diff --git a/autos/dealgae_center.py b/autos/dealgae_center.py index b3e7616..ed6cfdc 100644 --- a/autos/dealgae_center.py +++ b/autos/dealgae_center.py @@ -13,7 +13,7 @@ from commands2 import SequentialCommandGroup, InstantCommand, ParallelCommandGroup, ParallelDeadlineGroup, WaitCommand, ConditionalCommand path_name = "Center L4 2 Barge Algae" -paths = [PathPlannerPath.fromChoreoTrajectory(path_name, i) for i in range(5)] +paths = [PathPlannerPath.fromChoreoTrajectory(path_name, i) for i in range(7)] command = SequentialCommandGroup( InstantCommand(lambda: Robot.wrist.set_coral(True)), @@ -31,22 +31,38 @@ FeedOut(Robot.wrist).withTimeout(.3), ParallelCommandGroup( Target(config.target_positions["DEALGAE_LOW"], Robot.wrist, Robot.elevator), - # Move back a bit and de-algae low + # Move back a bit and pick up algae low AutoBuilder.followPath(paths[2]).andThen(InstantCommand(lambda: Robot.drivetrain.set_driver_centric((0, 0), 0))), ), + WristAlgaeIn(Robot.wrist), ParallelCommandGroup( + # Move to barge + AutoBuilder.followPath(paths[3]).andThen(InstantCommand(lambda: Robot.drivetrain.set_driver_centric((0, 0), 0))), SequentialCommandGroup( WaitCommand(0.2), - Target(config.target_positions["IDLE"], Robot.wrist, Robot.elevator), - ), - # Move back - AutoBuilder.followPath(paths[3]) + Target(config.target_positions["SCORE_BARGE"], Robot.wrist, Robot.elevator), + ) ), + WristAlgaeOut(Robot.wrist).withTimeout(0.3), ParallelCommandGroup( - Target(config.target_positions["DEALGAE_HIGH"], Robot.wrist, Robot.elevator), - # Move back a bit and de-algae low + # Move to the algae high AutoBuilder.followPath(paths[4]).andThen(InstantCommand(lambda: Robot.drivetrain.set_driver_centric((0, 0), 0))), - ) - ) + SequentialCommandGroup( + WaitCommand(0.2), + Target(config.target_positions["DEALGAE_HIGH"], Robot.wrist, Robot.elevator), + ) + ), + WristAlgaeIn(Robot.wrist), + ParallelCommandGroup( + # Move to barge + AutoBuilder.followPath(paths[5]).andThen(InstantCommand(lambda: Robot.drivetrain.set_driver_centric((0, 0), 0))), + SequentialCommandGroup( + WaitCommand(0.2), + Target(config.target_positions["SCORE_BARGE"], Robot.wrist, Robot.elevator), + ) + ), + WristAlgaeOut(Robot.wrist).withTimeout(0.3), + AutoBuilder.followPath(paths[6]) +) auto = AutoRoutine(command, paths[0].getStartingHolonomicPose()) \ No newline at end of file diff --git a/command/wrist.py b/command/wrist.py index 4295c95..9f7a508 100644 --- a/command/wrist.py +++ b/command/wrist.py @@ -146,24 +146,25 @@ def initialize(self) -> None: self.subsystem.algae_in() self.subsystem.algae_running_in = True - # self.debouncer = Debouncer( - # config.current_time_threshold, Debouncer.DebounceType.kRising - # ) + self.debouncer = Debouncer( + config.current_time_threshold, Debouncer.DebounceType.kRising + ) def execute(self) -> None: pass def isFinished(self) -> bool: - # return self.debouncer.calculate( - # self.subsystem.algae_motor.get_motor_current() - # > config.algae_current_threshold - # ) - return False + return self.debouncer.calculate( + self.subsystem.algae_motor.get_motor_current() + > config.algae_current_threshold + ) def end(self, interrupted) -> None: if interrupted: log.warn("Algae in command interrupted") - self.subsystem.algae_stop() + self.subsystem.algae_stop() + if not interrupted: + self.subsystem.hold_algae() self.subsystem.algae_in_wrist = True self.subsystem.algae_running_in = False diff --git a/deploy/choreo/Center L4 2 Barge Algae.traj b/deploy/choreo/Center L4 2 Barge Algae.traj index e8ec32c..a5b64bd 100644 --- a/deploy/choreo/Center L4 2 Barge Algae.traj +++ b/deploy/choreo/Center L4 2 Barge Algae.traj @@ -3,42 +3,80 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.1929752, "y":3.850031852722168, "heading":3.141592653589793, "intervals":33, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.1929752, "y":4.026, "heading":3.141592653589793, "intervals":34, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":6.651498794555664, "y":3.8598365783691406, "heading":0.0, "intervals":32, "split":true, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.1692938804626465, "y":3.865493059158325, "heading":3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.810798645019531, "y":3.8606715202331543, "heading":3.141592653589793, "intervals":16, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.155045986175537, "y":4.018349647521973, "heading":3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.804211139678955, "y":4.046795845031738, "heading":3.141592653589793, "intervals":29, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":6.185903549194336, "y":4.56189489364624, "heading":-2.1080807505756485, "intervals":34, "split":true, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":5.9748430252075195, "y":6.300630569458008, "heading":-2.1080807505756485, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.1783976554870605, "y":5.184638500213623, "heading":-2.1080807505756485, "intervals":29, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.1692938804626465, "y":3.865493059158325, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.841625213623047, "y":3.849295139312744, "heading":3.141592653589793, "intervals":16, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.155045986175537, "y":4.018349647521973, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.8380022048950195, "y":4.034069538116455, "heading":3.141592653589793, "intervals":17, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.24019193649292, "y":4.08302116394043, "heading":3.141592653589793, "intervals":74, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.067566871643066, "y":4.597969055175781, "heading":0.0, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.622000694274902, "y":4.895262241363525, "heading":0.0, "intervals":17, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.223997116088867, "y":5.105288982391357, "heading":0.0, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.453161239624023, "y":5.495693683624268, "heading":-2.1080807505756485, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.164119243621826, "y":5.186191558837891, "heading":-2.1080807505756485, "intervals":18, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.608676910400391, "y":5.293081283569336, "heading":-2.1080807505756485, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.059417724609375, "y":5.657383441925049, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.611428260803223, "y":5.809775352478027, "heading":0.0, "intervals":27, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":6.50352144241333, "y":5.759006023406982, "heading":0.0, "intervals":40, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, {"from":3, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":2.5}}, "enabled":true}, - {"from":5, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}], + {"from":5, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":8, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":11, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":15, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":14, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":6, "to":6, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":6, "to":7, "data":{"type":"MaxAngularVelocity", "props":{"max":1.9198621771937627}}, "enabled":true}, + {"from":7, "to":7, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":12, "to":12, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":12, "to":13, "data":{"type":"MaxAngularVelocity", "props":{"max":2.356194490192345}}, "enabled":true}, + {"from":13, "to":13, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":9, "to":10, "data":{"type":"MaxAngularVelocity", "props":{"max":2.356194490192345}}, "enabled":true}, + {"from":10, "to":10, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"7.1929752 m", "val":7.1929752}, "y":{"exp":"3.850031852722168 m", "val":3.850031852722168}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":33, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.1929752 m", "val":7.1929752}, "y":{"exp":"8.052 / 2 m", "val":4.026}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":34, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.651498794555664 m", "val":6.651498794555664}, "y":{"exp":"3.8598365783691406 m", "val":3.8598365783691406}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":32, "split":true, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"6.1692938804626465 m", "val":6.1692938804626465}, "y":{"exp":"3.865493059158325 m", "val":3.865493059158325}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.810798645019531 m", "val":5.810798645019531}, "y":{"exp":"3.8606715202331543 m", "val":3.8606715202331543}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":16, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.155045986175537 m", "val":6.155045986175537}, "y":{"exp":"4.018349647521973 m", "val":4.018349647521973}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.804211139678955 m", "val":5.804211139678955}, "y":{"exp":"4.046795845031738 m", "val":4.046795845031738}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":29, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.185903549194336 m", "val":6.185903549194336}, "y":{"exp":"4.56189489364624 m", "val":4.56189489364624}, "heading":{"exp":"-2.1080807505756485 rad", "val":-2.1080807505756485}, "intervals":34, "split":true, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"5.9748430252075195 m", "val":5.9748430252075195}, "y":{"exp":"6.300630569458008 m", "val":6.300630569458008}, "heading":{"exp":"-2.1080807505756485 rad", "val":-2.1080807505756485}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.1783976554870605 m", "val":5.1783976554870605}, "y":{"exp":"5.184638500213623 m", "val":5.184638500213623}, "heading":{"exp":"-2.1080807505756485 rad", "val":-2.1080807505756485}, "intervals":29, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"6.1692938804626465 m", "val":6.1692938804626465}, "y":{"exp":"3.865493059158325 m", "val":3.865493059158325}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.841625213623047 m", "val":5.841625213623047}, "y":{"exp":"3.849295139312744 m", "val":3.849295139312744}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":16, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.155045986175537 m", "val":6.155045986175537}, "y":{"exp":"4.018349647521973 m", "val":4.018349647521973}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.8380022048950195 m", "val":5.8380022048950195}, "y":{"exp":"4.034069538116455 m", "val":4.034069538116455}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":17, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.24019193649292 m", "val":6.24019193649292}, "y":{"exp":"4.08302116394043 m", "val":4.08302116394043}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":74, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.067566871643066 m", "val":7.067566871643066}, "y":{"exp":"4.597969055175781 m", "val":4.597969055175781}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.622000694274902 m", "val":7.622000694274902}, "y":{"exp":"4.895262241363525 m", "val":4.895262241363525}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":17, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.223997116088867 m", "val":7.223997116088867}, "y":{"exp":"5.105288982391357 m", "val":5.105288982391357}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.453161239624023 m", "val":5.453161239624023}, "y":{"exp":"5.495693683624268 m", "val":5.495693683624268}, "heading":{"exp":"-2.1080807505756485 rad", "val":-2.1080807505756485}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.164119243621826 m", "val":5.164119243621826}, "y":{"exp":"5.186191558837891 m", "val":5.186191558837891}, "heading":{"exp":"-2.1080807505756485 rad", "val":-2.1080807505756485}, "intervals":18, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.608676910400391 m", "val":5.608676910400391}, "y":{"exp":"5.293081283569336 m", "val":5.293081283569336}, "heading":{"exp":"-2.1080807505756485 rad", "val":-2.1080807505756485}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.059417724609375 m", "val":7.059417724609375}, "y":{"exp":"5.657383441925049 m", "val":5.657383441925049}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.611428260803223 m", "val":7.611428260803223}, "y":{"exp":"5.809775352478027 m", "val":5.809775352478027}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"6.50352144241333 m", "val":6.50352144241333}, "y":{"exp":"5.759006023406982 m", "val":5.759006023406982}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, {"from":3, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"2.5 m / s ^ 2", "val":2.5}}}, "enabled":true}, - {"from":5, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}], + {"from":5, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":8, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":11, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":15, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":14, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":6, "to":6, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":6, "to":7, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"110 deg / s", "val":1.9198621771937627}}}, "enabled":true}, + {"from":7, "to":7, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":12, "to":12, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":12, "to":13, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"135 deg / s", "val":2.356194490192345}}}, "enabled":true}, + {"from":13, "to":13, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":9, "to":10, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"135 deg / s", "val":2.356194490192345}}}, "enabled":true}, + {"from":10, "to":10, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -46,192 +84,412 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.65838,0.95221,1.4879,2.25555,2.99498,3.71978,4.9779,6.38618], + "waypoints":[0.0,0.67863,0.98709,1.50042,2.2451,2.94478,3.51432,5.18892,5.89934,6.49948,7.53746,8.16056,8.76555,9.70354,10.3806,11.71389], "samples":[ - {"t":0.0, "x":7.19298, "y":3.85003, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.4982, "ay":0.04001, "alpha":-0.00464, "fx":[-39.6692,-39.66931,-39.65242,-39.65231], "fy":[0.6459,0.62153,0.62732,0.64603]}, - {"t":0.03465, "x":7.19148, "y":3.85006, "heading":3.14159, "vx":-0.08657, "vy":0.00139, "omega":-0.00016, "ax":-2.4989, "ay":0.04047, "alpha":-0.00634, "fx":[-39.68271,-39.68285,-39.66094,-39.66081], "fy":[0.65776,0.62139,0.63293,0.6579]}, - {"t":0.0693, "x":7.18698, "y":3.85013, "heading":3.14159, "vx":-0.17316, "vy":0.00279, "omega":-0.00038, "ax":-2.49885, "ay":0.04096, "alpha":0.01842, "fx":[-39.57485,-39.57503,-39.54347,-39.99086], "fy":[0.67636,0.6305,0.63065,0.66386]}, - {"t":0.10396, "x":7.17947, "y":3.85025, "heading":3.14157, "vx":-0.25975, "vy":0.00421, "omega":0.00026, "ax":-2.49879, "ay":0.04151, "alpha":-0.0103, "fx":[-39.68931,-39.68947,-39.65106,-39.65092], "fy":[0.68248,0.63086,0.64029,0.68265]}, - {"t":0.13861, "x":7.16897, "y":3.85042, "heading":3.14158, "vx":-0.34634, "vy":0.00565, "omega":-0.0001, "ax":-2.49873, "ay":0.04213, "alpha":0.01745, "fx":[-39.56676,-39.56697,-39.51811,-40.02508], "fy":[0.70765,0.63867,0.63883,0.69007]}, - {"t":0.17326, "x":7.15547, "y":3.85064, "heading":3.14158, "vx":-0.43292, "vy":0.00711, "omega":0.00051, "ax":-2.49867, "ay":0.04282, "alpha":-0.01455, "fx":[-39.69616,-39.69635,-39.64012,-39.63995], "fy":[0.71183,0.64442,0.65074,0.71203]}, - {"t":0.20791, "x":7.13897, "y":3.85091, "heading":-3.14159, "vx":-0.5195, "vy":0.00859, "omega":0.0, "ax":-2.49859, "ay":0.0436, "alpha":0.01739, "fx":[-39.55339,-39.55364,-39.48555,-40.07505], "fy":[0.74471,0.65076,0.65095,0.72224]}, - {"t":0.24256, "x":7.11947, "y":3.85124, "heading":-3.14159, "vx":-0.60608, "vy":0.0101, "omega":0.0006, "ax":-2.4985, "ay":0.04449, "alpha":-0.01936, "fx":[-39.70355,-39.70376,-39.62744,-39.62724], "fy":[0.74828,0.66265,0.66588,0.7485]}, - {"t":0.27721, "x":7.09697, "y":3.85161, "heading":-3.14157, "vx":-0.69266, "vy":0.01164, "omega":-0.00007, "ax":-2.4984, "ay":0.04552, "alpha":0.0177, "fx":[-39.53541,-39.53571,-39.4456,-40.13871], "fy":[0.79317,0.66759,0.66781,0.76206]}, - {"t":0.31187, "x":7.07147, "y":3.85204, "heading":-3.14157, "vx":-0.77924, "vy":0.01322, "omega":0.00055, "ax":-2.49827, "ay":0.04672, "alpha":-0.02492, "fx":[-39.71172,-39.71196,-39.61217,-39.61193], "fy":[0.79493,0.68878,0.68785,0.7952]}, - {"t":0.34652, "x":7.04296, "y":3.85253, "heading":-3.14155, "vx":-0.86581, "vy":0.01484, "omega":-0.00032, "ax":-2.49813, "ay":0.04813, "alpha":0.0192, "fx":[-39.50904,-39.50939,-39.39337,-40.2269], "fy":[0.85546,0.69313,0.69338,0.81461]}, - {"t":0.38117, "x":7.01146, "y":3.85307, "heading":-3.14156, "vx":-0.95237, "vy":0.01651, "omega":0.00035, "ax":-2.49796, "ay":0.04983, "alpha":-0.03122, "fx":[-39.72069,-39.72096,-39.59318,-39.5929], "fy":[0.85642,0.73081,0.72032,0.85673]}, - {"t":0.41582, "x":6.97696, "y":3.85368, "heading":-3.14155, "vx":-1.03893, "vy":0.01823, "omega":-0.00073, "ax":-2.49775, "ay":0.0519, "alpha":0.02286, "fx":[-39.4686,-39.46902,-39.32248,-40.35417], "fy":[0.94087,0.73374,0.73403,0.88692]}, - {"t":0.45047, "x":6.93946, "y":3.85434, "heading":-3.14158, "vx":-1.12548, "vy":0.02003, "omega":0.00006, "ax":-2.49748, "ay":0.05448, "alpha":-0.03855, "fx":[-39.72946,-39.72977,-39.5692,-39.56887], "fy":[0.94413,0.79605,0.77477,0.9445]}, - {"t":0.48512, "x":6.89896, "y":3.85507, "heading":-3.14157, "vx":-1.21202, "vy":0.02192, "omega":-0.00128, "ax":-2.49713, "ay":0.05778, "alpha":0.02985, "fx":[-39.40738,-39.40787,-39.22704,-40.53302], "fy":[1.06642,0.80466,0.80498,0.99327]}, - {"t":0.51978, "x":6.85546, "y":3.85586, "heading":3.14157, "vx":-1.29855, "vy":0.02392, "omega":-0.00024, "ax":-2.49667, "ay":0.06217, "alpha":-0.04606, "fx":[-39.73443,-39.73478,-39.53843,-39.53804], "fy":[1.07948,0.91349,0.87516,1.07989]}, - {"t":0.55443, "x":6.80897, "y":3.85673, "heading":3.14156, "vx":-1.38507, "vy":0.02608, "omega":-0.00184, "ax":-2.496, "ay":0.06829, "alpha":0.04683, "fx":[-39.2909,-39.2915,-39.07712,-40.84403], "fy":[1.28356,0.94339,0.94372,1.16608]}, - {"t":0.58908, "x":6.75947, "y":3.85767, "heading":3.1415, "vx":-1.47156, "vy":0.02844, "omega":-0.00022, "ax":-2.49499, "ay":0.07739, "alpha":-0.05114, "fx":[-39.72256,-39.72292,-39.49701,-39.49657], "fy":[1.32734,1.16243,1.09681,1.32779]}, - {"t":0.62373, "x":6.70698, "y":3.8587, "heading":3.14149, "vx":-1.55801, "vy":0.03112, "omega":-0.00199, "ax":-2.49324, "ay":0.0924, "alpha":0.09132, "fx":[-39.04188,-39.04258,-38.81281,-41.43084], "fy":[1.71505,1.30533,1.30567,1.54153]}, - {"t":0.65838, "x":6.6515, "y":3.85984, "heading":3.14142, "vx":-1.64441, "vy":0.03433, "omega":0.00118, "ax":-2.46984, "ay":0.10136, "alpha":-0.02223, "fx":[-39.26579,-39.26597,-39.15534,-39.15515], "fy":[1.64595,1.60629,1.53856,1.64612]}, - {"t":0.67471, "x":6.62433, "y":3.86041, "heading":3.14144, "vx":-1.68473, "vy":0.03598, "omega":0.00081, "ax":-2.48048, "ay":0.09643, "alpha":-0.00317, "fx":[-39.3232,-39.32335,-39.24832,-39.62258], "fy":[1.66038,1.46163,1.46173,1.53988]}, - {"t":0.69103, "x":6.5965, "y":3.86101, "heading":3.14145, "vx":-1.72521, "vy":0.03755, "omega":0.00076, "ax":-2.47481, "ay":0.08716, "alpha":-0.00746, "fx":[-39.32293,-39.32294,-39.25608,-39.25601], "fy":[1.38122,1.45643,1.31622,1.38128]}, - {"t":0.70735, "x":6.56801, "y":3.86164, "heading":3.14146, "vx":-1.76561, "vy":0.03898, "omega":0.00064, "ax":-2.46323, "ay":0.06834, "alpha":-0.01162, "fx":[-39.06778,-39.06789,-39.02907,-39.25732], "fy":[1.30235,0.99906,0.99907,1.03904]}, - {"t":0.72368, "x":6.53886, "y":3.86228, "heading":3.14147, "vx":-1.80582, "vy":0.04009, "omega":0.00045, "ax":-2.42619, "ay":0.00916, "alpha":0.02839, "fx":[-38.52701,-38.527,-38.50821,-38.50822], "fy":[0.01842,0.54483,0.00034,0.01841]}, - {"t":0.74, "x":6.50906, "y":3.86294, "heading":3.14148, "vx":-1.84542, "vy":0.04024, "omega":0.00091, "ax":1.34059, "ay":-0.87637, "alpha":0.00351, "fx":[20.64676,20.65246,20.64436,23.18799], "fy":[-15.85591,-13.26522,-13.26527,-13.26594]}, - {"t":0.75632, "x":6.47911, "y":3.86348, "heading":3.1415, "vx":-1.82354, "vy":0.02594, "omega":0.00097, "ax":2.42464, "ay":-0.21831, "alpha":0.01033, "fx":[38.51053,38.51049,38.4754,38.47524], "fy":[-3.49094,-3.42288,-3.45833,-3.49112]}, - {"t":0.77265, "x":6.44967, "y":3.86387, "heading":3.14151, "vx":-1.78396, "vy":0.02237, "omega":0.00114, "ax":2.46021, "ay":-0.17233, "alpha":-0.0208, "fx":[38.97181,38.97213,38.92249,39.36395], "fy":[-2.6843,-2.73629,-2.73652,-2.78625]}, - {"t":0.78897, "x":6.42087, "y":3.86421, "heading":3.14153, "vx":-1.7438, "vy":0.01956, "omega":0.0008, "ax":2.47232, "ay":-0.15644, "alpha":0.02133, "fx":[39.28818,39.28834,39.21173,39.21139], "fy":[-2.53352,-2.40716,-2.4601,-2.5339]}, - {"t":0.80529, "x":6.39274, "y":3.86451, "heading":3.14154, "vx":-1.70345, "vy":0.01701, "omega":0.00115, "ax":2.47843, "ay":-0.14838, "alpha":-0.01135, "fx":[39.25412,39.25502,39.17245,39.70579], "fy":[-2.40802,-2.31024,-2.31061,-2.39386]}, - {"t":0.82162, "x":6.36526, "y":3.86477, "heading":3.14156, "vx":-1.66299, "vy":0.01458, "omega":0.00096, "ax":2.48211, "ay":-0.14351, "alpha":0.02455, "fx":[39.45998,39.46007,39.35074,39.35023], "fy":[-2.32492,-2.24438,-2.21823,-2.32549]}, - {"t":0.83794, "x":6.33845, "y":3.86499, "heading":3.14158, "vx":-1.62247, "vy":0.01224, "omega":0.00136, "ax":2.48456, "ay":-0.14034, "alpha":-0.06333, "fx":[39.10872,39.10984,38.99971,40.55856], "fy":[-2.33795,-2.1552,-2.15573,-2.26297]}, - {"t":0.85426, "x":6.31229, "y":3.86517, "heading":-3.14158, "vx":-1.58192, "vy":0.00995, "omega":0.00033, "ax":2.48632, "ay":-0.13797, "alpha":0.02644, "fx":[39.53715,39.5372,39.40749,39.40686], "fy":[-2.23455,-2.18503,-2.10639,-2.23525]}, - {"t":0.87059, "x":6.2868, "y":3.86531, "heading":-3.14158, "vx":-1.54133, "vy":0.0077, "omega":0.00076, "ax":2.48764, "ay":-0.13619, "alpha":-0.0654, "fx":[39.13043,39.13179,39.00809,40.7024], "fy":[-2.31394,-2.07069,-2.0713,-2.19224]}, - {"t":0.88691, "x":6.26198, "y":3.86542, "heading":-3.14157, "vx":-1.50073, "vy":0.00548, "omega":-0.00031, "ax":2.48867, "ay":-0.1348, "alpha":0.03007, "fx":[39.57719,39.57754,39.44202,39.44133], "fy":[-2.19644,-2.10518,-2.06146,-2.19721]}, - {"t":0.90324, "x":6.23781, "y":3.86549, "heading":-3.14157, "vx":-1.4601, "vy":0.00328, "omega":0.00019, "ax":2.4895, "ay":-0.13369, "alpha":-0.0715, "fx":[39.14727,39.14843,39.02425,40.77048], "fy":[-2.23665,-2.04369,-2.04435,-2.16521]}, - {"t":0.91956, "x":6.21431, "y":3.86553, "heading":-3.14157, "vx":-1.41946, "vy":0.00109, "omega":-0.00098, "ax":2.49017, "ay":-0.13279, "alpha":0.02827, "fx":[39.59754,39.5979,39.46927,39.46856], "fy":[-2.16043,-2.07954,-2.03115,-2.16121]}, - {"t":0.93588, "x":6.19147, "y":3.86553, "heading":-3.14158, "vx":-1.37882, "vy":-0.00107, "omega":-0.00052, "ax":2.49073, "ay":-0.13204, "alpha":-0.07681, "fx":[39.15252,39.1536,39.04074,40.8221], "fy":[-2.20008,-2.0251,-2.02577,-2.13426]}, - {"t":0.95221, "x":6.16929, "y":3.86549, "heading":3.14159, "vx":-1.33816, "vy":-0.00323, "omega":-0.00177, "ax":2.49252, "ay":-0.11131, "alpha":0.04531, "fx":[39.66636,39.66722,39.47503,39.47402], "fy":[-1.85817,-1.68768,-1.66328,-1.8593]}, - {"t":0.98569, "x":6.12589, "y":3.86532, "heading":3.14153, "vx":-1.25471, "vy":-0.00696, "omega":-0.00026, "ax":2.49659, "ay":-0.07857, "alpha":-0.02527, "fx":[39.44484,39.44573,39.28132,40.36919], "fy":[-1.33343,-1.16159,-1.16243,-1.33177]}, - {"t":1.01917, "x":6.08528, "y":3.86505, "heading":3.14152, "vx":-1.17112, "vy":-0.00959, "omega":-0.0011, "ax":2.49751, "ay":-0.05331, "alpha":0.03858, "fx":[39.72073,39.72145,39.57889,39.57833], "fy":[-0.93473,-0.73219,-0.78333,-0.93536]}, - {"t":1.05265, "x":6.04747, "y":3.86469, "heading":3.14149, "vx":-1.0875, "vy":-0.01137, "omega":0.00019, "ax":2.49806, "ay":-0.03331, "alpha":-0.02374, "fx":[39.49484,39.49518,39.36606,40.27802], "fy":[-0.58874,-0.4634,-0.46375,-0.5991]}, - {"t":1.08613, "x":6.01246, "y":3.8643, "heading":3.14149, "vx":-1.00386, "vy":-0.01249, "omega":-0.00061, "ax":2.49839, "ay":-0.01706, "alpha":0.03124, "fx":[39.71998,39.72024,39.60738,39.60718], "fy":[-0.34384,-0.17323,-0.2224,-0.34408]}, - {"t":1.11961, "x":5.98025, "y":3.86387, "heading":3.14147, "vx":-0.92022, "vy":-0.01306, "omega":0.00044, "ax":2.49857, "ay":-0.00362, "alpha":-0.02131, "fx":[39.52524,39.52531,39.42064,40.19565], "fy":[-0.1055,-0.00425,-0.00433,-0.11558]}, - {"t":1.15309, "x":5.95084, "y":3.86343, "heading":3.14149, "vx":-0.83656, "vy":-0.01318, "omega":-0.00027, "ax":2.49868, "ay":0.0077, "alpha":0.02576, "fx":[39.71458,39.71457,39.62213,39.62213], "fy":[0.06168,0.20341,0.16207,0.06166]}, - {"t":1.18657, "x":5.92423, "y":3.86299, "heading":3.14148, "vx":-0.7529, "vy":-0.01292, "omega":0.00059, "ax":2.49873, "ay":0.01735, "alpha":-0.01957, "fx":[39.54279,39.54273,39.45531,40.13563], "fy":[0.23354,0.32064,0.32071,0.22679]}, - {"t":1.22005, "x":5.90042, "y":3.86257, "heading":3.1415, "vx":-0.66925, "vy":-0.01234, "omega":-0.00007, "ax":2.49874, "ay":0.02568, "alpha":0.02153, "fx":[39.70829,39.70814,39.63033,39.63043], "fy":[0.35729,0.47367,0.44226,0.35739]}, - {"t":1.25353, "x":5.87942, "y":3.86217, "heading":3.1415, "vx":-0.58559, "vy":-0.01148, "omega":0.00065, "ax":2.49873, "ay":0.03294, "alpha":-0.01726, "fx":[39.55761,39.55746,39.48312,40.07819], "fy":[0.48328,0.56289,0.56304,0.4825]}, - {"t":1.28701, "x":5.86121, "y":3.8618, "heading":3.14152, "vx":-0.50193, "vy":-0.01038, "omega":0.00008, "ax":2.4987, "ay":0.03932, "alpha":0.01805, "fx":[39.70196,39.70176,39.63534,39.6355], "fy":[0.58264,0.67651,0.6553,0.5828]}, - {"t":1.32049, "x":5.84581, "y":3.86148, "heading":3.14152, "vx":-0.41827, "vy":-0.00906, "omega":0.00068, "ax":2.49866, "ay":0.04498, "alpha":-0.01591, "fx":[39.56659,39.56641,39.503,40.03609], "fy":[0.6764,0.74969,0.74987,0.68072]}, - {"t":1.35397, "x":5.8332, "y":3.8612, "heading":3.14154, "vx":-0.33461, "vy":-0.00756, "omega":0.00015, "ax":2.49861, "ay":0.05004, "alpha":0.01487, "fx":[39.6955,39.69528,39.63912,39.63929], "fy":[0.76075,0.83365,0.8221,0.76093]}, - {"t":1.38746, "x":5.8234, "y":3.86098, "heading":3.14155, "vx":-0.25096, "vy":-0.00588, "omega":0.00065, "ax":2.49856, "ay":0.05457, "alpha":-0.01511, "fx":[39.57325,39.57305,39.5206,39.99914], "fy":[0.83158,0.89702,0.8972,0.83964]}, - {"t":1.42094, "x":5.8164, "y":3.86081, "heading":3.14157, "vx":-0.1673, "vy":-0.00405, "omega":0.00014, "ax":2.49851, "ay":0.05867, "alpha":0.01142, "fx":[39.68819,39.68801,39.6432,39.64335], "fy":[0.90638,0.95741,0.95513,0.90654]}, - {"t":1.45442, "x":5.8122, "y":3.86071, "heading":3.14158, "vx":-0.08365, "vy":-0.00209, "omega":0.00052, "ax":2.49846, "ay":0.06238, "alpha":-0.01559, "fx":[39.57583,39.57565,39.53658,39.97133], "fy":[0.96014,1.01476,1.0149,0.97158]}, - {"t":1.4879, "x":5.8108, "y":3.86067, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.42742, "ay":0.59339, "alpha":0.01543, "fx":[38.56089,38.55645,38.51447,38.51655], "fy":[9.37702,9.4981,9.4276,9.37925]}, - {"t":1.53588, "x":5.81359, "y":3.86135, "heading":3.14159, "vx":0.11646, "vy":0.02847, "omega":0.00074, "ax":2.42505, "ay":0.60494, "alpha":-0.00754, "fx":[38.4327,38.4294,38.37957,38.75609], "fy":[9.55836,9.63991,9.64225,9.57521]}, - {"t":1.58385, "x":5.82197, "y":3.86342, "heading":-3.14156, "vx":0.23281, "vy":0.05749, "omega":0.00038, "ax":2.42101, "ay":0.62044, "alpha":0.01429, "fx":[38.46317,38.46038,38.40787,38.41012], "fy":[9.81586,9.88979,9.87564,9.81826]}, - {"t":1.63183, "x":5.83593, "y":3.86689, "heading":-3.14154, "vx":0.34897, "vy":0.08726, "omega":0.00106, "ax":2.41505, "ay":0.64264, "alpha":-0.01511, "fx":[38.24117,38.23877,38.17282,38.7098], "fy":[10.17706,10.23913,10.24171,10.15161]}, - {"t":1.67981, "x":5.85545, "y":3.87182, "heading":-3.14149, "vx":0.46484, "vy":0.11809, "omega":0.00034, "ax":2.40535, "ay":0.67711, "alpha":0.02337, "fx":[38.22472,38.21885,38.15022,38.1528], "fy":[10.68646,10.85766,10.76488,10.68919]}, - {"t":1.72779, "x":5.88052, "y":3.87826, "heading":-3.14147, "vx":0.58025, "vy":0.15058, "omega":0.00146, "ax":2.38696, "ay":0.73781, "alpha":-0.03913, "fx":[37.71347,37.71539,37.62797,38.52188], "fy":[11.78472,11.72973,11.73279,11.60565]}, - {"t":1.77577, "x":5.91111, "y":3.88633, "heading":-3.1414, "vx":0.69477, "vy":0.18598, "omega":-0.00042, "ax":2.33999, "ay":0.87254, "alpha":0.04814, "fx":[37.19743,37.17671,37.10964,37.11248], "fy":[13.68923,14.2493,13.77808,13.69221]}, - {"t":1.82375, "x":5.94714, "y":3.89626, "heading":-3.14142, "vx":0.80704, "vy":0.22784, "omega":0.00189, "ax":2.06234, "ay":1.40113, "alpha":-0.14656, "fx":[32.33758,32.37894,32.28599,33.96208], "fy":[23.0788,22.01784,22.02093,21.85837]}, - {"t":1.87173, "x":5.98823, "y":3.90881, "heading":-3.14133, "vx":0.90599, "vy":0.29507, "omega":-0.00514, "ax":-2.38221, "ay":0.72945, "alpha":0.03695, "fx":[-37.81718,-37.80287,-37.8284,-37.82862], "fy":[11.43685,12.00111,11.44778,11.43661]}, - {"t":1.9197, "x":6.02896, "y":3.9238, "heading":-3.14158, "vx":0.79169, "vy":0.33007, "omega":-0.00337, "ax":-2.49457, "ay":-0.11252, "alpha":0.08958, "fx":[-39.26115,-39.26175,-39.212,-40.67746], "fy":[-1.93278,-1.75666,-1.75681,-1.69911]}, - {"t":1.96768, "x":6.06407, "y":3.93951, "heading":3.14145, "vx":0.67201, "vy":0.32467, "omega":0.00093, "ax":-2.48263, "ay":-0.27921, "alpha":-0.02554, "fx":[-39.44157,-39.43835,-39.38696,-39.38756], "fy":[-4.35282,-4.61405,-4.41016,-4.35345]}, - {"t":2.01566, "x":6.09345, "y":3.95477, "heading":3.14149, "vx":0.55289, "vy":0.31127, "omega":-0.00029, "ax":-2.47429, "ay":-0.34899, "alpha":0.03243, "fx":[-39.14362,-39.14489,-39.08103,-39.75516], "fy":[-5.6127,-5.54254,-5.54362,-5.46331]}, - {"t":2.06364, "x":6.11713, "y":3.9693, "heading":3.14148, "vx":0.43418, "vy":0.29453, "omega":0.00126, "ax":-2.46887, "ay":-0.38726, "alpha":-0.02226, "fx":[-39.22455,-39.22057,-39.16706,-39.16825], "fy":[-6.08254,-6.28107,-6.14449,-6.08378]}, - {"t":2.11162, "x":6.13512, "y":3.98298, "heading":3.14154, "vx":0.31573, "vy":0.27595, "omega":0.00019, "ax":-2.46514, "ay":-0.4114, "alpha":0.01545, "fx":[-39.05916,-39.05957,-38.9998,-39.42487], "fy":[-6.567,-6.54299,-6.5445,-6.47068]}, - {"t":2.1596, "x":6.14743, "y":3.99575, "heading":3.14155, "vx":0.19745, "vy":0.25621, "omega":0.00094, "ax":-2.46243, "ay":-0.42802, "alpha":-0.01925, "fx":[-39.12163,-39.11792,-39.0651,-39.06668], "fy":[-6.74149,-6.89218,-6.80376,-6.74316]}, - {"t":2.20758, "x":6.15407, "y":4.00755, "heading":3.14159, "vx":0.07931, "vy":0.23567, "omega":0.00001, "ax":-2.46038, "ay":-0.44016, "alpha":0.00515, "fx":[-39.01594,-39.01523,-38.95128,-39.25859], "fy":[-6.99341,-7.01015,-7.01213,-6.93562]}, - {"t":2.25555, "x":6.15505, "y":4.01835, "heading":3.14159, "vx":-0.03873, "vy":0.21455, "omega":0.00026, "ax":-2.45796, "ay":-0.45008, "alpha":-0.02116, "fx":[-39.05035,-39.04568,-38.99517,-38.99673], "fy":[-7.08285,-7.27118,-7.1428,-7.08451]}, - {"t":2.30177, "x":6.15063, "y":4.02778, "heading":-3.14158, "vx":-0.15233, "vy":0.19375, "omega":-0.00072, "ax":-2.45611, "ay":-0.46278, "alpha":0.01103, "fx":[-38.92767,-38.92736,-38.86913,-39.24577], "fy":[-7.3608,-7.36536,-7.36715,-7.29471]}, - {"t":2.34798, "x":6.14097, "y":4.03624, "heading":3.14157, "vx":-0.26583, "vy":0.17237, "omega":-0.00021, "ax":-2.45267, "ay":-0.47999, "alpha":-0.02012, "fx":[-38.96881,-38.96464,-38.9084,-38.91012], "fy":[-7.56471,-7.7198,-7.63006,-7.56653]}, - {"t":2.3942, "x":6.12606, "y":4.0437, "heading":3.14156, "vx":-0.37918, "vy":0.15019, "omega":-0.00114, "ax":-2.44748, "ay":-0.50492, "alpha":0.01968, "fx":[-38.75253,-38.75267,-38.68273,-39.23422], "fy":[-8.04094,-8.03639,-8.0384,-7.94826]}, - {"t":2.44041, "x":6.10593, "y":4.0501, "heading":3.14151, "vx":-0.49229, "vy":0.12685, "omega":-0.00023, "ax":-2.43875, "ay":-0.54423, "alpha":-0.02642, "fx":[-38.75538,-38.74921,-38.68057,-38.68259], "fy":[-8.56478,-8.78456,-8.64368,-8.5669]}, - {"t":2.48662, "x":6.08057, "y":4.05538, "heading":3.1415, "vx":-0.60499, "vy":0.1017, "omega":-0.00145, "ax":-2.42126, "ay":-0.6153, "alpha":0.04539, "fx":[-38.2419,-38.24482,-38.16011,-39.11037], "fy":[-9.86339,-9.77493,-9.77738,-9.65752]}, - {"t":2.53284, "x":6.05003, "y":4.05942, "heading":3.14143, "vx":-0.71689, "vy":0.07326, "omega":0.00065, "ax":-2.37145, "ay":-0.7818, "alpha":-0.04618, "fx":[-37.69294,-37.67425,-37.61238,-37.6147], "fy":[-12.25404,-12.80052,-12.33544,-12.25649]}, - {"t":2.57905, "x":6.01437, "y":4.06197, "heading":3.14146, "vx":-0.82648, "vy":0.03714, "omega":-0.00149, "ax":-1.95144, "ay":-1.54847, "alpha":0.13278, "fx":[-30.60571,-30.64254,-30.56381,-32.11041], "fy":[-25.30348,-24.38809,-24.39074,-24.25009]}, - {"t":2.62526, "x":5.97409, "y":4.06204, "heading":3.14139, "vx":-0.91667, "vy":-0.03443, "omega":0.00465, "ax":2.41206, "ay":-0.63029, "alpha":-0.03858, "fx":[38.29403,38.2802,38.29913,38.29928], "fy":[-9.85257,-10.46384,-9.85663,-9.85239]}, - {"t":2.67148, "x":5.9343, "y":4.05977, "heading":-3.14158, "vx":-0.80519, "vy":-0.06355, "omega":0.00287, "ax":2.49722, "ay":-0.01621, "alpha":-0.08531, "fx":[39.30119,39.30072,39.24902,40.73001], "fy":[-0.18138,-0.2666,-0.26675,-0.31485]}, - {"t":2.71769, "x":5.89976, "y":4.05682, "heading":-3.14144, "vx":-0.68979, "vy":-0.0643, "omega":-0.00108, "ax":2.4948, "ay":0.13254, "alpha":0.02728, "fx":[39.63653,39.63541,39.57758,39.57778], "fy":[2.02011,2.29324,2.08281,2.02031]}, - {"t":2.76391, "x":5.87054, "y":4.05399, "heading":-3.14149, "vx":-0.57449, "vy":-0.05818, "omega":0.00019, "ax":2.49089, "ay":0.19858, "alpha":-0.03565, "fx":[39.40559,39.40664,39.33499,40.0313], "fy":[3.2619,3.14302,3.14355,3.06168]}, - {"t":2.81012, "x":5.84665, "y":4.05151, "heading":-3.14149, "vx":-0.45938, "vy":-0.049, "omega":-0.00146, "ax":2.4879, "ay":0.2358, "alpha":0.02772, "fx":[39.53091,39.52817,39.46467,39.46534], "fy":[3.66063,3.91942,3.73289,3.66132]}, - {"t":2.85633, "x":5.82808, "y":4.0495, "heading":-3.14155, "vx":-0.34441, "vy":-0.0381, "omega":-0.00018, "ax":2.48569, "ay":0.25968, "alpha":-0.01725, "fx":[39.38817,39.38914,39.3165,39.75504], "fy":[4.19916,4.12429,4.12519,4.04208]}, - {"t":2.90255, "x":5.81482, "y":4.04802, "heading":-3.14156, "vx":-0.22953, "vy":-0.0261, "omega":-0.00098, "ax":2.48402, "ay":0.2763, "alpha":0.0279, "fx":[39.4712,39.46779,39.40131,39.4023], "fy":[4.30415,4.55474,4.38176,4.30518]}, - {"t":2.94876, "x":5.80686, "y":4.0471, "heading":3.14158, "vx":-0.11474, "vy":-0.01333, "omega":0.00031, "ax":2.48272, "ay":0.28853, "alpha":-0.00673, "fx":[39.37693,39.37769,39.29507,39.61018], "fy":[4.64373,4.58968,4.59095,4.49788]}, - {"t":2.99498, "x":5.80421, "y":4.0468, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":1.85676, "ay":1.67122, "alpha":4.61321, "fx":[39.49207,38.24079,19.76367,20.41309], "fy":[16.52399,36.11285,36.40922,17.0816]}, - {"t":3.02182, "x":5.80488, "y":4.0474, "heading":3.14159, "vx":0.04984, "vy":0.04486, "omega":0.12384, "ax":1.83484, "ay":1.69661, "alpha":3.74757, "fx":[37.31482,36.40667,21.01315,21.78302], "fy":[18.96269,34.26418,35.20443,19.30823]}, - {"t":3.04867, "x":5.80688, "y":4.04921, "heading":-3.13827, "vx":0.0991, "vy":0.09041, "omega":0.22444, "ax":1.81027, "ay":1.72275, "alpha":3.15854, "fx":[35.62618,34.75655,22.00382,22.57106], "fy":[20.48894,33.92814,34.04573,20.93661]}, - {"t":3.07551, "x":5.81019, "y":4.05226, "heading":-3.13224, "vx":0.1477, "vy":0.13666, "omega":0.30923, "ax":1.78353, "ay":1.75037, "alpha":2.53545, "fx":[33.89057,33.22495,22.67992,23.46375], "fy":[22.51901,32.80383,33.29841,22.5323]}, - {"t":3.10235, "x":5.8148, "y":4.05656, "heading":-3.12394, "vx":0.19557, "vy":0.18364, "omega":0.3773, "ax":1.75433, "ay":1.77957, "alpha":2.13801, "fx":[32.54808,31.85382,23.23691,23.76646], "fy":[23.64314,32.90105,32.61577,23.84821]}, - {"t":3.1292, "x":5.82068, "y":4.06213, "heading":-3.11381, "vx":0.24267, "vy":0.23142, "omega":0.43469, "ax":1.72238, "ay":1.81046, "alpha":1.65703, "fx":[31.04327,30.51063,23.50266,24.31949], "fy":[25.46923,32.08189,32.25594,25.16261]}, - {"t":3.15604, "x":5.82782, "y":4.069, "heading":-3.10214, "vx":0.28891, "vy":0.28002, "omega":0.47917, "ax":1.6873, "ay":1.84313, "alpha":1.39694, "fx":[29.88944,29.3198,23.73295,24.20658], "fy":[26.28891,32.48991,31.9542,26.3114]}, - {"t":3.18289, "x":5.83618, "y":4.07718, "heading":-3.08928, "vx":0.3342, "vy":0.3295, "omega":0.51667, "ax":1.6487, "ay":1.87769, "alpha":1.01621, "fx":[28.47902,28.06479,23.65047,24.50271], "fy":[27.96889,31.91029,31.90128,27.45816]}, - {"t":3.20973, "x":5.84575, "y":4.0867, "heading":-3.07541, "vx":0.37846, "vy":0.3799, "omega":0.54395, "ax":1.60607, "ay":1.91421, "alpha":0.85743, "fx":[27.41228,26.97058,23.61511,23.99216], "fy":[28.58428,32.57202,31.8893,28.51219]}, - {"t":3.23658, "x":5.85648, "y":4.09759, "heading":-3.06081, "vx":0.42158, "vy":0.43129, "omega":0.56697, "ax":1.55887, "ay":1.95277, "alpha":0.54536, "fx":[26.0038,25.7244,23.22113,24.04347], "fy":[30.21439,32.15637,32.07575,29.56003]}, - {"t":3.26342, "x":5.86836, "y":4.10987, "heading":-3.04559, "vx":0.46342, "vy":0.48371, "omega":0.58161, "ax":1.50645, "ay":1.99341, "alpha":0.46306, "fx":[24.92967,24.63282,22.9284,23.17311], "fy":[30.66129,33.05357,32.29896,30.5738]}, - {"t":3.29027, "x":5.88135, "y":4.12357, "heading":-3.02997, "vx":0.50386, "vy":0.53722, "omega":0.59404, "ax":1.44806, "ay":2.03615, "alpha":0.198, "fx":[23.45193,23.32644,22.23547,22.94247], "fy":[32.33055,32.73919,32.66898,31.56252]}, - {"t":3.31711, "x":5.89539, "y":4.13873, "heading":-3.01403, "vx":0.54274, "vy":0.59188, "omega":0.59936, "ax":1.38285, "ay":2.0809, "alpha":0.17591, "fx":[22.2759,22.13696,21.65623,21.74617], "fy":[32.6091,33.88124,33.08689,32.56629]}, - {"t":3.34396, "x":5.91046, "y":4.15537, "heading":-2.99794, "vx":0.57986, "vy":0.64774, "omega":0.60408, "ax":1.30984, "ay":2.12754, "alpha":-0.05996, "fx":[20.62283,20.65448,20.6029,21.29827], "fy":[34.30691,33.6312,33.62725,33.53955]}, - {"t":3.3708, "x":5.9265, "y":4.17352, "heading":-2.98172, "vx":0.61502, "vy":0.70486, "omega":0.60247, "ax":1.2279, "ay":2.17577, "alpha":-0.03343, "fx":[19.28453,19.31006,19.72652,19.65434], "fy":[34.49013,34.9607,34.18432,34.53248]}, - {"t":3.39765, "x":5.94345, "y":4.19323, "heading":-2.96555, "vx":0.64798, "vy":0.76327, "omega":0.60157, "ax":1.13581, "ay":2.22514, "alpha":-0.24745, "fx":[17.39028,17.57625,18.278,18.88302], "fy":[36.26175,34.7355,34.83114,35.47431]}, - {"t":3.42449, "x":5.96126, "y":4.21452, "heading":-2.9494, "vx":0.67847, "vy":0.823, "omega":0.59493, "ax":1.03223, "ay":2.27495, "alpha":-0.17877, "fx":[15.77825,15.96059,17.01859,16.79189], "fy":[36.28835,36.25475,35.48397,36.43888]}, - {"t":3.45134, "x":5.97984, "y":4.23743, "heading":-2.93343, "vx":0.70618, "vy":0.88407, "omega":0.59013, "ax":0.91572, "ay":2.3242, "alpha":-0.3788, "fx":[13.5593,13.87935,15.10237,15.60987], "fy":[38.13472,35.96509,36.17559,37.31794]}, - {"t":3.47818, "x":5.99913, "y":4.262, "heading":-2.91759, "vx":0.73077, "vy":0.94646, "omega":0.57996, "ax":0.7849, "ay":2.37148, "alpha":-0.27356, "fx":[11.56915,11.8912,13.37067,13.01235], "fy":[37.93669,37.59956,36.8574,38.20216]}, - {"t":3.50503, "x":6.01903, "y":4.28826, "heading":-2.90202, "vx":0.75184, "vy":1.01012, "omega":0.57262, "ax":0.6385, "ay":2.41492, "alpha":-0.46094, "fx":[8.95031,9.36711,10.90795,11.32135], "fy":[39.79811,37.15487,37.47843,38.92281]}, - {"t":3.53187, "x":6.03944, "y":4.31625, "heading":-2.88665, "vx":0.76898, "vy":1.07495, "omega":0.56025, "ax":0.47561, "ay":2.45211, "alpha":-0.31534, "fx":[6.49291,6.92171,8.61959,8.16839], "fy":[39.22136,38.85252,38.04952,39.59254]}, - {"t":3.55872, "x":6.06026, "y":4.34599, "heading":-2.87161, "vx":0.78174, "vy":1.14078, "omega":0.55178, "ax":0.2959, "ay":2.48012, "alpha":-0.48569, "fx":[3.48018,3.93812,5.59886,5.7735], "fy":[40.94806,38.05106,38.4662,40.02983]}, - {"t":3.58556, "x":6.08135, "y":4.37751, "heading":-2.85679, "vx":0.78969, "vy":1.20736, "omega":0.53874, "ax":0.09998, "ay":2.49563, "alpha":-0.31705, "fx":[0.4917,0.98248,2.68157,2.19306], "fy":[39.86977,39.53464,38.7624,40.3128]}, - {"t":3.61241, "x":6.10258, "y":4.41082, "heading":-2.84233, "vx":0.79237, "vy":1.27435, "omega":0.53023, "ax":-0.11035, "ay":2.49511, "alpha":-0.45689, "fx":[-2.87111,-2.43952,-0.87351,-0.82314], "fy":[41.1534,38.29966,38.75587,40.23816]}, - {"t":3.63925, "x":6.12382, "y":4.44593, "heading":-2.8281, "vx":0.78941, "vy":1.34133, "omega":0.51797, "ax":-0.3318, "ay":2.47535, "alpha":-0.26011, "fx":[-6.24841,-5.7626,-4.30295,-4.75629], "fy":[39.4262,39.37015,38.52281,39.87312]}, - {"t":3.66609, "x":6.14489, "y":4.48283, "heading":-2.81419, "vx":0.7805, "vy":1.40778, "omega":0.51098, "ax":-0.55969, "ay":2.43393, "alpha":-0.35628, "fx":[-9.69537,-9.36668,-8.14938,-8.33022], "fy":[40.02235,37.52245,37.92788,39.08902]}, - {"t":3.69294, "x":6.16564, "y":4.5215, "heading":-2.80048, "vx":0.76548, "vy":1.47312, "omega":0.50142, "ax":-0.78818, "ay":2.3698, "alpha":-0.14238, "fx":[-13.18377,-12.80455,-11.87079,-12.19278], "fy":[37.59161,37.94336,37.03263,37.92139]}, - {"t":3.71978, "x":6.1859, "y":4.56189, "heading":-2.78702, "vx":0.74432, "vy":1.53674, "omega":0.4976, "ax":-0.94141, "ay":2.31104, "alpha":-0.25386, "fx":[-15.96232,-15.39687,-13.95865,-14.46418], "fy":[36.74791,36.81517,35.91847,37.27646]}, - {"t":3.75124, "x":6.20885, "y":4.61137, "heading":-2.77136, "vx":0.71471, "vy":1.60943, "omega":0.48961, "ax":-1.03548, "ay":2.27273, "alpha":-0.44344, "fx":[-17.4741,-16.98124,-15.36041,-15.9403], "fy":[37.44987,34.68959,35.32482,36.86075]}, - {"t":3.78269, "x":6.23082, "y":4.66312, "heading":-2.75596, "vx":0.68214, "vy":1.68091, "omega":0.47566, "ax":-1.145, "ay":2.21929, "alpha":-0.35463, "fx":[-19.41491,-18.70362,-16.97013,-17.62241], "fy":[35.41084,34.90931,34.48307,36.12837]}, - {"t":3.81414, "x":6.25171, "y":4.71709, "heading":-2.741, "vx":0.64613, "vy":1.75071, "omega":0.46451, "ax":-1.27437, "ay":2.14728, "alpha":-0.46531, "fx":[-21.29559,-20.70771,-18.96094,-19.96186], "fy":[35.43993,32.58793,33.34404,34.98693]}, - {"t":3.8456, "x":6.2714, "y":4.77321, "heading":-2.72639, "vx":0.60604, "vy":1.81825, "omega":0.44988, "ax":-1.4274, "ay":2.04833, "alpha":-0.35527, "fx":[-23.883,-23.14459,-21.46659,-22.15005], "fy":[32.67932,32.11087,31.83639,33.44835]}, - {"t":3.87705, "x":6.28975, "y":4.83142, "heading":-2.71224, "vx":0.56115, "vy":1.88268, "omega":0.4387, "ax":-1.6073, "ay":1.90989, "alpha":-0.40338, "fx":[-26.37884,-25.8151,-24.27734,-25.5973], "fy":[31.53301,28.94874,29.68029,31.12187]}, - {"t":3.9085, "x":6.30661, "y":4.89158, "heading":-2.69845, "vx":0.51059, "vy":1.94275, "omega":0.42601, "ax":-1.81424, "ay":1.71387, "alpha":-0.26007, "fx":[-29.77816,-29.14713,-27.85465,-28.4296], "fy":[27.24366,27.06884,26.61997,27.90356]}, - {"t":3.93996, "x":6.32177, "y":4.95353, "heading":-2.68505, "vx":0.45353, "vy":1.99666, "omega":0.41783, "ax":-2.04016, "ay":1.4367, "alpha":-0.25597, "fx":[-32.81706,-32.4107,-31.39993,-32.9282], "fy":[23.71563,21.84099,22.36739,23.31067]}, - {"t":3.97141, "x":6.33503, "y":5.01704, "heading":-2.6719, "vx":0.38936, "vy":2.04184, "omega":0.40978, "ax":-2.26062, "ay":1.05525, "alpha":-0.11748, "fx":[-36.37271,-36.0429,-35.41844,-35.72199], "fy":[16.72466,16.78346,16.42724,17.07591]}, - {"t":4.00286, "x":6.34615, "y":5.08178, "heading":-2.65901, "vx":0.31826, "vy":2.07504, "omega":0.40609, "ax":-2.42969, "ay":0.56461, "alpha":-0.02626, "fx":[-38.34822,-38.24577,-38.02281,-39.67562], "fy":[9.25333,8.71911,8.84637,9.03572]}, - {"t":4.03431, "x":6.35496, "y":5.14733, "heading":-2.64624, "vx":0.24184, "vy":2.09279, "omega":0.40526, "ax":-2.49432, "ay":0.00227, "alpha":0.06056, "fx":[-39.41763,-39.5453,-39.7802,-39.65325], "fy":[-0.00724,0.18438,0.09758,-0.13038]}, - {"t":4.06577, "x":6.36134, "y":5.21316, "heading":-2.6335, "vx":0.16338, "vy":2.09287, "omega":0.40717, "ax":-2.43226, "ay":-0.55374, "alpha":0.2341, "fx":[-37.68228,-38.06057,-38.71431,-39.99827], "fy":[-9.32618,-8.14103,-8.51666,-9.18007]}, - {"t":4.09722, "x":6.36527, "y":5.27871, "heading":-2.62069, "vx":0.08688, "vy":2.07545, "omega":0.41453, "ax":-2.27225, "ay":-1.03022, "alpha":0.23406, "fx":[-35.19796,-35.83574,-36.96172,-36.299], "fy":[-16.37522,-16.18203,-15.86723,-16.99764]}, - {"t":4.12867, "x":6.36688, "y":5.34348, "heading":-2.60765, "vx":0.01541, "vy":2.04305, "omega":0.42189, "ax":-2.06702, "ay":-1.39798, "alpha":0.47459, "fx":[-31.24122,-32.19788,-33.61605,-34.20653], "fy":[-23.74161,-20.64072,-21.481,-22.91277]}, - {"t":4.16013, "x":6.36634, "y":5.40705, "heading":-2.59438, "vx":-0.0496, "vy":1.99907, "omega":0.43682, "ax":-1.85838, "ay":-1.66607, "alpha":0.38109, "fx":[-28.05078,-29.1496,-30.9895,-29.82297], "fy":[-26.45336,-26.18251,-25.67615,-27.48831]}, - {"t":4.19158, "x":6.36386, "y":5.4691, "heading":-2.58064, "vx":-0.10805, "vy":1.94667, "omega":0.44881, "ax":-1.66755, "ay":-1.85766, "alpha":0.62481, "fx":[-24.46595,-25.87233,-27.81884,-27.73726], "fy":[-31.18658,-27.47408,-28.6723,-30.63367]}, - {"t":4.22303, "x":6.35964, "y":5.52941, "heading":-2.56653, "vx":-0.1605, "vy":1.88824, "omega":0.46846, "ax":-1.50127, "ay":-1.99493, "alpha":0.49098, "fx":[-21.99573,-23.45096,-25.71307,-24.17506], "fy":[-31.67961,-31.18334,-30.81038,-33.01064]}, - {"t":4.25448, "x":6.35385, "y":5.58781, "heading":-2.55179, "vx":-0.20772, "vy":1.8255, "omega":0.4839, "ax":-1.35925, "ay":-2.09467, "alpha":0.70596, "fx":[-19.39294,-21.1019,-23.32401,-22.49729], "fy":[-35.12088,-30.92446,-32.36558,-34.60684]}, - {"t":4.28594, "x":6.34664, "y":5.64419, "heading":-2.53657, "vx":-0.25047, "vy":1.75961, "omega":0.5061, "ax":-1.23864, "ay":-2.16849, "alpha":0.55237, "fx":[-17.63313,-19.31478,-21.73452,-19.97476], "fy":[-34.42793,-33.73101,-33.60597,-35.94086]}, - {"t":4.31739, "x":6.33815, "y":5.69847, "heading":-2.52065, "vx":-0.28943, "vy":1.69141, "omega":0.52348, "ax":-1.13606, "ay":-2.22422, "alpha":0.72, "fx":[-15.83217,-17.67604,-19.95758,-18.67718], "fy":[-36.95189,-32.95379,-34.52438,-36.81441]}, - {"t":4.34884, "x":6.32849, "y":5.75057, "heading":-2.50419, "vx":-0.32517, "vy":1.62145, "omega":0.54612, "ax":-1.04837, "ay":-2.26709, "alpha":0.57838, "fx":[-14.58377,-16.36862,-18.7331,-16.88903], "fy":[-36.00273,-35.06183,-35.31563,-37.5869]}, - {"t":4.3803, "x":6.31774, "y":5.80044, "heading":-2.48701, "vx":-0.35814, "vy":1.55014, "omega":0.56432, "ax":-0.97292, "ay":-2.30067, "alpha":0.68948, "fx":[-13.31645,-15.17093,-17.34669,-15.94905], "fy":[-37.84107,-34.29916,-35.89694,-38.06225]}, - {"t":4.41175, "x":6.30599, "y":5.84806, "heading":-2.46926, "vx":-0.38874, "vy":1.47778, "omega":0.586, "ax":-0.90753, "ay":-2.3274, "alpha":0.55432, "fx":[-12.44943,-14.2177,-16.38979,-14.57406], "fy":[-36.91744,-35.98584,-36.40722,-38.48631]}, - {"t":4.4432, "x":6.29332, "y":5.89339, "heading":-2.45083, "vx":-0.41729, "vy":1.40457, "omega":0.60344, "ax":-0.85047, "ay":-2.34899, "alpha":0.62574, "fx":[-11.56514,-13.33185,-15.27547,-13.83464], "fy":[-38.41032,-35.25659,-36.78886,-38.71228]}, - {"t":4.47466, "x":6.27977, "y":5.93641, "heading":-2.43185, "vx":-0.44404, "vy":1.33069, "omega":0.62312, "ax":-0.80032, "ay":-2.36667, "alpha":0.48945, "fx":[-10.96326,-12.59988,-14.4676,-12.79181], "fy":[-37.47845,-36.72311,-37.15563,-38.9334]}, - {"t":4.50611, "x":6.26541, "y":5.97709, "heading":-2.41225, "vx":-0.46921, "vy":1.25625, "omega":0.63851, "ax":-0.75596, "ay":-2.38132, "alpha":0.52742, "fx":[-10.34747,-11.90914,-13.51245,-12.2368], "fy":[-38.68019,-36.07973,-37.44191,-39.01883]}, - {"t":4.53756, "x":6.25028, "y":6.01543, "heading":-2.39217, "vx":-0.49298, "vy":1.18135, "omega":0.6551, "ax":-0.71649, "ay":-2.39358, "alpha":0.39162, "fx":[-9.96523,-11.34293,-12.79983,-11.39145], "fy":[-37.86204,-37.33823,-37.70954,-39.08979]}, - {"t":4.56901, "x":6.23442, "y":6.0514, "heading":-2.37156, "vx":-0.51552, "vy":1.10607, "omega":0.66742, "ax":-0.68117, "ay":-2.40396, "alpha":0.39252, "fx":[-9.56634,-10.78795,-11.94795,-10.9543], "fy":[-38.86593,-36.84112,-37.90759,-39.04375]}, - {"t":4.60047, "x":6.21787, "y":6.085, "heading":-2.35057, "vx":-0.53695, "vy":1.03046, "omega":0.67977, "ax":-0.6494, "ay":-2.41281, "alpha":0.24414, "fx":[-9.36572,-10.32109,-11.26737,-10.28484], "fy":[-38.12251,-38.02141,-38.09513,-38.98146]}, - {"t":4.63192, "x":6.20066, "y":6.11622, "heading":-2.32919, "vx":-0.55737, "vy":0.95457, "omega":0.68744, "ax":-0.62069, "ay":-2.42042, "alpha":0.21129, "fx":[-9.1524,-9.8523,-10.45778,-9.95298], "fy":[-38.99855,-37.635,-38.24003,-38.83044]}, - {"t":4.66337, "x":6.18282, "y":6.14504, "heading":-2.30757, "vx":-0.57689, "vy":0.87844, "omega":0.69409, "ax":-0.59462, "ay":-2.42702, "alpha":0.04263, "fx":[-9.13172,-9.44633,-9.76015,-9.4217], "fy":[-38.34778,-38.77111,-38.36303,-38.64109]}, - {"t":4.69483, "x":6.16438, "y":6.17147, "heading":-2.28574, "vx":-0.5956, "vy":0.8021, "omega":0.69543, "ax":-0.57085, "ay":-2.43278, "alpha":-0.03363, "fx":[-9.10388,-9.02635,-8.94184,-9.17859], "fy":[-39.14392,-38.53563,-38.44644,-38.36252]}, - {"t":4.72628, "x":6.14536, "y":6.1955, "heading":-2.26386, "vx":-0.61355, "vy":0.72558, "omega":0.69437, "ax":-0.5491, "ay":-2.43783, "alpha":-0.23804, "fx":[-9.27794,-8.6388,-8.16699,-8.78584], "fy":[-38.58118,-39.69719,-38.50418,-38.02678]}, - {"t":4.75773, "x":6.1258, "y":6.21711, "heading":-2.24202, "vx":-0.63082, "vy":0.6489, "omega":0.68689, "ax":-0.52913, "ay":-2.44229, "alpha":-0.37098, "fx":[-9.4526,-8.22368,-7.27009,-8.65488], "fy":[-39.33217,-39.64458,-38.52347,-37.5923]}, - {"t":4.78919, "x":6.10569, "y":6.23632, "heading":-2.22042, "vx":-0.64746, "vy":0.57209, "omega":0.67522, "ax":-0.51073, "ay":-2.44625, "alpha":-0.63349, "fx":[-9.87128,-7.81899,-6.35077,-8.39168], "fy":[-38.88131,-40.9042,-38.49744,-37.06088]}, - {"t":4.82064, "x":6.08507, "y":6.2531, "heading":-2.19918, "vx":-0.66353, "vy":0.49515, "omega":0.65529, "ax":-0.49372, "ay":-2.44978, "alpha":-0.84635, "fx":[-10.30273,-7.36575,-5.29017,-8.39414], "fy":[-39.6379,-41.08761,-38.43276,-36.40963]}, - {"t":4.85209, "x":6.06396, "y":6.26746, "heading":-2.17857, "vx":-0.67906, "vy":0.41809, "omega":0.62867, "ax":-0.47796, "ay":-2.45294, "alpha":-1.20142, "fx":[-11.04606,-6.89372,-4.12227,-8.28986], "fy":[-39.32186,-42.5506,-38.29436,-35.60179]}, - {"t":4.88354, "x":6.04237, "y":6.2794, "heading":-2.1588, "vx":-0.69409, "vy":0.34094, "omega":0.59089, "ax":-0.46331, "ay":-2.45578, "alpha":-1.53214, "fx":[-11.83255,-6.34793,-2.77284,-8.4685], "fy":[-40.14662,-43.05691,-38.11295,-34.63264]}, - {"t":4.915, "x":6.02031, "y":6.28891, "heading":-2.14021, "vx":-0.70866, "vy":0.2637, "omega":0.54269, "ax":-0.44967, "ay":-2.45835, "alpha":-2.03085, "fx":[-13.03215,-5.74585,-1.19984,-8.57754], "fy":[-40.01124,-44.85758,-37.82307,-33.42023]}, - {"t":4.94645, "x":5.99779, "y":6.29599, "heading":-2.12314, "vx":-0.72281, "vy":0.18638, "omega":0.47882, "ax":-0.43693, "ay":-2.46067, "alpha":-2.54172, "fx":[-14.33789,-5.03849,0.63111,-9.00104], "fy":[-40.97934,-45.84292,-37.4739,-31.96366]}, - {"t":4.9779, "x":5.97484, "y":6.30063, "heading":-2.10808, "vx":-0.73655, "vy":0.10898, "omega":0.39887, "ax":-0.42553, "ay":-2.46236, "alpha":-2.77527, "fx":[-14.7253,-4.6264,1.30857,-8.97912], "fy":[-40.6945,-47.00184,-37.20717,-31.4635]}, - {"t":5.02485, "x":5.9398, "y":6.30303, "heading":-2.08936, "vx":-0.75653, "vy":-0.00661, "omega":0.2686, "ax":-0.41384, "ay":-2.46489, "alpha":-1.95428, "fx":[-12.2076,-4.91819,-0.81011,-8.34387], "fy":[-40.79183,-44.29773,-37.71232,-33.72564]}, - {"t":5.07179, "x":5.90383, "y":6.30001, "heading":-2.07675, "vx":-0.77595, "vy":-0.12232, "omega":0.17686, "ax":-0.40011, "ay":-2.4671, "alpha":-1.4438, "fx":[-10.46859,-5.11154,-2.21221,-7.61608], "fy":[-40.08135,-43.29467,-38.04452,-35.24757]}, - {"t":5.11873, "x":5.86696, "y":6.29155, "heading":-2.06845, "vx":-0.79473, "vy":-0.23813, "omega":0.10908, "ax":-0.38395, "ay":-2.46961, "alpha":-1.01301, "fx":[-8.96453,-5.17295,-3.14387,-7.10034], "fy":[-40.29932,-41.7969,-38.34922,-36.38196]}, - {"t":5.16567, "x":5.82923, "y":6.27765, "heading":-2.06333, "vx":-0.81276, "vy":-0.35406, "omega":0.06153, "ax":-0.36461, "ay":-2.47247, "alpha":-0.75007, "fx":[-7.85904,-5.13305,-3.71617,-6.44583], "fy":[-39.67164,-41.53396,-38.58639,-37.21682]}, - {"t":5.21262, "x":5.79068, "y":6.2583, "heading":-2.06044, "vx":-0.82987, "vy":-0.47012, "omega":0.02632, "ax":-0.3411, "ay":-2.47573, "alpha":-0.50462, "fx":[-6.79658,-4.94076,-3.96325,-5.96003], "fy":[-40.08929,-40.49028,-38.79029,-37.84648]}, - {"t":5.25956, "x":5.75135, "y":6.23351, "heading":-2.0592, "vx":-0.84589, "vy":-0.58634, "omega":0.00263, "ax":-0.31188, "ay":-2.47948, "alpha":-0.37727, "fx":[-5.90929,-4.64174,-3.99699,-5.25702], "fy":[-39.47256,-40.69571,-38.95618,-38.32963]}, - {"t":5.3065, "x":5.71129, "y":6.20325, "heading":-2.05908, "vx":-0.86053, "vy":-0.70273, "omega":-0.01508, "ax":-0.27461, "ay":-2.48375, "alpha":-0.22825, "fx":[-4.92549,-4.13843,-3.72064,-4.65405], "fy":[-40.10768,-39.8231,-39.09709,-38.69724]}, - {"t":5.35344, "x":5.6706, "y":6.16753, "heading":-2.05979, "vx":-0.87342, "vy":-0.81933, "omega":-0.0258, "ax":-0.22549, "ay":-2.48851, "alpha":-0.18164, "fx":[-3.92435,-3.46614,-3.23954,-3.68926], "fy":[-39.40922,-40.40753,-39.21829,-38.99253]}, - {"t":5.40039, "x":5.62935, "y":6.12632, "heading":-2.061, "vx":-0.884, "vy":-0.93614, "omega":-0.03432, "ax":-0.15788, "ay":-2.49347, "alpha":-0.08107, "fx":[-2.63748,-2.43019,-2.31722,-2.64117], "fy":[-40.32338,-39.50492,-39.30995,-39.2043]}, - {"t":5.44733, "x":5.58768, "y":6.07963, "heading":-2.06261, "vx":-0.89141, "vy":-1.0532, "omega":-0.03813, "ax":-0.05922, "ay":-2.49741, "alpha":-0.09411, "fx":[-0.95568,-0.93414,-0.92524,-0.94577], "fy":[-39.38785,-40.47274,-39.37361,-39.35862]}, - {"t":5.49427, "x":5.54577, "y":6.02744, "heading":-2.0644, "vx":-0.89419, "vy":-1.17043, "omega":-0.04255, "ax":0.09723, "ay":-2.49567, "alpha":-0.01656, "fx":[1.58272,1.5305,1.49563,1.56528], "fy":[-40.61355,-39.23762,-39.29892,-39.33225]}, - {"t":5.54122, "x":5.5039, "y":5.96975, "heading":-2.0664, "vx":-0.88963, "vy":-1.28758, "omega":-0.04332, "ax":0.37789, "ay":-2.46783, "alpha":-0.11036, "fx":[6.10728,5.94505,5.90915,6.0356], "fy":[-38.71477,-40.41224,-38.76561,-38.82205]}, - {"t":5.58816, "x":5.46255, "y":5.90658, "heading":-2.06843, "vx":-0.87189, "vy":-1.40343, "omega":-0.0485, "ax":0.97869, "ay":-2.29463, "alpha":-0.01182, "fx":[15.26102,15.28207,15.25979,16.34698], "fy":[-37.66996,-35.99468,-36.03279,-36.01829]}, - {"t":5.6351, "x":5.4227, "y":5.83817, "heading":-2.07071, "vx":-0.82595, "vy":-1.51115, "omega":-0.04906, "ax":2.21896, "ay":-1.13245, "alpha":-0.06863, "fx":[35.17569,35.22731,35.28958,35.21774], "fy":[-17.85029,-18.48114,-17.81191,-17.77069]}, - {"t":5.68204, "x":5.38637, "y":5.76599, "heading":-2.07301, "vx":-0.72178, "vy":-1.56431, "omega":-0.05228, "ax":2.21259, "ay":1.14907, "alpha":-0.00075, "fx":[34.47898,34.74875,34.8743,36.40423], "fy":[18.86935,17.84486,18.08684,18.16817]}, - {"t":5.72899, "x":5.35493, "y":5.69382, "heading":-2.07546, "vx":-0.61792, "vy":-1.51037, "omega":-0.05232, "ax":1.61481, "ay":1.90316, "alpha":0.04419, "fx":[25.37675,25.66051,25.94108,25.56668], "fy":[29.71582,31.22963,29.85051,30.06027]}, - {"t":5.77593, "x":5.3277, "y":5.62502, "heading":-2.07792, "vx":-0.54212, "vy":-1.42103, "omega":-0.05024, "ax":1.30194, "ay":2.13097, "alpha":-0.05564, "fx":[20.14186,20.60173,20.79824,21.13495], "fy":[34.84701,33.19039,33.55055,33.73499]}, - {"t":5.82287, "x":5.30369, "y":5.56066, "heading":-2.08028, "vx":-0.481, "vy":-1.32099, "omega":-0.05285, "ax":1.12895, "ay":2.22823, "alpha":-0.00939, "fx":[17.63831,17.97296,18.23853,17.84181], "fy":[35.02364,35.93882,35.15892,35.37763]}, - {"t":5.86981, "x":5.28235, "y":5.5011, "heading":-2.08276, "vx":-0.428, "vy":-1.21639, "omega":-0.0533, "ax":1.02152, "ay":2.27994, "alpha":-0.06417, "fx":[15.86321,16.25539,16.43032,16.32055], "fy":[36.92647,35.68375,35.99547,36.17723]}, - {"t":5.91676, "x":5.26339, "y":5.44652, "heading":-2.08526, "vx":-0.38005, "vy":-1.10937, "omega":-0.05631, "ax":0.94884, "ay":2.31144, "alpha":-0.00766, "fx":[14.84614,15.1023,15.30324,15.0024], "fy":[36.43387,37.11771,36.53305,36.69844]}, - {"t":5.9637, "x":5.24659, "y":5.39699, "heading":-2.0879, "vx":-0.33551, "vy":-1.00086, "omega":-0.05667, "ax":0.89656, "ay":2.33243, "alpha":-0.04012, "fx":[14.02196,14.27315,14.38416,14.25469], "fy":[37.57231,36.679,36.87333,36.99156]}, - {"t":6.01064, "x":5.23183, "y":5.35257, "heading":-2.09056, "vx":-0.29342, "vy":-0.89137, "omega":-0.05855, "ax":0.8572, "ay":2.34734, "alpha":0.01895, "fx":[13.51103,13.61707,13.72314,13.58354], "fy":[37.08019,37.66169,37.12236,37.19877]}, - {"t":6.05759, "x":5.219, "y":5.31332, "heading":-2.09331, "vx":-0.25318, "vy":-0.78118, "omega":-0.05766, "ax":0.82653, "ay":2.35844, "alpha":0.00549, "fx":[13.08061,13.13245,13.14245,13.13171], "fy":[37.89598,37.27285,37.29236,37.30655]}, - {"t":6.10453, "x":5.20802, "y":5.27924, "heading":-2.09602, "vx":-0.21438, "vy":-0.67047, "omega":-0.0574, "ax":0.80197, "ay":2.367, "alpha":0.07102, "fx":[12.81456,12.69074,12.66251,12.7598], "fy":[37.46432,38.05105,37.42585,37.3703]}, - {"t":6.15147, "x":5.19884, "y":5.25038, "heading":-2.09871, "vx":-0.17674, "vy":-0.55936, "omega":-0.05407, "ax":0.78187, "ay":2.3738, "alpha":0.0787, "fx":[12.60631,12.36622,12.21997,12.45844], "fy":[38.1065,37.75481,37.51434,37.36749]}, - {"t":6.19841, "x":5.19141, "y":5.22673, "heading":-2.10125, "vx":-0.14003, "vy":-0.44792, "omega":-0.05037, "ax":0.76511, "ay":2.37932, "alpha":0.16076, "fx":[12.51035,12.02726,11.79393,12.25532], "fy":[37.74003,38.45109,37.58165,37.32094]}, - {"t":6.24536, "x":5.18568, "y":5.20833, "heading":-2.10362, "vx":-0.10412, "vy":-0.33623, "omega":-0.04283, "ax":0.75093, "ay":2.38389, "alpha":0.19835, "fx":[12.47886,11.77947,11.37914,12.049], "fy":[38.28687,38.26929,37.61753,37.21018]}, - {"t":6.2923, "x":5.18162, "y":5.19517, "heading":-2.10563, "vx":-0.06887, "vy":-0.22433, "omega":-0.03352, "ax":0.73878, "ay":2.38773, "alpha":0.31476, "fx":[12.55582,11.48054,10.91012,11.96833], "fy":[37.98253,38.98064,37.63218,37.03249]}, - {"t":6.33924, "x":5.1792, "y":5.18727, "heading":-2.1072, "vx":-0.03419, "vy":-0.11224, "omega":-0.01874, "ax":0.72825, "ay":2.391, "alpha":0.39925, "fx":[12.74106,11.17432,10.41926,11.91151], "fy":[38.20389,39.05628,37.7143,36.86128]}, - {"t":6.38618, "x":5.1784, "y":5.18464, "heading":-2.10808, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0,19,53,85,112] + {"t":0.0, "x":7.19298, "y":4.026, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.26431, "ay":-1.05612, "alpha":-0.00371, "fx":[-35.94745,-35.94246,-35.95011,-35.94999], "fy":[-16.74869,-16.82601,-16.74316,-16.74873]}, + {"t":0.03393, "x":7.19167, "y":4.02539, "heading":3.14159, "vx":-0.07683, "vy":-0.03584, "omega":-0.00013, "ax":-2.27651, "ay":-1.03128, "alpha":-0.00384, "fx":[-36.14243,-36.13758,-36.1425,-36.14256], "fy":[-16.35505,-16.42634,-16.35275,-16.35526]}, + {"t":0.06786, "x":7.18775, "y":4.02358, "heading":3.14159, "vx":-0.15408, "vy":-0.07083, "omega":-0.00026, "ax":-2.28893, "ay":-1.00331, "alpha":0.00784, "fx":[-36.31855,-36.32263,-36.32124,-36.39139], "fy":[-15.97973,-15.91344,-15.91377,-15.90602]}, + {"t":0.1018, "x":7.18121, "y":4.0206, "heading":3.14158, "vx":-0.23174, "vy":-0.10487, "omega":0.00001, "ax":-2.30234, "ay":-0.97203, "alpha":-0.00537, "fx":[-36.55551,-36.55068,-36.54928,-36.54969], "fy":[-15.41095,-15.48805,-15.4162,-15.41149]}, + {"t":0.13573, "x":7.17202, "y":4.01648, "heading":3.14158, "vx":-0.30987, "vy":-0.13786, "omega":-0.00017, "ax":-2.31682, "ay":-0.93685, "alpha":0.00724, "fx":[-36.7611,-36.76462,-36.75775,-36.8414], "fy":[-14.92194,-14.86118,-14.86177,-14.84764]}, + {"t":0.16966, "x":7.16017, "y":4.01127, "heading":3.14157, "vx":-0.38848, "vy":-0.16964, "omega":0.00007, "ax":-2.33247, "ay":-0.89701, "alpha":-0.00634, "fx":[-37.03586,-37.03131,-37.02543,-37.02603], "fy":[-14.21808,-14.29762,-14.22858,-14.21878]}, + {"t":0.20359, "x":7.14565, "y":4.00499, "heading":3.14158, "vx":-0.46762, "vy":-0.20008, "omega":-0.00014, "ax":-2.34936, "ay":-0.85159, "alpha":0.00676, "fx":[-37.27676,-37.2795,-37.26866,-37.36661], "fy":[-13.56273,-13.511,-13.51171,-13.49308]}, + {"t":0.23752, "x":7.12843, "y":3.99771, "heading":3.14157, "vx":-0.54734, "vy":-0.22898, "omega":0.00009, "ax":-2.36756, "ay":-0.79938, "alpha":-0.0068, "fx":[-37.59428,-37.59049,-37.58081,-37.58147], "fy":[-12.66778,-12.74431,-12.68224,-12.66853]}, + {"t":0.27145, "x":7.10849, "y":3.98948, "heading":3.14157, "vx":-0.62768, "vy":-0.2561, "omega":-0.00014, "ax":-2.38706, "ay":-0.73883, "alpha":0.00632, "fx":[-37.87344,-37.87524,-37.86131,-37.97524], "fy":[-11.76372,-11.72496,-11.72566,-11.70385]}, + {"t":0.30539, "x":7.08582, "y":3.98037, "heading":3.14157, "vx":-0.70868, "vy":-0.28117, "omega":0.00007, "ax":-2.40775, "ay":-0.66795, "alpha":-0.00645, "fx":[-38.23318,-38.23069,-38.21746,-38.21809], "fy":[-10.58425,-10.64607,-10.60178,-10.58492]}, + {"t":0.33932, "x":7.06039, "y":3.97044, "heading":3.14157, "vx":-0.79037, "vy":-0.30384, "omega":-0.00015, "ax":-2.42934, "ay":-0.58409, "alpha":0.00557, "fx":[-38.54244,-38.54309,-38.52687,-38.65808], "fy":[-9.29082,-9.27439,-9.27497,-9.25148]}, + {"t":0.37325, "x":7.03217, "y":3.9598, "heading":3.14157, "vx":-0.87281, "vy":-0.32366, "omega":0.00004, "ax":-2.45117, "ay":-0.48375, "alpha":-0.00513, "fx":[-38.9227,-38.92178,-38.90562,-38.90607], "fy":[-7.66652,-7.69973,-7.68611,-7.667]}, + {"t":0.40718, "x":7.00114, "y":3.94854, "heading":3.14157, "vx":-0.95598, "vy":-0.34007, "omega":-0.00013, "ax":-2.47189, "ay":-0.36223, "alpha":0.00415, "fx":[-39.21159,-39.21106,-39.19365,-39.35594], "fy":[-5.73152,-5.76512,-5.76544,-5.74084]}, + {"t":0.44111, "x":6.96728, "y":3.93679, "heading":3.14156, "vx":-1.03985, "vy":-0.35236, "omega":0.00001, "ax":-2.48898, "ay":-0.21332, "alpha":-0.00253, "fx":[-39.52297,-39.5231,-39.50575,-39.5059], "fy":[-3.38469,-3.37092,-3.40619,-3.38483]}, + {"t":0.47504, "x":6.93057, "y":3.92471, "heading":3.14156, "vx":-1.12431, "vy":-0.3596, "omega":-0.00008, "ax":-2.49773, "ay":-0.02888, "alpha":0.00284, "fx":[-39.61262,-39.61275,-39.59574,-39.79184], "fy":[-0.39225,-0.48731,-0.48723,-0.46716]}, + {"t":0.50898, "x":6.89098, "y":3.91249, "heading":3.14156, "vx":-1.20906, "vy":-0.36058, "omega":0.00002, "ax":-2.48953, "ay":0.20114, "alpha":0.00565, "fx":[-39.53119,-39.52917,-39.51619,-39.51589], "fy":[3.16265,3.30304,3.14456,3.16297]}, + {"t":0.54291, "x":6.84852, "y":3.90037, "heading":3.14156, "vx":-1.29353, "vy":-0.35375, "omega":0.00021, "ax":-2.44932, "ay":0.48746, "alpha":-0.00787, "fx":[-38.85018,-38.85756,-38.84541,-38.98586], "fy":[7.92054,7.67502,7.67548,7.68393]}, + {"t":0.57684, "x":6.80322, "y":3.88865, "heading":3.14157, "vx":-1.37664, "vy":-0.33721, "omega":-0.00006, "ax":-2.35262, "ay":0.8369, "alpha":0.0146, "fx":[-37.35765,-37.34494,-37.34825,-37.34756], "fy":[13.22389,13.48515,13.21218,13.22459]}, + {"t":0.61077, "x":6.75515, "y":3.87769, "heading":3.14157, "vx":-1.45647, "vy":-0.30882, "omega":0.00044, "ax":-2.16595, "ay":1.24194, "alpha":-0.01477, "fx":[-34.36695,-34.38456,-34.38013,-34.41272], "fy":[19.92939,19.6449,19.64541,19.64708]}, + {"t":0.6447, "x":6.70448, "y":3.86793, "heading":3.14158, "vx":-1.52997, "vy":-0.26668, "omega":-0.00006, "ax":-1.85924, "ay":1.66611, "alpha":0.01692, "fx":[-29.52255,-29.50387,-29.52078,-29.5202], "fy":[26.38391,26.65301,26.38129,26.3845]}, + {"t":0.67863, "x":6.6515, "y":3.85984, "heading":3.14158, "vx":-1.59305, "vy":-0.21014, "omega":0.00051, "ax":-1.61655, "ay":1.88754, "alpha":-0.00059, "fx":[-25.66249,-25.66439,-25.66449,-25.6644], "fy":[29.96898,29.95556,29.97064,29.96909]}, + {"t":0.69577, "x":6.62396, "y":3.85651, "heading":3.14159, "vx":-1.62076, "vy":-0.1778, "omega":0.0005, "ax":-1.53072, "ay":1.96573, "alpha":-0.03408, "fx":[-24.42564,-24.43027,-24.43512,-23.91398], "fy":[31.21847,31.193,31.19283,31.22541]}, + {"t":0.71291, "x":6.59596, "y":3.85375, "heading":-3.14159, "vx":-1.64699, "vy":-0.14411, "omega":-0.00008, "ax":-1.4022, "ay":2.05752, "alpha":-0.00161, "fx":[-22.2575,-22.25943,-22.26348,-22.26355], "fy":[32.67392,32.63165,32.67931,32.67385]}, + {"t":0.73004, "x":6.56753, "y":3.85159, "heading":-3.14159, "vx":-1.67102, "vy":-0.10885, "omega":-0.00011, "ax":-1.20971, "ay":2.17386, "alpha":0.00277, "fx":[-19.30099,-19.28032,-19.28327,-18.95538], "fy":[34.20116,34.60879,34.6088,34.62789]}, + {"t":0.74718, "x":6.53872, "y":3.85004, "heading":-3.14159, "vx":-1.69175, "vy":-0.0716, "omega":-0.00006, "ax":-0.90222, "ay":2.31522, "alpha":-0.02625, "fx":[-14.3175,-14.33526,-14.32038,-14.32044], "fy":[36.86156,36.43586,36.86408,36.86151]}, + {"t":0.76432, "x":6.5096, "y":3.84915, "heading":-3.14159, "vx":-1.70721, "vy":-0.03192, "omega":-0.00051, "ax":-0.38241, "ay":2.451, "alpha":0.02598, "fx":[-6.09327,-6.08527,-6.08159,-6.02372], "fy":[38.52784,39.03731,39.03738,39.043]}, + {"t":0.78145, "x":6.48028, "y":3.84897, "heading":3.14158, "vx":-1.71376, "vy":0.01008, "omega":-0.00007, "ax":0.47355, "ay":2.43025, "alpha":-0.02053, "fx":[7.51287,7.52294,7.51796,7.51787], "fy":[38.66715,38.33255,38.66131,38.66708]}, + {"t":0.79859, "x":6.45098, "y":3.8495, "heading":3.14158, "vx":-1.70565, "vy":0.05173, "omega":-0.00042, "ax":1.52248, "ay":1.95035, "alpha":0.00944, "fx":[24.19128,24.17488,24.18395,24.13192], "fy":[30.86312,30.9901,30.98952,31.01023]}, + {"t":0.81573, "x":6.42198, "y":3.85067, "heading":3.14158, "vx":-1.67956, "vy":0.08515, "omega":-0.00026, "ax":2.20598, "ay":1.12795, "alpha":-0.01515, "fx":[35.01397,35.02246,35.02527,35.0248], "fy":[17.96665,17.74294,17.95244,17.96625]}, + {"t":0.83286, "x":6.39352, "y":3.85229, "heading":3.14157, "vx":-1.64175, "vy":0.10448, "omega":-0.00052, "ax":2.44244, "ay":0.44328, "alpha":0.02963, "fx":[38.87473,38.87474,38.89113,38.4616], "fy":[6.93511,7.06117,7.06083,7.09247]}, + {"t":0.85, "x":6.36575, "y":3.85415, "heading":3.14156, "vx":-1.5999, "vy":0.11208, "omega":-0.00001, "ax":2.48604, "ay":-0.00429, "alpha":-0.00217, "fx":[39.46128,39.46097,39.47421,39.4742], "fy":[-0.06561,-0.05804,-0.083,-0.06563]}, + {"t":0.86714, "x":6.33869, "y":3.85607, "heading":3.14156, "vx":-1.5573, "vy":0.112, "omega":-0.00005, "ax":2.47142, "ay":-0.29238, "alpha":0.02029, "fx":[39.37421,39.37151,39.38736,38.80952], "fy":[-4.49162,-4.69501,-4.69484,-4.68575]}, + {"t":0.88427, "x":6.31237, "y":3.85795, "heading":3.14156, "vx":-1.51494, "vy":0.10699, "omega":0.0003, "ax":2.44262, "ay":-0.4861, "alpha":0.00638, "fx":[38.77264,38.77691,38.78195,38.78218], "fy":[-7.74742,-7.61331,-7.76103,-7.74724]}, + {"t":0.90141, "x":6.28677, "y":3.85971, "heading":3.14157, "vx":-1.47308, "vy":0.09866, "omega":0.00041, "ax":2.41277, "ay":-0.62294, "alpha":-0.00675, "fx":[38.32757,38.32128,38.3308,38.23833], "fy":[-9.75298,-9.93771,-9.93751,-9.93061]}, + {"t":0.91855, "x":6.26188, "y":3.86131, "heading":3.14157, "vx":-1.43174, "vy":0.08799, "omega":0.00029, "ax":2.38552, "ay":-0.72386, "alpha":0.00268, "fx":[37.8698,37.87187,37.87299,37.87315], "fy":[-11.50398,-11.44878,-11.51027,-11.50389]}, + {"t":0.93568, "x":6.23769, "y":3.86271, "heading":3.14158, "vx":-1.39086, "vy":0.07558, "omega":0.00034, "ax":2.36161, "ay":-0.80096, "alpha":-0.00891, "fx":[37.4705,37.46939,37.47214,37.5571], "fy":[-12.67838,-12.7304,-12.73033,-12.72404]}, + {"t":0.95282, "x":6.2142, "y":3.86389, "heading":3.14159, "vx":-1.35039, "vy":0.06186, "omega":0.00019, "ax":2.34085, "ay":-0.8616, "alpha":0.00367, "fx":[37.16348,37.16559,37.16104,37.16104], "fy":[-13.69202,-13.63841,-13.69187,-13.69209]}, + {"t":0.96996, "x":6.19141, "y":3.86482, "heading":3.14159, "vx":-1.31027, "vy":0.04709, "omega":0.00025, "ax":2.32286, "ay":-0.91046, "alpha":-0.01017, "fx":[36.83714,36.83746,36.83464,36.99898], "fy":[-14.4521,-14.45657,-14.45669,-14.45152]}, + {"t":0.98709, "x":6.16929, "y":3.86549, "heading":3.14159, "vx":-1.27047, "vy":0.03149, "omega":0.00008, "ax":2.35984, "ay":-0.81138, "alpha":0.00285, "fx":[37.46994,37.46982,37.45869,37.45843], "fy":[-12.88722,-12.87144,-12.87877,-12.88758]}, + {"t":1.02132, "x":6.1272, "y":3.8661, "heading":-3.14159, "vx":-1.18971, "vy":0.00372, "omega":0.00017, "ax":2.42309, "ay":-0.60706, "alpha":-0.00777, "fx":[38.43324,38.43393,38.42267,38.58341], "fy":[-9.63939,-9.63481,-9.63515,-9.64066]}, + {"t":1.05554, "x":6.0879, "y":3.86587, "heading":-3.14158, "vx":-1.10679, "vy":-0.01705, "omega":-0.00009, "ax":2.45888, "ay":-0.44146, "alpha":0.00451, "fx":[39.04419,39.04447,39.02873,39.02841], "fy":[-7.01917,-6.99025,-7.00528,-7.01956]}, + {"t":1.08976, "x":6.05147, "y":3.86503, "heading":-3.14159, "vx":-1.02264, "vy":-0.03216, "omega":0.00006, "ax":2.47947, "ay":-0.30673, "alpha":-0.00504, "fx":[39.33671,39.33707,39.32257,39.45729], "fy":[-4.87344,-4.86379,-4.86407,-4.87696]}, + {"t":1.12398, "x":6.01792, "y":3.86375, "heading":-3.14159, "vx":-0.93779, "vy":-0.04266, "omega":-0.00011, "ax":2.49083, "ay":-0.1959, "alpha":0.00461, "fx":[39.55191,39.55212,39.53557,39.53537], "fy":[-3.12084,-3.09411,-3.10444,-3.12106]}, + {"t":1.1582, "x":5.98729, "y":3.86217, "heading":-3.14159, "vx":-0.85255, "vy":-0.04936, "omega":0.00005, "ax":2.4965, "ay":-0.10366, "alpha":-0.00429, "fx":[39.60926,39.60938,39.59432,39.72195], "fy":[-1.64965,-1.63897,-1.63909,-1.65492]}, + {"t":1.19242, "x":5.95957, "y":3.86042, "heading":-3.14159, "vx":-0.76711, "vy":-0.05291, "omega":-0.0001, "ax":2.49862, "ay":-0.02598, "alpha":0.00434, "fx":[39.67515,39.67519,39.65975,39.65971], "fy":[-0.42277,-0.39828,-0.40617,-0.42282]}, + {"t":1.22665, "x":5.93479, "y":3.85859, "heading":-3.14159, "vx":-0.68161, "vy":-0.0538, "omega":0.00005, "ax":2.49853, "ay":0.04014, "alpha":-0.0036, "fx":[39.64432,39.6443,39.63017,39.74504], "fy":[0.63357,0.64395,0.64398,0.62751]}, + {"t":1.26087, "x":5.91292, "y":3.85678, "heading":-3.14159, "vx":-0.5961, "vy":-0.05242, "omega":-0.00007, "ax":2.49705, "ay":0.097, "alpha":0.00392, "fx":[39.6492,39.64907,39.63574,39.63583], "fy":[1.5303,1.55315,1.54583,1.53039]}, + {"t":1.29509, "x":5.89399, "y":3.85504, "heading":-3.14159, "vx":-0.51065, "vy":-0.04911, "omega":0.00006, "ax":2.49471, "ay":0.14634, "alpha":-0.00346, "fx":[39.5849,39.58482,39.57224,39.67964], "fy":[2.32047,2.32934,2.32949,2.31358]}, + {"t":1.32931, "x":5.87797, "y":3.85345, "heading":-3.14159, "vx":-0.42528, "vy":-0.0441, "omega":-0.00006, "ax":2.49187, "ay":0.18951, "alpha":0.00336, "fx":[39.56583,39.56553,39.55468,39.55486], "fy":[3.00005,3.02013,3.01399,3.00025]}, + {"t":1.36353, "x":5.86488, "y":3.85205, "heading":-3.14159, "vx":-0.34, "vy":-0.03761, "omega":0.00006, "ax":2.48874, "ay":0.22757, "alpha":-0.00332, "fx":[39.49121,39.4911,39.4803,39.5794], "fy":[3.61068,3.61831,3.61855,3.60382]}, + {"t":1.39775, "x":5.8547, "y":3.85089, "heading":-3.14159, "vx":-0.25483, "vy":-0.02982, "omega":-0.00006, "ax":2.48546, "ay":0.26135, "alpha":0.00273, "fx":[39.46297,39.46255,39.45425,39.4545], "fy":[4.1419,4.15851,4.15407,4.14216]}, + {"t":1.43198, "x":5.84743, "y":3.85003, "heading":-3.14159, "vx":-0.16977, "vy":-0.02088, "omega":0.00004, "ax":2.48215, "ay":0.29152, "alpha":-0.00322, "fx":[39.38802,39.38793,39.37888,39.46902], "fy":[4.62737,4.63265,4.63295,4.61967]}, + {"t":1.4662, "x":5.84308, "y":3.84948, "heading":-3.14159, "vx":-0.08483, "vy":-0.0109, "omega":-0.00007, "ax":2.47886, "ay":0.31862, "alpha":0.00215, "fx":[39.35692,39.3564,39.35057,39.35087], "fy":[5.05228,5.06588,5.06276,5.05258]}, + {"t":1.50042, "x":5.84163, "y":3.8493, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.39362, "ay":0.71755, "alpha":0.00361, "fx":[38.00406,38.00188,37.99781,37.99804], "fy":[11.37908,11.42452,11.38371,11.37942]}, + {"t":1.54696, "x":5.84422, "y":3.85007, "heading":3.14159, "vx":0.1114, "vy":0.0334, "omega":0.00017, "ax":2.39034, "ay":0.73005, "alpha":-0.00449, "fx":[37.93189,37.93307,37.9267,38.00215], "fy":[11.60991,11.58718,11.58759,11.57537]}, + {"t":1.5935, "x":5.85199, "y":3.85242, "heading":-3.14158, "vx":0.22266, "vy":0.06737, "omega":-0.00004, "ax":2.38504, "ay":0.74679, "alpha":0.00403, "fx":[37.86882,37.86644,37.8607,37.86105], "fy":[11.84235,11.88882,11.84961,11.84279]}, + {"t":1.64005, "x":5.86494, "y":3.85636, "heading":-3.14159, "vx":0.33366, "vy":0.10213, "omega":0.00015, "ax":2.37719, "ay":0.77085, "alpha":-0.00609, "fx":[37.71847,37.7203,37.71275,37.80726], "fy":[12.26684,12.23266,12.2331,12.21857]}, + {"t":1.68659, "x":5.88304, "y":3.86195, "heading":-3.14158, "vx":0.4443, "vy":0.13801, "omega":-0.00014, "ax":2.36443, "ay":0.80831, "alpha":0.00462, "fx":[37.54115,37.53793,37.53459,37.53485], "fy":[12.81569,12.87732,12.82128,12.81604]}, + {"t":1.73313, "x":5.90628, "y":3.86925, "heading":-3.14159, "vx":0.55435, "vy":0.17563, "omega":0.00008, "ax":2.3402, "ay":0.87465, "alpha":-0.01066, "fx":[37.11957,37.12299,37.11947,37.24744], "fy":[13.93652,13.8725,13.87274,13.86105]}, + {"t":1.77967, "x":5.93462, "y":3.87837, "heading":-3.14158, "vx":0.66327, "vy":0.21634, "omega":-0.00042, "ax":2.27792, "ay":1.02334, "alpha":0.00516, "fx":[36.16337,36.15765,36.16676,36.1666], "fy":[16.22187,16.32472,16.21687,16.22178]}, + {"t":1.82622, "x":5.96795, "y":3.88955, "heading":3.14158, "vx":0.76929, "vy":0.26397, "omega":-0.00018, "ax":1.8981, "ay":1.61575, "alpha":0.00523, "fx":[30.15645,30.15548,30.1673,30.05568], "fy":[25.6324,25.65094,25.65032,25.67114]}, + {"t":1.87276, "x":6.00581, "y":3.90358, "heading":3.14157, "vx":0.85763, "vy":0.33917, "omega":0.00007, "ax":-2.4218, "ay":0.58714, "alpha":-0.00545, "fx":[-38.45373,-38.45511,-38.44146,-38.44109], "fy":[9.33719,9.28869,9.32193,9.33753]}, + {"t":1.9193, "x":6.04311, "y":3.92001, "heading":3.14158, "vx":0.74491, "vy":0.36649, "omega":-0.00019, "ax":-2.48783, "ay":-0.21521, "alpha":0.00919, "fx":[-39.44767,-39.44753,-39.42928,-39.65978], "fy":[-3.40962,-3.42689,-3.42708,-3.40281]}, + {"t":1.96584, "x":6.07508, "y":3.93683, "heading":3.14157, "vx":0.62912, "vy":0.35648, "omega":0.00024, "ax":-2.46834, "ay":-0.38552, "alpha":-0.00561, "fx":[-39.19472,-39.19374,-39.17909,-39.17943], "fy":[-6.1045,-6.14921,-6.12327,-6.10484]}, + {"t":2.01239, "x":6.10169, "y":3.953, "heading":3.14158, "vx":0.51424, "vy":0.33854, "omega":-0.00002, "ax":-2.45642, "ay":-0.45806, "alpha":0.00424, "fx":[-38.97663,-38.97699,-38.96097,-39.07536], "fy":[-7.28455,-7.27485,-7.27531,-7.25318]}, + {"t":2.05893, "x":6.12296, "y":3.96826, "heading":3.14158, "vx":0.39991, "vy":0.31722, "omega":0.00018, "ax":-2.44889, "ay":-0.49813, "alpha":-0.00479, "fx":[-38.88421,-38.88283,-38.87215,-38.87256], "fy":[-7.89365,-7.93689,-7.90795,-7.89407]}, + {"t":2.10547, "x":6.13892, "y":3.98249, "heading":3.14159, "vx":0.28594, "vy":0.29403, "omega":-0.00005, "ax":-2.44377, "ay":-0.52353, "alpha":0.00421, "fx":[-38.77879,-38.77936,-38.7692,-38.85898], "fy":[-8.32671,-8.31119,-8.31162,-8.2959]}, + {"t":2.15201, "x":6.14959, "y":3.99561, "heading":3.14159, "vx":0.1722, "vy":0.26967, "omega":0.00015, "ax":-2.44007, "ay":-0.54106, "alpha":-0.00304, "fx":[-38.74106,-38.73976,-38.73521,-38.73549], "fy":[-8.57947,-8.61341,-8.58605,-8.57978]}, + {"t":2.19855, "x":6.15496, "y":4.00757, "heading":3.14159, "vx":0.05863, "vy":0.24448, "omega":0.00001, "ax":-2.43728, "ay":-0.55388, "alpha":-0.00236, "fx":[-38.70791,-38.7086,-38.70585,-38.65208], "fy":[-8.80854,-8.78835,-8.78859,-8.78783]}, + {"t":2.2451, "x":6.15505, "y":4.01835, "heading":3.14159, "vx":-0.05481, "vy":0.21871, "omega":-0.0001, "ax":-2.43455, "ay":-0.56322, "alpha":-0.00296, "fx":[-38.65263,-38.65118,-38.6484,-38.64858], "fy":[-8.93093,-8.96958,-8.93466,-8.93115]}, + {"t":2.29174, "x":6.14984, "y":4.02794, "heading":3.14159, "vx":-0.16837, "vy":0.19243, "omega":-0.00024, "ax":-2.43252, "ay":-0.57401, "alpha":0.00506, "fx":[-38.60012,-38.60103,-38.5956,-38.67532], "fy":[-9.13364,-9.10914,-9.10945,-9.09905]}, + {"t":2.33839, "x":6.13934, "y":4.03629, "heading":3.14158, "vx":-0.28183, "vy":0.16566, "omega":0.0, "ax":-2.42881, "ay":-0.58892, "alpha":-0.00382, "fx":[-38.56288,-38.56109,-38.5563,-38.55653], "fy":[-9.33631,-9.38301,-9.34203,-9.3366]}, + {"t":2.38503, "x":6.12355, "y":4.04338, "heading":3.14158, "vx":-0.39513, "vy":0.13819, "omega":-0.00018, "ax":-2.42308, "ay":-0.61125, "alpha":0.00719, "fx":[-38.44485,-38.44644,-38.441,-38.54049], "fy":[-9.73691,-9.69664,-9.6969,-9.6857]}, + {"t":2.43168, "x":6.10249, "y":4.04916, "heading":3.14157, "vx":-0.50815, "vy":0.10968, "omega":0.00015, "ax":-2.41306, "ay":-0.64838, "alpha":-0.00421, "fx":[-38.31158,-38.30903,-38.3079,-38.30797], "fy":[-10.2772,-10.34103,-10.27853,-10.27732]}, + {"t":2.47832, "x":6.07616, "y":4.05357, "heading":3.14158, "vx":-0.62071, "vy":0.07943, "omega":-0.00004, "ax":-2.3913, "ay":-0.72221, "alpha":0.01513, "fx":[-37.92299,-37.92718,-37.92951,-38.07479], "fy":[-11.5429,-11.44142,-11.44138,-11.43663]}, + {"t":2.52497, "x":6.0446, "y":4.05649, "heading":3.14157, "vx":-0.73225, "vy":0.04574, "omega":0.00066, "ax":-2.31287, "ay":-0.93835, "alpha":-0.0067, "fx":[-36.71502,-36.70584,-36.72702,-36.72638], "fy":[-14.86143,-15.0213,-14.84461,-14.86087]}, + {"t":2.57161, "x":6.00793, "y":4.0576, "heading":-3.14158, "vx":-0.84014, "vy":0.00197, "omega":0.00035, "ax":0.69998, "ay":-2.37722, "alpha":-0.01024, "fx":[11.17904,11.16246,11.13566,10.97343], "fy":[-37.40832,-37.84021,-37.84093,-37.87072]}, + {"t":2.61826, "x":5.9695, "y":4.05511, "heading":-3.14157, "vx":-0.80749, "vy":-0.10891, "omega":-0.00013, "ax":2.49548, "ay":0.05562, "alpha":0.00073, "fx":[39.62748,39.62751,39.60751,39.60754], "fy":[0.88995,0.83438,0.91773,0.88996]}, + {"t":2.66491, "x":5.93455, "y":4.05009, "heading":-3.14157, "vx":-0.69108, "vy":-0.10632, "omega":-0.00009, "ax":2.48284, "ay":0.27485, "alpha":-0.00196, "fx":[39.38728,39.38639,39.36353,39.53055], "fy":[4.32689,4.38532,4.38565,4.35613]}, + {"t":2.71155, "x":5.90502, "y":4.04543, "heading":-3.14158, "vx":-0.57527, "vy":-0.0935, "omega":-0.00018, "ax":2.47413, "ay":0.34934, "alpha":0.00346, "fx":[39.28631,39.28619,39.27064,39.27106], "fy":[5.53918,5.54337,5.5619,5.53956]}, + {"t":2.7582, "x":5.88088, "y":4.04145, "heading":-3.14158, "vx":-0.45986, "vy":-0.0772, "omega":-0.00002, "ax":2.46889, "ay":0.38674, "alpha":-0.00163, "fx":[39.17609,39.17546,39.15849,39.27177], "fy":[6.12363,6.15242,6.15291,6.12999]}, + {"t":2.80484, "x":5.86211, "y":4.03826, "heading":-3.14158, "vx":-0.3447, "vy":-0.05916, "omega":-0.0001, "ax":2.46547, "ay":0.40921, "alpha":0.00244, "fx":[39.14607,39.14566,39.13612,39.13659], "fy":[6.49097,6.49612,6.50763,6.49141]}, + {"t":2.85149, "x":5.84871, "y":4.03595, "heading":-3.14159, "vx":-0.2297, "vy":-0.04007, "omega":0.00001, "ax":2.46307, "ay":0.42421, "alpha":-0.00202, "fx":[39.08675,39.08634,39.07461,39.16431], "fy":[6.72729,6.7424,6.74292,6.7257]}, + {"t":2.89813, "x":5.84068, "y":4.03454, "heading":-3.14159, "vx":-0.11481, "vy":-0.02029, "omega":-0.00008, "ax":2.4613, "ay":0.43492, "alpha":0.00171, "fx":[39.07779,39.07723,39.07198,39.07245], "fy":[6.90001,6.90577,6.91246,6.90046]}, + {"t":2.94478, "x":5.838, "y":4.03407, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.47972, "ay":0.30544, "alpha":0.01353, "fx":[39.39297,39.39198,39.34185,39.34283], "fy":[4.81759,4.8818,4.87833,4.81854]}, + {"t":2.97828, "x":5.83939, "y":4.03424, "heading":3.14159, "vx":0.08308, "vy":0.01023, "omega":0.00045, "ax":2.48046, "ay":0.30535, "alpha":0.00521, "fx":[39.37896,39.37818,39.33758,39.42155], "fy":[4.82989,4.86929,4.87014,4.82117]}, + {"t":3.01178, "x":5.84357, "y":4.03476, "heading":-3.14158, "vx":0.16618, "vy":0.02046, "omega":0.00063, "ax":2.48042, "ay":0.30514, "alpha":0.00837, "fx":[39.39423,39.39355,39.36289,39.36353], "fy":[4.8246,4.8658,4.86149,4.82524]}, + {"t":3.04529, "x":5.85053, "y":4.03561, "heading":-3.14156, "vx":0.24928, "vy":0.03069, "omega":0.00091, "ax":2.48039, "ay":0.30489, "alpha":0.00008, "fx":[39.36614,39.3657,39.34194,39.43803], "fy":[4.83287,4.85253,4.85304,4.82326]}, + {"t":3.07879, "x":5.86027, "y":4.03681, "heading":-3.14153, "vx":0.33238, "vy":0.0409, "omega":0.00091, "ax":2.48034, "ay":0.30461, "alpha":0.005, "fx":[39.38631,39.38585,39.36827,39.36861], "fy":[4.82384,4.8522,4.84349,4.82421]}, + {"t":3.11229, "x":5.8728, "y":4.03835, "heading":-3.1415, "vx":0.41548, "vy":0.05111, "omega":0.00108, "ax":2.48029, "ay":0.30428, "alpha":-0.00433, "fx":[39.35391,39.35377,39.34341,39.45467], "fy":[4.83096,4.83518,4.83538,4.82106]}, + {"t":3.14579, "x":5.88811, "y":4.04024, "heading":-3.14146, "vx":0.49857, "vy":0.0613, "omega":0.00093, "ax":2.48023, "ay":0.30388, "alpha":0.00192, "fx":[39.37836,39.37811,39.37266,39.3727], "fy":[4.81907,4.83661,4.82237,4.81917]}, + {"t":3.1793, "x":5.90621, "y":4.04246, "heading":-3.14143, "vx":0.58167, "vy":0.07148, "omega":0.001, "ax":2.48015, "ay":0.30339, "alpha":-0.00933, "fx":[39.33979,39.34002,39.34483,39.4724], "fy":[4.82639,4.81234,4.81221,4.81536]}, + {"t":3.2128, "x":5.92709, "y":4.04502, "heading":-3.14139, "vx":0.66476, "vy":0.08165, "omega":0.00069, "ax":2.48006, "ay":0.30279, "alpha":-0.00219, "fx":[39.36725,39.36722,39.37846,39.37813], "fy":[4.81061,4.81448,4.79232,4.81037]}, + {"t":3.2463, "x":5.95075, "y":4.04793, "heading":-3.14137, "vx":0.74785, "vy":0.09179, "omega":0.00061, "ax":2.47994, "ay":0.30201, "alpha":-0.01898, "fx":[39.3088,39.30948,39.33753,39.52757], "fy":[4.81833,4.77791,4.77737,4.80485]}, + {"t":3.2798, "x":5.9772, "y":4.05117, "heading":-3.14135, "vx":0.83093, "vy":0.10191, "omega":-0.00002, "ax":2.47978, "ay":0.30098, "alpha":-0.00863, "fx":[39.34825,39.34842,39.38867,39.38784], "fy":[4.79443,4.78329,4.74165,4.79372]}, + {"t":3.31331, "x":6.00643, "y":4.05476, "heading":-3.14135, "vx":0.91401, "vy":0.11199, "omega":-0.00031, "ax":2.47955, "ay":0.29955, "alpha":-0.0421, "fx":[39.2427,39.24503,39.3136,39.65764], "fy":[4.84628,4.70247,4.70137,4.77209]}, + {"t":3.34681, "x":6.03844, "y":4.05868, "heading":-3.14136, "vx":0.99708, "vy":0.12203, "omega":-0.00172, "ax":2.47922, "ay":0.29743, "alpha":-0.01858, "fx":[39.3121,39.31184,39.40772,39.40611], "fy":[4.75209,4.74937,4.63528,4.75068]}, + {"t":3.38031, "x":6.07324, "y":4.06293, "heading":-3.14142, "vx":1.08014, "vy":0.13199, "omega":-0.00235, "ax":2.47867, "ay":0.29395, "alpha":0.05471, "fx":[39.64811,39.64949,39.79066,38.31453], "fy":[4.69378,4.59639,4.5943,4.78207]}, + {"t":3.41381, "x":6.11081, "y":4.06752, "heading":-3.1415, "vx":1.16318, "vy":0.14184, "omega":-0.00051, "ax":2.47759, "ay":0.28721, "alpha":-0.04959, "fx":[39.25574,39.26017,39.41024,39.40794], "fy":[4.6907,4.35136,4.5082,4.68858]}, + {"t":3.44732, "x":6.15117, "y":4.07243, "heading":-3.14152, "vx":1.24619, "vy":0.15146, "omega":-0.00217, "ax":2.4745, "ay":0.26861, "alpha":0.06153, "fx":[39.61048,39.61202,39.80707,38.10839], "fy":[4.24226,4.19377,4.19153,4.42996]}, + {"t":3.48082, "x":6.19431, "y":4.07766, "heading":-3.14159, "vx":1.32909, "vy":0.16046, "omega":-0.00011, "ax":2.40632, "ay":-0.02286, "alpha":0.00337, "fx":[38.10186,38.10155,38.30302,38.30195], "fy":[-0.47671,0.2108,-0.70787,-0.47784]}, + {"t":3.51432, "x":6.24019, "y":4.08302, "heading":3.14159, "vx":1.40971, "vy":0.15969, "omega":0.0, "ax":-0.70409, "ay":-0.11637, "alpha":56.9577, "fx":[103.82579,107.8907,-129.91611,-126.51218], "fy":[-131.61238,128.27712,106.04578,-110.10055]}, + {"t":3.53695, "x":6.27191, "y":4.08661, "heading":3.14159, "vx":1.39378, "vy":0.15706, "omega":1.28893, "ax":-2.41291, "ay":-0.41116, "alpha":27.84296, "fx":[15.83475,16.81665,-94.45854,-91.41983], "fy":[-76.18055,62.1404,46.31427,-58.38423]}, + {"t":3.55958, "x":6.30284, "y":4.09005, "heading":-3.11242, "vx":1.33917, "vy":0.14776, "omega":1.91901, "ax":-2.41225, "ay":-0.40732, "alpha":0.00014, "fx":[-38.69885,-38.42803,-37.99988,-38.05813], "fy":[-6.78598,-6.15947,-6.23271,-6.68778]}, + {"t":3.58221, "x":6.33252, "y":4.09329, "heading":-3.069, "vx":1.28459, "vy":0.13854, "omega":1.91901, "ax":-2.41124, "ay":-0.40281, "alpha":0.0, "fx":[-38.20356,-38.17768,-38.35485,-38.3848], "fy":[-6.34618,-6.62832,-6.32537,-6.28]}, + {"t":3.60484, "x":6.36098, "y":4.09633, "heading":-3.02557, "vx":1.23002, "vy":0.12942, "omega":1.91901, "ax":-2.41016, "ay":-0.39801, "alpha":0.0, "fx":[-38.11983,-38.58064,-38.17314,-38.17874], "fy":[-6.3917,-6.24223,-6.24783,-6.3931]}, + {"t":3.62747, "x":6.38819, "y":4.09915, "heading":-2.98214, "vx":1.17548, "vy":0.12042, "omega":1.91901, "ax":-2.409, "ay":-0.39288, "alpha":0.0, "fx":[-38.18719,-38.20173,-38.30299,-38.28694], "fy":[-6.19249,-6.46499,-6.08291,-6.20838]}, + {"t":3.6501, "x":6.41418, "y":4.10178, "heading":-2.93872, "vx":1.12096, "vy":0.11153, "omega":1.91901, "ax":-2.40776, "ay":-0.38738, "alpha":0.0, "fx":[-38.07003,-38.51672,-38.16493,-38.14795], "fy":[-6.18266,-6.09672,-6.11818,-6.20228]}, + {"t":3.67273, "x":6.43893, "y":4.1042, "heading":-2.89529, "vx":1.06648, "vy":0.10276, "omega":1.91901, "ax":-2.40641, "ay":-0.38148, "alpha":0.0, "fx":[-38.12444,-38.15713,-38.28326,-38.24933], "fy":[-5.9969,-6.28075,-5.92429,-6.02334]}, + {"t":3.69536, "x":6.46245, "y":4.10643, "heading":-2.85186, "vx":1.01202, "vy":0.09413, "omega":1.91901, "ax":-2.40495, "ay":-0.37514, "alpha":0.0, "fx":[-38.01327,-38.53513,-38.09669,-38.0764], "fy":[-5.98944,-5.89071,-5.92312,-6.01947]}, + {"t":3.71799, "x":6.48473, "y":4.10846, "heading":-2.80844, "vx":0.9576, "vy":0.08564, "omega":1.91901, "ax":-2.40337, "ay":-0.36831, "alpha":0.0, "fx":[-38.06056,-38.10899,-38.25046,-38.20078], "fy":[-5.77963,-6.07799,-5.71753,-5.81333]}, + {"t":3.74062, "x":6.50579, "y":4.11031, "heading":-2.76501, "vx":0.90321, "vy":0.0773, "omega":1.91901, "ax":-2.40163, "ay":-0.36092, "alpha":0.0, "fx":[-38.05005,-38.32681,-38.07009,-38.06381], "fy":[-5.74619,-5.69027,-5.71311,-5.76984]}, + {"t":3.76325, "x":6.52561, "y":4.11196, "heading":-2.72158, "vx":0.84886, "vy":0.06914, "omega":1.91901, "ax":-2.39974, "ay":-0.35291, "alpha":0.0, "fx":[-37.989,-38.0553,-38.20682,-38.13915], "fy":[-5.52634,-5.84238,-5.47065,-5.57118]}, + {"t":3.78588, "x":6.54421, "y":4.11344, "heading":-2.67816, "vx":0.79456, "vy":0.06115, "omega":1.91901, "ax":-2.39764, "ay":-0.3442, "alpha":0.0, "fx":[-37.90632,-38.45851,-37.95456,-37.93807], "fy":[-5.48311,-5.40768,-5.44632,-5.52078]}, + {"t":3.80851, "x":6.56157, "y":4.11473, "heading":-2.63473, "vx":0.7403, "vy":0.05336, "omega":1.91901, "ax":-2.39533, "ay":-0.33469, "alpha":0.0, "fx":[-37.90543,-37.99179,-38.1507,-38.06283], "fy":[-5.22609,-5.56442,-5.17817,-5.28513]}, + {"t":3.83114, "x":6.57771, "y":4.11586, "heading":-2.59131, "vx":0.68609, "vy":0.04579, "omega":1.91901, "ax":-2.39276, "ay":-0.32429, "alpha":0.0, "fx":[-37.81127,-38.44392,-37.85441,-37.83774], "fy":[-5.16007,-5.09967,-5.1375,-5.19634]}, + {"t":3.85377, "x":6.59263, "y":4.11681, "heading":-2.54788, "vx":0.63195, "vy":0.03845, "omega":1.91901, "ax":-2.38989, "ay":-0.31283, "alpha":0.0, "fx":[-37.8054,-37.91386,-38.07786,-37.96778], "fy":[-4.86545,-5.23104,-4.82835,-4.94092]}, + {"t":3.8764, "x":6.60631, "y":4.1176, "heading":-2.50445, "vx":0.57786, "vy":0.03137, "omega":1.91901, "ax":-2.38665, "ay":-0.30021, "alpha":0.0, "fx":[-37.69428,-38.42359,-37.72784,-37.71343], "fy":[-4.77173,-4.73,-4.76146,-4.80097]}, + {"t":3.89903, "x":6.61878, "y":4.11823, "heading":-2.46103, "vx":0.52385, "vy":0.02457, "omega":1.91901, "ax":-2.38298, "ay":-0.28615, "alpha":0.0, "fx":[-37.6826,-37.81493,-37.98149,-37.84747], "fy":[-4.42542,-4.824,-4.40256,-4.51928]}, + {"t":3.92166, "x":6.63002, "y":4.11871, "heading":-2.4176, "vx":0.46993, "vy":0.0181, "omega":1.91901, "ax":-2.37879, "ay":-0.27052, "alpha":0.0, "fx":[-37.54829,-38.38785,-37.56619,-37.55774], "fy":[-4.29639,-4.27748,-4.29448,-4.3105]}, + {"t":3.94429, "x":6.64005, "y":4.11905, "heading":-2.37417, "vx":0.4161, "vy":0.01198, "omega":1.91901, "ax":-2.37397, "ay":-0.25288, "alpha":0.0, "fx":[-37.52644,-37.68463,-37.85146,-37.69156], "fy":[-3.87717,-4.31729,-3.87221,-3.99206]}, + {"t":3.96692, "x":6.64886, "y":4.11926, "heading":-2.33075, "vx":0.36237, "vy":0.00626, "omega":1.91901, "ax":-2.36835, "ay":-0.23307, "alpha":0.0, "fx":[-37.30146,-38.5135,-37.28732,-37.29462], "fy":[-3.70158,-3.70751,-3.70104,-3.69063]}, + {"t":3.98955, "x":6.65645, "y":4.11934, "heading":-2.28732, "vx":0.30878, "vy":0.00098, "omega":1.91901, "ax":-2.36176, "ay":-0.21031, "alpha":0.0, "fx":[-37.3209,-37.50576,-37.66918,-37.48274], "fy":[-3.17797,-3.66665,-3.19507,-3.3156]}, + {"t":4.01218, "x":6.66283, "y":4.11931, "heading":-2.24389, "vx":0.25533, "vy":-0.00378, "omega":1.91901, "ax":-2.35388, "ay":-0.18445, "alpha":0.0, "fx":[-37.04594,-38.43079,-36.98318,-37.01826], "fy":[-2.93507,-2.97476,-2.92394,-2.87948]}, + {"t":4.0348, "x":6.66801, "y":4.11918, "heading":-2.20047, "vx":0.20207, "vy":-0.00795, "omega":1.91901, "ax":-2.34441, "ay":-0.15398, "alpha":0.0, "fx":[-37.03728,-37.24711,-37.40173,-37.19068], "fy":[-2.25884,-2.79885,-2.30178,-2.4188]}, + {"t":4.05743, "x":6.67198, "y":4.11896, "heading":-2.15704, "vx":0.14901, "vy":-0.01144, "omega":1.91901, "ax":-2.33271, "ay":-0.11897, "alpha":0.0, "fx":[-36.66243,-38.33537,-36.52736,-36.60879], "fy":[-1.91092,-1.99009,-1.86893,-1.78515]}, + {"t":4.08006, "x":6.67476, "y":4.11867, "heading":-2.11361, "vx":0.09623, "vy":-0.01413, "omega":1.91901, "ax":-2.31815, "ay":-0.07614, "alpha":0.0, "fx":[-36.62089,-36.84687,-36.98388,-36.75741], "fy":[-1.00249,-1.58131,-1.0723,-1.1789]}, + {"t":4.10269, "x":6.67634, "y":4.11833, "heading":-2.07019, "vx":0.04377, "vy":-0.01585, "omega":1.91901, "ax":-2.29938, "ay":-0.02642, "alpha":0.0, "fx":[-36.07044,-38.12697,-35.83311,-35.98689], "fy":[-0.4735,-0.59917,-0.3669,-0.2385]}, + {"t":4.12532, "x":6.67674, "y":4.11797, "heading":-2.02676, "vx":-0.00827, "vy":-0.01645, "omega":1.91901, "ax":-2.27473, "ay":0.03776, "alpha":0.0, "fx":[-35.94943,-36.16922,-36.27637,-36.05719], "fy":[0.80905,0.23682,0.71905,0.63284]}, + {"t":4.14795, "x":6.67597, "y":4.1176, "heading":-1.98333, "vx":-0.05974, "vy":-0.0156, "omega":1.91901, "ax":-2.24117, "ay":0.11318, "alpha":0.0, "fx":[-35.06523,-37.62937,-34.67893,-34.94739], "fy":[1.68539,1.50853,1.90968,2.08358]}, + {"t":4.17058, "x":6.67405, "y":4.11728, "heading":-1.93991, "vx":-0.11046, "vy":-0.01303, "omega":1.91901, "ax":-2.1933, "ay":0.2168, "alpha":0.0, "fx":[-34.71255,-34.86847,-34.9272,-34.77281], "fy":[3.60104,3.17693,3.52003,3.46969]}, + {"t":4.19321, "x":6.67099, "y":4.11704, "heading":-1.89648, "vx":-0.16009, "vy":-0.00813, "omega":1.91901, "ax":-2.12252, "ay":0.34411, "alpha":0.0, "fx":[-33.09299,-36.24931,-32.50199,-32.94211], "fy":[5.26052,5.03801,5.67301,5.88017]}, + {"t":4.21584, "x":6.66682, "y":4.11694, "heading":-1.85305, "vx":-0.20813, "vy":-0.00034, "omega":1.91901, "ax":-2.01081, "ay":0.51966, "alpha":0.0, "fx":[-31.95305,-31.90648,-31.89333,-31.93968], "fy":[8.21507,8.32079,8.22931,8.23496]}, + {"t":4.23847, "x":6.66159, "y":4.11707, "heading":-1.80963, "vx":-0.25363, "vy":0.01142, "omega":1.91901, "ax":-1.80684, "ay":0.78372, "alpha":0.0, "fx":[-28.04044,-31.55282,-27.26214,-27.88423], "fy":[12.13055,11.90194,12.76831,12.96759]}, + {"t":4.2611, "x":6.65539, "y":4.11753, "heading":-1.7662, "vx":-0.29452, "vy":0.02915, "omega":1.91901, "ax":-1.50745, "ay":1.03685, "alpha":0.0, "fx":[-24.23926,-23.72233,-23.62911,-24.13659], "fy":[15.92501,17.39027,16.22816,16.29979]}, + {"t":4.28373, "x":6.64834, "y":4.11845, "heading":-1.72277, "vx":-0.32863, "vy":0.05262, "omega":1.91901, "ax":-0.81593, "ay":1.46615, "alpha":0.0, "fx":[-12.60792,-14.537,-12.12652,-12.5423], "fy":[23.04585,22.95286,23.51192,23.59404]}, + {"t":4.30636, "x":6.6407, "y":4.12002, "heading":-1.67935, "vx":-0.3471, "vy":0.0858, "omega":1.91901, "ax":-0.11121, "ay":1.60505, "alpha":0.0, "fx":[-2.34054,-1.30271,-1.19163,-2.22697], "fy":[24.31306,27.5279,25.00063,25.08395]}, + {"t":4.32899, "x":6.63281, "y":4.12237, "heading":-1.63592, "vx":-0.34961, "vy":0.12212, "omega":1.91901, "ax":0.59351, "ay":1.67895, "alpha":0.0, "fx":[9.25458,10.19286,9.0027,9.2398], "fy":[26.80077,26.8183,26.50997,26.48901]}, + {"t":4.35162, "x":6.62505, "y":4.12556, "heading":-1.59249, "vx":-0.33618, "vy":0.16011, "omega":1.91901, "ax":1.19592, "ay":1.51474, "alpha":0.0, "fx":[18.60804,19.3415,19.37459,18.6204], "fy":[23.13682,25.6754,23.68079,23.69752]}, + {"t":4.37425, "x":6.61775, "y":4.12958, "heading":-1.54907, "vx":-0.30912, "vy":0.19439, "omega":1.91901, "ax":1.46996, "ay":1.42182, "alpha":0.0, "fx":[22.9539,25.03561,22.38552,22.97197], "fy":[22.97868,22.94194,22.17838,22.19083]}, + {"t":4.39688, "x":6.61113, "y":4.13434, "heading":-1.50564, "vx":-0.27585, "vy":0.22656, "omega":1.91901, "ax":1.70165, "ay":1.28015, "alpha":0.0, "fx":[26.82748,27.22406,27.21026,26.79786], "fy":[19.79117,21.31143,20.10329,20.08726]}, + {"t":4.41951, "x":6.60533, "y":4.13979, "heading":-1.46221, "vx":-0.23735, "vy":0.25553, "omega":1.91901, "ax":1.83191, "ay":1.19738, "alpha":0.0, "fx":[28.7073,30.64972,28.19771,28.77718], "fy":[19.46526,19.35413,18.5673,18.65068]}, + {"t":4.44214, "x":6.60042, "y":4.14588, "heading":-1.41879, "vx":-0.19589, "vy":0.28263, "omega":1.91901, "ax":1.93077, "ay":1.12084, "alpha":0.0, "fx":[30.56259,30.77271,30.74641,30.52802], "fy":[17.48938,18.38844,17.66016,17.63883]}, + {"t":4.46477, "x":6.59649, "y":4.15257, "heading":-1.37536, "vx":-0.1522, "vy":0.30799, "omega":1.91901, "ax":2.00072, "ay":1.06397, "alpha":0.0, "fx":[31.43693,33.02094,31.05541,31.53809], "fy":[17.32372,17.16456,16.46943,16.60724]}, + {"t":4.4874, "x":6.59355, "y":4.15981, "heading":-1.33193, "vx":-0.10692, "vy":0.33207, "omega":1.91901, "ax":2.0548, "ay":1.01627, "alpha":0.0, "fx":[32.57972,32.68924,32.66477,32.5521], "fy":[15.96094,16.49127,16.05058,16.03343]}, + {"t":4.51003, "x":6.59166, "y":4.16758, "heading":-1.28851, "vx":-0.06042, "vy":0.35507, "omega":1.91901, "ax":2.09694, "ay":0.9774, "alpha":0.0, "fx":[33.01273,34.27785,32.74262,33.12854], "fy":[15.90659,15.7207,15.13416,15.30602]}, + {"t":4.53266, "x":6.59083, "y":4.17587, "heading":-1.24508, "vx":-0.01297, "vy":0.37719, "omega":1.91901, "ax":2.13092, "ay":0.94461, "alpha":0.0, "fx":[33.81142,33.86694,33.84851,33.79289], "fy":[14.90053,15.20783,14.94413,14.93309]}, + {"t":4.55529, "x":6.59108, "y":4.18465, "heading":-1.20165, "vx":0.03525, "vy":0.39856, "omega":1.91901, "ax":2.15871, "ay":0.91692, "alpha":0.0, "fx":[34.03184,35.05386,33.84543,34.15323], "fy":[14.90231,14.70302,14.21528,14.40626]}, + {"t":4.57792, "x":6.59243, "y":4.1939, "heading":-1.15823, "vx":0.0841, "vy":0.41931, "omega":1.91901, "ax":2.18192, "ay":0.89309, "alpha":0.0, "fx":[34.63209,34.65789,34.64607,34.62195], "fy":[14.13059,14.29271,14.14795,14.14246]}, + {"t":4.60055, "x":6.59489, "y":4.20362, "heading":-1.1148, "vx":0.13348, "vy":0.43952, "omega":1.91901, "ax":2.20149, "ay":0.87252, "alpha":0.0, "fx":[34.73712,35.59209,34.60865,34.8635], "fy":[14.16055,13.95326,13.54604,13.74803]}, + {"t":4.62318, "x":6.59848, "y":4.21379, "heading":-1.07137, "vx":0.1833, "vy":0.45927, "omega":1.91901, "ax":2.21829, "ay":0.85449, "alpha":0.0, "fx":[35.21434,35.22487,35.21835,35.21041], "fy":[13.54685,13.61562,13.55075,13.54915]}, + {"t":4.64581, "x":6.60319, "y":4.2244, "heading":-1.02795, "vx":0.2335, "vy":0.47861, "omega":1.91901, "ax":2.23279, "ay":0.83867, "alpha":0.0, "fx":[35.261,35.96385,35.18342,35.38043], "fy":[13.58131,13.37805,13.04889,13.24948]}, + {"t":4.66844, "x":6.60905, "y":4.23544, "heading":-0.98452, "vx":0.28402, "vy":0.49758, "omega":1.91901, "ax":2.24547, "ay":0.82459, "alpha":0.0, "fx":[35.64758,35.65098,35.64801,35.64759], "fy":[13.08876,13.09956,13.08764,13.08789]}, + {"t":4.69107, "x":6.61605, "y":4.24692, "heading":-0.94109, "vx":0.33484, "vy":0.51624, "omega":1.91901, "ax":2.25662, "ay":0.81207, "alpha":0.0, "fx":[35.68089,36.2013,35.64383,35.77599], "fy":[13.09663,12.92454,12.68714,12.86083]}, + {"t":4.71369, "x":6.62421, "y":4.25881, "heading":-0.89767, "vx":0.38591, "vy":0.53462, "omega":1.91901, "ax":2.26652, "ay":0.80081, "alpha":0.0, "fx":[35.98207,35.98271,35.98171,35.98418], "fy":[12.72129,12.69276,12.71971,12.72026]}, + {"t":4.73632, "x":6.63352, "y":4.27111, "heading":-0.85424, "vx":0.4372, "vy":0.55274, "omega":1.91901, "ax":2.27534, "ay":0.79069, "alpha":0.0, "fx":[35.98404,36.46764,35.96939,36.06988], "fy":[12.74958,12.5671,12.3547,12.53991]}, + {"t":4.75895, "x":6.644, "y":4.28382, "heading":-0.81081, "vx":0.48869, "vy":0.57064, "omega":1.91901, "ax":2.28328, "ay":0.7815, "alpha":0.0, "fx":[36.24796,36.24842,36.24777,36.25052], "fy":[12.42119,12.363,12.42182,12.42139]}, + {"t":4.78158, "x":6.65564, "y":4.29693, "heading":-0.76739, "vx":0.54036, "vy":0.58832, "omega":1.91901, "ax":2.29042, "ay":0.77316, "alpha":0.0, "fx":[36.23614,36.66351,36.23633,36.31268], "fy":[12.44895,12.27271,12.09823,12.27813]}, + {"t":4.80421, "x":6.66846, "y":4.31045, "heading":-0.72396, "vx":0.59219, "vy":0.60582, "omega":1.91901, "ax":2.29692, "ay":0.76553, "alpha":0.0, "fx":[36.46434,36.46661,36.46423,36.46567], "fy":[12.17489,12.08161,12.17982,12.17711]}, + {"t":4.82684, "x":6.68244, "y":4.32435, "heading":-0.68053, "vx":0.64417, "vy":0.62314, "omega":1.91901, "ax":2.30282, "ay":0.75856, "alpha":0.0, "fx":[36.44741,36.81963,36.4569,36.51176], "fy":[12.19347,12.02864,11.8898,12.05909]}, + {"t":4.84947, "x":6.69761, "y":4.33865, "heading":-0.63711, "vx":0.69628, "vy":0.64031, "omega":1.91901, "ax":2.30822, "ay":0.75214, "alpha":0.0, "fx":[36.64407,36.65063,36.64286,36.64136], "fy":[11.97239,11.82753,11.98541,11.97794]}, + {"t":4.8721, "x":6.71396, "y":4.35333, "heading":-0.59368, "vx":0.74851, "vy":0.65733, "omega":1.91901, "ax":2.31318, "ay":0.74624, "alpha":0.0, "fx":[36.65386,36.89515,36.66031,36.68419], "fy":[11.94687,11.83047,11.74426,11.86703]}, + {"t":4.89473, "x":6.73149, "y":4.3684, "heading":-0.55025, "vx":0.80086, "vy":0.67422, "omega":1.91901, "ax":2.31774, "ay":0.74078, "alpha":0.0, "fx":[36.79641,36.80544,36.7929,36.78866], "fy":[11.79046,11.64358,11.80983,11.798]}, + {"t":4.91736, "x":6.75021, "y":4.38384, "heading":-0.50683, "vx":0.85331, "vy":0.69098, "omega":1.91901, "ax":2.32195, "ay":0.73574, "alpha":0.0, "fx":[36.71215,37.15169,36.76308,36.82387], "fy":[11.82564,11.63688,11.53685,11.72243]}, + {"t":4.93999, "x":6.77011, "y":4.39967, "heading":-0.4634, "vx":0.90585, "vy":0.70763, "omega":1.91901, "ax":2.32586, "ay":0.73105, "alpha":0.0, "fx":[36.92694,36.93783,36.92009,36.91382], "fy":[11.6343,11.48526,11.66084,11.64362]}, + {"t":4.96262, "x":6.79121, "y":4.41587, "heading":-0.41997, "vx":0.95849, "vy":0.72417, "omega":1.91901, "ax":2.32948, "ay":0.72671, "alpha":0.0, "fx":[36.79938,37.31781,36.8766,36.9347], "fy":[11.69172,11.47459,11.38501,11.59702]}, + {"t":4.98525, "x":6.81349, "y":4.43244, "heading":-0.37655, "vx":1.0112, "vy":0.74062, "omega":1.91901, "ax":2.33285, "ay":0.72266, "alpha":0.0, "fx":[37.03907,37.05009,37.03005,37.02346], "fy":[11.49677,11.35105,11.53447,11.50852]}, + {"t":5.00788, "x":6.83697, "y":4.44939, "heading":-0.33312, "vx":1.06399, "vy":0.75697, "omega":1.91901, "ax":2.33599, "ay":0.71889, "alpha":0.0, "fx":[36.90123,37.43051,36.98527,37.02508], "fy":[11.55985,11.33706,11.26803,11.48684]}, + {"t":5.03051, "x":6.86165, "y":4.4667, "heading":-0.28969, "vx":1.11686, "vy":0.77324, "omega":1.91901, "ax":2.33893, "ay":0.71537, "alpha":0.0, "fx":[37.13334,37.1417,37.12875,37.1249], "fy":[11.37122,11.23505,11.43432,11.3874]}, + {"t":5.05314, "x":6.88752, "y":4.48438, "heading":-0.24627, "vx":1.16979, "vy":0.78943, "omega":1.91901, "ax":2.34167, "ay":0.71209, "alpha":0.0, "fx":[37.06447,37.38925,37.08073,37.1687], "fy":[11.3816,11.25436,11.23015,11.35359]}, + {"t":5.07577, "x":6.91459, "y":4.50243, "heading":-0.20284, "vx":1.22278, "vy":0.80554, "omega":1.91901, "ax":2.34425, "ay":0.70902, "alpha":0.0, "fx":[37.22754,37.22434,37.20334,37.21161], "fy":[11.276,11.10822,11.36056,11.28008]}, + {"t":5.0984, "x":6.94286, "y":4.52084, "heading":-0.15941, "vx":1.27583, "vy":0.82159, "omega":1.91901, "ax":2.34667, "ay":0.70615, "alpha":0.0, "fx":[37.05797,37.40594,37.23686,37.31973], "fy":[11.21358,11.22977,11.2202,11.17928]}, + {"t":5.12103, "x":6.97234, "y":4.53961, "heading":-0.11599, "vx":1.32893, "vy":0.83757, "omega":1.91901, "ax":2.34895, "ay":0.70347, "alpha":-0.00015, "fx":[37.55005,37.41336,37.08681,37.11494], "fy":[11.45676,11.35006,10.67088,11.19451]}, + {"t":5.14366, "x":7.00301, "y":4.55875, "heading":-0.07256, "vx":1.38209, "vy":0.85349, "omega":1.91901, "ax":2.35087, "ay":0.70072, "alpha":-27.91007, "fx":[92.87861,92.86173,-11.76549,-24.68771], "fy":[-45.56454,58.1444,83.77703,-51.85924]}, + {"t":5.16629, "x":7.03489, "y":4.57824, "heading":-0.02913, "vx":1.43529, "vy":0.86934, "omega":1.28741, "ax":0.76983, "ay":0.2177, "alpha":-56.89058, "fx":[129.36764,128.63639,-96.52674,-112.59098], "fy":[-106.71038,107.6242,137.06307,-124.15252]}, + {"t":5.18892, "x":7.06757, "y":4.59797, "heading":0.0, "vx":1.45271, "vy":0.87427, "omega":0.0, "ax":0.92936, "ay":-1.99335, "alpha":0.34926, "fx":[15.11355,15.00813,14.4494,14.44622], "fy":[-29.89037,-37.45332,-29.34634,-29.89366]}, + {"t":5.22275, "x":7.11724, "y":4.6264, "heading":0.0, "vx":1.48415, "vy":0.80684, "omega":0.01182, "ax":-2.08321, "ay":-1.35479, "alpha":-0.04823, "fx":[-32.25982,-32.20488,-32.65633,-35.16879], "fy":[-19.17543,-22.15277,-22.14438,-22.56087]}, + {"t":5.25658, "x":7.16626, "y":4.65292, "heading":0.0004, "vx":1.41367, "vy":0.761, "omega":0.01018, "ax":-2.15198, "ay":-1.2575, "alpha":-0.15257, "fx":[-33.926,-33.97866,-34.38207,-34.37048], "fy":[-20.38976,-19.08456,-20.00258,-20.37824]}, + {"t":5.29041, "x":7.21285, "y":4.67795, "heading":0.00074, "vx":1.34087, "vy":0.71846, "omega":0.00502, "ax":-2.17405, "ay":-1.22408, "alpha":0.03658, "fx":[-34.6931,-34.66253,-34.98021,-33.72257], "fy":[-19.05722,-19.42701,-19.41671,-19.83154]}, + {"t":5.32424, "x":7.25697, "y":4.70155, "heading":0.00091, "vx":1.26732, "vy":0.67705, "omega":0.00626, "ax":-2.18491, "ay":-1.20719, "alpha":-0.10273, "fx":[-34.52306,-34.56638,-34.83326,-34.8252], "fy":[-19.45234,-18.56967,-19.19378,-19.44436]}, + {"t":5.35807, "x":7.29859, "y":4.72377, "heading":0.00113, "vx":1.19341, "vy":0.63621, "omega":0.00278, "ax":-2.19136, "ay":-1.197, "alpha":-0.04504, "fx":[-34.73463,-34.7486,-34.94114,-34.73366], "fy":[-19.2078,-18.86753,-18.86153,-19.07628]}, + {"t":5.3919, "x":7.33771, "y":4.74461, "heading":0.00122, "vx":1.11928, "vy":0.59572, "omega":0.00126, "ax":-2.19564, "ay":-1.19019, "alpha":-0.0234, "fx":[-34.76352,-34.7491,-34.96123,-34.95601], "fy":[-18.89361,-19.06455,-18.73382,-18.8885]}, + {"t":5.42573, "x":7.37432, "y":4.76408, "heading":0.00126, "vx":1.045, "vy":0.55546, "omega":0.00047, "ax":-2.19869, "ay":-1.18531, "alpha":-0.05689, "fx":[-34.77073,-34.78692,-34.89551,-35.17013], "fy":[-19.05148,-18.71041,-18.70713,-18.80172]}, + {"t":5.45956, "x":7.40841, "y":4.78219, "heading":0.00128, "vx":0.97062, "vy":0.51536, "omega":-0.00146, "ax":-2.20097, "ay":-1.18165, "alpha":-0.01496, "fx":[-34.88674,-34.88079,-35.0016,-34.99878], "fy":[-18.76474,-18.83302,-18.67839,-18.76194]}, + {"t":5.49339, "x":7.43999, "y":4.79895, "heading":0.00123, "vx":0.89616, "vy":0.47538, "omega":-0.00196, "ax":-2.20274, "ay":-1.17879, "alpha":-0.03162, "fx":[-34.89292,-34.9014,-34.9577,-35.12814], "fy":[-18.84432,-18.65678,-18.65515,-18.70065]}, + {"t":5.52722, "x":7.46905, "y":4.81436, "heading":0.00116, "vx":0.82164, "vy":0.4355, "omega":-0.00303, "ax":-2.20415, "ay":-1.17651, "alpha":-0.00527, "fx":[-34.96487,-34.95955,-35.02329,-35.02208], "fy":[-18.67019,-18.74264,-18.62998,-18.66901]}, + {"t":5.56104, "x":7.49558, "y":4.82842, "heading":0.00106, "vx":0.74708, "vy":0.3957, "omega":-0.00321, "ax":-2.2053, "ay":-1.17464, "alpha":-0.01788, "fx":[-34.96597,-34.97162,-34.99193,-35.11351], "fy":[-18.73355,-18.61625,-18.61587,-18.62737]}, + {"t":5.59487, "x":7.51959, "y":4.84113, "heading":0.00095, "vx":0.67247, "vy":0.35596, "omega":-0.00381, "ax":-2.20626, "ay":-1.17308, "alpha":0.0026, "fx":[-35.01998,-35.01466,-35.03465,-35.03468], "fy":[-18.60401,-18.68792,-18.59796,-18.60409]}, + {"t":5.6287, "x":7.54108, "y":4.8525, "heading":0.00082, "vx":0.59783, "vy":0.31628, "omega":-0.00373, "ax":-2.20707, "ay":-1.17176, "alpha":-0.00856, "fx":[-35.0146,-35.01855,-35.01062,-35.11173], "fy":[-18.65899,-18.589,-18.58963,-18.57251]}, + {"t":5.66253, "x":7.56004, "y":4.86253, "heading":0.0007, "vx":0.52317, "vy":0.27664, "omega":-0.00402, "ax":-2.20777, "ay":-1.17063, "alpha":0.00985, "fx":[-35.06322,-35.05745,-35.03895,-35.04], "fy":[-18.55359,-18.6532,-18.57671,-18.55474]}, + {"t":5.69636, "x":7.57648, "y":4.87122, "heading":0.00056, "vx":0.44848, "vy":0.23704, "omega":-0.00368, "ax":-2.20837, "ay":-1.16965, "alpha":-0.0007, "fx":[-35.0524,-35.05501,-35.02042,-35.10999], "fy":[-18.60442,-18.57101,-18.57256,-18.52792]}, + {"t":5.73019, "x":7.59038, "y":4.87857, "heading":0.00044, "vx":0.37377, "vy":0.19747, "omega":-0.00371, "ax":-2.20889, "ay":-1.16879, "alpha":0.01755, "fx":[-35.10096,-35.09484,-35.0367,-35.03874], "fy":[-18.51164,-18.63125,-18.56465,-18.51381]}, + {"t":5.76402, "x":7.60177, "y":4.88458, "heading":0.00031, "vx":0.29905, "vy":0.15793, "omega":-0.00311, "ax":-2.20936, "ay":-1.16803, "alpha":0.00816, "fx":[-35.08677,-35.08796,-35.02369,-35.10228], "fy":[-18.55212,-18.56367,-18.56616,-18.49124]}, + {"t":5.79785, "x":7.61062, "y":4.88925, "heading":0.00021, "vx":0.2243, "vy":0.11841, "omega":-0.00284, "ax":-2.20977, "ay":-1.16735, "alpha":0.02669, "fx":[-35.13771,-35.13103,-35.02752,-35.03062], "fy":[-18.47301,-18.61971,-18.56135,-18.4763]}, + {"t":5.83168, "x":7.61694, "y":4.89259, "heading":0.00011, "vx":0.14955, "vy":0.07892, "omega":-0.00193, "ax":-2.21014, "ay":-1.16675, "alpha":0.01861, "fx":[-35.12167,-35.12131,-35.01981,-35.08749], "fy":[-18.50469,-18.56442,-18.568,-18.45496]}, + {"t":5.86551, "x":7.62074, "y":4.89459, "heading":0.00004, "vx":0.07478, "vy":0.03945, "omega":-0.0013, "ax":-2.21047, "ay":-1.16621, "alpha":0.03857, "fx":[-35.17724,-35.16974,-35.01,-35.01437], "fy":[-18.43292,-18.62014,-18.567,-18.43752]}, + {"t":5.89934, "x":7.622, "y":4.89526, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.21272, "ay":1.16046, "alpha":3.95418, "fx":[-42.75485,-43.47942,-27.37991,-26.89979], "fy":[26.40119,9.89163,10.15808,27.24193]}, + {"t":5.93464, "x":7.62062, "y":4.89599, "heading":0.0, "vx":-0.07811, "vy":0.04097, "omega":0.13959, "ax":-2.21294, "ay":1.16152, "alpha":2.97533, "fx":[-40.86498,-41.39659,-29.2987,-28.968], "fy":[24.51062,11.95265,12.26407,25.0329]}, + {"t":5.96995, "x":7.61649, "y":4.89816, "heading":0.00493, "vx":-0.15624, "vy":0.08197, "omega":0.24463, "ax":-2.21249, "ay":1.16231, "alpha":2.12495, "fx":[-39.25057,-39.57912,-30.96407,-30.70608], "fy":[22.74713,13.81759,14.05479,23.19066]}, + {"t":6.00525, "x":7.60959, "y":4.90177, "heading":0.01356, "vx":-0.23434, "vy":0.123, "omega":0.31964, "ax":-2.21201, "ay":1.16317, "alpha":1.39967, "fx":[-37.84857,-38.01216,-32.32896,-32.27923], "fy":[21.32851,15.3496,15.60876,21.57753]}, + {"t":6.04055, "x":7.59994, "y":4.90684, "heading":0.02485, "vx":-0.31243, "vy":0.16407, "omega":0.36905, "ax":-2.21148, "ay":1.1641, "alpha":0.73414, "fx":[-36.57354,-36.6195,-33.64132,-33.60083], "fy":[19.93748,16.86816,16.98509,20.13277]}, + {"t":6.07585, "x":7.58753, "y":4.91336, "heading":0.03788, "vx":-0.3905, "vy":0.20516, "omega":0.39497, "ax":-2.21089, "ay":1.16511, "alpha":0.1202, "fx":[-35.32151,-35.32629,-34.82761,-34.92287], "fy":[18.78673,18.2057,18.24179,18.75392]}, + {"t":6.11116, "x":7.57237, "y":4.92133, "heading":0.05182, "vx":-0.46855, "vy":0.24629, "omega":0.39921, "ax":-2.21025, "ay":1.16623, "alpha":-0.48243, "fx":[-34.11726,-34.13449,-36.06164,-36.04427], "fy":[17.5679,19.66793,19.42689,17.39643]}, + {"t":6.14646, "x":7.55445, "y":4.93075, "heading":0.06591, "vx":-0.54658, "vy":0.28746, "omega":0.38218, "ax":-2.20955, "ay":1.16747, "alpha":-1.10386, "fx":[-32.76198,-32.88989,-37.32457,-37.33634], "fy":[16.47126,21.08912,20.608,15.96914]}, + {"t":6.18176, "x":7.53378, "y":4.94162, "heading":0.0794, "vx":-0.62458, "vy":0.32868, "omega":0.34321, "ax":-2.20876, "ay":1.16884, "alpha":-1.76502, "fx":[-31.37094,-31.66414,-38.72982,-38.49803], "fy":[15.20361,22.77105,21.83081,14.419]}, + {"t":6.21706, "x":7.51035, "y":4.95395, "heading":0.09152, "vx":-0.70255, "vy":0.36994, "omega":0.28091, "ax":-2.20789, "ay":1.17036, "alpha":-2.52537, "fx":[-29.63545,-30.2182,-40.33492,-40.01865], "fy":[13.90577,24.58436,23.18247,12.64888]}, + {"t":6.25236, "x":7.48418, "y":4.96774, "heading":0.10144, "vx":-0.7805, "vy":0.41126, "omega":0.19175, "ax":-2.2069, "ay":1.17208, "alpha":-3.39579, "fx":[-27.73515,-28.66501,-42.21224,-41.53219], "fy":[12.29508,26.83158,24.7262,10.57751]}, + {"t":6.28767, "x":7.45525, "y":4.98299, "heading":0.10821, "vx":-0.8584, "vy":0.45263, "omega":0.07188, "ax":-2.20578, "ay":1.17402, "alpha":-4.47214, "fx":[-25.24512,-26.6688,-44.5018,-43.65787], "fy":[10.45327,29.45021,26.58031,8.06974]}, + {"t":6.32297, "x":7.42357, "y":4.9997, "heading":0.11074, "vx":-0.93627, "vy":0.49408, "omega":-0.086, "ax":-2.2045, "ay":1.17623, "alpha":-5.77281, "fx":[-22.376,-24.33489,-47.25613,-46.02549], "fy":[8.00632,32.76988,28.8755,5.04218]}, + {"t":6.35827, "x":7.38914, "y":5.01788, "heading":0.10771, "vx":-1.0141, "vy":0.5356, "omega":-0.28979, "ax":-2.20303, "ay":1.17877, "alpha":-7.43492, "fx":[-18.69787,-21.16411,-50.64225,-49.39476], "fy":[4.83715,36.83088,31.83306,1.35428]}, + {"t":6.39357, "x":7.35197, "y":5.03752, "heading":0.09748, "vx":-1.09187, "vy":0.57721, "omega":-0.55226, "ax":-2.20131, "ay":1.18173, "alpha":-9.53628, "fx":[-14.1405,-17.25183,-54.81704,-53.58057], "fy":[0.53046,42.07533,35.65167,-3.21434]}, + {"t":6.42887, "x":7.31205, "y":5.05863, "heading":0.07798, "vx":-1.16958, "vy":0.61893, "omega":-0.88891, "ax":-2.19929, "ay":1.18521, "alpha":-12.21296, "fx":[-8.49642,-11.87128,-59.77622,-59.51727], "fy":[-5.29703,48.34448,40.79447,-8.57789]}, + {"t":6.46418, "x":7.2694, "y":5.08122, "heading":0.0466, "vx":-1.24722, "vy":0.66077, "omega":-1.32006, "ax":-2.19686, "ay":1.18936, "alpha":-15.61674, "fx":[-1.86579,-4.68414,-65.67312,-67.2837], "fy":[-13.5182,56.30024,47.57713,-14.83122]}, + {"t":6.49948, "x":7.224, "y":5.10529, "heading":0.0, "vx":-1.32477, "vy":0.70276, "omega":-1.87136, "ax":-2.19614, "ay":1.17884, "alpha":-8.3421, "fx":[-18.2669,-17.66588,-50.91738,-52.61086], "fy":[1.0468,37.48721,35.28808,1.03799]}, + {"t":6.51835, "x":7.1986, "y":5.11876, "heading":-0.03532, "vx":-1.36622, "vy":0.72501, "omega":-2.0288, "ax":-2.21116, "ay":1.15801, "alpha":-2.80543, "fx":[-29.84392,-29.107,-40.19684,-41.26727], "fy":[12.27071,24.48089,24.2656,12.51983]}, + {"t":6.53722, "x":7.17243, "y":5.13265, "heading":-0.07361, "vx":-1.40795, "vy":0.74686, "omega":-2.08174, "ax":-2.22409, "ay":1.13242, "alpha":-0.66519, "fx":[-34.14011,-33.85354,-36.47431,-36.76853], "fy":[16.50087,19.36973,19.46225,16.57895]}, + {"t":6.5561, "x":7.14546, "y":5.14695, "heading":-0.11289, "vx":-1.44992, "vy":0.76823, "omega":-2.0943, "ax":-2.2384, "ay":1.10322, "alpha":-0.09049, "fx":[-35.3741,-35.34181,-35.56013,-35.86921], "fy":[17.22947,17.70351,17.6933,17.43159]}, + {"t":6.57497, "x":7.1177, "y":5.16164, "heading":-0.15242, "vx":-1.49217, "vy":0.78905, "omega":-2.096, "ax":-2.2543, "ay":1.06962, "alpha":0.07912, "fx":[-35.86043,-35.93429,-35.70604,-35.65369], "fy":[17.23433,16.54506,16.95271,17.19222]}, + {"t":6.59384, "x":7.08914, "y":5.17672, "heading":-0.19197, "vx":-1.53471, "vy":0.80924, "omega":-2.09451, "ax":-2.27201, "ay":1.03058, "alpha":0.07254, "fx":[-36.23367,-36.31654,-35.90062,-35.82835], "fy":[16.27253,16.29154,16.21318,16.66733]}, + {"t":6.61271, "x":7.05977, "y":5.19218, "heading":-0.2315, "vx":-1.57759, "vy":0.82869, "omega":-2.09314, "ax":-2.2918, "ay":0.98469, "alpha":0.11754, "fx":[-36.50829,-36.63498,-36.24931,-36.14364], "fy":[15.99205,15.1168,15.5132,15.90844]}, + {"t":6.63159, "x":7.02959, "y":5.20799, "heading":-0.271, "vx":-1.62084, "vy":0.84727, "omega":-2.09092, "ax":-2.31397, "ay":0.93006, "alpha":0.10157, "fx":[-36.93602,-37.07071,-36.58666,-36.35026], "fy":[14.76763,14.67651,14.543,15.07469]}, + {"t":6.65046, "x":6.99859, "y":5.22415, "heading":-0.31046, "vx":-1.66451, "vy":0.86482, "omega":-2.08901, "ax":-2.33877, "ay":0.86409, "alpha":0.13839, "fx":[-37.27562,-37.45828,-36.97518,-36.80945], "fy":[14.13783,13.23457,13.5071,13.99296]}, + {"t":6.66933, "x":6.96676, "y":5.24062, "heading":-0.34989, "vx":-1.70865, "vy":0.88113, "omega":-2.08639, "ax":-2.36637, "ay":0.78306, "alpha":0.14981, "fx":[-37.88869,-38.06377,-37.58309,-36.73606], "fy":[12.47141,12.35576,12.17577,12.72386]}, + {"t":6.6882, "x":6.93409, "y":5.25739, "heading":-0.38926, "vx":-1.75331, "vy":0.89591, "omega":-2.08357, "ax":-2.39666, "ay":0.68159, "alpha":0.17227, "fx":[-38.21424,-38.48581,-37.87738,-37.61745], "fy":[11.34665,10.35252,10.48098,11.10304]}, + {"t":6.70707, "x":6.90057, "y":5.27442, "heading":-0.42859, "vx":-1.79854, "vy":0.90877, "omega":-2.08032, "ax":-2.42874, "ay":0.5517, "alpha":0.21078, "fx":[-38.89411,-39.1922,-38.55163,-37.59399], "fy":[9.07415,8.62103,8.31405,9.02545]}, + {"t":6.72595, "x":6.8662, "y":5.29167, "heading":-0.46785, "vx":-1.84437, "vy":0.91918, "omega":-2.07634, "ax":-2.45987, "ay":0.38133, "alpha":0.22967, "fx":[-39.24516,-39.66767,-38.85771,-38.43811], "fy":[6.74135,5.67256,5.47828,6.32316]}, + {"t":6.74482, "x":6.83095, "y":5.30909, "heading":-0.50703, "vx":-1.8908, "vy":0.92638, "omega":-2.072, "ax":-2.48285, "ay":0.15221, "alpha":0.29169, "fx":[-39.77557,-40.24968,-39.40265,-38.24051], "fy":[3.05584,2.23475,1.7322,2.64277]}, + {"t":6.76369, "x":6.79483, "y":5.3266, "heading":-0.54613, "vx":-1.93765, "vy":0.92925, "omega":-2.0665, "ax":-2.48003, "ay":-0.16211, "alpha":0.29917, "fx":[-39.58319,-40.21708,-39.16257,-38.52627], "fy":[-1.72615,-2.71926,-3.46149,-2.38777]}, + {"t":6.78256, "x":6.75782, "y":5.3441, "heading":-0.58513, "vx":-1.98446, "vy":0.92619, "omega":-2.06085, "ax":-2.41076, "ay":-0.59318, "alpha":0.36975, "fx":[-38.59791,-39.23379,-38.23718,-37.02177], "fy":[-8.28847,-9.66083,-10.36374,-9.35578]}, + {"t":6.80144, "x":6.71994, "y":5.36148, "heading":-0.62403, "vx":-2.02995, "vy":0.915, "omega":-2.05388, "ax":-2.19603, "ay":-1.15213, "alpha":0.31217, "fx":[-35.03264,-35.79939,-34.68869,-33.93386], "fy":[-17.48015,-18.14117,-19.28489,-18.25771]}, + {"t":6.82031, "x":6.68123, "y":5.37854, "heading":-0.66279, "vx":-2.0714, "vy":0.89326, "omega":-2.04798, "ax":-1.74341, "ay":-1.76113, "alpha":0.26275, "fx":[-27.80181,-28.31772,-27.59206,-27.00004], "fy":[-26.96365,-28.13767,-28.70956,-28.02607]}, + {"t":6.83918, "x":6.64183, "y":5.39509, "heading":-0.70144, "vx":-2.1043, "vy":0.86002, "omega":-2.04302, "ax":-1.07843, "ay":-2.23155, "alpha":0.12895, "fx":[-17.15516,-17.54708,-17.0741,-16.70686], "fy":[-35.19712,-35.08074,-35.90456,-35.52741]}, + {"t":6.85805, "x":6.60193, "y":5.41092, "heading":-0.74, "vx":-2.12465, "vy":0.8179, "omega":-2.04059, "ax":-0.39595, "ay":-2.4489, "alpha":0.00811, "fx":[-6.28877,-6.17857,-6.28937,-6.38714], "fy":[-38.60335,-38.99937,-38.90727,-39.00241]}, + {"t":6.87693, "x":6.56176, "y":5.42592, "heading":-0.77851, "vx":-2.13213, "vy":0.77169, "omega":-2.04044, "ax":0.15015, "ay":-2.47896, "alpha":-0.13856, "fx":[2.38273,2.80294,2.3823,1.96688], "fy":[-39.89728,-38.90204,-39.11333,-39.50851]}, + {"t":6.8958, "x":6.52155, "y":5.44004, "heading":-0.81701, "vx":-2.12929, "vy":0.7249, "omega":-2.04305, "ax":0.54194, "ay":-2.42624, "alpha":-0.20458, "fx":[8.64772,9.37575,8.69869,7.69282], "fy":[-38.71707,-38.68696,-38.00302,-38.66615]}, + {"t":6.91467, "x":6.48146, "y":5.45329, "heading":-0.85557, "vx":-2.11906, "vy":0.67912, "omega":-2.04691, "ax":0.81725, "ay":-2.35002, "alpha":-0.27294, "fx":[12.89061,13.82246,13.04579,12.13872], "fy":[-38.23548,-36.89186,-36.68577,-37.42035]}, + {"t":6.93354, "x":6.44161, "y":5.46569, "heading":-0.8942, "vx":-2.10364, "vy":0.63477, "omega":-2.05207, "ax":1.01394, "ay":-2.27386, "alpha":-0.27431, "fx":[16.08974,17.05479,16.30109,14.94272], "fy":[-36.48872,-36.31625,-35.40332,-36.18866]}, + {"t":6.95241, "x":6.40209, "y":5.47726, "heading":-0.93293, "vx":-2.08451, "vy":0.59185, "omega":-2.05724, "ax":1.15846, "ay":-2.20518, "alpha":-0.28378, "fx":[18.22816,19.27009,18.53885,17.5285], "fy":[-35.9687,-34.67611,-34.33758,-35.05326]}, + {"t":6.97129, "x":6.36296, "y":5.48804, "heading":-0.97175, "vx":-2.06264, "vy":0.55024, "omega":-2.0626, "ax":1.26777, "ay":-2.14539, "alpha":-0.26055, "fx":[20.09238,21.01952,20.41144,18.98374], "fy":[-34.39713,-34.31681,-33.42642,-34.09804]}, + {"t":6.99016, "x":6.32426, "y":5.49804, "heading":-1.01068, "vx":-2.03872, "vy":0.50975, "omega":-2.06751, "ax":1.35267, "ay":-2.09388, "alpha":-0.2359, "fx":[21.27616,22.20813,21.65514,20.75916], "fy":[-34.07109,-32.94612,-32.7006,-33.2494]}, + {"t":7.00903, "x":6.28602, "y":5.50729, "heading":-1.0497, "vx":-2.01319, "vy":0.47023, "omega":-2.07197, "ax":1.42018, "ay":-2.04951, "alpha":-0.22419, "fx":[22.51578,23.2133,22.8438,21.61254], "fy":[-32.99236,-32.67944,-32.01906,-32.45935]}, + {"t":7.0279, "x":6.24828, "y":5.5158, "heading":-1.0888, "vx":-1.98639, "vy":0.43155, "omega":-2.0762, "ax":1.47494, "ay":-2.01117, "alpha":-0.18647, "fx":[23.22702,23.94642,23.60351,22.88609], "fy":[-32.4581,-32.03936,-31.42253,-31.79495]}, + {"t":7.04678, "x":6.21106, "y":5.52358, "heading":-1.12798, "vx":-1.95855, "vy":0.3936, "omega":-2.07972, "ax":1.52015, "ay":-1.97782, "alpha":-0.17077, "fx":[23.99154,24.61094,24.34671,23.58475], "fy":[-31.82962,-31.54407,-30.95583,-31.26789]}, + {"t":7.06565, "x":6.17437, "y":5.53066, "heading":-1.16723, "vx":-1.92986, "vy":0.35627, "omega":-2.08294, "ax":1.55803, "ay":-1.94864, "alpha":-0.14881, "fx":[24.55792,25.12683,24.91648,24.33855], "fy":[-31.30218,-31.16306,-30.51487,-30.76429]}, + {"t":7.08452, "x":6.13822, "y":5.53704, "heading":-1.20654, "vx":-1.90046, "vy":0.3195, "omega":-2.08575, "ax":1.5902, "ay":-1.92294, "alpha":-0.13443, "fx":[25.1111,25.59141,25.43306,24.84683], "fy":[-30.90717,-30.63858,-30.18404,-30.38261]}, + {"t":7.10339, "x":6.10264, "y":5.54272, "heading":-1.24591, "vx":-1.87045, "vy":0.2832, "omega":-2.08828, "ax":1.61782, "ay":-1.90017, "alpha":-0.11498, "fx":[25.52089,25.97923,25.84962,25.38679], "fy":[-30.44829,-30.34037,-29.85895,-30.0185]}, + {"t":7.12227, "x":6.06763, "y":5.54773, "heading":-1.28532, "vx":-1.83992, "vy":0.24734, "omega":-2.09045, "ax":1.64178, "ay":-1.87986, "alpha":-0.10371, "fx":[25.91649,26.30373,26.2107,25.82714], "fy":[-30.18261,-29.93572,-29.56936,-29.68915]}, + {"t":7.14114, "x":6.0332, "y":5.55206, "heading":-1.32477, "vx":-1.80893, "vy":0.21187, "omega":-2.09241, "ax":1.66275, "ay":-1.86167, "alpha":-0.08829, "fx":[26.2633,26.59621,26.53773,26.19235], "fy":[-29.71268,-29.79656,-29.31222,-29.39976]}, + {"t":7.16001, "x":5.99936, "y":5.55573, "heading":-1.36426, "vx":-1.77755, "vy":0.17673, "omega":-2.09408, "ax":1.68125, "ay":-1.84527, "alpha":-0.08395, "fx":[26.62202,26.86429,26.82819,26.44953], "fy":[-29.61688,-29.31353,-29.09398,-29.15573]}, + {"t":7.17888, "x":5.96611, "y":5.55874, "heading":-1.40378, "vx":-1.74582, "vy":0.14191, "omega":-2.09566, "ax":1.69767, "ay":-1.83043, "alpha":-0.0689, "fx":[26.84377,27.08193,27.06856,26.813], "fy":[-29.1309,-29.32988,-28.86799,-28.90897]}, + {"t":7.19776, "x":5.93346, "y":5.56109, "heading":-1.44333, "vx":-1.71378, "vy":0.10736, "omega":-2.09696, "ax":1.71236, "ay":-1.81694, "alpha":-0.06175, "fx":[27.07924,27.28962,27.27702,27.09389], "fy":[-29.11891,-28.87358,-28.6815,-28.70701]}, + {"t":7.21663, "x":5.90143, "y":5.56279, "heading":-1.4829, "vx":-1.68147, "vy":0.07307, "omega":-2.09813, "ax":1.72556, "ay":-1.80462, "alpha":-0.05662, "fx":[27.29984,27.48578,27.49743,27.29506], "fy":[-28.68548,-28.90006,-28.49983,-28.51358]}, + {"t":7.2355, "x":5.87, "y":5.56385, "heading":-1.5225, "vx":-1.6489, "vy":0.03902, "omega":-2.0992, "ax":1.73749, "ay":-1.79334, "alpha":-0.04956, "fx":[27.49467,27.65208,27.66001,27.52891], "fy":[-28.72395,-28.47934,-28.33877,-28.34034]}, + {"t":7.25437, "x":5.83919, "y":5.56427, "heading":-1.56212, "vx":-1.61611, "vy":0.00517, "omega":-2.10013, "ax":1.74832, "ay":-1.78297, "alpha":-0.04652, "fx":[27.67766,27.81151,27.84268,27.69166], "fy":[-28.30374,-28.55251,-28.18734,-28.18002]}, + {"t":7.27324, "x":5.809, "y":5.56405, "heading":-1.60175, "vx":-1.58312, "vy":-0.02848, "omega":-2.10101, "ax":1.7582, "ay":-1.7734, "alpha":-0.03805, "fx":[27.82748,27.94748,27.97103,27.9047], "fy":[-28.3744,-28.15749,-28.05078,-28.03325]}, + {"t":7.29212, "x":5.77944, "y":5.56319, "heading":-1.6414, "vx":-1.54994, "vy":-0.06194, "omega":-2.10173, "ax":1.76724, "ay":-1.76454, "alpha":-0.03768, "fx":[27.99047,28.0867,28.12954,28.01814], "fy":[-27.98986,-28.2343,-27.92599,-27.90355]}, + {"t":7.31099, "x":5.7505, "y":5.56171, "heading":-1.68106, "vx":-1.51658, "vy":-0.09525, "omega":-2.10244, "ax":1.77555, "ay":-1.75633, "alpha":-0.02727, "fx":[28.12609,28.19675,28.23074,28.19879], "fy":[-28.07812,-27.86824,-27.8063,-27.77944]}, + {"t":7.32986, "x":5.7222, "y":5.5596, "heading":-1.72074, "vx":-1.48307, "vy":-0.12839, "omega":-2.10295, "ax":1.7832, "ay":-1.74869, "alpha":-0.02807, "fx":[28.25862,28.32051,28.36605,28.29349], "fy":[-27.73294,-27.93503,-27.70421,-27.67473]}, + {"t":7.34873, "x":5.69452, "y":5.55686, "heading":-1.76043, "vx":-1.44942, "vy":-0.16139, "omega":-2.10348, "ax":1.79029, "ay":-1.74156, "alpha":-0.02135, "fx":[28.34825,28.41178,28.45366,28.47468], "fy":[-27.79453,-27.65554,-27.58915,-27.55525]}, + {"t":7.36761, "x":5.66749, "y":5.55351, "heading":-1.80013, "vx":-1.41563, "vy":-0.19426, "omega":-2.10389, "ax":1.79685, "ay":-1.73491, "alpha":-0.03539, "fx":[28.45642,28.55789,28.59832,28.49279], "fy":[-27.57205,-27.68391,-27.48171,-27.43395]}, + {"t":7.38648, "x":5.64109, "y":5.54953, "heading":-1.83983, "vx":-1.38172, "vy":-0.227, "omega":-2.10455, "ax":1.80296, "ay":-1.72867, "alpha":-0.02456, "fx":[28.56218,28.64953,28.6537,28.6278], "fy":[-27.55712,-27.47973,-27.39287,-27.34584]}, + {"t":7.40535, "x":5.61534, "y":5.54494, "heading":-1.87955, "vx":-1.3477, "vy":-0.25963, "omega":-2.10502, "ax":1.80865, "ay":-1.72282, "alpha":0.16024, "fx":[29.16361,28.59343,28.26174,28.83592], "fy":[-27.12501,-26.91216,-27.62676,-27.73994]}, + {"t":7.42422, "x":5.59023, "y":5.53974, "heading":-1.91928, "vx":-1.31356, "vy":-0.29214, "omega":-2.10199, "ax":1.81397, "ay":-1.71731, "alpha":1.1645, "fx":[31.96024,27.63356,25.54699,30.05167], "fy":[-25.7719,-24.15798,-28.90916,-30.21535]}, + {"t":7.4431, "x":5.56576, "y":5.53392, "heading":-1.95895, "vx":-1.27933, "vy":-0.32455, "omega":-2.08002, "ax":1.81895, "ay":-1.71213, "alpha":4.47648, "fx":[41.12949,24.6368,16.57523,33.16722], "fy":[-21.76401,-14.91806,-33.12004,-38.92304]}, + {"t":7.46197, "x":5.54194, "y":5.52749, "heading":-1.9982, "vx":-1.245, "vy":-0.35686, "omega":-1.99554, "ax":1.82363, "ay":-1.70723, "alpha":12.13945, "fx":[62.54606,18.38654,-5.09907,39.97216], "fy":[-14.80848,7.30608,-42.29633,-58.6156]}, + {"t":7.48084, "x":5.51877, "y":5.52045, "heading":-2.03586, "vx":-1.21059, "vy":-0.38908, "omega":-1.76644, "ax":1.82803, "ay":-1.7026, "alpha":22.8746, "fx":[92.08605,12.29203,-36.3478,48.05484], "fy":[-7.77775,40.82503,-55.68776,-85.47978]}, + {"t":7.49971, "x":5.49625, "y":5.5128, "heading":-2.0692, "vx":-1.17609, "vy":-0.42121, "omega":-1.33474, "ax":1.83218, "ay":-1.69821, "alpha":32.28155, "fx":[116.27272,10.78306,-64.6317,53.92494], "fy":[-5.81599,74.69375,-69.24071,-107.47818]}, + {"t":7.51858, "x":5.47438, "y":5.50455, "heading":-2.09439, "vx":-1.14151, "vy":-0.45326, "omega":-0.72551, "ax":1.83613, "ay":-1.69401, "alpha":38.44313, "fx":[130.83904,13.00894,-83.68863,56.4404], "fy":[-7.25812,99.84693,-78.84542,-121.31801]}, + {"t":7.53746, "x":5.45316, "y":5.49569, "heading":-2.10808, "vx":-1.10686, "vy":-0.48523, "omega":0.0, "ax":1.89832, "ay":-1.62383, "alpha":-0.00437, "fx":[30.15882,30.12596,30.12078,30.14357], "fy":[-25.74066,-25.86202,-25.75161,-25.76385]}, + {"t":7.57411, "x":5.41387, "y":5.47682, "heading":-2.10808, "vx":-1.03728, "vy":-0.54475, "omega":-0.00016, "ax":2.02939, "ay":-1.45819, "alpha":0.00298, "fx":[32.20329,32.19517,32.18427,32.28927], "fy":[-23.23072,-23.11062,-23.12847,-23.12972]}, + {"t":7.61076, "x":5.37721, "y":5.45587, "heading":-2.10809, "vx":-0.9629, "vy":-0.5982, "omega":-0.00005, "ax":2.16872, "ay":-1.24131, "alpha":-0.00454, "fx":[34.44201,34.42294,34.42113,34.43374], "fy":[-19.6791,-19.77153,-19.68478,-19.69154]}, + {"t":7.64742, "x":5.34337, "y":5.43311, "heading":-2.10809, "vx":-0.88341, "vy":-0.6437, "omega":-0.00022, "ax":2.30712, "ay":-0.95958, "alpha":0.00221, "fx":[36.59141,36.58919,36.58606,36.74218], "fy":[-15.28396,-15.21619,-15.22147,-15.21458]}, + {"t":7.68407, "x":5.31254, "y":5.40887, "heading":-2.1081, "vx":-0.79884, "vy":-0.67887, "omega":-0.00014, "ax":2.4251, "ay":-0.60158, "alpha":-0.00198, "fx":[38.50078,38.49997,38.49983,38.50051], "fy":[-9.54535,-9.56862,-9.54453,-9.54378]}, + {"t":7.72072, "x":5.28489, "y":5.38359, "heading":-2.1081, "vx":-0.70996, "vy":-0.70092, "omega":-0.00021, "ax":2.49284, "ay":-0.16829, "alpha":0.00188, "fx":[39.5258,39.53244,39.53672,39.70747], "fy":[-2.65698,-2.68465,-2.67591,-2.66918]}, + {"t":7.75737, "x":5.26055, "y":5.35778, "heading":-2.10811, "vx":-0.61859, "vy":-0.70709, "omega":-0.00014, "ax":2.47848, "ay":0.31537, "alpha":0.00251, "fx":[39.33991,39.34843,39.3564,39.34581], "fy":[4.98592,5.04932,4.99137,5.00049]}, + {"t":7.79403, "x":5.23954, "y":5.33208, "heading":-2.10811, "vx":-0.52774, "vy":-0.69553, "omega":-0.00005, "ax":2.36697, "ay":0.79988, "alpha":0.00056, "fx":[37.52649,37.55031,37.55913,37.67356], "fy":[12.7914,12.65462,12.67216,12.67663]}, + {"t":7.83068, "x":5.22178, "y":5.30712, "heading":-2.10812, "vx":-0.44099, "vy":-0.66621, "omega":-0.00003, "ax":2.17384, "ay":1.2317, "alpha":0.00472, "fx":[34.49986,34.50903,34.52749,34.50902], "fy":[19.52115,19.62721,19.5272,19.54098]}, + {"t":7.86733, "x":5.20708, "y":5.28353, "heading":-2.10812, "vx":-0.36131, "vy":-0.62106, "omega":0.00014, "ax":1.93625, "ay":1.57928, "alpha":-0.00189, "fx":[30.69356,30.72555,30.73622,30.80204], "fy":[25.15783,25.02789,25.04814,25.05523]}, + {"t":7.90399, "x":5.19514, "y":5.26183, "heading":-2.10811, "vx":-0.29034, "vy":-0.56318, "omega":0.00008, "ax":1.691, "ay":1.83965, "alpha":0.00361, "fx":[26.8324,26.84392,26.86424,26.84273], "fy":[29.17494,29.27234,29.18051,29.19519]}, + {"t":7.94064, "x":5.18563, "y":5.24242, "heading":-2.10811, "vx":-0.22836, "vy":-0.49575, "omega":0.00021, "ax":1.46155, "ay":2.02688, "alpha":-0.00273, "fx":[23.16396,23.19631,23.20738,23.24494], "fy":[32.25822,32.13561,32.15516,32.16366]}, + {"t":7.97729, "x":5.17824, "y":5.22561, "heading":-2.1081, "vx":-0.17479, "vy":-0.42146, "omega":0.00011, "ax":1.25799, "ay":2.15925, "alpha":0.00267, "fx":[19.95742,19.97075,19.98974,19.96797], "fy":[34.25224,34.33782,34.2574,34.27123]}, + {"t":8.01395, "x":5.17268, "y":5.21162, "heading":-2.1081, "vx":-0.12868, "vy":-0.34231, "omega":0.00021, "ax":1.08208, "ay":2.25266, "alpha":-0.0031, "fx":[17.14522,17.17539,17.18641,17.20801], "fy":[35.83277,35.72396,35.74236,35.75143]}, + {"t":8.0506, "x":5.16869, "y":5.20058, "heading":-2.10809, "vx":-0.08902, "vy":-0.25975, "omega":0.00009, "ax":0.93169, "ay":2.319, "alpha":0.00152, "fx":[14.77648,14.79182,14.80924,14.78733], "fy":[36.79192,36.86379,36.79706,36.81026]}, + {"t":8.08725, "x":5.16606, "y":5.19262, "heading":-2.10809, "vx":-0.05487, "vy":-0.17475, "omega":0.00015, "ax":0.80338, "ay":2.36658, "alpha":-0.00373, "fx":[12.72311,12.75261,12.76438,12.77715], "fy":[37.63032,37.53551,37.55439,37.56475]}, + {"t":8.1239, "x":5.16459, "y":5.1878, "heading":-2.10808, "vx":-0.02542, "vy":-0.08801, "omega":0.00001, "ax":0.69364, "ay":2.40111, "alpha":-0.0003, "fx":[10.99448,11.01433,11.03201,11.00714], "fy":[38.09824,38.15609,38.10433,38.11877]}, + {"t":8.16056, "x":5.16412, "y":5.18619, "heading":-2.10808, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.42923, "ay":0.58412, "alpha":0.0001, "fx":[38.56175,38.56652,38.57042,38.56459], "fy":[9.26463,9.28591,9.26806,9.27462]}, + {"t":8.19417, "x":5.16549, "y":5.18652, "heading":-2.10808, "vx":0.08165, "vy":0.01963, "omega":0.0, "ax":2.42993, "ay":0.58428, "alpha":-0.0001, "fx":[38.54915,38.55863,38.56305,38.63682], "fy":[9.29097,9.26389,9.27338,9.27552]}, + {"t":8.22778, "x":5.16961, "y":5.18751, "heading":-2.10808, "vx":0.16332, "vy":0.03927, "omega":0.0, "ax":2.42988, "ay":0.58427, "alpha":-0.00025, "fx":[38.57157,38.57697,38.58115,38.57477], "fy":[9.26821,9.28557,9.27141,9.27764]}, + {"t":8.26139, "x":5.17647, "y":5.18916, "heading":-2.10808, "vx":0.24499, "vy":0.05891, "omega":-0.00001, "ax":2.42982, "ay":0.58425, "alpha":0.00014, "fx":[38.54477,38.55455,38.55915,38.64235], "fy":[9.29281,9.26266,9.27227,9.27406]}, + {"t":8.295, "x":5.18608, "y":5.19147, "heading":-2.10808, "vx":0.32666, "vy":0.07855, "omega":0.0, "ax":2.42976, "ay":0.58423, "alpha":-0.00045, "fx":[38.56821,38.57531,38.58063,38.57249], "fy":[9.26713,9.28573,9.27058,9.27715]}, + {"t":8.32861, "x":5.19843, "y":5.19444, "heading":-2.10808, "vx":0.40832, "vy":0.09818, "omega":-0.00002, "ax":2.42968, "ay":0.58421, "alpha":0.00019, "fx":[38.53875,38.54956,38.55479,38.6487], "fy":[9.29392,9.26074,9.27131,9.27323]}, + {"t":8.36222, "x":5.21352, "y":5.19807, "heading":-2.10808, "vx":0.48998, "vy":0.11782, "omega":-0.00001, "ax":2.42959, "ay":0.58419, "alpha":-0.00062, "fx":[38.56382,38.57303,38.57981,38.56945], "fy":[9.26524,9.28681,9.26914,9.27637]}, + {"t":8.39583, "x":5.23137, "y":5.20236, "heading":-2.10808, "vx":0.57164, "vy":0.13745, "omega":-0.00003, "ax":2.42948, "ay":0.58416, "alpha":0.00019, "fx":[38.53201,38.54411,38.55007,38.65316], "fy":[9.29623,9.25787,9.26959,9.27193]}, + {"t":8.42944, "x":5.25195, "y":5.20731, "heading":-2.10808, "vx":0.6533, "vy":0.15709, "omega":-0.00003, "ax":2.42935, "ay":0.58412, "alpha":-0.00096, "fx":[38.55835,38.5697,38.5778,38.56529], "fy":[9.26364,9.28588,9.26797,9.27577]}, + {"t":8.46305, "x":5.27528, "y":5.21292, "heading":-2.10808, "vx":0.73495, "vy":0.17672, "omega":-0.00006, "ax":2.4292, "ay":0.58407, "alpha":0.00024, "fx":[38.52414,38.53706,38.54356,38.65626], "fy":[9.29639,9.25549,9.26797,9.27052]}, + {"t":8.49666, "x":5.30135, "y":5.21919, "heading":-2.10809, "vx":0.8166, "vy":0.19635, "omega":-0.00005, "ax":2.42899, "ay":0.58402, "alpha":-0.00091, "fx":[38.55135,38.5642,38.57336,38.55929], "fy":[9.261,9.28679,9.26549,9.2734]}, + {"t":8.53027, "x":5.33017, "y":5.22612, "heading":-2.10809, "vx":0.89824, "vy":0.21598, "omega":-0.00008, "ax":2.42873, "ay":0.58394, "alpha":0.00062, "fx":[38.51134,38.52365,38.5301,38.66634], "fy":[9.28807,9.2553,9.2682,9.27029]}, + {"t":8.56388, "x":5.36173, "y":5.23371, "heading":-2.10809, "vx":0.97987, "vy":0.2356, "omega":-0.00006, "ax":2.42837, "ay":0.58384, "alpha":-0.00053, "fx":[38.54117,38.5543,38.56373,38.54938], "fy":[9.25716,9.28757,9.26153,9.26903]}, + {"t":8.59749, "x":5.39604, "y":5.24196, "heading":-2.10809, "vx":1.06149, "vy":0.25523, "omega":-0.00008, "ax":2.42785, "ay":0.58369, "alpha":0.00313, "fx":[38.48357,38.49461,38.5,38.69739], "fy":[9.30529,9.24697,9.25743,9.25613]}, + {"t":8.6311, "x":5.43309, "y":5.25086, "heading":-2.1081, "vx":1.14309, "vy":0.27485, "omega":0.00003, "ax":2.42703, "ay":0.58345, "alpha":0.00209, "fx":[38.52179,38.53217,38.54091,38.52885], "fy":[9.24677,9.30024,9.24958,9.25432]}, + {"t":8.66471, "x":5.47288, "y":5.26043, "heading":-2.10809, "vx":1.22466, "vy":0.29446, "omega":0.0001, "ax":2.42556, "ay":0.58303, "alpha":0.00476, "fx":[38.45853,38.46445,38.4666,38.64085], "fy":[9.31761,9.2346,9.23806,9.23385]}, + {"t":8.69832, "x":5.51541, "y":5.27066, "heading":-2.10809, "vx":1.30619, "vy":0.31405, "omega":0.00026, "ax":2.42214, "ay":0.58205, "alpha":-0.00622, "fx":[38.44861,38.45605,38.45658,38.45173], "fy":[9.25852,9.18966,9.25757,9.256]}, + {"t":8.73194, "x":5.56068, "y":5.28154, "heading":-2.10808, "vx":1.3876, "vy":0.33361, "omega":0.00005, "ax":2.4051, "ay":0.57716, "alpha":-0.00143, "fx":[38.21882,38.212,38.20921,38.09065], "fy":[9.17258,9.16136,9.15549,9.1619]}, + {"t":8.76555, "x":5.60868, "y":5.29308, "heading":-2.10808, "vx":1.46843, "vy":0.35301, "omega":0.0, "ax":0.00357, "ay":0.00054, "alpha":57.22057, "fx":[162.54769,-41.06766,-162.54169,41.28839], "fy":[41.16737,162.57259,-41.18872,-162.51673]}, + {"t":8.78358, "x":5.63517, "y":5.29945, "heading":-2.10808, "vx":1.4685, "vy":0.35302, "omega":1.03216, "ax":0.00653, "ay":0.00102, "alpha":57.07514, "fx":[162.13738,-40.87178,-162.12584,41.27508], "fy":[41.05493,162.18245,-41.09187,-162.08049]}, + {"t":8.80162, "x":5.66166, "y":5.30582, "heading":-2.08946, "vx":1.46861, "vy":0.35304, "omega":2.0617, "ax":0.21396, "ay":0.03219, "alpha":16.2531, "fx":[48.6818,-8.71258,-42.52608,16.14426], "fy":[13.15328,46.8293,-12.19781,-45.74049]}, + {"t":8.81966, "x":5.68818, "y":5.31219, "heading":-2.05227, "vx":1.47247, "vy":0.35362, "omega":2.35488, "ax":0.22763, "ay":0.03943, "alpha":0.00023, "fx":[3.57273,3.59479,3.66198,3.62557], "fy":[0.73622,0.59818,0.61558,0.55362]}, + {"t":8.8377, "x":5.71478, "y":5.31858, "heading":-2.00979, "vx":1.47658, "vy":0.35433, "omega":2.35488, "ax":0.20974, "ay":0.04125, "alpha":0.0, "fx":[3.47614,3.31792,3.18444,3.34051], "fy":[0.21066,0.80716,0.65522,0.94655]}, + {"t":8.85574, "x":5.74145, "y":5.32497, "heading":-1.96732, "vx":1.48036, "vy":0.35508, "omega":2.35488, "ax":0.21511, "ay":0.04309, "alpha":0.0, "fx":[3.40327,3.44158,3.40603,3.40934], "fy":[0.73647,0.65313,0.69133,0.65565]}, + {"t":8.87378, "x":5.76819, "y":5.33139, "heading":-1.92484, "vx":1.48424, "vy":0.35586, "omega":2.35488, "ax":0.19942, "ay":0.04517, "alpha":0.0, "fx":[3.25221,3.15112,3.07973,3.18065], "fy":[0.62549,0.67349,0.78154,0.78775]}, + {"t":8.89181, "x":5.79499, "y":5.33781, "heading":-1.88236, "vx":1.48784, "vy":0.35667, "omega":2.35488, "ax":0.20389, "ay":0.04723, "alpha":0.0, "fx":[3.29657,3.28301,3.23578,3.13215], "fy":[0.69352,0.79332,0.77978,0.73251]}, + {"t":8.90985, "x":5.82186, "y":5.34425, "heading":-1.83988, "vx":1.49152, "vy":0.35752, "omega":2.35488, "ax":0.19024, "ay":0.04945, "alpha":0.0, "fx":[3.04061,3.01423,2.99973,3.02611], "fy":[0.81186,0.73426,0.81264,0.78145]}, + {"t":8.92789, "x":5.8488, "y":5.35071, "heading":-1.79741, "vx":1.49495, "vy":0.35841, "omega":2.35488, "ax":0.19376, "ay":0.05172, "alpha":0.0, "fx":[3.1305,3.09768,3.08225,2.99421], "fy":[0.77857,0.86225,0.82944,0.814]}, + {"t":8.94593, "x":5.8758, "y":5.35718, "heading":-1.75493, "vx":1.49845, "vy":0.35935, "omega":2.35488, "ax":0.1821, "ay":0.05411, "alpha":0.0, "fx":[2.88956,2.88579,2.89222,2.89601], "fy":[0.89823,0.82344,0.86129,0.85312]}, + {"t":8.96397, "x":5.90286, "y":5.36368, "heading":-1.71245, "vx":1.50173, "vy":0.36032, "omega":2.35488, "ax":0.1847, "ay":0.05655, "alpha":0.0, "fx":[2.97255,2.94036,2.93987,2.87613], "fy":[0.87274,0.92783,0.89563,0.89514]}, + {"t":8.98201, "x":5.92997, "y":5.37018, "heading":-1.66997, "vx":1.50506, "vy":0.36134, "omega":2.35488, "ax":0.17493, "ay":0.05909, "alpha":0.0, "fx":[2.77212,2.77355,2.78204,2.78062], "fy":[0.9697,0.91178,0.93454,0.93646]}, + {"t":9.00004, "x":5.95715, "y":5.37671, "heading":-1.62749, "vx":1.50822, "vy":0.36241, "omega":2.35488, "ax":0.17664, "ay":0.06168, "alpha":0.0, "fx":[2.83286,2.80695,2.81065,2.76669], "fy":[0.9647,1.00013,0.97422,0.97792]}, + {"t":9.01808, "x":5.98439, "y":5.38326, "heading":-1.58502, "vx":1.5114, "vy":0.36352, "omega":2.35488, "ax":0.16871, "ay":0.06434, "alpha":0.0, "fx":[2.67427,2.67644,2.6824,2.68024], "fy":[1.0429,1.0026,1.01811,1.02227]}, + {"t":9.03612, "x":6.01168, "y":5.38983, "heading":-1.54254, "vx":1.51445, "vy":0.36468, "omega":2.35488, "ax":0.16957, "ay":0.06705, "alpha":0.0, "fx":[2.71071,2.69243,2.69657,2.66867], "fy":[1.05669,1.07793,1.05965,1.06379]}, + {"t":9.05416, "x":6.03902, "y":5.39642, "heading":-1.50006, "vx":1.51751, "vy":0.36589, "omega":2.35488, "ax":0.16345, "ay":0.06982, "alpha":0.0, "fx":[2.5921,2.59436,2.5977,2.59544], "fy":[1.12134,1.0965,1.10609,1.10971]}, + {"t":9.0722, "x":6.06642, "y":5.40303, "heading":-1.45758, "vx":1.52045, "vy":0.36715, "omega":2.35488, "ax":0.16352, "ay":0.07263, "alpha":0.0, "fx":[2.60597,2.59542,2.5987,2.58393], "fy":[1.14962,1.16024,1.14969,1.15298]}, + {"t":9.09023, "x":6.09388, "y":5.40966, "heading":-1.4151, "vx":1.5234, "vy":0.36846, "omega":2.35488, "ax":0.15921, "ay":0.0755, "alpha":0.0, "fx":[2.52561,2.52818,2.52962,2.52705], "fy":[1.20508,1.19336,1.19677,1.1992]}, + {"t":9.10827, "x":6.12138, "y":5.41632, "heading":-1.37263, "vx":1.52628, "vy":0.36982, "omega":2.35488, "ax":0.15854, "ay":0.07842, "alpha":0.0, "fx":[2.51932,2.5163,2.51795,2.51411], "fy":[1.24404,1.24669,1.24368,1.24532]}, + {"t":9.12631, "x":6.14894, "y":5.423, "heading":-1.33015, "vx":1.52914, "vy":0.37124, "omega":2.35488, "ax":0.15607, "ay":0.08139, "alpha":0.0, "fx":[2.47618,2.47925,2.47935,2.47629], "fy":[1.29362,1.29338,1.29,1.29129]}, + {"t":9.14435, "x":6.17655, "y":5.42971, "heading":-1.28767, "vx":1.53195, "vy":0.37271, "omega":2.35488, "ax":0.15471, "ay":0.08442, "alpha":0.0, "fx":[2.45193,2.45615,2.45536,2.46096], "fy":[1.34063,1.33746,1.34168,1.34089]}, + {"t":9.16239, "x":6.20421, "y":5.43645, "heading":-1.24519, "vx":1.53474, "vy":0.37423, "omega":2.35488, "ax":0.15413, "ay":0.08751, "alpha":0.0, "fx":[2.44562,2.44912,2.44827,2.44476], "fy":[1.38688,1.39715,1.38638,1.38671]}, + {"t":9.18043, "x":6.23191, "y":5.44322, "heading":-1.20271, "vx":1.53752, "vy":0.37581, "omega":2.35488, "ax":0.15212, "ay":0.09067, "alpha":0.0, "fx":[2.40526,2.41632,2.41217,2.42635], "fy":[1.44037,1.4332,1.44427,1.44012]}, + {"t":9.19846, "x":6.25967, "y":5.45001, "heading":-1.16024, "vx":1.54027, "vy":0.37744, "omega":2.35488, "ax":0.1535, "ay":0.09392, "alpha":0.0, "fx":[2.43578,2.43944,2.43792,2.43426], "fy":[1.48537,1.50561,1.48689,1.48647]}, + {"t":9.2165, "x":6.28748, "y":5.45683, "heading":-1.11776, "vx":1.54303, "vy":0.37914, "omega":2.35488, "ax":0.15087, "ay":0.09725, "alpha":0.0, "fx":[2.38074,2.39816,2.38968,2.41211], "fy":[1.54461,1.53498,1.55239,1.54391]}, + {"t":9.23454, "x":6.31534, "y":5.46369, "heading":-1.07528, "vx":1.54576, "vy":0.38089, "omega":2.35488, "ax":0.15427, "ay":0.1007, "alpha":0.0, "fx":[2.44833,2.45169,2.44987,2.44651], "fy":[1.59013,1.62,1.59286,1.5919]}, + {"t":9.25258, "x":6.34325, "y":5.47057, "heading":-1.0328, "vx":1.54854, "vy":0.38271, "omega":2.35488, "ax":0.15104, "ay":0.10425, "alpha":0.0, "fx":[2.37964,2.40282,2.38902,2.41988], "fy":[1.65501,1.64414,1.66733,1.65352]}, + {"t":9.27062, "x":6.37121, "y":5.4775, "heading":-0.99032, "vx":1.55126, "vy":0.38459, "omega":2.35488, "ax":0.15653, "ay":0.10794, "alpha":0.0, "fx":[2.48456,2.48711,2.48555,2.483], "fy":[1.7025,1.74174,1.70589,1.7046]}, + {"t":9.28866, "x":6.39921, "y":5.48445, "heading":-0.94785, "vx":1.55409, "vy":0.38653, "omega":2.35488, "ax":0.15268, "ay":0.11175, "alpha":0.0, "fx":[2.40279,2.43113,2.41103,2.45098], "fy":[1.77344,1.76223,1.79058,1.77048]}, + {"t":9.30669, "x":6.42727, "y":5.49144, "heading":-0.90537, "vx":1.55684, "vy":0.38855, "omega":2.35488, "ax":0.16035, "ay":0.11575, "alpha":0.0, "fx":[2.54529,2.5465,2.54605,2.54483], "fy":[1.824,1.87236,1.82778,1.82636]}, + {"t":9.32473, "x":6.45538, "y":5.49847, "heading":-0.86289, "vx":1.55973, "vy":0.39064, "omega":2.35488, "ax":0.15584, "ay":0.11988, "alpha":0.0, "fx":[2.45051,2.48349,2.4561,2.50629], "fy":[1.90185,1.89081,1.92379,1.89641]}, + {"t":9.34277, "x":6.48354, "y":5.50553, "heading":-0.82041, "vx":1.56254, "vy":0.3928, "omega":2.35488, "ax":0.16575, "ay":0.12423, "alpha":0.0, "fx":[2.63071,2.63016,2.6321,2.63265], "fy":[1.95612,2.01334,1.96046,1.959]}, + {"t":9.36081, "x":6.51175, "y":5.51264, "heading":-0.77793, "vx":1.56553, "vy":0.39504, "omega":2.35488, "ax":0.16051, "ay":0.12873, "alpha":0.0, "fx":[2.52254,2.55984,2.52406,2.58623], "fy":[2.04222,2.03133,2.06863,2.03286]}, + {"t":9.37885, "x":6.54002, "y":5.51979, "heading":-0.73546, "vx":1.56843, "vy":0.39736, "omega":2.35488, "ax":0.17273, "ay":0.13348, "alpha":0.0, "fx":[2.74036,2.73784,2.74409,2.7466], "fy":[2.10008,2.16595,2.10595,2.10425]}, + {"t":9.39689, "x":6.56834, "y":5.52698, "heading":-0.69298, "vx":1.57154, "vy":0.39977, "omega":2.35488, "ax":0.16665, "ay":0.13841, "alpha":0.0, "fx":[2.61808,2.65975,2.61412,2.69079], "fy":[2.19639,2.18502,2.22669,2.18106]}, + {"t":9.41492, "x":6.59671, "y":5.53421, "heading":-0.6505, "vx":1.57455, "vy":0.40227, "omega":2.35488, "ax":0.18126, "ay":0.14358, "alpha":0.0, "fx":[2.8732,2.86892,2.88206,2.88633], "fy":[2.25682,2.3311,2.26627,2.26356]}, + {"t":9.43296, "x":6.62515, "y":5.54149, "heading":-0.60802, "vx":1.57782, "vy":0.40486, "omega":2.35488, "ax":0.17421, "ay":0.14897, "alpha":0.0, "fx":[2.73606,2.7824,2.72479,2.81968], "fy":[2.36605,2.35295,2.3993,2.34169]}, + {"t":9.451, "x":6.65363, "y":5.54882, "heading":-0.56554, "vx":1.58096, "vy":0.40755, "omega":2.35488, "ax":0.19128, "ay":0.1546, "alpha":0.0, "fx":[3.02788,3.02275,3.04565,3.05077], "fy":[2.42715,2.50934,2.44315,2.43781]}, + {"t":9.46904, "x":6.68218, "y":5.55619, "heading":-0.52307, "vx":1.58441, "vy":0.41033, "omega":2.35488, "ax":0.18312, "ay":0.16048, "alpha":0.0, "fx":[2.87578,2.92643,2.85372,2.97262], "fy":[2.5528,2.53649,2.58714,2.51444]}, + {"t":9.48708, "x":6.71079, "y":5.56362, "heading":-0.48059, "vx":1.58772, "vy":0.41323, "omega":2.35488, "ax":0.20274, "ay":0.16657, "alpha":0.0, "fx":[3.20408,3.19976,3.23316,3.23749], "fy":[2.61313,2.70106,2.63668,2.62688]}, + {"t":9.50512, "x":6.73947, "y":5.5711, "heading":-0.43811, "vx":1.59137, "vy":0.41623, "omega":2.35488, "ax":0.19329, "ay":0.17296, "alpha":0.0, "fx":[3.03843,3.0892,2.99713,3.14991], "fy":[2.75847,2.7385,2.7893,2.69722]}, + {"t":9.52315, "x":6.7682, "y":5.57864, "heading":-0.39563, "vx":1.59486, "vy":0.41935, "omega":2.35488, "ax":0.21556, "ay":0.17951, "alpha":0.0, "fx":[3.40631,3.4044,3.43814,3.44006], "fy":[2.82297,2.90629,2.84033,2.82989]}, + {"t":9.54119, "x":6.79701, "y":5.58623, "heading":-0.35315, "vx":1.59875, "vy":0.42259, "omega":2.35488, "ax":0.20467, "ay":0.18642, "alpha":0.0, "fx":[3.22927,3.26365,3.15392,3.35023], "fy":[2.98277,2.96537,2.99986,2.89009]}, + {"t":9.55923, "x":6.82588, "y":5.59389, "heading":-0.31068, "vx":1.60244, "vy":0.42595, "omega":2.35488, "ax":0.22972, "ay":0.19341, "alpha":0.0, "fx":[3.65271,3.65722,3.64116,3.63651], "fy":[3.08278,3.13128,3.01559,3.05237]}, + {"t":9.57727, "x":6.85482, "y":5.6016, "heading":-0.2682, "vx":1.60658, "vy":0.42944, "omega":2.35488, "ax":0.21722, "ay":0.20085, "alpha":0.0, "fx":[3.44768,3.42863,3.409,3.50905], "fy":[3.16159,3.21667,3.19817,3.1783]}, + {"t":9.59531, "x":6.88384, "y":5.60938, "heading":-0.22572, "vx":1.6105, "vy":0.43307, "omega":2.35488, "ax":0.24518, "ay":0.20821, "alpha":0.0, "fx":[3.9928,4.02857,3.79311,3.75535], "fy":[3.44787,3.45861,2.9754,3.34025]}, + {"t":9.61334, "x":6.91293, "y":5.61722, "heading":-0.18324, "vx":1.61493, "vy":0.43682, "omega":2.35488, "ax":0.23101, "ay":0.21629, "alpha":0.0, "fx":[3.6902,3.57297,3.93977,3.46697], "fy":[3.13653,3.48662,3.37438,3.73734]}, + {"t":9.63138, "x":6.9421, "y":5.62514, "heading":-0.14076, "vx":1.61909, "vy":0.44072, "omega":2.35488, "ax":0.262, "ay":0.22381, "alpha":-0.00023, "fx":[4.30918,4.1813,4.02129,4.12608], "fy":[3.68945,3.96228,3.06824,3.49282]}, + {"t":9.64942, "x":6.97134, "y":5.63313, "heading":-0.09829, "vx":1.62382, "vy":0.44476, "omega":2.35488, "ax":0.24227, "ay":0.22834, "alpha":-16.25316, "fx":[34.51716,40.23136,-26.53131,-32.83233], "fy":[-32.74596,33.85733,40.50576,-27.1166]}, + {"t":9.66746, "x":7.00067, "y":5.64119, "heading":-0.05581, "vx":1.62819, "vy":0.44888, "omega":2.0617, "ax":0.00744, "ay":0.00669, "alpha":-57.07508, "fx":[111.72052,124.67916,-111.24915,-124.67806], "fy":[-124.4676,111.48678,124.8891,-111.48319]}, + {"t":9.6855, "x":7.03004, "y":5.64928, "heading":-0.01862, "vx":1.62832, "vy":0.449, "omega":1.03216, "ax":0.0036, "ay":0.00342, "alpha":-57.22056, "fx":[116.45254,120.75505,-116.226,-120.7532], "fy":[-120.64496,116.33894,120.86321,-116.33971]}, + {"t":9.70354, "x":7.05942, "y":5.65738, "heading":0.0, "vx":1.62839, "vy":0.44906, "omega":0.0, "ax":-2.35523, "ay":-0.64111, "alpha":0.02122, "fx":[-37.35482,-37.35019,-37.42984,-37.42892], "fy":[-10.05208,-10.63379,-9.97511,-10.05134]}, + {"t":9.73739, "x":7.11319, "y":5.67222, "heading":0.0, "vx":1.54866, "vy":0.42736, "omega":0.00072, "ax":-2.40105, "ay":-0.6601, "alpha":0.03447, "fx":[-38.2668,-38.2616,-38.32638,-37.61897], "fy":[-10.39464,-10.47728,-10.47608,-10.57027]}, + {"t":9.77124, "x":7.16424, "y":5.68631, "heading":0.00002, "vx":1.46737, "vy":0.40501, "omega":0.00189, "ax":-2.40453, "ay":-0.66235, "alpha":-0.01672, "fx":[-38.15089,-38.15623,-38.19409,-38.19336], "fy":[-10.56482,-10.41256,-10.51976,-10.5643]}, + {"t":9.8051, "x":7.21254, "y":5.69964, "heading":0.00009, "vx":1.38597, "vy":0.38259, "omega":0.00132, "ax":-2.40602, "ay":-0.66332, "alpha":-0.02654, "fx":[-38.12219,-38.12537,-38.15066,-38.39086], "fy":[-10.62367,-10.49434,-10.49401,-10.51073]}, + {"t":9.83895, "x":7.25808, "y":5.71221, "heading":0.00013, "vx":1.30452, "vy":0.36013, "omega":0.00042, "ax":-2.40684, "ay":-0.66386, "alpha":0.00053, "fx":[-38.20314,-38.20113,-38.21873,-38.21854], "fy":[-10.52878,-10.58653,-10.51272,-10.52875]}, + {"t":9.8728, "x":7.30087, "y":5.72402, "heading":0.00015, "vx":1.22304, "vy":0.33766, "omega":0.00044, "ax":-2.40737, "ay":-0.6642, "alpha":-0.01678, "fx":[-38.16416,-38.16593,-38.17248,-38.37235], "fy":[-10.59417,-10.52869,-10.52878,-10.52681]}, + {"t":9.90665, "x":7.34089, "y":5.73507, "heading":0.00016, "vx":1.14155, "vy":0.31518, "omega":-0.00013, "ax":-2.40773, "ay":-0.66443, "alpha":0.00261, "fx":[-38.22429,-38.22239,-38.22557,-38.22576], "fy":[-10.53624,-10.58481,-10.53589,-10.53653]}, + {"t":9.94051, "x":7.37816, "y":5.74536, "heading":0.00016, "vx":1.06004, "vy":0.29268, "omega":-0.00004, "ax":-2.408, "ay":-0.66461, "alpha":-0.01037, "fx":[-38.19032,-38.19125,-38.18858,-38.34479], "fy":[-10.57795,-10.5459,-10.54623,-10.53439]}, + {"t":9.97436, "x":7.41266, "y":5.75489, "heading":0.00016, "vx":0.97852, "vy":0.27018, "omega":-0.00039, "ax":-2.4082, "ay":-0.66474, "alpha":0.00355, "fx":[-38.23554,-38.23384,-38.22904,-38.22948], "fy":[-10.54098,-10.58089,-10.54953,-10.54149]}, + {"t":10.00821, "x":7.44441, "y":5.76365, "heading":0.00014, "vx":0.89699, "vy":0.24768, "omega":-0.00027, "ax":-2.40836, "ay":-0.66484, "alpha":-0.00789, "fx":[-38.20468,-38.20571,-38.19757,-38.33017], "fy":[-10.58053,-10.55127,-10.55179,-10.53593]}, + {"t":10.04207, "x":7.47339, "y":5.77166, "heading":0.00013, "vx":0.81546, "vy":0.22517, "omega":-0.00054, "ax":-2.40849, "ay":-0.66493, "alpha":0.00488, "fx":[-38.24221,-38.23991,-38.23186,-38.2324], "fy":[-10.54014,-10.59205,-10.55194,-10.54077]}, + {"t":10.07592, "x":7.49962, "y":5.7789, "heading":0.00012, "vx":0.73393, "vy":0.20266, "omega":-0.00037, "ax":-2.4086, "ay":-0.665, "alpha":-0.0061, "fx":[-38.21395,-38.21497,-38.20381,-38.3205], "fy":[-10.5801,-10.55556,-10.5562,-10.53747]}, + {"t":10.10977, "x":7.52308, "y":5.78538, "heading":0.0001, "vx":0.65239, "vy":0.18015, "omega":-0.00058, "ax":-2.40869, "ay":-0.66506, "alpha":0.00523, "fx":[-38.24656,-38.24426,-38.23376,-38.23439], "fy":[-10.54193,-10.5918,-10.55672,-10.54263]}, + {"t":10.14363, "x":7.54379, "y":5.7911, "heading":0.00008, "vx":0.57085, "vy":0.15764, "omega":-0.0004, "ax":-2.40877, "ay":-0.66511, "alpha":-0.00481, "fx":[-38.21962,-38.22047,-38.20686,-38.31691], "fy":[-10.57704,-10.55969,-10.56042,-10.53911]}, + {"t":10.17748, "x":7.56173, "y":5.79605, "heading":0.00007, "vx":0.4893, "vy":0.13512, "omega":-0.00057, "ax":-2.40883, "ay":-0.66515, "alpha":0.00571, "fx":[-38.25004,-38.24766,-38.23482,-38.23555], "fy":[-10.54253,-10.59295,-10.56022,-10.54329]}, + {"t":10.21133, "x":7.57692, "y":5.80025, "heading":0.00005, "vx":0.40776, "vy":0.1126, "omega":-0.00037, "ax":-2.40889, "ay":-0.66519, "alpha":-0.00322, "fx":[-38.22585,-38.22655,-38.20996,-38.30938], "fy":[-10.57398,-10.5633,-10.56413,-10.53996]}, + {"t":10.24519, "x":7.58934, "y":5.80368, "heading":0.00004, "vx":0.32621, "vy":0.09008, "omega":-0.00048, "ax":-2.40894, "ay":-0.66522, "alpha":0.00632, "fx":[-38.25348,-38.25114,-38.23475,-38.23559], "fy":[-10.54281,-10.59244,-10.56457,-10.54366]}, + {"t":10.27904, "x":7.599, "y":5.80634, "heading":0.00002, "vx":0.24466, "vy":0.06756, "omega":-0.00027, "ax":-2.40899, "ay":-0.66525, "alpha":-0.00121, "fx":[-38.23246,-38.23293,-38.21169,-38.30075], "fy":[-10.56937,-10.5676,-10.56857,-10.53979]}, + {"t":10.31289, "x":7.60591, "y":5.80825, "heading":0.00001, "vx":0.16311, "vy":0.04504, "omega":-0.00031, "ax":-2.40903, "ay":-0.66528, "alpha":0.00758, "fx":[-38.25776,-38.25538,-38.23311,-38.23412], "fy":[-10.5413,-10.59366,-10.56972,-10.54229]}, + {"t":10.34674, "x":7.61005, "y":5.80939, "heading":0.0, "vx":0.08155, "vy":0.02252, "omega":-0.00005, "ax":-2.40906, "ay":-0.6653, "alpha":0.00155, "fx":[-38.24043,-38.2406,-38.2115,-38.29012], "fy":[-10.56365,-10.57307,-10.57427,-10.53748]}, + {"t":10.3806, "x":7.61143, "y":5.80978, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.49633, "ay":-0.11439, "alpha":-0.00081, "fx":[-39.62886,-39.62883,-39.63332,-39.63331], "fy":[-1.81722,-1.81795,-1.81192,-1.81722]}, + {"t":10.42998, "x":7.60838, "y":5.80964, "heading":0.0, "vx":-0.12327, "vy":-0.00565, "omega":-0.00004, "ax":-2.49681, "ay":-0.11442, "alpha":0.00226, "fx":[-39.6511,-39.65113,-39.65486,-39.59775], "fy":[-1.82108,-1.81339,-1.81339,-1.81784]}, + {"t":10.47936, "x":7.59925, "y":5.80922, "heading":0.0, "vx":-0.24657, "vy":-0.0113, "omega":0.00007, "ax":-2.49676, "ay":-0.11441, "alpha":0.00064, "fx":[-39.63849,-39.63841,-39.63731,-39.63734], "fy":[-1.81429,-1.82103,-1.8159,-1.81433]}, + {"t":10.52874, "x":7.58403, "y":5.80852, "heading":0.0, "vx":-0.36986, "vy":-0.01695, "omega":0.0001, "ax":-2.4967, "ay":-0.11441, "alpha":-0.00388, "fx":[-39.61767,-39.61764,-39.61067,-39.70164], "fy":[-1.81593,-1.81949,-1.81957,-1.81038]}, + {"t":10.57812, "x":7.56272, "y":5.80754, "heading":0.00001, "vx":-0.49315, "vy":-0.0226, "omega":-0.00009, "ax":-2.49662, "ay":-0.11441, "alpha":0.00281, "fx":[-39.64031,-39.64017,-39.63112,-39.63121], "fy":[-1.80912,-1.82637,-1.82045,-1.80921]}, + {"t":10.6275, "x":7.53533, "y":5.80629, "heading":0.0, "vx":-0.61644, "vy":-0.02825, "omega":0.00005, "ax":-2.49653, "ay":-0.1144, "alpha":-0.00317, "fx":[-39.61433,-39.61425,-39.6005,-39.70771], "fy":[-1.8128,-1.82293,-1.82306,-1.80609]}, + {"t":10.67688, "x":7.50184, "y":5.80475, "heading":0.0, "vx":-0.73972, "vy":-0.0339, "omega":-0.00011, "ax":-2.49641, "ay":-0.1144, "alpha":0.00414, "fx":[-39.63934,-39.63917,-39.62522,-39.62534], "fy":[-1.80589,-1.82948,-1.82313,-1.80602]}, + {"t":10.72627, "x":7.46227, "y":5.80294, "heading":0.0, "vx":-0.86299, "vy":-0.03955, "omega":0.0001, "ax":-2.49624, "ay":-0.11439, "alpha":-0.00303, "fx":[-39.608,-39.6079,-39.58951,-39.71335], "fy":[-1.81063,-1.82511,-1.82525,-1.80306]}, + {"t":10.77565, "x":7.41661, "y":5.80085, "heading":0.0, "vx":-0.98626, "vy":-0.04519, "omega":-0.00005, "ax":-2.49602, "ay":-0.11438, "alpha":0.00506, "fx":[-39.63486,-39.63467,-39.61734,-39.61747], "fy":[-1.80349,-1.83175,-1.82452,-1.80363]}, + {"t":10.82503, "x":7.36487, "y":5.79848, "heading":0.0, "vx":-1.10952, "vy":-0.05084, "omega":0.0002, "ax":-2.49568, "ay":-0.11436, "alpha":-0.00403, "fx":[-39.59264,-39.59254,-39.57125,-39.72626], "fy":[-1.808,-1.82689,-1.82703,-1.80047]}, + {"t":10.87441, "x":7.30703, "y":5.79583, "heading":0.00001, "vx":-1.23276, "vy":-0.05649, "omega":0.0, "ax":-2.49511, "ay":-0.11434, "alpha":0.0054, "fx":[-39.6209,-39.62073,-39.60243,-39.60255], "fy":[-1.80191,-1.83243,-1.82439,-1.80202]}, + {"t":10.92379, "x":7.24312, "y":5.7929, "heading":0.00001, "vx":-1.35597, "vy":-0.06214, "omega":0.00027, "ax":-2.49397, "ay":-0.11429, "alpha":-0.01076, "fx":[-39.53946,-39.53941,-39.51896,-39.77663], "fy":[-1.81015,-1.82391,-1.82402,-1.79935]}, + {"t":10.97317, "x":7.17312, "y":5.78969, "heading":0.00002, "vx":-1.47912, "vy":-0.06778, "omega":-0.00027, "ax":-2.49056, "ay":-0.11413, "alpha":0.00116, "fx":[-39.5444,-39.5445,-39.53452,-39.53458], "fy":[-1.812,-1.79975,-1.82373,-1.81205]}, + {"t":11.02255, "x":7.09704, "y":5.7862, "heading":0.00001, "vx":-1.60211, "vy":-0.07342, "omega":-0.00021, "ax":-0.00052, "ay":-0.00002, "alpha":0.00009, "fx":[-0.00884,-0.00884,-0.00914,-0.00646], "fy":[-0.00052,-0.00024,-0.00024,-0.00054]}, + {"t":11.07193, "x":7.01793, "y":5.78258, "heading":0.0, "vx":-1.60214, "vy":-0.07342, "omega":-0.0002, "ax":2.49056, "ay":0.11413, "alpha":-0.00118, "fx":[39.54461,39.54472,39.53431,39.53436], "fy":[1.81215,1.79877,1.8244,1.8122]}, + {"t":11.12132, "x":6.94185, "y":5.77909, "heading":-0.00001, "vx":-1.47915, "vy":-0.06778, "omega":-0.00026, "ax":2.49397, "ay":0.11429, "alpha":0.01107, "fx":[39.53832,39.53828,39.51741,39.78044], "fy":[1.8112,1.82373,1.82384,1.79867]}, + {"t":11.1707, "x":6.87185, "y":5.77588, "heading":-0.00002, "vx":-1.35599, "vy":-0.06214, "omega":0.00029, "ax":2.49511, "ay":0.11434, "alpha":-0.00546, "fx":[39.621,39.62082,39.60234,39.60245], "fy":[1.80176,1.83259,1.82451,1.80188]}, + {"t":11.22008, "x":6.80793, "y":5.77296, "heading":-0.00001, "vx":-1.23278, "vy":-0.05649, "omega":0.00002, "ax":2.49568, "ay":0.11436, "alpha":0.00398, "fx":[39.59273,39.59262,39.57123,39.72611], "fy":[1.80782,1.82702,1.82716,1.8004]}, + {"t":11.26946, "x":6.75009, "y":5.77031, "heading":-0.00001, "vx":-1.10954, "vy":-0.05084, "omega":0.00021, "ax":2.49602, "ay":0.11438, "alpha":-0.0051, "fx":[39.63489,39.6347,39.6173,39.61743], "fy":[1.80336,1.832,1.82453,1.80349]}, + {"t":11.31884, "x":6.69835, "y":5.76793, "heading":0.0, "vx":-0.98629, "vy":-0.0452, "omega":-0.00004, "ax":2.49624, "ay":0.11439, "alpha":0.00323, "fx":[39.60709,39.60699,39.58837,39.71631], "fy":[1.8107,1.82521,1.82536,1.80279]}, + {"t":11.36822, "x":6.65269, "y":5.76584, "heading":0.0, "vx":-0.86302, "vy":-0.03955, "omega":0.00012, "ax":2.49641, "ay":0.1144, "alpha":-0.00425, "fx":[39.63948,39.63929,39.62509,39.62521], "fy":[1.80558,1.82995,1.82328,1.80571]}, + {"t":11.4176, "x":6.61311, "y":5.76403, "heading":0.00001, "vx":-0.73974, "vy":-0.0339, "omega":-0.00009, "ax":2.49653, "ay":0.1144, "alpha":0.00313, "fx":[39.61405,39.61396,39.59948,39.70931], "fy":[1.81238,1.82338,1.82352,1.8056]}, + {"t":11.46698, "x":6.57963, "y":5.76249, "heading":0.0, "vx":-0.61646, "vy":-0.02825, "omega":0.00006, "ax":2.49662, "ay":0.11441, "alpha":-0.00318, "fx":[39.64094,39.64077,39.6305,39.63061], "fy":[1.80822,1.82728,1.82131,1.80834]}, + {"t":11.51637, "x":6.55223, "y":5.76124, "heading":0.00001, "vx":-0.49318, "vy":-0.0226, "omega":-0.00009, "ax":2.4967, "ay":0.11441, "alpha":0.00333, "fx":[39.61837,39.61831,39.6086,39.70234], "fy":[1.81442,1.82107,1.82118,1.80871]}, + {"t":11.56575, "x":6.53092, "y":5.76026, "heading":0.0, "vx":-0.36989, "vy":-0.01695, "omega":0.00007, "ax":2.49676, "ay":0.11441, "alpha":-0.00187, "fx":[39.64073,39.6406,39.63508,39.63515], "fy":[1.81136,1.82404,1.81871,1.81144]}, + {"t":11.61513, "x":6.5157, "y":5.75956, "heading":0.00001, "vx":-0.24659, "vy":-0.0113, "omega":-0.00002, "ax":2.49681, "ay":0.11442, "alpha":-0.00144, "fx":[39.64078,39.64067,39.63666,39.63672], "fy":[1.81242,1.82283,1.81795,1.8125]}, + {"t":11.66451, "x":6.50657, "y":5.75915, "heading":0.0, "vx":-0.1233, "vy":-0.00565, "omega":-0.00009, "ax":2.49685, "ay":0.11442, "alpha":0.00185, "fx":[39.65519,39.60153,39.6504,39.65049], "fy":[1.81306,1.82007,1.81956,1.81314]}, + {"t":11.71389, "x":6.50352, "y":5.75901, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0,20,53,84,196,285,375] }, "events":[] } diff --git a/oi/OI.py b/oi/OI.py index 0abd32f..de31314 100644 --- a/oi/OI.py +++ b/oi/OI.py @@ -63,8 +63,8 @@ def map_controls(): command.Target(config.target_positions["L4"], Robot.wrist, Robot.elevator) ).onFalse(command.Target(config.target_positions["IDLE"], Robot.wrist, Robot.elevator)) - # # Score algae in barge - Keymap.Scoring.SCORE_BARGE.onTrue( + # # De-Algae based on face and then score + Keymap.Scoring.DEALGAE_SCORE.onTrue( commands2.ConditionalCommand( commands2.InstantCommand(lambda: Robot.wrist.algae_in()).andThen(command.Target(config.target_positions["DEALGAE_HIGH"], Robot.wrist, Robot.elevator)), commands2.InstantCommand(lambda: Robot.wrist.algae_in()).andThen(command.Target(config.target_positions["L2"], Robot.wrist, Robot.elevator)), @@ -75,6 +75,11 @@ def map_controls(): ) ).onFalse(command.Target(config.target_positions["L3"], Robot.wrist, Robot.elevator).andThen(commands2.InstantCommand(lambda: Robot.wrist.algae_stop()))) + # Extake into barge + Keymap.Scoring.SCORE_BARGE.onTrue( + command.Target(config.target_positions["BARGE"], Robot.wrist, Robot.elevator) + ).onFalse(command.Target(config.target_positions["IDLE"], Robot.wrist, Robot.elevator)) + # # Scoring coral Keymap.Wrist.EXTAKE_CORAL.and_( lambda: not Robot.elevator.elevator_moving @@ -127,7 +132,7 @@ def map_controls(): ) # Extake into processor - Keymap.Wrist.EXTAKE_ALGAE_OPERATOR.or_(Keymap.Wrist.EXTAKE_ALGAE_DRIVER).whileTrue( + Keymap.Wrist.EXTAKE_ALGAE_DRIVER.whileTrue( commands2.ParallelCommandGroup( command.ExtakeAlgae(Robot.intake).onlyIf(lambda: Robot.intake.get_pivot_angle() >= math.radians(40)), command.WristAlgaeOut(Robot.wrist) diff --git a/oi/keymap.py b/oi/keymap.py index 593e9bc..6f76f19 100644 --- a/oi/keymap.py +++ b/oi/keymap.py @@ -74,9 +74,12 @@ class Scoring: SCORE_L4 = commands2.button.JoystickButton( Joysticks.joysticks[Controllers.OPERATOR], controllerOPERATOR.Y ) - SCORE_BARGE = commands2.button.Trigger( + DEALGAE_SCORE = commands2.button.Trigger( lambda: Controllers.OPERATOR_CONTROLLER.getPOV() == 0 ) + SCORE_BARGE = commands2.button.JoystickButton( + Joysticks.joysticks[Controllers.OPERATOR], controllerOPERATOR.LB + ) # to do: fix climb controllers: does not do what it's supposed to class Climb: @@ -100,12 +103,10 @@ class Wrist: EXTAKE_CORAL = commands2.button.JoystickButton( Joysticks.joysticks[Controllers.DRIVER], controllerDRIVER.A ) - EXTAKE_ALGAE_OPERATOR = commands2.button.JoystickButton( - Joysticks.joysticks[Controllers.OPERATOR], controllerOPERATOR.LB - ) EXTAKE_ALGAE_DRIVER = commands2.button.JoystickButton( Joysticks.joysticks[Controllers.DRIVER], controllerDRIVER.B ) + class Elevator: pass \ No newline at end of file diff --git a/robot.py b/robot.py index aa03415..774d7a7 100644 --- a/robot.py +++ b/robot.py @@ -86,6 +86,7 @@ def init_subsystems(): self.auto_selection.addOption("Three L4 Left", autos.three_l4_left) self.auto_selection.addOption("Bump", autos.three_l4_left_bump) self.auto_selection.addOption("Leave", autos.leave) + self.auto_selection.addOption("Center", autos.dealgae_center) wpilib.SmartDashboard.putData("Auto", self.auto_selection)