 | 4 | OK
337.8 | 35.9 | 35.9 | 35.9 | 0.6 | 0.0 | 0.7 | 4 | OK
338.8 | 35.3 | 35.3 | 35.3 | 0.6 | 0.0 | 0.6 | 4 | OK
339.8 | 34.7 | 34.7 | 34.7 | 0.6 | 0.0 | 0.6 | 4 | OK
340.9 | 34.1 | 34.1 | 34.1 | 0.6 | 0.0 | 0.6 | 4 | OK
341.9 | 33.5 | 33.5 | 33.5 | 0.6 | 0.0 | 0.6 | 4 | OK
342.9 | 33.0 | 33.0 | 33.0 | 0.5 | 0.0 | 0.6 | 4 | OK
343.9 | 32.4 | 32.4 | 32.4 | 0.5 | 0.0 | 0.6 | 4 | OK
344.9 | 31.9 | 31.9 | 31.9 | 0.5 | 0.0 | 0.6 | 4 | OK
345.9 | 31.4 | 31.4 | 31.4 | 0.5 | 0.0 | 0.6 | 4 | OK
346.9 | 30.9 | 30.8 | 30.8 | 0.5 | 0.0 | 0.6 | 4 | OK
347.9 | 30.3 | 30.3 | 30.3 | 0.5 | 0.0 | 0.5 | 3 | OK
348.9 | 29.8 | 29.8 | 29.8 | 0.5 | 0.0 | 0.5 | 3 | OK
349.9 | 29.3 | 29.3 | 29.3 | 0.5 | 0.0 | 0.5 | 3 | OK
350.9 | 28.8 | 28.8 | 28.8 | 0.6 | 0.0 | 0.5 | 3 | OK
351.9 | 28.2 | 28.2 | 28.2 | 0.6 | 0.0 | 0.5 | 3 | OK
352.9 | 27.6 | 27.6 | 27.6 | 0.6 | 0.0 | 0.6 | 3 | OK
353.9 | 27.0 | 27.0 | 27.0 | 0.6 | 2.7 | 0.6 | 3 | OK
354.9 | 26.4 | 26.4 | 26.4 | 0.6 | 2.7 | 0.6 | 3 | OK
355.9 | 25.8 | 25.8 | 25.8 | 0.6 | 0.0 | 0.6 | 3 | OK
356.9 | 25.2 | 25.2 | 25.2 | 0.6 | 0.0 | 0.6 | 3 | OK
357.9 | 24.7 | 24.7 | 24.7 | 0.6 | 2.7 | 0.6 | 3 | OK
358.9 | 24.1 | 24.1 | 24.1 | 0.6 | 0.0 | 0.6 | 3 | OK
359.9 | 23.5 | 23.5 | 23.5 | 0.6 | 0.0 | 0.6 | 3 | OK
360.9 | 22.9 | 22.9 | 22.9 | 0.6 | 0.0 | 0.6 | 3 | OK
361.9 | 22.3 | 22.3 | 22.3 | 0.6 | 0.0 | 0.6 | 3 | OK
362.9 | 21.7 | 21.7 | 21.7 | 0.6 | 0.0 | 0.6 | 3 | OK
363.9 | 21.1 | 21.1 | 21.1 | 0.6 | 0.0 | 0.6 | 3 | OK
364.9 | 20.5 | 20.5 | 20.5 | 0.6 | 0.0 | 0.6 | 3 | OK
365.9 | 20.0 | 20.0 | 20.0 | 0.6 | 2.7 | 0.6 | 3 | OK
366.9 | 19.4 | 19.4 | 19.4 | 0.6 | 0.0 | 0.6 | 3 | OK
367.9 | 18.8 | 18.8 | 18.8 | 0.6 | 2.7 | 0.6 | 3 | OK
368.9 | 18.2 | 18.2 | 18.2 | 0.6 | 2.7 | 0.6 | 3 | OK
369.9 | 17.6 | 17.6 | 17.6 | 0.6 | 0.0 | 0.6 | 3 | OK
370.9 | 17.0 | 17.0 | 17.0 | 0.6 | 0.0 | 0.6 | 3 | OK
371.9 | 16.4 | 16.4 | 16.4 | 0.6 | 0.0 | 0.6 | 3 | OK
372.9 | 15.9 | 15.8 | 15.8 | 0.6 | 0.0 | 0.6 | 3 | OK
373.9 | 15.3 | 15.3 | 15.3 | 0.6 | 0.0 | 0.6 | 3 | OK
374.9 | 14.7 | 14.7 | 14.7 | 0.6 | 0.0 | 0.6 | 2 | OK
375.9 | 14.1 | 14.1 | 14.1 | 0.6 | 5.3 | 0.6 | 2 | OK
376.9 | 13.5 | 13.5 | 13.5 | 0.6 | -2.7 | 0.6 | 2 | OK
377.9 | 12.9 | 12.9 | 12.9 | 0.6 | 0.0 | 0.6 | 2 | OK
378.9 | 12.3 | 12.3 | 12.3 | 0.6 | 5.3 | 0.6 | 2 | OK
379.9 | 11.7 | 11.7 | 11.7 | 0.6 | -8.0 | 0.6 | 2 | OK
381.0 | 11.2 | 11.2 | 11.2 | 0.6 | 0.0 | 0.6 | 2 | OK
382.0 | 10.6 | 10.6 | 10.6 | 0.6 | 2.7 | 0.6 | 2 | OK
383.0 | 10.0 | 10.0 | 10.0 | 0.6 | 0.0 | 0.6 | 2 | OK
384.0 | 9.4 | 9.4 | 9.4 | 0.6 | -2.7 | 0.6 | 2 | OK
385.0 | 8.8 | 8.8 | 8.8 | 0.6 | 0.0 | 0.6 | 2 | OK
386.0 | 8.2 | 8.2 | 8.2 | 0.6 | 0.0 | 0.6 | 2 | OK
387.0 | 7.6 | 7.6 | 7.6 | 0.6 | 0.0 | 0.6 | 2 | OK
388.0 | 7.0 | 7.0 | 7.0 | 0.6 | -5.3 | 0.6 | 1 | OK
389.0 | 6.5 | 6.5 | 6.5 | 0.6 | 8.0 | 0.6 | 1 | OK
390.0 | 5.9 | 5.9 | 5.9 | 0.6 | -8.0 | 0.6 | 1 | OK
391.0 | 5.3 | 5.3 | 5.3 | 0.6 | -10.6 | 0.6 | 1 | OK
392.0 | 4.7 | 4.7 | 4.7 | 0.6 | -2.7 | 0.6 | 1 | OK
393.0 | 4.1 | 4.1 | 4.1 | 0.6 | 21.3 | 0.6 | 1 | OK
394.0 | 3.5 | 3.5 | 3.5 | 0.6 | 8.0 | 0.6 | 0 | OK
395.0 | 3.0 | 3.0 | 3.0 | 0.6 | 42.5 | 0.5 | 0 | OK
396.0 | 3.0 | 3.0 | 3.0 | 0.6 | -10.6 | 0.1 | 0 | OK
397.0 | 3.0 | 3.0 | 3.0 | 0.6 | -10.6 | 0.0 | 0 | OK
398.0 | 3.0 | 3.0 | 3.0 | 0.6 | -8.0 | 0.0 | 0 | OK
399.0 | 3.0 | 3.0 | 3.0 | 0.6 | 5.3 | 0.0 | 0 | OK
400.0 | 3.0 | 3.0 | 3.0 | 0.6 | -61.1 | 0.0 | 0 | OK
Tracking Timeline:
(. = OK, X = gap, ! = bad velocity near ground, altitude decreasing →)
................................................................................
aggressive: LANDED
Valid: 400/400
Gaps: 0, Position error: 1.39m
Max velocity seen: 167.4 m/sIn the stepwise descent profile, the Kalman filter also works quite well. The drops between the steps are very fast, so the Kalman filter takes a few epochs to ramp up to the right velocity, but the Kalman filter altitude tracks the real altitude pretty closely, and the maximum altitude error is 2.5 meters. Something that is nice to notice in this profile (it also happens in the other profiles, but less prominently) is that the descent profile true velocity is non-zero (0.1 m/s in this profile) when the true altitude is constant. In mathematical terms, this profile is non-holonomic. However, in the lower-level hovers (where the velocity process noise is lower), the Kalman filter is actually able to realize that the velocity must be zero, and it estimates the correct holonomic value.
$ python3 lunar_descent_ctf.py -p stepwise
Time | True Alt | RAP Alt | Q Alt | True Vel | RAP Vel | Q.Vel | Mode | Status
──────────────────────────────────────────────────────────────────────────────────────────────
0.0 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
1.5 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
3.0 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
4.5 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
6.0 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
7.5 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
9.0 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
10.5 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
12.0 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
13.5 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
15.0 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
16.5 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
18.0 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
19.5 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
21.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
22.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
24.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
25.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
27.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
28.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
30.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
31.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
33.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
34.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
36.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
37.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
39.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
40.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
42.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
43.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
45.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
46.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
48.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
49.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
51.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
52.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
54.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
55.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
57.1 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
58.6 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
60.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
61.7 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
63.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
64.7 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
66.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
67.7 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
69.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
70.7 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
72.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
73.7 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
75.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
76.7 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
78.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
79.7 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
81.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
82.7 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
84.2 | 9851.0 | 9851.0 | 9851.0 | 0.1 | 2.7 | 2.7 | 11 | OK
85.7 | 9851.0 | 9851.0 | 9850.9 | 393.2 | 390.7 | 34.8 | 11 | OK
87.2 | 9259.7 | 9260.8 | 9260.9 | 393.2 | 393.3 | 242.1 | 11 | OK
88.7 | 8668.3 | 8669.0 | 8669.1 | 393.2 | 393.3 | 391.0 | 11 | OK
90.2 | 8077.0 | 8077.2 | 8077.2 | 393.2 | 393.3 | 393.3 | 11 | OK
91.7 | 7485.6 | 7485.4 | 7485.4 | 393.2 | 393.3 | 393.3 | 11 | OK
93.2 | 6894.3 | 6893.6 | 6893.6 | 393.2 | 393.3 | 393.3 | 11 | OK
94.7 | 6302.9 | 6301.8 | 6301.8 | 393.2 | 393.3 | 393.3 | 11 | OK
96.2 | 5711.6 | 5711.6 | 5711.6 | 393.2 | 390.7 | 390.7 | 11 | OK
97.7 | 5120.2 | 5121.4 | 5121.4 | 393.2 | 393.3 | 393.3 | 11 | OK
99.2 | 4795.0 | 4794.1 | 4793.7 | 0.1 | 0.0 | 2.4 | 11 | OK
100.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 1.2 | 11 | OK
102.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.8 | 11 | OK
103.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.6 | 11 | OK
105.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.5 | 11 | OK
106.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.4 | 11 | OK
108.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.3 | 11 | OK
109.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.3 | 11 | OK
111.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.3 | 11 | OK
112.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.2 | 11 | OK
114.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.2 | 11 | OK
115.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.2 | 11 | OK
117.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.2 | 11 | OK
118.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.2 | 11 | OK
120.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.2 | 11 | OK
121.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
123.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
124.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
126.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
127.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
129.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
130.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
132.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
133.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
135.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
136.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
138.3 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
139.8 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
141.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
142.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
144.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
145.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
147.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
148.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
150.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
151.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
153.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
154.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
156.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
157.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
159.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
160.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
162.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
163.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
165.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.1 | 11 | OK
166.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.0 | 11 | OK
168.4 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.0 | 11 | OK
169.9 | 4795.0 | 4794.1 | 4794.1 | 0.1 | 0.0 | 0.0 | 11 | OK
171.4 | 4795.0 | 4794.1 | 4794.1 | 191.4 | 191.4 | 3.9 | 10 | OK
172.9 | 4507.2 | 4507.6 | 4507.7 | 191.4 | 191.4 | 10.6 | 10 | OK
174.4 | 4219.3 | 4219.5 | 4219.6 | 191.4 | 191.4 | 35.1 | 10 | OK
175.9 | 3931.5 | 3931.5 | 3931.6 | 191.4 | 191.4 | 127.5 | 10 | OK
177.4 | 3643.7 | 3643.4 | 3643.5 | 191.4 | 191.4 | 188.0 | 10 | OK
178.9 | 3355.8 | 3355.4 | 3355.4 | 191.4 | 191.4 | 191.3 | 10 | OK
180.5 | 3068.0 | 3067.4 | 3067.4 | 191.4 | 191.4 | 191.4 | 10 | OK
182.0 | 2780.1 | 2780.8 | 2780.8 | 191.4 | 191.4 | 191.4 | 10 | OK
183.5 | 2492.3 | 2492.8 | 2492.8 | 191.4 | 191.4 | 191.4 | 10 | OK
185.0 | 2334.0 | 2333.5 | 2333.3 | 0.1 | 0.0 | 4.6 | 10 | OK
186.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 2.3 | 10 | OK
188.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 1.5 | 10 | OK
189.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 1.1 | 10 | OK
191.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.9 | 10 | OK
192.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.7 | 10 | OK
194.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.6 | 10 | OK
195.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.5 | 10 | OK
197.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.5 | 10 | OK
198.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.4 | 10 | OK
200.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.4 | 10 | OK
201.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.4 | 10 | OK
203.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.3 | 10 | OK
204.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.3 | 10 | OK
206.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.3 | 10 | OK
207.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.3 | 10 | OK
209.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.3 | 10 | OK
210.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
212.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
213.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
215.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
216.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
218.0 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
219.5 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
221.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
222.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
224.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
225.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.2 | 10 | OK
227.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
228.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
230.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
231.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
233.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
234.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
236.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
237.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
239.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
240.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
242.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
243.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
245.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
246.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
248.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
249.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
251.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
252.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
254.1 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
255.6 | 2334.0 | 2333.5 | 2333.5 | 0.1 | 0.0 | 0.1 | 10 | OK
257.1 | 2334.0 | 2333.5 | 2333.5 | 138.5 | 138.2 | 2.9 | 9 | OK
258.6 | 2125.7 | 2125.4 | 2125.5 | 138.5 | 138.2 | 6.7 | 9 | OK
260.2 | 1917.4 | 1917.3 | 1917.4 | 138.5 | 138.2 | 16.2 | 9 | OK
261.7 | 1709.1 | 1709.3 | 1709.4 | 138.5 | 138.2 | 48.2 | 9 | OK
263.2 | 1500.8 | 1500.5 | 1500.5 | 138.5 | 138.2 | 114.5 | 9 | OK
264.7 | 1292.5 | 1292.4 | 1292.4 | 138.5 | 138.2 | 136.8 | 9 | OK
266.2 | 1084.2 | 1084.3 | 1084.3 | 138.5 | 138.2 | 138.1 | 8 | OK
267.7 | 875.9 | 875.9 | 875.9 | 138.5 | 138.2 | 138.2 | 8 | OK
269.2 | 667.6 | 667.5 | 667.5 | 138.5 | 138.2 | 138.2 | 8 | OK
270.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 5.4 | 8 | OK
272.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 2.0 | 8 | OK
273.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 1.2 | 8 | OK
275.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.9 | 8 | OK
276.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.7 | 8 | OK
278.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.6 | 8 | OK
279.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.5 | 8 | OK
281.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.4 | 8 | OK
282.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.4 | 8 | OK
284.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.3 | 8 | OK
285.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.3 | 8 | OK
287.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.3 | 8 | OK
288.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.2 | 8 | OK
290.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.2 | 8 | OK
291.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.2 | 8 | OK
293.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.2 | 8 | OK
294.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.2 | 8 | OK
296.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.2 | 8 | OK
297.7 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.2 | 8 | OK
299.2 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.2 | 8 | OK
300.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
302.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
303.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
305.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
306.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
308.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
309.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
311.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
312.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
314.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
315.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
317.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
318.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
320.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
321.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
323.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
324.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
326.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
327.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
329.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
330.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
332.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
333.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
335.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
336.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
338.3 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
339.8 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
341.4 | 553.0 | 552.8 | 552.8 | 0.1 | 0.0 | 0.1 | 8 | OK
342.9 | 553.0 | 553.0 | 553.0 | 32.8 | 34.5 | 0.5 | 8 | OK
344.4 | 503.6 | 503.6 | 503.7 | 32.8 | 34.5 | 1.2 | 7 | OK
345.9 | 454.3 | 454.2 | 454.3 | 32.8 | 31.9 | 1.9 | 7 | OK
347.4 | 404.9 | 405.0 | 405.0 | 32.8 | 31.9 | 2.8 | 7 | OK
348.9 | 355.6 | 355.6 | 355.6 | 32.8 | 34.5 | 4.2 | 7 | OK
350.4 | 306.2 | 306.2 | 306.2 | 32.8 | 31.9 | 6.5 | 7 | OK
351.9 | 256.9 | 256.9 | 256.9 | 32.8 | 31.9 | 10.5 | 6 | OK
353.4 | 207.5 | 207.5 | 207.5 | 32.8 | 31.9 | 17.4 | 6 | OK
354.9 | 158.1 | 158.1 | 158.2 | 32.8 | 31.9 | 26.3 | 6 | OK
356.4 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 11.2 | 6 | OK
357.9 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 1.4 | 6 | OK
359.4 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.4 | 6 | OK
360.9 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.3 | 6 | OK
362.4 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.2 | 6 | OK
363.9 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.1 | 6 | OK
365.4 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.1 | 6 | OK
366.9 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.1 | 6 | OK
368.4 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.1 | 6 | OK
369.9 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.1 | 6 | OK
371.4 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.1 | 6 | OK
372.9 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.1 | 6 | OK
374.4 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.1 | 6 | OK
375.9 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
377.4 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
378.9 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
380.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
382.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
383.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
385.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
386.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
388.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
389.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
391.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
392.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
394.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
395.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
397.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
398.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
400.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
401.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
403.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
404.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
406.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
407.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
409.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
410.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
412.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
413.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
415.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
416.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
418.0 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
419.5 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
421.1 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
422.6 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
424.1 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
425.6 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
427.1 | 131.0 | 131.0 | 131.0 | 0.1 | 0.0 | 0.0 | 6 | OK
428.6 | 131.0 | 131.0 | 131.0 | 7.8 | 8.0 | 0.0 | 6 | OK
430.1 | 119.3 | 119.3 | 119.3 | 7.8 | 8.0 | 0.2 | 5 | OK
431.6 | 107.6 | 107.6 | 107.6 | 7.8 | 8.0 | 0.4 | 5 | OK
433.1 | 95.9 | 95.9 | 95.9 | 7.8 | 8.0 | 0.6 | 5 | OK
434.6 | 84.2 | 84.2 | 84.2 | 7.8 | 8.0 | 0.9 | 5 | OK
436.1 | 72.5 | 72.5 | 72.5 | 7.8 | 8.0 | 1.3 | 5 | OK
437.6 | 60.8 | 60.8 | 60.8 | 7.8 | 8.0 | 1.9 | 4 | OK
439.1 | 49.1 | 49.1 | 49.1 | 7.8 | 8.0 | 3.1 | 4 | OK
440.6 | 37.4 | 37.4 | 37.4 | 7.8 | 8.0 | 4.9 | 4 | OK
442.1 | 31.0 | 31.0 | 31.0 | 0.1 | -2.7 | 4.3 | 4 | OK
443.6 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.6 | 4 | OK
445.1 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.1 | 4 | OK
446.6 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.1 | 4 | OK
448.1 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
449.6 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
451.1 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
452.6 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
454.1 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
455.6 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
457.1 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
458.6 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
460.2 | 31.0 | 31.0 | 31.0 | 0.1 | -2.7 | 0.0 | 4 | OK
461.7 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
463.2 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
464.7 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
466.2 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
467.7 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
469.2 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
470.7 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
472.2 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
473.7 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
475.2 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
476.7 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
478.2 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
479.7 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
481.2 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
482.7 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
484.2 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
485.7 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
487.2 | 31.0 | 31.0 | 31.0 | 0.1 | -2.7 | 0.0 | 4 | OK
488.7 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
490.2 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
491.7 | 31.0 | 31.0 | 31.0 | 0.1 | -2.7 | 0.0 | 4 | OK
493.2 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
494.7 | 31.0 | 31.0 | 31.0 | 0.1 | -2.7 | 0.0 | 4 | OK
496.2 | 31.0 | 31.0 | 31.0 | 0.1 | -2.7 | 0.0 | 4 | OK
497.7 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
499.2 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
500.8 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
502.3 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
503.8 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
505.3 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
506.8 | 31.0 | 31.0 | 31.0 | 0.1 | 2.7 | 0.0 | 4 | OK
508.3 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
509.8 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
511.3 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
512.8 | 31.0 | 31.0 | 31.0 | 0.1 | 0.0 | 0.0 | 4 | OK
514.3 | 31.0 | 31.0 | 31.0 | 2.0 | 2.7 | 0.0 | 4 | OK
515.8 | 28.0 | 28.0 | 28.0 | 2.0 | 2.7 | 0.0 | 3 | OK
517.3 | 24.9 | 24.9 | 24.9 | 2.0 | 2.7 | 0.1 | 3 | OK
518.8 | 21.9 | 21.9 | 21.9 | 2.0 | 2.7 | 0.2 | 3 | OK
520.3 | 18.8 | 18.8 | 18.8 | 2.0 | 2.7 | 0.2 | 3 | OK
521.8 | 15.8 | 15.8 | 15.8 | 2.0 | 2.7 | 0.4 | 3 | OK
523.3 | 12.8 | --- | 15.3 | 2.0 | --- | 0.4 | 3 | OK
524.8 | 9.7 | 9.7 | 9.7 | 2.0 | 5.3 | 0.9 | 2 | OK
526.3 | 6.7 | 6.7 | 6.7 | 2.0 | 15.9 | 1.4 | 1 | OK
527.8 | 5.0 | 5.0 | 5.0 | 0.1 | -8.0 | 1.2 | 1 | OK
529.3 | 5.0 | 5.0 | 5.0 | 0.1 | 8.0 | 0.1 | 1 | OK
530.8 | 5.0 | 5.0 | 5.0 | 0.1 | 5.3 | 0.0 | 1 | OK
532.3 | 5.0 | 5.0 | 5.0 | 0.1 | -5.3 | 0.0 | 1 | OK
533.8 | 5.0 | 5.0 | 5.0 | 0.1 | -8.0 | 0.0 | 1 | OK
535.3 | 5.0 | 5.0 | 5.0 | 0.1 | -5.3 | 0.0 | 1 | OK
536.8 | 5.0 | 5.0 | 5.0 | 0.1 | -8.0 | -0.0 | 1 | OK
538.3 | 5.0 | 5.0 | 5.0 | 0.1 | 2.7 | 0.0 | 1 | OK
539.8 | 5.0 | 5.0 | 5.0 | 0.1 | 13.3 | 0.0 | 1 | OK
541.4 | 5.0 | 5.0 | 5.0 | 0.1 | 21.3 | 0.0 | 1 | OK
542.9 | 5.0 | 5.0 | 5.0 | 0.1 | -2.7 | 0.0 | 1 | OK
544.4 | 5.0 | 5.0 | 5.0 | 0.1 | 2.7 | 0.0 | 1 | OK
545.9 | 5.0 | 5.0 | 5.0 | 0.1 | 0.0 | 0.0 | 1 | OK
547.4 | 5.0 | 5.0 | 5.0 | 0.1 | 5.3 | 0.0 | 1 | OK
548.9 | 5.0 | 5.0 | 5.0 | 0.1 | -8.0 | 0.0 | 1 | OK
550.4 | 5.0 | 5.0 | 5.0 | 0.1 | 8.0 | 0.0 | 1 | OK
551.9 | 5.0 | 5.0 | 5.0 | 0.1 | 2.7 | 0.0 | 1 | OK
553.4 | 5.0 | 5.0 | 5.0 | 0.1 | 0.0 | 0.0 | 1 | OK
554.9 | 5.0 | 5.0 | 5.0 | 0.1 | -13.3 | 0.0 | 1 | OK
556.4 | 5.0 | 5.0 | 5.0 | 0.1 | 2.7 | 0.0 | 1 | OK
557.9 | 5.0 | 5.0 | 5.0 | 0.1 | 5.3 | 0.0 | 1 | OK
559.4 | 5.0 | 5.0 | 5.0 | 0.1 | 2.7 | 0.0 | 1 | OK
560.9 | 5.0 | 5.0 | 5.0 | 0.1 | -13.3 | 0.0 | 1 | OK
562.4 | 5.0 | 5.0 | 5.0 | 0.1 | -8.0 | 0.0 | 1 | OK
563.9 | 5.0 | 5.0 | 5.0 | 0.1 | -2.7 | 0.0 | 1 | OK
565.4 | 5.0 | 5.0 | 5.0 | 0.1 | 10.6 | 0.0 | 1 | OK
566.9 | 5.0 | 5.0 | 5.0 | 0.1 | 15.9 | 0.0 | 1 | OK
568.4 | 5.0 | 5.0 | 5.0 | 0.1 | 0.0 | 0.0 | 1 | OK
569.9 | 5.0 | 5.0 | 5.0 | 0.1 | 2.7 | 0.0 | 1 | OK
571.4 | 5.0 | 5.0 | 5.0 | 0.1 | -8.0 | 0.0 | 1 | OK
572.9 | 5.0 | 5.0 | 5.0 | 0.1 | 10.6 | 0.0 | 1 | OK
574.4 | 5.0 | 5.0 | 5.0 | 0.1 | -18.6 | 0.0 | 1 | OK
575.9 | 5.0 | 5.0 | 5.0 | 0.1 | -21.3 | 0.0 | 1 | OK
577.4 | 5.0 | 5.0 | 5.0 | 0.1 | 13.3 | 0.0 | 1 | OK
578.9 | 5.0 | 5.0 | 5.0 | 0.1 | 5.3 | 0.0 | 1 | OK
580.5 | 5.0 | 5.0 | 5.0 | 0.1 | 8.0 | 0.0 | 1 | OK
582.0 | 5.0 | 5.0 | 5.0 | 0.1 | -10.6 | -0.0 | 1 | OK
583.5 | 5.0 | 5.0 | 5.0 | 0.1 | 0.0 | -0.0 | 1 | OK
585.0 | 5.0 | 5.0 | 5.0 | 0.1 | 10.6 | 0.0 | 1 | OK
586.5 | 5.0 | 5.0 | 5.0 | 0.1 | 0.0 | 0.0 | 1 | OK
588.0 | 5.0 | 5.0 | 5.0 | 0.1 | 2.7 | 0.0 | 1 | OK
589.5 | 5.0 | 5.0 | 5.0 | 0.1 | -10.6 | 0.0 | 1 | OK
591.0 | 5.0 | 5.0 | 5.0 | 0.1 | 2.7 | 0.0 | 1 | OK
592.5 | 5.0 | 5.0 | 5.0 | 0.1 | -10.6 | 0.0 | 1 | OK
594.0 | 5.0 | 5.0 | 5.0 | 0.1 | -5.3 | -0.0 | 1 | OK
595.5 | 5.0 | 5.0 | 5.0 | 0.1 | -10.6 | -0.0 | 1 | OK
597.0 | 5.0 | 5.0 | 5.0 | 0.1 | -13.3 | 0.0 | 1 | OK
598.5 | 5.0 | 5.0 | 5.0 | 0.1 | 5.3 | 0.0 | 1 | OK
600.0 | 5.0 | 5.0 | 5.0 | 0.1 | 15.9 | 0.0 | 1 | OK
Tracking Timeline:
(. = OK, X = gap, ! = bad velocity near ground, altitude decreasing →)
................................................................................
stepwise: LANDED
Valid: 400/400
Gaps: 0, Position error: 2.50m
Max velocity seen: 393.3 m/sOverall I think this CTF has been an interesting and fun exercise, and I would really recommend it to anyone who is interested in learning more about how a full radar processing system works.
The code of my solution is in a branch of my fork of the CTF repository. You can take a look at the diff to see the changes I’ve made.