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5ea3cf8cb9
* feat(navigator): extend detect and avoid module to follow regulatory standards such as ASTM F3442 * docs(docs): minor subedit * refactor(navigator): reduce flash by grouping notif into same events * docs(daa): Improve docs readability with ::: details blocks * fix(navigator): single event when on ground with conflict * refactor(boards): increase flash length from 4M - 128k to 5M - 128k * rework(general): define DAA standard at build with new CONFIG_NAVIGATOR_ADSB_F3442 * clean(navigator): minor changes to clean the PR * feat(boards): add CONFIG_NAVIGATOR_ADSB_FAKE_TRAFFIC in visionTargetEstStatic.px4board * rework(daa): reduce amount of abstractions and minor cleaning * refactor(boards): allyes revert flash length to 4M-128K * refactor(boards): allyes increase flash length to 5M-128K * rework(daa): rework event notifications to improve clarity * docs(docs): move details inside of ::: details block * docs(docs): run npx prettier * refactor(daa): avoid void mutator functions * docs(docs): Improve Python helper to decode daa unique id * rework(daa): move encoded id handling to the adsb lib and refactor on_active * refactor(daa): naming and zero init * fix(daa): move dataman dep from daa level to unit test level * refactor(daa): define common daa_input and rework process_transponder_report * fix(daa): remove stale todo * refactor(daa): rename crosstrack_based_daa to crosstrack_standard * refactor(daa): rename F34_ params to DAA_ * docs(docs): revert changes to autogenerated docs * docs(docs): Add Detect And Avoid in index.md * refactor(daa): update message on init failed * refactor(daa): only publish most_urgent conflict once in on_active() * refactor(daa): move conflict buffer handling in the adsb lib * refactor(daa): move notifications into new class ConflictNotifier and only notify once per cycle * refactor(daa): uninit _cycle_changes to store into .bss (and save flash) * docs(docs): remove unused image link * refactor(daa): move automated action policy to the adsb lib * refactor(daa): move self detection into adsb lib as DaaTrafficFilter * refactor(daa): minor changes in unit tests * refactor(daa): merge DaaTrafficFilter and DaaEncoding * fix(daa): fix CI by removing navigator from the DAA deps * refactor(daa): reduce stack size * fix(daa): advertise _fake_traffic_pub in constructor * refactor(daa): Comments only, simplify and reduce comments * fix(daa): brief comment missing end star * Disable CONFIG_NAVIGATOR_ADSB in ark_fpv_default board * docs(docs): General clarifications and remove the 1.18 badge * refactor(daa): cleaning * refactor(daa): minor cleaning * refactor(adsb): simplify conflict tracker assuming push_back cannot fail * build(cmake): cleaner fix to protect regex alternations * refactor(daa): Crosstrack, remove unit test requiring finite yaw (yaw not used by standard) * refactor(daa): minor cleaning and fix callsign to uint64 --------- Co-authored-by: jonas <jonas.perolini@rigi.tech> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
1991 lines
312 KiB
C
1991 lines
312 KiB
C
/***************************************************************************
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*
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* Copyright (c) 2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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struct traffic_data_s {
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double lat_traffic;
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double lon_traffic;
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float alt_traffic;
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float heading_traffic;
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float vxy_traffic;
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float vz_traffic;
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bool in_conflict;
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};
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// traffic dataset generated using notebook in adsb/test_adsb_helper.ipynb
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static constexpr traffic_data_s kTrafficDataset[] = {
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{3.270694516059187151e+01, -9.638379328402535862e+01, 4.470000000000000000e+02, -3.141592653589793116e+00, 2.042375980563040798e+02, 2.042375980563040798e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 7.900000000000000000e+02, -3.109129529502698386e+00, 2.500275609807847104e+03, 2.500275609807847104e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.791000000000000000e+03, -3.076666405415603656e+00, 2.442836539134454554e+01, 2.442836539134454554e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.477000000000000000e+03, -3.044203281328508925e+00, 2.470539903240593205e+01, 2.470539903240593205e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.099000000000000000e+03, -3.011740157241414195e+00, 3.333415007332736877e+03, 3.333415007332736877e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.526000000000000000e+03, -2.979277033154319465e+00, 1.924406636438064311e+02, 1.924406636438064311e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 8.570000000000000000e+02, -2.946813909067224735e+00, 2.272843457257526723e+02, 2.272843457257526723e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.782000000000000000e+03, -2.914350784980130005e+00, 2.003055286306396511e+03, 2.003055286306396511e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.155000000000000000e+03, -2.881887660893035275e+00, 3.401564832300531549e+01, 3.401564832300531549e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 6.900000000000000000e+02, -2.849424536805940544e+00, 2.703351949045676861e+02, 2.703351949045676861e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.160000000000000000e+02, -2.816961412718845814e+00, 1.786010223466191249e+01, 1.786010223466191249e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.960000000000000000e+02, -2.784498288631751084e+00, 2.390488630819377391e+01, 2.390488630819377391e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.840000000000000000e+02, -2.752035164544656354e+00, 1.430947509697754185e+03, 1.430947509697754185e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 2.190000000000000000e+02, -2.719572040457561624e+00, 3.709347191132442276e+02, 3.709347191132442276e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 4.890000000000000000e+02, -2.687108916370466893e+00, 2.243615671666885447e+01, 2.243615671666885447e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 3.180000000000000000e+02, -2.654645792283372163e+00, 2.190726771819353402e+01, 2.190726771819353402e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 7.770000000000000000e+02, -2.622182668196277433e+00, 1.805278546521513761e+01, 1.805278546521513761e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.984000000000000000e+03, -2.589719544109182703e+00, 1.965524935924464103e+02, 1.965524935924464103e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.911000000000000000e+03, -2.557256420022087973e+00, 2.397303001319509264e+01, 2.397303001319509264e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 4.170000000000000000e+02, -2.524793295934993242e+00, 2.042549717943414009e+02, 2.042549717943414009e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 9.630000000000000000e+02, -2.492330171847898512e+00, 1.785720397310970142e+01, 1.785720397310970142e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.137000000000000000e+03, -2.459867047760803782e+00, 2.096534426413398577e+01, 2.096534426413398577e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.478000000000000000e+03, -2.427403923673709052e+00, 6.806605761582918035e+01, 6.806605761582918035e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 5.670000000000000000e+02, -2.394940799586614322e+00, 2.968749592584772401e+01, 2.968749592584772401e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.016000000000000000e+03, -2.362477675499519592e+00, 1.204820048192524382e+02, 1.204820048192524382e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.354000000000000000e+03, -2.330014551412424861e+00, 6.025983379156967601e+01, 6.025983379156967601e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.728000000000000000e+03, -2.297551427325330131e+00, 1.857744125049299910e+01, 1.857744125049299910e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.370000000000000000e+03, -2.265088303238235401e+00, 2.689091912506733806e+01, 2.689091912506733806e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.859000000000000000e+03, -2.232625179151140671e+00, 2.087172925349622332e+01, 2.087172925349622332e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 2.660000000000000000e+02, -2.200162055064045941e+00, 3.090574025195419594e+01, 3.090574025195419594e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.846000000000000000e+03, -2.167698930976951210e+00, 2.588598687541385601e+01, 2.588598687541385601e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 7.260000000000000000e+02, -2.135235806889856480e+00, 3.226411846417861398e+02, 3.226411846417861398e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.002000000000000000e+03, -2.102772682802761750e+00, 1.805054169675090137e+01, 1.805054169675090137e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.362000000000000000e+03, -2.070309558715667020e+00, 2.000655112706835439e+02, 2.000655112706835439e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 7.550000000000000000e+02, -2.037846434628572290e+00, 5.000750256211561464e+03, 5.000750256211561464e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.520000000000000000e+02, -2.005383310541477559e+00, 1.252245183660132852e+03, 1.252245183660132852e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 2.510000000000000000e+02, -1.972920186454382829e+00, 3.283283673345330556e+01, 3.283283673345330556e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 6.610000000000000000e+02, -1.940457062367288099e+00, 1.862732330056778096e+01, 1.862732330056778096e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 7.510000000000000000e+02, -1.907993938280193369e+00, 2.381321405926128989e+02, 2.381321405926128989e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.005000000000000000e+03, -1.875530814193098639e+00, 1.788908877459746094e+01, 1.788908877459746094e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.637000000000000000e+03, -1.843067690106003909e+00, 1.820025288172330704e+02, 1.820025288172330704e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 3.310000000000000000e+02, -1.810604566018909178e+00, 5.005591386140103168e+03, 5.005591386140103168e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.760000000000000000e+03, -1.778141441931814448e+00, 1.885956608163382953e+01, 1.885956608163382953e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.424000000000000000e+03, -1.745678317844719718e+00, 1.755174279030193532e+02, 1.755174279030193532e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.116000000000000000e+03, -1.713215193757624988e+00, 1.751372398308571476e+01, 1.751372398308571476e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.370000000000000000e+02, -1.680752069670530258e+00, 2.782944978728402816e+02, 2.782944978728402816e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 8.060000000000000000e+02, -1.648288945583435527e+00, 3.226109953464362547e+02, 3.226109953464362547e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.180000000000000000e+03, -1.615825821496340797e+00, 1.718352228040834717e+01, 1.718352228040834717e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.671000000000000000e+03, -1.583362697409246067e+00, 3.128515530379883671e+02, 3.128515530379883671e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 8.810000000000000000e+02, -1.550899573322151337e+00, 1.250044252341692072e+03, 1.250044252341692072e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.135000000000000000e+03, -1.518436449235056607e+00, 1.000045561462076535e+03, 1.000045561462076535e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.550000000000000000e+03, -1.485973325147961877e+00, 2.779877678497276747e+02, 2.779877678497276747e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.127000000000000000e+03, -1.453510201060867146e+00, 3.846308929565695394e+02, 3.846308929565695394e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.488000000000000000e+03, -1.421047076973772416e+00, 2.128925921018447980e+02, 2.128925921018447980e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.890000000000000000e+03, -1.388583952886677686e+00, 2.003956586356102036e+02, 2.003956586356102036e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 8.840000000000000000e+02, -1.356120828799582956e+00, 2.500084098585485606e+02, 2.500084098585485606e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 8.410000000000000000e+02, -1.323657704712488226e+00, 6.250395003142801897e+02, 6.250395003142801897e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.209000000000000000e+03, -1.291194580625393495e+00, 1.724326200927686443e+02, 1.724326200927686443e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 8.960000000000000000e+02, -1.258731456538298765e+00, 6.451787352480188531e+01, 6.451787352480188531e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.593000000000000000e+03, -1.226268332451204035e+00, 4.766089221005523768e+02, 4.766089221005523768e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 7.560000000000000000e+02, -1.193805208364109305e+00, 1.818452416227227957e+02, 1.818452416227227957e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.028000000000000000e+03, -1.161342084277014575e+00, 1.798564676255537975e+01, 1.798564676255537975e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 2.550000000000000000e+02, -1.128878960189919844e+00, 7.702973855143075070e+02, 7.702973855143075070e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 8.400000000000000000e+02, -1.096415836102825114e+00, 6.060993926982612834e+01, 6.060993926982612834e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.707000000000000000e+03, -1.063952712015730384e+00, 2.224997428213245030e+02, 2.224997428213245030e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.006000000000000000e+03, -1.031489587928635654e+00, 1.111111211111106513e+03, 1.111111211111106513e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.960000000000000000e+02, -9.990264638415409237e-01, 1.854842104283924584e+02, 1.854842104283924584e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.684000000000000000e+03, -9.665633397544461936e-01, 1.951596406959132324e+01, 1.951596406959132324e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.558000000000000000e+03, -9.341002156673514634e-01, 2.084954390155280635e+01, 2.084954390155280635e+01, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 3.400000000000000000e+02, -9.016370915802567332e-01, 3.336961358947854478e+03, 3.336961358947854478e+03, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 9.150000000000000000e+02, -8.691739674931620030e-01, 1.818214658794319973e+02, 1.818214658794319973e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 1.954000000000000000e+03, -8.367108434060672728e-01, 1.856060569260251611e+02, 1.856060569260251611e+02, 0},
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{3.270694516059187151e+01, -9.638379328402535862e+01, 6.900000000000000000e+01, -8.042477193189725426e-01, 9.110586907639534502e+02, 9.110586907639534502e+02, 0},
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