From aafe4e7b6290bd9745187086a7d03cd9efe305ea Mon Sep 17 00:00:00 2001 From: Tristan Rubio Date: Sat, 1 Feb 2025 16:26:08 -0700 Subject: [PATCH] Update Choreo traj. path --- src/main/deploy/choreo/FourL4CoralBottom.traj | 319 ----------------- src/main/deploy/choreo/FourL4CoralTop.traj | 322 ++++++++++++++++++ 2 files changed, 322 insertions(+), 319 deletions(-) delete mode 100644 src/main/deploy/choreo/FourL4CoralBottom.traj create mode 100644 src/main/deploy/choreo/FourL4CoralTop.traj diff --git a/src/main/deploy/choreo/FourL4CoralBottom.traj b/src/main/deploy/choreo/FourL4CoralBottom.traj deleted file mode 100644 index 53e3352..0000000 --- a/src/main/deploy/choreo/FourL4CoralBottom.traj +++ /dev/null @@ -1,319 +0,0 @@ -{ - "name":"FourL4CoralBottom", - "version":1, - "snapshot":{ - "waypoints":[ - {"x":9.974517822265623, "y":1.9370989799499512, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":12.514397621154783, "y":2.802725076675415, "heading":-2.0943951023931953, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":13.966849327087402, "y":1.656181812286377, "heading":-2.0943951023931953, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":16.26263999938965, "y":0.8964236378669739, "heading":-0.9250245035569946, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":13.983367919921877, "y":1.6231489181518557, "heading":-0.9250245035569946, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":12.25503158569336, "y":2.928035259246826, "heading":-2.0943951023931953, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":14.009272575378418, "y":1.6044641733169556, "heading":-2.0943951023931953, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":16.281064987182617, "y":0.9142994284629822, "heading":-0.9250245035569946, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":13.611712455749512, "y":2.8171634674072266, "heading":-1.0471975511965976, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":16.281064987182617, "y":0.9142994284629822, "heading":-0.9250245035569946, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":13.828288078308104, "y":2.9326703548431396, "heading":-1.0471975511965976, "intervals":40, "split":false, "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":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"9.974517822265625 m", "val":9.974517822265623}, "y":{"exp":"1.9370989799499512 m", "val":1.9370989799499512}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"12.514397621154785 m", "val":12.514397621154783}, "y":{"exp":"2.802725076675415 m", "val":2.802725076675415}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"13.966849327087402 m", "val":13.966849327087402}, "y":{"exp":"1.656181812286377 m", "val":1.656181812286377}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"16.26263999938965 m", "val":16.26263999938965}, "y":{"exp":"0.8964236378669739 m", "val":0.8964236378669739}, "heading":{"exp":"-53 deg", "val":-0.9250245035569946}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"13.983367919921875 m", "val":13.983367919921877}, "y":{"exp":"1.6231489181518555 m", "val":1.6231489181518557}, "heading":{"exp":"-53 deg", "val":-0.9250245035569946}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"12.25503158569336 m", "val":12.25503158569336}, "y":{"exp":"2.928035259246826 m", "val":2.928035259246826}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"14.009272575378418 m", "val":14.009272575378418}, "y":{"exp":"1.6044641733169556 m", "val":1.6044641733169556}, "heading":{"exp":"-120 deg", "val":-2.0943951023931953}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"16.281064987182617 m", "val":16.281064987182617}, "y":{"exp":"0.9142994284629822 m", "val":0.9142994284629822}, "heading":{"exp":"-53 deg", "val":-0.9250245035569946}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"13.611712455749512 m", "val":13.611712455749512}, "y":{"exp":"2.8171634674072266 m", "val":2.8171634674072266}, "heading":{"exp":"-60 deg", "val":-1.0471975511965976}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"16.281064987182617 m", "val":16.281064987182617}, "y":{"exp":"0.9142994284629822 m", "val":0.9142994284629822}, "heading":{"exp":"-53 deg", "val":-0.9250245035569946}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"13.828288078308105 m", "val":13.828288078308104}, "y":{"exp":"2.9326703548431396 m", "val":2.9326703548431396}, "heading":{"exp":"-60 deg", "val":-1.0471975511965976}, "intervals":40, "split":false, "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":true}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "sampleType":"Swerve", - "waypoints":[0.0,0.94244,1.33814,2.13129,2.88225,3.61497,4.32793,5.0832,6.29025,7.50357,8.68967], - "samples":[ - {"t":0.0, "x":9.97452, "y":1.9371, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.69363, "ay":6.04719, "alpha":-10.86795, "fx":[149.01597,106.82905,30.90214,100.641], "fy":[36.11892,110.07429,150.18927,115.06168]}, - {"t":0.02772, "x":9.97671, "y":1.93942, "heading":0.0, "vx":0.15782, "vy":0.16762, "omega":-0.30125, "ax":5.74429, "ay":6.01763, "alpha":-10.76431, "fx":[148.93535,107.17723,32.29938,102.42281], "fy":[36.39181,109.72063,149.88006,113.44006]}, - {"t":0.05544, "x":9.98329, "y":1.94638, "heading":-0.00835, "vx":0.31705, "vy":0.33442, "omega":-0.59962, "ax":5.78946, "ay":5.99354, "alpha":-10.65733, "fx":[148.9284,107.92321,34.23882,102.81767], "fy":[36.35025,108.96999,149.43265,113.0409]}, - {"t":0.08316, "x":9.9943, "y":1.95795, "heading":-0.02497, "vx":0.47752, "vy":0.50056, "omega":-0.89503, "ax":5.83259, "ay":5.97213, "alpha":-10.54483, "fx":[148.98692,109.05704,36.7324,102.06616], "fy":[36.0245,107.81541,148.8213,113.67551]}, - {"t":0.11088, "x":10.00978, "y":1.97412, "heading":-0.04978, "vx":0.6392, "vy":0.6661, "omega":-1.18732, "ax":5.87729, "ay":5.94946, "alpha":-10.43042, "fx":[149.09864,110.56513,39.80021,100.41992], "fy":[35.45454,106.2447,148.01008,115.08528]}, - {"t":0.13859, "x":10.02975, "y":1.99487, "heading":-0.08269, "vx":0.80211, "vy":0.83101, "omega":-1.47644, "ax":5.92789, "ay":5.92075, "alpha":-10.31825, "fx":[149.24703,112.4305,43.47428,98.17477], "fy":[34.69412,104.24017,146.94953,116.95697]}, - {"t":0.16631, "x":10.05426, "y":2.02018, "heading":-0.12362, "vx":0.96642, "vy":0.99513, "omega":-1.76245, "ax":5.98996, "ay":5.88051, "alpha":-10.20707, "fx":[149.41092,114.63317,47.80425,95.70138], "fy":[33.81664,101.7776,145.571,118.93762]}, - {"t":0.19403, "x":10.08335, "y":2.05002, "heading":-0.17247, "vx":1.13246, "vy":1.15813, "omega":-2.04538, "ax":6.07073, "ay":5.82275, "alpha":-10.0838, "fx":[149.56377,117.15061,52.86579,93.46559], "fy":[32.92367,98.82477,143.77677,120.64775]}, - {"t":0.22175, "x":10.11707, "y":2.08436, "heading":-0.22917, "vx":1.30073, "vy":1.31953, "omega":-2.32489, "ax":6.17939, "ay":5.74086, "alpha":-9.91721, "fx":[149.67188,119.95808,58.77399,92.03496], "fy":[32.15713,95.33898,141.42239,121.68295]}, - {"t":0.24947, "x":10.1555, "y":2.12314, "heading":-0.29361, "vx":1.47202, "vy":1.47866, "omega":-2.59979, "ax":6.32727, "ay":5.62688, "alpha":-9.65199, "fx":[149.69097,123.02905,65.7058,92.07444], "fy":[31.71605,91.26268,138.28314,121.58488]}, - {"t":0.27719, "x":10.19874, "y":2.16629, "heading":-0.36567, "vx":1.6474, "vy":1.63463, "omega":-2.86733, "ax":6.52826, "ay":5.46938, "alpha":-9.20227, "fx":[149.55915,126.3364,73.94162,94.338], "fy":[31.87704,86.51435,133.98452,119.7543]}, - {"t":0.30491, "x":10.24691, "y":2.2137, "heading":-0.44515, "vx":1.82836, "vy":1.78624, "omega":-3.12241, "ax":6.79961, "ay":5.24826, "alpha":-8.44213, "fx":[149.18333,129.85628,83.94668,99.6512], "fy":[33.0127,80.96675,127.84265,115.26367]}, - {"t":0.33263, "x":10.3002, "y":2.26523, "heading":-0.5317, "vx":2.01684, "vy":1.93171, "omega":-3.35641, "ax":7.16282, "ay":4.92255, "alpha":-7.18713, "fx":[148.41663,133.57958,96.53265,108.82137], "fy":[35.5872,74.38837,118.44703,106.50221]}, - {"t":0.36035, "x":10.35886, "y":2.32067, "heading":-0.62474, "vx":2.21538, "vy":2.06816, "omega":-3.55563, "ax":7.6414, "ay":4.39938, "alpha":-5.14855, "fx":[147.03439,137.54464,113.11546,122.21752], "fy":[40.07079,66.26084,102.39187,90.60515]}, - {"t":0.38806, "x":10.4232, "y":2.37969, "heading":-0.7233, "vx":2.42719, "vy":2.19011, "omega":-3.69835, "ax":8.23358, "ay":3.44837, "alpha":-1.77019, "fx":[144.76807,141.93368,135.20206,138.29941], "fy":[46.63981,55.06148,69.84133,63.08034]}, - {"t":0.41578, "x":10.49364, "y":2.44172, "heading":-0.82581, "vx":2.65542, "vy":2.28569, "omega":-3.74741, "ax":8.68361, "ay":1.49656, "alpha":4.2517, "fx":[141.61488,147.23277,151.39869,150.57648], "fy":[54.4139,33.90215,-6.69833,20.2066]}, - {"t":0.4435, "x":10.57058, "y":2.50565, "heading":-0.92968, "vx":2.89612, "vy":2.32717, "omega":-3.62956, "ax":7.56776, "ay":-2.30701, "alpha":12.66364, "fx":[139.19566,125.6112,101.42063,148.67393], "fy":[59.15474,-72.10107,-112.50528,-31.51503]}, - {"t":0.47122, "x":10.65377, "y":2.56927, "heading":-1.03029, "vx":3.10589, "vy":2.26323, "omega":-3.27854, "ax":6.90511, "ay":-4.13279, "alpha":12.07042, "fx":[149.98673,95.37335,84.92866,139.52675], "fy":[16.26689,-112.2774,-125.3532,-59.8266]}, - {"t":0.49894, "x":10.74251, "y":2.63042, "heading":-1.12117, "vx":3.29729, "vy":2.14867, "omega":-2.94396, "ax":6.3589, "ay":-5.59471, "alpha":8.60928, "fx":[144.79866,85.86437,76.99691,124.99225], "fy":[-42.00236,-122.33712,-130.37683,-85.94169]}, - {"t":0.52666, "x":10.83635, "y":2.68783, "heading":-1.20277, "vx":3.47355, "vy":1.99359, "omega":-2.70532, "ax":5.45373, "ay":-6.82313, "alpha":5.37292, "fx":[121.26357,75.01107,68.92618,105.86493], "fy":[-90.03391,-130.60331,-134.95891,-108.6416]}, - {"t":0.55438, "x":10.93473, "y":2.74046, "heading":-1.27776, "vx":3.62473, "vy":1.80446, "omega":-2.55639, "ax":4.5048, "ay":-7.6283, "alpha":3.09524, "fx":[94.42199,64.94313,61.04698,86.08906], "fy":[-118.40037,-136.65892,-138.9182,-125.04314]}, - {"t":0.5821, "x":11.03694, "y":2.78755, "heading":-1.34862, "vx":3.74959, "vy":1.59301, "omega":-2.47059, "ax":3.69131, "ay":-8.11106, "alpha":1.79524, "fx":[73.39584,55.55407,53.06441,69.13811], "fy":[-132.88304,-141.22076,-142.39852,-135.36515]}, - {"t":0.60982, "x":11.14229, "y":2.82859, "heading":-1.4171, "vx":3.85191, "vy":1.36818, "omega":-2.42083, "ax":3.03671, "ay":-8.40405, "alpha":1.21724, "fx":[58.98289,46.5995,44.76367,56.26826], "fy":[-140.18562,-144.7467,-145.45009,-141.41972]}, - {"t":0.63753, "x":11.25023, "y":2.86329, "heading":-1.48421, "vx":3.93609, "vy":1.13523, "omega":-2.38709, "ax":2.51192, "ay":-8.58934, "alpha":1.12709, "fx":[49.67899,37.99861,36.16437,47.06642], "fy":[-143.97408,-147.4663,-148.0241,-144.94406]}, - {"t":0.66525, "x":11.3603, "y":2.89146, "heading":-1.55037, "vx":4.00571, "vy":0.89714, "omega":-2.35585, "ax":2.08213, "ay":-8.71034, "alpha":1.35748, "fx":[44.04194,29.73275,27.35903,40.53208], "fy":[-145.97105,-149.51898,-150.07147,-147.08037]}, - {"t":0.69297, "x":11.47213, "y":2.91298, "heading":-1.61568, "vx":4.06343, "vy":0.6557, "omega":-2.31822, "ax":1.71939, "ay":-8.78953, "alpha":1.7951, "fx":[41.02559,21.81192,18.44883,35.69895], "fy":[-146.9845,-151.00362,-151.56598,-148.47536]}, - {"t":0.72069, "x":11.58542, "y":2.92778, "heading":-1.67993, "vx":4.11109, "vy":0.41207, "omega":-2.26846, "ax":1.40383, "ay":-8.83886, "alpha":2.36368, "fx":[39.88666,14.26278,9.53026,31.83516], "fy":[-147.40946,-151.99959,-152.50265,-149.47452]}, - {"t":0.74841, "x":11.69992, "y":2.9358, "heading":-1.74281, "vx":4.15, "vy":0.16706, "omega":-2.20294, "ax":1.12169, "ay":-8.86524, "alpha":3.01167, "fx":[40.07538,7.10847,0.68333,28.45157], "fy":[-147.45198,-152.57792,-152.89379,-150.25706]}, - {"t":0.77613, "x":11.81538, "y":2.93703, "heading":-1.80388, "vx":4.18109, "vy":-0.07867, "omega":-2.11946, "ax":0.86128, "ay":-8.87291, "alpha":3.71093, "fx":[41.18547,0.27964,-8.10344,25.23898], "fy":[-147.22592,-152.80367,-152.75924,-150.91407]}, - {"t":0.80385, "x":11.93161, "y":2.93144, "heading":-1.86263, "vx":4.20497, "vy":-0.32462, "omega":-2.0166, "ax":0.58911, "ay":-8.86173, "alpha":4.53131, "fx":[43.12994,-7.23128,-17.67754,21.86112], "fy":[-146.73656,-152.67803,-152.01636,-151.51135]}, - {"t":0.83157, "x":12.04839, "y":2.91904, "heading":-1.91852, "vx":4.2213, "vy":-0.57026, "omega":-1.891, "ax":0.15545, "ay":-8.79985, "alpha":5.98298, "fx":[47.0957,-21.29077,-32.48076,17.25243], "fy":[-145.56651,-151.3748,-149.61906,-152.17138]}, - {"t":0.85929, "x":12.16546, "y":2.89985, "heading":-1.97094, "vx":4.2256, "vy":-0.81418, "omega":-1.72516, "ax":-0.41921, "ay":-8.64079, "alpha":8.01679, "fx":[52.76626,-42.50886,-50.32603,11.54634], "fy":[-143.65388,-146.82724,-144.65919,-152.76896]}, - {"t":0.887, "x":12.28243, "y":2.87396, "heading":-2.01876, "vx":4.21399, "vy":-1.05369, "omega":-1.50294, "ax":-0.95455, "ay":-8.41156, "alpha":10.00146, "fx":[58.03828,-63.81328,-65.21699,6.04581], "fy":[-141.65033,-138.89324,-138.63848,-153.13114]}, - {"t":0.91472, "x":12.39887, "y":2.84152, "heading":-2.06042, "vx":4.18753, "vy":-1.28685, "omega":-1.22571, "ax":-1.42055, "ay":-8.13881, "alpha":11.84818, "fx":[62.50325,-83.28171,-76.96779,1.09387], "fy":[-139.77967,-128.17234,-132.52119,-153.28233]}, - {"t":0.94244, "x":12.5144, "y":2.80273, "heading":-2.0944, "vx":4.14815, "vy":-1.51245, "omega":-0.89729, "ax":-1.61319, "ay":-8.27035, "alpha":10.3243, "fx":[48.87838,-76.5692,-76.67698,-5.39194], "fy":[-144.95526,-132.0957,-132.56157,-153.09237]}, - {"t":0.96327, "x":12.60044, "y":2.76943, "heading":-2.11308, "vx":4.11455, "vy":-1.68469, "omega":-0.68228, "ax":-1.73312, "ay":-8.29921, "alpha":9.7966, "fx":[43.07869,-75.12991,-77.24855,-8.61968], "fy":[-146.72874,-132.85389,-132.17968,-152.90614]}, - {"t":0.98409, "x":12.68575, "y":2.73255, "heading":-2.12729, "vx":4.07846, "vy":-1.85753, "omega":-0.47825, "ax":-1.88054, "ay":-8.32362, "alpha":9.21289, "fx":[36.07038,-74.25137,-77.63626,-12.13266], "fy":[-148.53998,-133.27758,-131.89249,-152.61967]}, - {"t":1.00492, "x":12.77028, "y":2.69206, "heading":-2.13725, "vx":4.0393, "vy":-2.03088, "omega":-0.28638, "ax":-2.06533, "ay":-8.34213, "alpha":8.5303, "fx":[27.37177,-73.88258,-77.84851,-16.16333], "fy":[-150.30353,-133.40791,-131.69346,-152.1844]}, - {"t":1.02575, "x":12.85396, "y":2.64795, "heading":-2.14322, "vx":3.99628, "vy":-2.20461, "omega":-0.10873, "ax":-2.30181, "ay":-8.35064, "alpha":7.68939, "fx":[16.29845,-73.94482,-77.89318,-21.07315], "fy":[-151.80122,-133.2918,-131.57319,-151.50192]}, - {"t":1.04657, "x":12.93668, "y":2.60023, "heading":-2.14548, "vx":3.94834, "vy":-2.37852, "omega":0.05141, "ax":-2.61095, "ay":-8.3394, "alpha":6.60764, "fx":[1.91554,-74.33311,-77.77561,-27.4532], "fy":[-152.53422,-132.98412,-131.51904,-150.36604]}, - {"t":1.0674, "x":13.01835, "y":2.54889, "heading":-2.14441, "vx":3.89397, "vy":-2.5522, "omega":0.18902, "ax":-3.02223, "ay":-8.28686, "alpha":5.17463, "fx":[-16.89814,-74.91712,-77.49401,-36.31991], "fy":[-151.44987,-132.55051,-131.51425,-148.31381]}, - {"t":1.08823, "x":13.09879, "y":2.49394, "heading":-2.14047, "vx":3.83103, "vy":-2.72478, "omega":0.29679, "ax":-3.57119, "ay":-8.14855, "alpha":3.25696, "fx":[-40.94795,-75.53686,-77.02503,-49.4697], "fy":[-146.59537,-132.07224,-131.53805,-144.21244]}, - {"t":1.10905, "x":13.1778, "y":2.43542, "heading":-2.13429, "vx":3.75665, "vy":-2.89448, "omega":0.36462, "ax":-4.27751, "ay":-7.84577, "alpha":0.72477, "fx":[-69.06312,-75.98311,-76.28156,-69.70926], "fy":[-135.41965,-131.65551,-131.57007,-135.17228]}, - {"t":1.12988, "x":13.25511, "y":2.37344, "heading":-2.1267, "vx":3.66757, "vy":-3.05788, "omega":0.37971, "ax":-5.00436, "ay":-7.34759, "alpha":-2.18792, "fx":[-93.68776,-76.00287,-75.18054,-95.61959], "fy":[-119.4437,-131.39585,-131.53954,-117.54227]}, - {"t":1.1507, "x":13.3304, "y":2.30816, "heading":-2.11879, "vx":3.56335, "vy":-3.2109, "omega":0.33415, "ax":-5.2559, "ay":-7.08562, "alpha":-3.30952, "fx":[-100.90621,-76.07336,-75.07335,-105.55255], "fy":[-112.8159,-130.81092,-130.73402,-107.73653]}, - {"t":1.17153, "x":13.40347, "y":2.23976, "heading":-2.11183, "vx":3.45389, "vy":-3.35847, "omega":0.26522, "ax":-5.36175, "ay":-6.91583, "alpha":-3.59358, "fx":[-103.03243,-76.88496,-76.27314,-108.61666], "fy":[-109.67325,-129.27292,-128.6163,-102.98244]}, - {"t":1.19236, "x":13.47424, "y":2.16831, "heading":-2.10631, "vx":3.34222, "vy":-3.5025, "omega":0.19038, "ax":-5.4593, "ay":-6.65852, "alpha":-3.60853, "fx":[-104.13213,-78.6927,-78.76159,-109.85801], "fy":[-105.74005,-125.64773,-123.85202,-97.79842]}, - {"t":1.21318, "x":13.54266, "y":2.09392, "heading":-2.10234, "vx":3.22853, "vy":-3.64117, "omega":0.11523, "ax":-5.28108, "ay":-5.97608, "alpha":-3.20315, "fx":[-99.51814,-78.39629,-78.34197,-103.0625], "fy":[-96.32713,-113.57713,-109.11577,-87.58532]}, - {"t":1.23401, "x":13.60876, "y":2.0168, "heading":-2.09994, "vx":3.11854, "vy":-3.76563, "omega":0.04852, "ax":6.05193, "ay":5.14034, "alpha":-0.08483, "fx":[102.73107,103.25123,103.15146,102.63269], "fy":[87.58258,87.02213,87.29052,87.84784]}, - {"t":1.25483, "x":13.67502, "y":1.93949, "heading":-2.09893, "vx":3.24458, "vy":-3.65857, "omega":0.04675, "ax":6.29334, "ay":5.95974, "alpha":0.37979, "fx":[108.02475,105.42619,106.05113,108.68964], "fy":[100.49438,103.15583,102.29148,99.55193]}, - {"t":1.27566, "x":13.74395, "y":1.86459, "heading":-2.09796, "vx":3.37565, "vy":-3.53446, "omega":0.05466, "ax":6.20883, "ay":6.25797, "alpha":0.23268, "fx":[106.25135,104.5732,104.96066,106.65651], "fy":[105.86324,107.50146,107.04448,105.37602]}, - {"t":1.29649, "x":13.8156, "y":1.79234, "heading":-2.09682, "vx":3.50495, "vy":-3.40413, "omega":0.05951, "ax":6.09328, "ay":6.458, "alpha":-0.12263, "fx":[103.28364,104.20697,104.00346,103.08563], "fy":[110.17268,109.30659,109.52888,110.38655]}, - {"t":1.31731, "x":13.88992, "y":1.72284, "heading":-2.09558, "vx":3.63185, "vy":-3.26963, "omega":0.05696, "ax":5.97518, "ay":6.61114, "alpha":-0.70013, "fx":[99.43019,104.92466,103.74448,98.445], "fy":[114.39451,109.40577,110.64877,115.36529]}, - {"t":1.33814, "x":13.96685, "y":1.65618, "heading":-2.0944, "vx":3.75629, "vy":-3.13195, "omega":0.04238, "ax":5.68071, "ay":6.90379, "alpha":-0.4457, "fx":[95.08257,98.74356,98.1259,94.55701], "fy":[118.67597,115.65787,116.23992,119.15217]}, - {"t":1.36458, "x":14.06815, "y":1.57579, "heading":-2.09327, "vx":3.90648, "vy":-2.94942, "omega":0.03059, "ax":5.27712, "ay":7.20133, "alpha":-0.26088, "fx":[88.75518,90.99652,90.75132,88.54618], "fy":[123.2113,121.56966,121.79039,123.3989]}, - {"t":1.39102, "x":14.17327, "y":1.50033, "heading":-2.09247, "vx":4.046, "vy":-2.75903, "omega":0.02369, "ax":4.88279, "ay":7.45524, "alpha":-0.13914, "fx":[82.46648,83.70463,83.63756,82.41075], "fy":[127.18519,126.3751,126.44207,127.24378]}, - {"t":1.41745, "x":14.28195, "y":1.42999, "heading":-2.09184, "vx":4.17509, "vy":-2.56193, "omega":0.02002, "ax":4.48592, "ay":7.67778, "alpha":-0.05045, "fx":[76.07317,76.53477,76.53445,76.07445], "fy":[130.72708,130.45744,130.46692,130.7356]}, - {"t":1.44389, "x":14.3939, "y":1.36494, "heading":-2.09131, "vx":4.29369, "vy":-2.35894, "omega":0.01868, "ax":4.05094, "ay":7.88885, "alpha":0.14936, "fx":[69.64015,68.24783,68.16312,69.57009], "fy":[133.82443,134.54123,134.55293,133.82941]}, - {"t":1.47033, "x":14.50883, "y":1.30533, "heading":-2.09082, "vx":4.40079, "vy":-2.15037, "omega":0.02263, "ax":3.38448, "ay":8.15855, "alpha":1.14249, "fx":[63.58963,53.04588,51.10858,62.53185], "fy":[136.37496,140.84173,141.29579,136.58563]}, - {"t":1.49677, "x":14.62636, "y":1.25133, "heading":-2.09022, "vx":4.49027, "vy":-1.93467, "omega":0.05284, "ax":1.82921, "ay":8.4962, "alpha":4.68341, "fx":[57.4874,18.68124,-1.65786,49.94635], "fy":[138.83702,149.32954,149.53654,140.36892]}, - {"t":1.52321, "x":14.74572, "y":1.20315, "heading":-2.08882, "vx":4.53864, "vy":-1.71005, "omega":0.17666, "ax":-0.57212, "ay":8.22867, "alpha":9.7953, "fx":[51.46694,-21.9452,-83.66748,15.2196], "fy":[141.21026,149.34042,124.2314,145.08687]}, - {"t":1.54965, "x":14.86551, "y":1.16082, "heading":-2.08415, "vx":4.52351, "vy":-1.49249, "omega":0.43563, "ax":-3.2875, "ay":6.7125, "alpha":14.87316, "fx":[52.37504,-48.84695,-128.64295,-98.563], "fy":[141.11194,143.40486,78.69797,93.49584]}, - {"t":1.57608, "x":14.98396, "y":1.1237, "heading":-2.07263, "vx":4.43659, "vy":-1.31503, "omega":0.82885, "ax":-5.01554, "ay":5.11394, "alpha":18.28156, "fx":[18.83507,-73.495,-140.48494,-146.10702], "fy":[149.40416,132.86505,56.8218,8.85532]}, - {"t":1.60252, "x":15.0995, "y":1.09072, "heading":-2.05072, "vx":4.30399, "vy":-1.17982, "omega":1.31219, "ax":-5.62312, "ay":4.30209, "alpha":19.38638, "fx":[-1.67222,-87.61515,-146.23274,-147.07037], "fy":[150.85106,124.37915,41.46143,-23.98258]}, - {"t":1.62896, "x":15.21133, "y":1.06103, "heading":-2.01603, "vx":4.15532, "vy":-1.06608, "omega":1.82473, "ax":-6.46616, "ay":4.10139, "alpha":16.05632, "fx":[-40.30942,-101.57532,-148.29357,-149.77179], "fy":[145.7372,113.54327,34.60313,-14.82967]}, - {"t":1.6554, "x":15.31893, "y":1.03428, "heading":-1.96778, "vx":3.98437, "vy":-0.95765, "omega":2.24924, "ax":-7.61597, "ay":3.92918, "alpha":8.4518, "fx":[-100.54569,-119.76336,-147.7414,-150.13128], "fy":[113.74131,94.3713,37.59169,21.63263]}, - {"t":1.68184, "x":15.42161, "y":1.01034, "heading":-1.90832, "vx":3.78302, "vy":-0.85377, "omega":2.47269, "ax":-8.11982, "ay":3.54124, "alpha":4.36534, "fx":[-126.27171,-131.74472,-146.94062,-147.50633], "fy":[85.1279,77.00146,41.10486,37.70787]}, - {"t":1.70828, "x":15.51879, "y":0.989, "heading":-1.84294, "vx":3.56834, "vy":-0.76014, "omega":2.5881, "ax":-8.35319, "ay":3.22052, "alpha":1.95208, "fx":[-137.61259,-139.13127,-145.94448,-145.65286], "fy":[65.90559,62.92642,44.88345,45.40521]}, - {"t":1.73471, "x":15.61021, "y":0.97003, "heading":-1.77452, "vx":3.3475, "vy":-0.67499, "omega":2.63971, "ax":-8.47367, "ay":2.97579, "alpha":0.32771, "fx":[-143.46622,-143.65566,-144.78537,-144.63129], "fy":[52.48928,52.0195,48.77993,49.18056]}, - {"t":1.76115, "x":15.69575, "y":0.95322, "heading":-1.70473, "vx":3.12347, "vy":-0.59632, "omega":2.64837, "ax":-8.54008, "ay":2.78752, "alpha":-0.86242, "fx":[-146.88413,-146.45069,-143.51813,-144.20408], "fy":[42.44039,43.77308,52.61988,50.82662]}, - {"t":1.78759, "x":15.77534, "y":0.93843, "heading":-1.63471, "vx":2.89768, "vy":-0.52262, "omega":2.62557, "ax":-8.57786, "ay":2.63947, "alpha":-1.7796, "fx":[-149.0499,-148.19324,-142.20781,-144.17692], "fy":[34.46251,37.67919,56.25028,51.19449]}, - {"t":1.81403, "x":15.84896, "y":0.92554, "heading":-1.5653, "vx":2.67089, "vy":-0.45284, "omega":2.57852, "ax":-8.59957, "ay":2.52032, "alpha":-2.50689, "fx":[-150.49249,-149.28119,-140.91825,-144.41311], "fy":[27.8553,33.31937,59.56005,50.74465]}, - {"t":1.84047, "x":15.91656, "y":0.91445, "heading":-1.49712, "vx":2.44354, "vy":-0.38621, "omega":2.51225, "ax":-8.61198, "ay":2.42245, "alpha":-3.09233, "fx":[-151.47881,-149.94953,-139.70367,-144.81758], "fy":[22.22025,30.36464,62.48331,49.75267]}, - {"t":1.86691, "x":15.97816, "y":0.90508, "heading":-1.4307, "vx":2.21585, "vy":-0.32216, "omega":2.43049, "ax":-8.61895, "ay":2.34077, "alpha":-3.56727, "fx":[-152.15795,-150.3381,-138.60402,-145.32359], "fy":[17.3178,28.55523,64.99356,48.39693]}, - {"t":1.89334, "x":16.03373, "y":0.89738, "heading":-1.36645, "vx":1.98798, "vy":-0.26027, "omega":2.33618, "ax":-8.6227, "ay":2.27181, "alpha":-3.95469, "fx":[-152.62063,-150.53058,-137.64382,-145.88393], "fy":[12.99613,27.68076,67.09435,46.80008]}, - {"t":1.91978, "x":16.08327, "y":0.8913, "heading":-1.30468, "vx":1.76001, "vy":-0.20021, "omega":2.23162, "ax":-8.62452, "ay":2.21314, "alpha":-4.273, "fx":[-152.92614,-150.57733,-136.8336,-146.46512], "fy":[9.15399,27.56526,68.80968,45.05048]}, - {"t":1.94622, "x":16.12679, "y":0.88678, "heading":-1.24568, "vx":1.53199, "vy":-0.1417, "omega":2.11865, "ax":-8.62509, "ay":2.16299, "alpha":-4.5375, "fx":[-153.11561,-150.50935,-136.17268,-147.04365], "fy":[5.72027,28.05717,70.17575,43.21408]}, - {"t":1.97266, "x":16.16428, "y":0.88379, "heading":-1.18967, "vx":1.30395, "vy":-0.08451, "omega":1.99868, "ax":-8.6248, "ay":2.11999, "alpha":-4.76105, "fx":[-153.21881,-150.34687,-135.65226,-147.60327], "fy":[2.64246,29.02313,71.23474,41.34142]}, - {"t":1.9991, "x":16.19574, "y":0.88229, "heading":-1.13682, "vx":1.07593, "vy":-0.02846, "omega":1.87281, "ax":-8.62381, "ay":2.08303, "alpha":-4.95415, "fx":[-153.25808,-150.1049,-135.25839,-148.13306], "fy":[-0.1202,30.34441,72.03052,39.47209]}, - {"t":2.02554, "x":16.22117, "y":0.88227, "heading":-1.08731, "vx":0.84793, "vy":0.02661, "omega":1.74183, "ax":-8.62224, "ay":2.05115, "alpha":-5.12509, "fx":[-153.25049,-149.79657,-134.97423,-148.6261], "fy":[-2.6008,31.9151,72.60598,37.63765]}, - {"t":2.05198, "x":16.24058, "y":0.88369, "heading":-1.04126, "vx":0.61997, "vy":0.08084, "omega":1.60633, "ax":-8.62014, "ay":2.02354, "alpha":-5.28002, "fx":[-153.20926,-149.43498,-134.78186,-149.07837], "fy":[-4.82736,33.64127,73.00154,35.86364]}, - {"t":2.07841, "x":16.25395, "y":0.88653, "heading":-0.99879, "vx":0.39207, "vy":0.13434, "omega":1.46674, "ax":-8.61758, "ay":1.99947, "alpha":-5.42324, "fx":[-153.14469,-149.0341,-134.66342,-149.48794], "fy":[-6.82439,35.44056,73.25433,34.17104]}, - {"t":2.10485, "x":16.26131, "y":0.89078, "heading":-0.96001, "vx":0.16423, "vy":0.1872, "omega":1.32335, "ax":-8.61464, "ay":1.97833, "alpha":-5.55743, "fx":[-153.06475,-148.60889,-134.60187,-149.85443], "fy":[-8.61393,37.24191,73.39799,32.57726]}, - {"t":2.13129, "x":16.26264, "y":0.89642, "heading":-0.92502, "vx":-0.06352, "vy":0.2395, "omega":1.17642, "ax":-8.64045, "ay":1.97322, "alpha":-5.22854, "fx":[-153.2318,-148.35425,-136.151,-150.14959], "fy":[-6.38021,38.61255,70.61056,31.41253]}, - {"t":2.16705, "x":16.25484, "y":0.90625, "heading":-0.88296, "vx":-0.37251, "vy":0.31007, "omega":0.98945, "ax":-8.64247, "ay":1.97289, "alpha":-5.18718, "fx":[-153.22251,-147.78296,-136.60825,-150.4101], "fy":[-6.22947,40.68171,69.69731,30.08384]}, - {"t":2.20281, "x":16.236, "y":0.9186, "heading":-0.84757, "vx":-0.68156, "vy":0.38062, "omega":0.80396, "ax":-8.6451, "ay":1.97177, "alpha":-5.13614, "fx":[-153.21822,-147.31282,-137.06086,-150.61105], "fy":[-5.89241,42.28344,68.77325,28.99244]}, - {"t":2.23857, "x":16.2061, "y":0.93347, "heading":-0.81882, "vx":-0.99071, "vy":0.45113, "omega":0.62029, "ax":-8.64856, "ay":1.9699, "alpha":-5.06996, "fx":[-153.21694,-146.9557,-137.50818,-150.75753], "fy":[-5.37569,43.4301,67.83806,28.13736]}, - {"t":2.27433, "x":16.16514, "y":0.95086, "heading":-0.79664, "vx":-1.29998, "vy":0.52157, "omega":0.43899, "ax":-8.65304, "ay":1.96734, "alpha":-4.98319, "fx":[-153.21625,-146.71828,-137.95526,-150.85335], "fy":[-4.6747,44.13456,66.87917,27.5167]}, - {"t":2.31009, "x":16.11312, "y":0.97077, "heading":-0.78094, "vx":-1.60942, "vy":0.59192, "omega":0.26079, "ax":-8.65874, "ay":1.96409, "alpha":-4.86969, "fx":[-153.21305,-146.603,-138.41396,-150.90099], "fy":[-3.76899,44.40754,65.8681,27.12767]}, - {"t":2.34585, "x":16.05003, "y":0.99319, "heading":-0.77162, "vx":-1.91905, "vy":0.66216, "omega":0.08665, "ax":-8.6659, "ay":1.96007, "alpha":-4.72155, "fx":[-153.20287,-146.60884,-138.90506,-150.90138], "fy":[-2.61521,44.25545,64.7537,26.96682]}, - {"t":2.38161, "x":15.97586, "y":1.01813, "heading":-0.76852, "vx":-2.22894, "vy":0.73225, "omega":-0.08219, "ax":-8.67484, "ay":1.95511, "alpha":-4.52728, "fx":[-153.17827,-146.73177,-139.46226,-150.85355], "fy":[-1.13497,43.67861,63.44956,27.03021]}, - {"t":2.41737, "x":15.89061, "y":1.04556, "heading":-0.77146, "vx":-2.53916, "vy":0.80216, "omega":-0.24409, "ax":-8.68597, "ay":1.94888, "alpha":-4.26852, "fx":[-153.12515,-146.96493,-140.13967,-150.7539], "fy":[0.80802,42.66891,61.8091,27.31383]}, - {"t":2.45313, "x":15.79426, "y":1.07549, "heading":-0.78019, "vx":-2.84977, "vy":0.87186, "omega":-0.39673, "ax":-8.69992, "ay":1.94078, "alpha":-3.91308, "fx":[-153.01372,-147.29832,-141.02609,-150.59441], "fy":[3.45544,41.20581,59.57226,27.81465]}, - {"t":2.48889, "x":15.68679, "y":1.10791, "heading":-0.79437, "vx":-3.16088, "vy":0.94126, "omega":-0.53666, "ax":-8.71742, "ay":1.92953, "alpha":-3.39874, "fx":[-152.77325,-147.71819,-142.27369,-150.35812], "fy":[7.26438,39.24698,56.23777,28.53376]}, - {"t":2.52465, "x":15.56818, "y":1.14281, "heading":-0.81356, "vx":-3.47261, "vy":1.01026, "omega":-0.6582, "ax":-8.73875, "ay":1.91213, "alpha":-2.58904, "fx":[-152.20782,-148.20563,-144.15598,-150.00495], "fy":[13.20076,36.704,50.70762,29.4868]}, - {"t":2.56041, "x":15.43841, "y":1.18015, "heading":-0.8371, "vx":-3.78511, "vy":1.07864, "omega":-0.75079, "ax":-8.75864, "ay":1.8792, "alpha":-1.12407, "fx":[-150.63232,-148.73268,-147.14831,-149.41456], "fy":[23.68726,33.37013,40.05235,30.74901]}, - {"t":2.59617, "x":15.29746, "y":1.21993, "heading":-0.86395, "vx":-4.09832, "vy":1.14584, "omega":-0.79098, "ax":-8.71436, "ay":1.78715, "alpha":2.26648, "fx":[-144.49782,-149.24421,-151.17819,-147.99468], "fy":[46.61668,28.66421,13.54636,32.76854]}, - {"t":2.63193, "x":15.14533, "y":1.26205, "heading":-0.89224, "vx":-4.40994, "vy":1.20975, "omega":-0.70993, "ax":-7.20719, "ay":1.57716, "alpha":14.78101, "fx":[-100.14404,-149.45226,-126.78203,-113.99085], "fy":[111.51649,20.59991,-79.56242,54.75429]}, - {"t":2.66769, "x":14.98302, "y":1.30631, "heading":-0.91762, "vx":-4.66767, "vy":1.26614, "omega":-0.18136, "ax":-2.64134, "ay":-2.58705, "alpha":4.92755, "fx":[-46.26806,-63.14636,-44.88251,-25.41677], "fy":[-24.94225,-39.248,-61.39152,-50.43804]}, - {"t":2.70345, "x":14.81442, "y":1.34994, "heading":-0.92411, "vx":-4.76213, "vy":1.17363, "omega":-0.00515, "ax":0.11113, "ay":0.45587, "alpha":0.00517, "fx":[1.89303,1.87086,1.88764,1.90981], "fy":[7.77365,7.75701,7.73492,7.75156]}, - {"t":2.73921, "x":14.64419, "y":1.3922, "heading":-0.92429, "vx":-4.75815, "vy":1.18993, "omega":-0.00497, "ax":1.1396, "ay":4.26194, "alpha":-0.00114, "fx":[19.38413,19.38956,19.38455,19.37911], "fy":[72.491,72.49334,72.49764,72.4953]}, - {"t":2.77497, "x":14.47477, "y":1.43748, "heading":-0.92447, "vx":-4.7174, "vy":1.34234, "omega":-0.00501, "ax":2.14958, "ay":6.85951, "alpha":-0.00319, "fx":[36.5655,36.58258,36.56192,36.54484], "fy":[116.67314,116.67314,116.68343,116.68344]}, - {"t":2.81073, "x":14.30745, "y":1.48986, "heading":-0.92465, "vx":-4.64053, "vy":1.58764, "omega":-0.00512, "ax":2.89116, "ay":7.68099, "alpha":-0.00642, "fx":[49.18543,49.21875,49.17008,49.13675], "fy":[130.64414,130.63699,130.65873,130.66588]}, - {"t":2.84649, "x":14.14335, "y":1.55155, "heading":-0.92483, "vx":-4.53714, "vy":1.86231, "omega":-0.00535, "ax":3.5375, "ay":7.8266, "alpha":-0.02361, "fx":[60.21227,60.32208,60.13143,60.02138], "fy":[133.10107,133.06291,133.15548,133.19358]}, - {"t":2.88225, "x":13.98337, "y":1.62315, "heading":-0.92502, "vx":-4.41064, "vy":2.14219, "omega":-0.0062, "ax":3.91922, "ay":7.51026, "alpha":-0.09762, "fx":[66.85358,67.25283,66.47842,66.07465], "fy":[127.60256,127.45668,127.8923,128.03813]}, - {"t":2.90752, "x":13.87318, "y":1.67967, "heading":-0.92518, "vx":-4.31162, "vy":2.33194, "omega":-0.00867, "ax":4.0626, "ay":7.15169, "alpha":0.00173, "fx":[69.10035,69.09377,69.10701,69.1136], "fy":[121.65131,121.65339,121.64514,121.64307]}, - {"t":2.93278, "x":13.76554, "y":1.74087, "heading":-0.9254, "vx":-4.20897, "vy":2.51264, "omega":-0.00862, "ax":4.14161, "ay":6.63689, "alpha":0.0044, "fx":[70.43956,70.42405,70.45567,70.47117], "fy":[112.90104,112.90425,112.88203,112.87882]}, - {"t":2.95805, "x":13.66051, "y":1.80648, "heading":-0.92562, "vx":-4.10433, "vy":2.68033, "omega":-0.00851, "ax":4.04322, "ay":5.95089, "alpha":0.0016, "fx":[68.77148,68.76606,68.77649,68.78192], "fy":[101.22709,101.22719,101.21887,101.21877]}, - {"t":2.98332, "x":13.5581, "y":1.8761, "heading":-0.92583, "vx":-4.00217, "vy":2.83069, "omega":-0.00847, "ax":3.80137, "ay":5.16019, "alpha":-0.0587, "fx":[64.73089,64.92864,64.59013,64.3914], "fy":[87.60057,87.64076,87.94586,87.90628]}, - {"t":3.00858, "x":13.4582, "y":1.94927, "heading":-0.92605, "vx":-3.90612, "vy":2.96107, "omega":-0.00995, "ax":5.14162, "ay":2.91838, "alpha":-6.78718, "fx":[95.70963,106.94209,82.91877,64.25957], "fy":[16.73093,38.88842,75.9735,66.9703]}, - {"t":3.03385, "x":13.36114, "y":2.02501, "heading":-0.9263, "vx":-3.77621, "vy":3.0348, "omega":-0.18144, "ax":5.41747, "ay":-3.69194, "alpha":-19.0314, "fx":[74.2737,139.49891,135.34456,19.48111], "fy":[-126.21117,-48.21698,47.8226,-124.58986]}, - {"t":3.05911, "x":13.26746, "y":2.10051, "heading":-0.93088, "vx":-3.63933, "vy":2.94152, "omega":-0.66229, "ax":5.33793, "ay":-4.319, "alpha":-19.35376, "fx":[70.10715,139.21526,143.36024,10.50381], "fy":[-132.6567,-57.18449,37.23844,-141.25706]}, - {"t":3.08438, "x":13.17721, "y":2.17346, "heading":-0.94762, "vx":-3.50446, "vy":2.8324, "omega":-1.15129, "ax":5.35014, "ay":-4.59325, "alpha":-18.9578, "fx":[67.92015,138.26915,146.81843,11.00982], "fy":[-135.11334,-61.94573,30.09965,-145.5599]}, - {"t":3.10965, "x":13.09038, "y":2.24355, "heading":-0.97671, "vx":-3.36929, "vy":2.71634, "omega":-1.63028, "ax":5.41492, "ay":-4.8051, "alpha":-18.13176, "fx":[66.14781,136.86455,149.06417,16.34859], "fy":[-136.63059,-66.16756,22.90076,-147.03624]}, - {"t":3.13491, "x":13.00698, "y":2.31065, "heading":-1.0179, "vx":-3.23247, "vy":2.59493, "omega":-2.08841, "ax":6.2607, "ay":-5.14116, "alpha":-12.39624, "fx":[74.98011,133.33537,151.18221,66.47302], "fy":[-132.34868,-73.59053,-9.40279,-134.45661]}, - {"t":3.16018, "x":12.9273, "y":2.37458, "heading":-1.07066, "vx":-3.07429, "vy":2.46504, "omega":-2.40161, "ax":6.86085, "ay":-5.3642, "alpha":-6.53863, "fx":[92.15471,128.3346,143.58531,102.73001], "fy":[-121.28132,-82.30262,-49.95581,-111.43449]}, - {"t":3.18545, "x":12.85182, "y":2.43515, "heading":-1.13134, "vx":-2.90094, "vy":2.3295, "omega":-2.56682, "ax":7.01791, "ay":-5.46913, "alpha":-3.40114, "fx":[104.83973,124.47571,134.1365,114.03887], "fy":[-110.73999,-88.24458,-72.30413,-100.82458]}, - {"t":3.21071, "x":12.78076, "y":2.49226, "heading":-1.1962, "vx":-2.72362, "vy":2.19132, "omega":-2.65276, "ax":7.0656, "ay":-5.5134, "alpha":-1.37887, "fx":[113.99554,121.85275,126.34146,118.54546], "fy":[-101.50788,-91.99397,-85.59903,-96.02479]}, - {"t":3.23598, "x":12.7142, "y":2.54586, "heading":-1.26322, "vx":-2.5451, "vy":2.05202, "omega":-2.68759, "ax":7.07697, "ay":-5.52896, "alpha":0.0518, "fx":[120.6137,120.3314,120.14074,120.42331], "fy":[-93.74245,-94.10193,-94.34902,-93.99068]}, - {"t":3.26124, "x":12.65215, "y":2.59595, "heading":-1.33113, "vx":-2.36629, "vy":1.91232, "omega":-2.68629, "ax":7.07388, "ay":-5.53151, "alpha":1.11458, "fx":[125.41718,119.73622,115.12331,121.02195], "fy":[-87.38412,-94.96143,-100.5722,-93.43982]}, - {"t":3.28651, "x":12.59462, "y":2.6425, "heading":-1.399, "vx":-2.18756, "vy":1.77256, "omega":-2.65812, "ax":7.06484, "ay":-5.52827, "alpha":1.92903, "fx":[128.91446,119.89264,110.97423,120.90252], "fy":[-82.28902,-94.85106,-105.24682,-93.75047]}, - {"t":3.31178, "x":12.54161, "y":2.68552, "heading":-1.46616, "vx":-2.00906, "vy":1.63288, "omega":-2.60939, "ax":7.05373, "ay":-5.52243, "alpha":2.56994, "fx":[131.46192,120.63741,107.48567,120.34252], "fy":[-78.28766,-93.97784,-108.89142,-94.5832]}, - {"t":3.33704, "x":12.4931, "y":2.72501, "heading":-1.53209, "vx":-1.83084, "vy":1.49335, "omega":-2.54445, "ax":7.04233, "ay":-5.51533, "alpha":3.08846, "fx":[133.31059,121.82129,104.52225,119.49784], "fy":[-75.21208,-92.50587,-111.80338,-95.73558]}, - {"t":3.36231, "x":12.44909, "y":2.76098, "heading":-1.59638, "vx":-1.6529, "vy":1.354, "omega":-2.46642, "ax":7.0314, "ay":-5.50752, "alpha":3.52081, "fx":[134.63888,123.31037,101.99372,118.46518], "fy":[-72.90796,-90.5734,-114.16536,-97.07874]}, - {"t":3.38758, "x":12.40957, "y":2.79344, "heading":-1.6587, "vx":-1.47525, "vy":1.21484, "omega":-2.37746, "ax":7.02113, "ay":-5.49927, "alpha":3.89259, "fx":[135.57512,124.98757,99.83736,117.30945], "fy":[-71.23886,-88.30223,-116.09658,-98.52661]}, - {"t":3.41284, "x":12.37453, "y":2.82238, "heading":-1.71877, "vx":-1.29785, "vy":1.07589, "omega":-2.27911, "ax":7.01145, "ay":-5.4908, "alpha":4.22126, "fx":[136.21306,126.75402,98.00707,116.07715], "fy":[-70.08674,-85.80173,-117.67929,-100.01968]}, - {"t":3.43811, "x":12.34398, "y":2.84781, "heading":-1.77635, "vx":-1.12069, "vy":0.93716, "omega":-2.17245, "ax":7.00221, "ay":-5.4823, "alpha":4.51812, "fx":[136.62249,128.52983,96.46664,114.80332], "fy":[-69.3506,-83.16982,-118.97338,-101.51574]}, - {"t":3.46337, "x":12.3179, "y":2.86974, "heading":-1.83124, "vx":-0.94377, "vy":0.79864, "omega":-2.0583, "ax":6.99323, "ay":-5.47402, "alpha":4.78995, "fx":[136.85646,130.25399,95.18541,113.51546], "fy":[-68.94447,-80.49233,-120.02477,-102.98434]}, - {"t":3.48864, "x":12.29629, "y":2.88817, "heading":-1.88325, "vx":-0.76708, "vy":0.66034, "omega":-1.93727, "ax":6.9844, "ay":-5.46616, "alpha":5.04038, "fx":[136.95625,131.88313,94.13561,112.23583], "fy":[-68.79538,-77.84184,-120.87053,-104.40333]}, - {"t":3.51391, "x":12.27913, "y":2.90311, "heading":-1.93219, "vx":-0.59061, "vy":0.52223, "omega":-1.80992, "ax":6.97569, "ay":-5.45889, "alpha":5.27116, "fx":[136.95478,133.38944,93.29065,110.98276], "fy":[-68.84137,-75.27698,-121.54198,-105.7566]}, - {"t":3.53917, "x":12.26644, "y":2.91456, "heading":-1.97792, "vx":-0.41436, "vy":0.3843, "omega":-1.67674, "ax":6.96709, "ay":-5.45235, "alpha":5.48302, "fx":[136.87889,134.75795,92.62417,109.77153], "fy":[-69.02984,-72.84229,-122.06674,-107.03252]}, - {"t":3.56444, "x":12.25819, "y":2.92253, "heading":-2.02029, "vx":-0.23833, "vy":0.24654, "omega":-1.5382, "ax":6.95866, "ay":-5.44656, "alpha":5.6764, "fx":[136.75094,135.98366,92.1096,108.61495], "fy":[-69.3161,-70.5691,-122.46998,-108.22286]}, - {"t":3.58971, "x":12.25439, "y":2.92702, "heading":-2.05915, "vx":-0.06251, "vy":0.10893, "omega":-1.39478, "ax":6.95048, "ay":-5.44154, "alpha":5.85184, "fx":[136.58984,137.06874,91.7201,107.52374], "fy":[-69.66223,-68.47698,-122.77516,-109.32196]}, - {"t":3.61497, "x":12.25503, "y":2.92804, "heading":-2.0944, "vx":0.1131, "vy":-0.02856, "omega":-1.24693, "ax":6.96943, "ay":-5.46157, "alpha":5.47181, "fx":[135.50445,136.5958,94.52744,107.56444], "fy":[-71.8792,-69.62858,-120.73119,-109.36021]}, - {"t":3.65062, "x":12.26349, "y":2.92355, "heading":-2.13885, "vx":0.36155, "vy":-0.22326, "omega":-1.05187, "ax":6.96944, "ay":-5.46461, "alpha":5.42966, "fx":[134.86136,137.0491,95.50342,106.77905], "fy":[-73.05628,-68.70173,-119.93773,-110.1103]}, - {"t":3.68627, "x":12.28081, "y":2.91212, "heading":-2.17634, "vx":0.61, "vy":-0.41806, "omega":-0.85831, "ax":6.97021, "ay":-5.46789, "alpha":5.36985, "fx":[134.2713,137.32347,96.47426,106.1761], "fy":[-74.10898,-68.1153,-119.13224,-110.6724]}, - {"t":3.72192, "x":12.30698, "y":2.89374, "heading":-2.20694, "vx":0.85847, "vy":-0.61298, "omega":-0.66689, "ax":6.97174, "ay":-5.47132, "alpha":5.29277, "fx":[133.73719,137.43689,97.41883,105.75613], "fy":[-75.03759,-67.84238,-118.33123,-111.05112]}, - {"t":3.75756, "x":12.34202, "y":2.86841, "heading":-2.23071, "vx":1.107, "vy":-0.80802, "omega":-0.47821, "ax":6.97403, "ay":-5.4749, "alpha":5.19746, "fx":[133.25751,137.39842,98.32835,105.52081], "fy":[-75.84908,-67.86717,-117.54176,-111.2479]}, - {"t":3.79321, "x":12.38591, "y":2.83613, "heading":-2.24776, "vx":1.35561, "vy":-1.00319, "omega":-0.29293, "ax":6.97712, "ay":-5.4787, "alpha":5.08102, "fx":[132.82524,137.20732,99.20848,105.47432], "fy":[-76.55831,-68.18778,-116.75855,-111.25955]}, - {"t":3.82886, "x":12.43867, "y":2.79689, "heading":-2.2582, "vx":1.60433, "vy":-1.19849, "omega":-0.1118, "ax":6.98108, "ay":-5.48285, "alpha":4.9378, "fx":[132.4259,136.85099,100.08263,105.62537], "fy":[-77.19072,-68.81991,-115.96003,-111.07605]}, - {"t":3.86451, "x":12.50029, "y":2.75068, "heading":-2.26219, "vx":1.85319, "vy":-1.39395, "omega":0.06422, "ax":6.98605, "ay":-5.48758, "alpha":4.75804, "fx":[132.03384,136.30077,100.99769,105.99039], "fy":[-77.7876,-69.80267,-115.10155,-110.67671]}, - {"t":3.90016, "x":12.57079, "y":2.6975, "heading":-2.2599, "vx":2.10223, "vy":-1.58957, "omega":0.23383, "ax":6.99222, "ay":-5.49321, "alpha":4.52544, "fx":[131.60455,135.50346,102.03494,106.59945], "fy":[-78.41692,-71.20935,-114.1028,-110.02258]}, - {"t":3.9358, "x":12.65018, "y":2.63734, "heading":-2.25156, "vx":2.35149, "vy":-1.78539, "omega":0.39516, "ax":6.99986, "ay":-5.50019, "alpha":4.21188, "fx":[131.05805,134.36345,103.33207,107.50883], "fy":[-79.19644,-73.16865,-112.82166,-109.04006]}, - {"t":3.97145, "x":12.73845, "y":2.5702, "heading":-2.23748, "vx":2.60102, "vy":-1.98146, "omega":0.5453, "ax":7.00924, "ay":-5.50911, "alpha":3.7655, "fx":[130.23739,132.70166,105.13092,108.83102], "fy":[-80.34864,-75.91089,-110.9939,-107.58008]}, - {"t":4.0071, "x":12.83563, "y":2.49607, "heading":-2.21804, "vx":2.85088, "vy":-2.17785, "omega":0.67953, "ax":7.02021, "ay":-5.52044, "alpha":3.07886, "fx":[128.78649,130.14892,107.89257,110.81905], "fy":[-82.35293,-79.87938,-108.07368,-105.29853]}, - {"t":4.04275, "x":12.94171, "y":2.41493, "heading":-2.19381, "vx":3.10114, "vy":-2.37464, "omega":0.78929, "ax":7.02941, "ay":-5.53273, "alpha":1.88319, "fx":[125.67998,125.81236,112.61555,114.16541], "fy":[-86.47728,-86.04099,-102.72177,-101.2005]}, - {"t":4.0784, "x":13.05673, "y":2.32676, "heading":-2.16568, "vx":3.35173, "vy":-2.57187, "omega":0.85642, "ax":7.005, "ay":-5.52455, "alpha":-0.78098, "fx":[116.29663,116.89729,121.86018,121.55801], "fy":[-97.50459,-96.92996,-90.60115,-90.84845]}, - {"t":4.11404, "x":13.18066, "y":2.23157, "heading":-2.13515, "vx":3.60144, "vy":-2.76881, "omega":0.82858, "ax":6.04629, "ay":-4.6662, "alpha":-14.98129, "fx":[33.53648,90.06445,141.75261,146.02896], "fy":[-143.45417,-120.38857,-49.70594,-3.934]}, - {"t":4.14969, "x":13.31289, "y":2.1299, "heading":-2.10561, "vx":3.81698, "vy":-2.93515, "omega":0.29453, "ax":1.47538, "ay":-2.20028, "alpha":-8.11557, "fx":[-6.54996,30.98219,55.9046,20.04641], "fy":[-48.74858,-64.32135,-29.28365,-7.35089]}, - {"t":4.18534, "x":13.44989, "y":2.02387, "heading":-2.09511, "vx":3.86957, "vy":-3.01359, "omega":0.00522, "ax":-0.01197, "ay":-0.01979, "alpha":-0.00798, "fx":[-0.23295,-0.19594,-0.1744,-0.21136], "fy":[-0.34448,-0.36596,-0.32886,-0.30742]}, - {"t":4.22099, "x":13.58783, "y":1.91643, "heading":-2.09492, "vx":3.86915, "vy":-3.01429, "omega":0.00494, "ax":0.55456, "ay":0.71672, "alpha":0.00008, "fx":[9.43318,9.43272,9.43257,9.4331], "fy":[12.19131,12.19149,12.19122,12.19096]}, - {"t":4.25664, "x":13.72611, "y":1.80943, "heading":-2.09475, "vx":3.88891, "vy":-2.98874, "omega":0.00494, "ax":1.89726, "ay":2.5288, "alpha":0.00066, "fx":[32.27422,32.27081,32.26929,32.27277], "fy":[43.01456,43.01663,43.01395,43.01183]}, - {"t":4.29228, "x":13.86595, "y":1.70449, "heading":-2.09457, "vx":3.95655, "vy":-2.8986, "omega":0.00497, "ax":3.59276, "ay":5.19312, "alpha":-0.00177, "fx":[61.10507,61.1169,61.11869,61.10688], "fy":[88.33494,88.32724,88.33188,88.33957]}, - {"t":4.32793, "x":14.00927, "y":1.60446, "heading":-2.0944, "vx":4.08462, "vy":-2.71347, "omega":0.0049, "ax":3.26076, "ay":5.19313, "alpha":0.09209, "fx":[55.83171,55.21631,55.09618,55.71424], "fy":[88.26605,88.64079,88.40207,88.02563]}, - {"t":4.35311, "x":14.11314, "y":1.5378, "heading":-2.09427, "vx":4.16671, "vy":-2.58273, "omega":0.00722, "ax":2.35147, "ay":3.89385, "alpha":-0.00011, "fx":[39.99733,39.99797,39.99818,39.99754], "fy":[66.23331,66.23293,66.23332,66.23369]}, - {"t":4.37828, "x":14.21878, "y":1.47401, "heading":-2.09409, "vx":4.22591, "vy":-2.4847, "omega":0.00722, "ax":1.67374, "ay":2.90314, "alpha":-0.00033, "fx":[28.46849,28.47025,28.47102,28.46927], "fy":[49.38135,49.38034,49.38168,49.38269]}, - {"t":4.40346, "x":14.3257, "y":1.41238, "heading":-2.09391, "vx":4.26805, "vy":-2.41161, "omega":0.00721, "ax":1.64307, "ay":2.96822, "alpha":0.00017, "fx":[27.94875,27.94786,27.94747,27.94837], "fy":[50.48871,50.48922,50.48855,50.48804]}, - {"t":4.42863, "x":14.43367, "y":1.3526, "heading":-2.09373, "vx":4.30942, "vy":-2.33689, "omega":0.00721, "ax":2.16491, "ay":4.10998, "alpha":0.00114, "fx":[36.829,36.82226,36.81993,36.82667], "fy":[69.90967,69.91341,69.90958,69.90584]}, - {"t":4.45381, "x":14.54285, "y":1.29507, "heading":-2.09354, "vx":4.36392, "vy":-2.23342, "omega":0.00724, "ax":2.73661, "ay":5.58438, "alpha":0.02805, "fx":[46.67133,46.47482,46.42658,46.62336], "fy":[94.96975,95.07196,95.00768,94.90535]}, - {"t":4.47899, "x":14.65358, "y":1.24061, "heading":-2.09336, "vx":4.43281, "vy":-2.09283, "omega":0.00795, "ax":2.46679, "ay":6.89121, "alpha":1.95558, "fx":[51.51511,36.48674,31.52602,48.30947], "fy":[115.30002,121.44448,119.35206,112.77318]}, - {"t":4.50416, "x":14.76596, "y":1.19011, "heading":-2.09316, "vx":4.49492, "vy":-1.91934, "omega":0.05718, "ax":-3.4185, "ay":5.7516, "alpha":16.91763, "fx":[44.80327,-52.09581,-126.44758,-98.85065], "fy":[136.01442,137.21635,70.67048,47.43118]}, - {"t":4.52934, "x":14.87804, "y":1.14361, "heading":-2.09172, "vx":4.40885, "vy":-1.77454, "omega":0.48309, "ax":-4.85785, "ay":4.80361, "alpha":19.36663, "fx":[21.583,-72.30219,-139.50761,-140.29546], "fy":[146.13719,131.71845,54.41285,-5.43633]}, - {"t":4.55451, "x":14.9875, "y":1.10046, "heading":-2.07956, "vx":4.28656, "vy":-1.6536, "omega":0.97066, "ax":-5.16575, "ay":4.55568, "alpha":19.90901, "fx":[14.59855,-78.33183,-143.00975,-144.72866], "fy":[148.94352,129.59668,48.94012,-17.51677]}, - {"t":4.57969, "x":15.09378, "y":1.06027, "heading":-2.05512, "vx":4.1565, "vy":-1.53891, "omega":1.47188, "ax":-5.45086, "ay":4.61607, "alpha":18.79484, "fx":[4.263,-83.12029,-144.30559,-147.70771], "fy":[150.63775,127.25424,47.10199,-10.92155]}, - {"t":4.60486, "x":15.19669, "y":1.02299, "heading":-2.01807, "vx":4.01928, "vy":-1.4227, "omega":1.94505, "ax":-6.41517, "ay":5.30367, "alpha":10.66086, "fx":[-54.07272,-97.74574,-141.21128,-143.45118], "fy":[141.43983,116.7489,56.62785,46.03892]}, - {"t":4.63004, "x":15.29585, "y":0.98886, "heading":-1.9691, "vx":3.85777, "vy":-1.28918, "omega":2.21344, "ax":-6.92897, "ay":5.32819, "alpha":6.1599, "fx":[-88.7686,-108.9585,-137.88845,-135.82359], "fy":[123.38809,106.63387,64.8457,67.65656]}, - {"t":4.65521, "x":15.39077, "y":0.95809, "heading":-1.91338, "vx":3.68333, "vy":-1.15504, "omega":2.36852, "ax":-7.1892, "ay":5.22843, "alpha":3.65267, "fx":[-106.28574,-116.44258,-134.907,-131.50931], "fy":[109.17272,98.63091,71.20746,76.72537]}, - {"t":4.68039, "x":15.48123, "y":0.93067, "heading":-1.85375, "vx":3.50234, "vy":-1.02341, "omega":2.46048, "ax":-7.3355, "ay":5.12809, "alpha":2.05344, "fx":[-116.22906,-121.46324,-132.23485,-129.17173], "fy":[98.8786,92.56188,76.319,81.1498]}, - {"t":4.70557, "x":15.56707, "y":0.90653, "heading":-1.7918, "vx":3.31766, "vy":-0.8943, "omega":2.51218, "ax":-7.42545, "ay":5.04375, "alpha":0.93264, "fx":[-122.54984,-124.86598,-129.83695,-127.96622], "fy":[91.18966,88.06995,80.52973,83.38153]}, - {"t":4.73074, "x":15.64824, "y":0.88561, "heading":-1.72856, "vx":3.13072, "vy":-0.76732, "omega":2.53566, "ax":-7.48456, "ay":4.9747, "alpha":0.0977, "fx":[-126.92503,-127.17133,-127.69314,-127.45164], "fy":[85.19452,84.83395,84.04301,84.40118]}, - {"t":4.75592, "x":15.72469, "y":0.86787, "heading":-1.66472, "vx":2.94229, "vy":-0.64208, "omega":2.53812, "ax":-7.52544, "ay":4.91792, "alpha":-0.54975, "fx":[-130.14575,-128.70276,-125.79213,-127.38185], "fy":[80.34577,82.59883,86.98712,84.67786]}, - {"t":4.78109, "x":15.79638, "y":0.85326, "heading":-1.60082, "vx":2.75284, "vy":-0.51827, "omega":2.52428, "ax":-7.55488, "ay":4.87071, "alpha":-1.06579, "fx":[-132.62365,-129.66744,-124.12574,-127.60854], "fy":[76.31355,81.16665,89.45075,84.4666]}, - {"t":4.80627, "x":15.86329, "y":0.84176, "heading":-1.53727, "vx":2.56264, "vy":-0.39565, "omega":2.49744, "ax":-7.57679, "ay":4.831, "alpha":-1.48548, "fx":[-134.5912,-130.2032,-122.68563,-128.03623], "fy":[72.89271,80.3821,91.5007,83.92012]}, - {"t":4.83144, "x":15.9254, "y":0.83333, "heading":-1.4744, "vx":2.37189, "vy":-0.27403, "omega":2.46005, "ax":-7.59355, "ay":4.79725, "alpha":-1.83247, "fx":[-136.18886,-130.40556,-121.46164,-128.60023], "fy":[69.95088,80.1206,93.19081,83.13699]}, - {"t":4.85662, "x":15.98271, "y":0.82795, "heading":-1.41246, "vx":2.18072, "vy":-0.15325, "omega":2.41391, "ax":-7.60664, "ay":4.76831, "alpha":-2.12371, "fx":[-137.50655,-130.34381,-120.44147,-129.25495], "fy":[67.39942,80.27971,94.56654,82.18481]}, - {"t":4.8818, "x":16.0352, "y":0.8256, "heading":-1.35169, "vx":1.98922, "vy":-0.03321, "omega":2.36045, "ax":-7.61702, "ay":4.74332, "alpha":-2.37184, "fx":[-138.60469,-130.07055,-119.61084,-129.96727], "fy":[65.17672,80.77335,95.66744,81.11223]}, - {"t":4.90697, "x":16.08287, "y":0.82627, "heading":-1.29227, "vx":1.79745, "vy":0.08621, "omega":2.30073, "ax":-7.62535, "ay":4.72157, "alpha":-2.58654, "fx":[-139.52569,-129.62766,-118.95405,-130.71265], "fy":[63.23829,81.52807,96.52843,79.95567]}, - {"t":4.93215, "x":16.1257, "y":0.82994, "heading":-1.23435, "vx":1.60548, "vy":0.20508, "omega":2.23562, "ax":-7.63207, "ay":4.70254, "alpha":-2.77523, "fx":[-140.30049,-129.04983,-118.4545,-131.47265], "fy":[61.55065,82.48061,97.18062,78.74327]}, - {"t":4.95732, "x":16.1637, "y":0.83659, "heading":-1.17806, "vx":1.41334, "vy":0.32346, "omega":2.16575, "ax":-7.63752, "ay":4.68575, "alpha":-2.94358, "fx":[-140.95243,-128.36686,-118.09531,-132.23327], "fy":[60.08752,83.5764,97.65186,77.49734]}, - {"t":4.9825, "x":16.19686, "y":0.84622, "heading":-1.12354, "vx":1.22106, "vy":0.44143, "omega":2.09164, "ax":-7.64193, "ay":4.67084, "alpha":-3.09582, "fx":[-141.49973,-127.60487,-117.85969,-132.98387], "fy":[58.82728,84.76857,97.96714,76.23593]}, - {"t":5.00767, "x":16.22518, "y":0.85881, "heading":-1.07088, "vx":1.02867, "vy":0.55902, "omega":2.0137, "ax":-7.64551, "ay":4.65751, "alpha":-3.23506, "fx":[-141.95697,-126.78706,-117.73136,-133.7164], "fy":[57.75132,86.01721,98.14895,74.97383]}, - {"t":5.03285, "x":16.24866, "y":0.87436, "heading":-1.02018, "vx":0.83619, "vy":0.67628, "omega":1.93226, "ax":-7.64842, "ay":4.64547, "alpha":-3.36348, "fx":[-142.33621,-125.93406,-117.69475,-134.42477], "fy":[56.84298,87.2889,98.21756,73.72334]}, - {"t":5.05802, "x":16.26729, "y":0.89286, "heading":-0.97154, "vx":0.64364, "vy":0.79323, "omega":1.84758, "ax":-7.6508, "ay":4.63454, "alpha":-3.48257, "fx":[-142.64763,-125.06408,-117.73518,-135.1045], "fy":[56.08677,88.55614,98.1913,72.49474]}, - {"t":5.0832, "x":16.28106, "y":0.9143, "heading":-0.92502, "vx":0.45102, "vy":0.90991, "omega":1.75991, "ax":-7.66949, "ay":4.63, "alpha":-3.28091, "fx":[-142.12565,-125.0653,-119.11009,-135.5221], "fy":[57.68161,88.77024,96.6713,71.89696]}, - {"t":5.12631, "x":16.29338, "y":0.95783, "heading":-0.84916, "vx":0.1204, "vy":1.1095, "omega":1.61847, "ax":-7.67776, "ay":4.6138, "alpha":-3.29784, "fx":[-142.0265,-124.1487,-119.86846,-136.34264], "fy":[57.88179,90.02283,95.71134,70.30157]}, - {"t":5.16942, "x":16.29144, "y":1.00994, "heading":-0.77939, "vx":-0.21058, "vy":1.3084, "omega":1.4763, "ax":-7.68778, "ay":4.59445, "alpha":-3.31213, "fx":[-141.91444,-123.40534,-120.65025,-137.09738], "fy":[58.10462,91.0098,94.7018,68.78509]}, - {"t":5.21253, "x":16.27522, "y":1.07062, "heading":-0.71574, "vx":-0.542, "vy":1.50646, "omega":1.33352, "ax":-7.70002, "ay":4.57099, "alpha":-3.32335, "fx":[-141.81032,-122.84349,-121.44918,-137.7978], "fy":[58.29647,91.73119,93.64738,67.32977]}, - {"t":5.25564, "x":16.2447, "y":1.13981, "heading":-0.65826, "vx":-0.87394, "vy":1.70351, "omega":1.19025, "ax":-7.71525, "ay":4.54191, "alpha":-3.33159, "fx":[-141.73823,-122.47374,-122.26638,-138.45852], "fy":[58.39544,92.18,92.54265,65.90799]}, - {"t":5.29875, "x":16.19985, "y":1.21746, "heading":-0.60695, "vx":-1.20653, "vy":1.89931, "omega":1.04663, "ax":-7.73461, "ay":4.50483, "alpha":-3.33729, "fx":[-141.72749,-122.31443,-123.11306,-139.09894], "fy":[58.32482,92.33439,91.36712,64.47698]}, - {"t":5.34185, "x":16.14065, "y":1.30353, "heading":-0.56183, "vx":-1.53997, "vy":2.09351, "omega":0.90276, "ax":-7.75998, "ay":4.45579, "alpha":-3.34105, "fx":[-141.8168,-122.40067,-124.01604,-139.7467], "fy":[57.9795,92.14395,90.07517,62.96808]}, - {"t":5.38496, "x":16.06706, "y":1.39792, "heading":-0.52291, "vx":-1.87449, "vy":2.2856, "omega":0.75873, "ax":-7.79466, "ay":4.38769, "alpha":-3.34338, "fx":[-142.06281,-122.80208,-125.02991,-140.44506], "fy":[57.19551,91.50114,88.57362,61.26282]}, - {"t":5.42807, "x":15.97901, "y":1.50052, "heading":-0.4902, "vx":-2.21051, "vy":2.47474, "omega":0.6146, "ax":-7.84493, "ay":4.28647, "alpha":-3.34444, "fx":[-142.5599,-123.66333,-126.26681,-141.27008], "fy":[55.67533,90.1714,86.66587,59.13396]}, - {"t":5.47118, "x":15.87642, "y":1.61119, "heading":-0.46371, "vx":-2.5487, "vy":2.65953, "omega":0.47043, "ax":-7.92431, "ay":4.11996, "alpha":-3.34302, "fx":[-143.49008,-125.31505,-127.97968,-142.37605], "fy":[52.77185,87.58605,83.88591,56.07358]}, - {"t":5.51429, "x":15.75919, "y":1.72967, "heading":-0.44343, "vx":-2.89031, "vy":2.83714, "omega":0.32631, "ax":-8.06766, "ay":3.79505, "alpha":-3.33136, "fx":[-145.26619,-128.65493,-130.85483,-144.13842], "fy":[46.68261,82.03126,78.85209,50.64498]}, - {"t":5.5574, "x":15.62709, "y":1.8555, "heading":-0.42936, "vx":-3.2381, "vy":3.00074, "omega":0.1827, "ax":-8.39092, "ay":2.89269, "alpha":-3.24693, "fx":[-148.85017,-136.92538,-137.46555,-147.66729], "fy":[29.73298,65.40148,65.1072,36.57355]}, - {"t":5.60051, "x":15.4797, "y":1.98755, "heading":-0.42148, "vx":-3.59983, "vy":3.12544, "omega":0.04273, "ax":-7.54393, "ay":-4.25765, "alpha":-1.05045, "fx":[-124.59374,-127.53231,-131.95618,-129.19817], "fy":[-78.95361,-73.36046,-65.7084,-71.66305]}, - {"t":5.64362, "x":15.31751, "y":2.11833, "heading":-0.41964, "vx":-3.92504, "vy":2.9419, "omega":-0.00256, "ax":-4.84086, "ay":-6.96391, "alpha":0.00255, "fx":[-82.35371,-82.35066,-82.3297,-82.33275], "fy":[-118.44505,-118.44909,-118.46329,-118.45925]}, - {"t":5.68673, "x":15.14381, "y":2.23868, "heading":-0.41975, "vx":-4.13372, "vy":2.64169, "omega":-0.00245, "ax":-3.93294, "ay":-7.492, "alpha":-1.40317, "fx":[-60.73286,-60.54249,-73.61586,-72.70156], "fy":[-131.14361,-130.24028,-123.39971,-124.96343]}, - {"t":5.72984, "x":14.96195, "y":2.3456, "heading":-0.41986, "vx":-4.30327, "vy":2.31872, "omega":-0.06293, "ax":4.36827, "ay":-5.01043, "alpha":-19.89549, "fx":[65.9114,140.53926,133.74445,-42.98279], "fy":[-136.5472,-55.32545,-4.69354,-144.33763]}, - {"t":5.77295, "x":14.7805, "y":2.4409, "heading":-0.42257, "vx":-4.11496, "vy":2.10272, "omega":-0.92061, "ax":6.42307, "ay":-5.84063, "alpha":-7.00049, "fx":[99.85075,134.67048,130.8593,71.63751], "fy":[-115.27525,-71.35072,-76.65697,-134.10689]}, - {"t":5.81605, "x":14.60907, "y":2.52612, "heading":-0.46226, "vx":-3.83806, "vy":1.85094, "omega":-1.2224, "ax":7.02548, "ay":-5.53133, "alpha":-2.67028, "fx":[113.72572,129.04132,127.14397,108.09445], "fy":[-102.10923,-81.86161,-84.50956,-107.86467]}, - {"t":5.85916, "x":14.45015, "y":2.60077, "heading":-0.51495, "vx":-3.5352, "vy":1.61249, "omega":-1.33751, "ax":7.22869, "ay":-5.34415, "alpha":-0.94112, "fx":[120.48231,126.1942,125.65503,119.50026], "fy":[-94.32566,-86.5282,-87.24598,-95.51025]}, - {"t":5.90227, "x":14.30446, "y":2.66532, "heading":-0.57261, "vx":-3.22358, "vy":1.3821, "omega":-1.37808, "ax":7.32567, "ay":-5.23165, "alpha":-0.01335, "fx":[124.56825,124.65119,124.64696,124.56394], "fy":[-89.0443,-88.92813,-88.93338,-89.04966]}, - {"t":5.94538, "x":14.17231, "y":2.72004, "heading":-0.63202, "vx":-2.90778, "vy":1.15657, "omega":-1.37866, "ax":7.38155, "ay":-5.15754, "alpha":0.56786, "fx":[127.36459,123.81551,123.81821,127.23391], "fy":[-85.12665,-90.21035,-90.22976,-85.34622]}, - {"t":5.98849, "x":14.05381, "y":2.76511, "heading":-0.69145, "vx":-2.58956, "vy":0.93423, "omega":-1.35418, "ax":7.4176, "ay":-5.10521, "alpha":0.96711, "fx":[129.42593,123.40917,123.086,128.76418], "fy":[-82.05581,-90.85054,-91.32074,-83.12584]}, - {"t":6.0316, "x":13.94907, "y":2.80064, "heading":-0.74983, "vx":-2.2698, "vy":0.71415, "omega":-1.31249, "ax":7.44268, "ay":-5.06637, "alpha":1.25831, "fx":[131.01697,123.28304,122.42239,129.66901], "fy":[-79.5663,-91.08445,-92.27457,-81.78435]}, - {"t":6.07471, "x":13.85814, "y":2.82672, "heading":-0.80641, "vx":-1.94895, "vy":0.49575, "omega":-1.25824, "ax":7.46108, "ay":-5.03641, "alpha":1.4797, "fx":[132.28125,123.34729,121.81682,130.19795], "fy":[-77.50667,-91.0459,-93.12125,-80.9979]}, - {"t":6.11782, "x":13.78105, "y":2.84341, "heading":-0.86065, "vx":-1.62731, "vy":0.27863, "omega":-1.19445, "ax":7.47514, "ay":-5.01263, "alpha":1.65319, "fx":[133.30487,123.54253,121.26477,130.48755], "fy":[-75.7821,-90.81948,-93.87633,-80.57587]}, - {"t":6.16093, "x":13.71785, "y":2.85076, "heading":-0.91214, "vx":-1.30506, "vy":0.06254, "omega":-1.12318, "ax":7.48622, "ay":-4.99331, "alpha":1.79237, "fx":[134.14394,123.82658,120.76373,130.61961], "fy":[-74.328,-90.46353,-94.54949,-80.39781]}, - {"t":6.20404, "x":13.66854, "y":2.84882, "heading":-0.96056, "vx":-0.98234, "vy":-0.15272, "omega":-1.04592, "ax":7.49519, "ay":-4.97729, "alpha":1.90618, "fx":[134.83756,124.16791,120.31167,130.64668], "fy":[-73.09706,-90.02102,-95.14794,-80.38327]}, - {"t":6.24715, "x":13.63316, "y":2.83761, "heading":-1.00565, "vx":-0.65923, "vy":-0.36728, "omega":-0.96374, "ax":7.50259, "ay":-4.96381, "alpha":2.00079, "fx":[135.41448,124.54212,119.90644,130.60453], "fy":[-72.05252,-89.52522,-95.67786,-80.47615]}, - {"t":6.29025, "x":13.61171, "y":2.81716, "heading":-1.0472, "vx":-0.3358, "vy":-0.58127, "omega":-0.87749, "ax":7.51054, "ay":-4.9578, "alpha":1.84547, "fx":[135.01798,125.27699,120.48462,130.22917], "fy":[-72.79605,-88.49686,-94.94819,-81.08183]}, - {"t":6.33359, "x":13.60421, "y":2.78732, "heading":-1.08522, "vx":-0.01035, "vy":-0.7961, "omega":-0.79752, "ax":7.51311, "ay":-4.95259, "alpha":1.84232, "fx":[135.10197,125.6461,120.41958,130.01544], "fy":[-72.6123,-87.94611,-95.00893,-81.40112]}, - {"t":6.37692, "x":13.61082, "y":2.74817, "heading":-1.11978, "vx":0.31521, "vy":-1.01071, "omega":-0.71769, "ax":7.51617, "ay":-4.94633, "alpha":1.83906, "fx":[135.17769,125.99801,120.38645,129.82955], "fy":[-72.43772,-87.41001,-95.02489,-81.66974]}, - {"t":6.42025, "x":13.63153, "y":2.69973, "heading":-1.15088, "vx":0.64091, "vy":-1.22505, "omega":-0.638, "ax":7.51991, "ay":-4.93866, "alpha":1.83557, "fx":[135.24953,126.33475,120.38659,129.67495], "fy":[-72.26234,-86.88439,-94.993,-81.88139]}, - {"t":6.46359, "x":13.66637, "y":2.64201, "heading":-1.17853, "vx":0.96677, "vy":-1.43905, "omega":-0.55846, "ax":7.52456, "ay":-4.92909, "alpha":1.83165, "fx":[135.32247,126.66023,120.42337,129.55612], "fy":[-72.07397,-86.36129,-94.9068,-82.02731]}, - {"t":6.50692, "x":13.71532, "y":2.57503, "heading":-1.20273, "vx":1.29282, "vy":-1.65264, "omega":-0.47909, "ax":7.5305, "ay":-4.91677, "alpha":1.82698, "fx":[135.40268,126.98124,120.50355,129.47947], "fy":[-71.85643,-85.82673,-94.75415,-82.09433]}, - {"t":6.55025, "x":13.77841, "y":2.4988, "heading":-1.22349, "vx":1.61914, "vy":-1.8657, "omega":-0.39992, "ax":7.53839, "ay":-4.90037, "alpha":1.82106, "fx":[135.49872,127.30958,120.63991,129.455], "fy":[-71.58578,-85.25615,-94.51275,-82.061]}, - {"t":6.59358, "x":13.85565, "y":2.41335, "heading":-1.24081, "vx":1.9458, "vy":-2.07804, "omega":-0.32101, "ax":7.54933, "ay":-4.87745, "alpha":1.81296, "fx":[135.62411,127.66651,120.85698,129.50003], "fy":[-71.22225,-84.60434,-94.14012,-81.88917]}, - {"t":6.63692, "x":13.94706, "y":2.31873, "heading":-1.25472, "vx":2.27293, "vy":-2.2894, "omega":-0.24245, "ax":7.56554, "ay":-4.84315, "alpha":1.80087, "fx":[135.80344,128.09393,121.205,129.64808], "fy":[-70.69022,-83.78036,-93.54896,-81.50302]}, - {"t":6.68025, "x":14.05265, "y":2.21497, "heading":-1.26523, "vx":2.60076, "vy":-2.49926, "omega":-0.16441, "ax":7.59202, "ay":-4.78626, "alpha":1.78047, "fx":[136.09004,128.68649,121.80067,129.97492], "fy":[-69.81896,-82.57303,-92.53305,-80.72679]}, - {"t":6.72358, "x":14.17248, "y":2.10218, "heading":-1.27236, "vx":2.92975, "vy":-2.70666, "omega":-0.08726, "ax":7.64302, "ay":-4.67352, "alpha":1.73878, "fx":[136.63135,129.71159,122.98224,130.69715], "fy":[-68.11092,-80.35841,-90.47321,-79.03821]}, - {"t":6.76691, "x":14.30661, "y":1.98051, "heading":-1.27614, "vx":3.26094, "vy":-2.90918, "omega":-0.01191, "ax":7.78127, "ay":-4.34396, "alpha":1.61172, "fx":[138.05565,132.32265,126.26865,132.78145], "fy":[-63.19554,-74.14818,-84.32542,-73.88893]}, - {"t":6.81025, "x":14.45522, "y":1.85036, "heading":-1.27665, "vx":3.59812, "vy":-3.09741, "omega":0.05793, "ax":7.30294, "ay":3.2444, "alpha":-1.30459, "fx":[125.77077,127.5343,122.91099,120.6679], "fy":[49.66857,49.30469,60.27721,61.49495]}, - {"t":6.85358, "x":14.61799, "y":1.71919, "heading":-1.27414, "vx":3.91457, "vy":-2.95683, "omega":0.00139, "ax":3.4947, "ay":4.88196, "alpha":-0.00479, "fx":[59.44081,59.46578,59.44688,59.42191], "fy":[83.0306,83.02674,83.05099,83.05485]}, - {"t":6.89691, "x":14.7909, "y":1.59565, "heading":-1.27408, "vx":4.06601, "vy":-2.74528, "omega":0.00119, "ax":3.08316, "ay":4.85335, "alpha":0.03635, "fx":[52.47492,52.27704,52.41251,52.61034], "fy":[82.63119,82.65254,82.4771,82.4558]}, - {"t":6.94024, "x":14.96998, "y":1.48125, "heading":-1.27403, "vx":4.19961, "vy":-2.53497, "omega":0.00276, "ax":-2.89424, "ay":6.63155, "alpha":14.35117, "fx":[-12.32883,-90.32659,-121.55634,27.29131], "fy":[143.87524,113.21971,63.53383,130.5744]}, - {"t":6.98358, "x":15.14925, "y":1.37762, "heading":-1.27391, "vx":4.0742, "vy":-2.24761, "omega":0.62463, "ax":-6.94647, "ay":5.49668, "alpha":3.42219, "fx":[-102.38772,-121.67551,-133.34878,-115.21814], "fy":[112.14415,91.15317,72.43113,98.25934]}, - {"t":7.02691, "x":15.31927, "y":1.28539, "heading":-1.24684, "vx":3.77319, "vy":-2.00942, "omega":0.77293, "ax":-7.24457, "ay":5.29054, "alpha":0.84382, "fx":[-119.50849,-123.91599,-126.89993,-122.58773], "fy":[94.99317,89.21537,84.84456,90.90951]}, - {"t":7.07024, "x":15.47597, "y":1.20328, "heading":-1.21335, "vx":3.45926, "vy":-1.78017, "omega":0.80949, "ax":-7.32996, "ay":5.20843, "alpha":-0.0475, "fx":[-124.88454,-124.64019,-124.4763,-124.72093], "fy":[88.30602,88.64868,88.88145,88.53975]}, - {"t":7.11357, "x":15.61899, "y":1.13104, "heading":-1.17827, "vx":3.14164, "vy":-1.55447, "omega":0.80743, "ax":-7.36965, "ay":5.16495, "alpha":-0.49659, "fx":[-127.45364,-124.88472,-123.24591,-125.83801], "fy":[84.81967,88.5436,90.83334,87.22079]}, - {"t":7.15691, "x":15.7482, "y":1.06852, "heading":-1.14329, "vx":2.82229, "vy":-1.33066, "omega":0.78591, "ax":-7.39239, "ay":5.1382, "alpha":-0.76683, "fx":[-128.94043,-124.92081,-122.52579,-126.58296], "fy":[82.70505,88.64179,91.95229,86.29786]}, - {"t":7.20024, "x":15.86356, "y":1.01569, "heading":-1.10923, "vx":2.50196, "vy":-1.10801, "omega":0.75269, "ax":-7.40705, "ay":5.12017, "alpha":-0.94733, "fx":[-129.89791,-124.85263,-122.07122,-127.14556], "fy":[81.30378,88.83936,92.65385,85.57325]}, - {"t":7.24357, "x":15.96502, "y":0.97248, "heading":-1.07661, "vx":2.18099, "vy":-0.88614, "omega":0.71164, "ax":-7.41723, "ay":5.10726, "alpha":-1.07652, "fx":[-130.55686,-124.72958,-121.77226,-127.60088], "fy":[80.32162,89.0856,93.11659,84.96827]}, - {"t":7.2869, "x":16.05257, "y":0.93888, "heading":-1.04578, "vx":1.85958, "vy":-0.66483, "omega":0.66499, "ax":-7.42466, "ay":5.09762, "alpha":-1.17362, "fx":[-131.03088,-124.57838,-121.57159,-127.98426], "fy":[79.6068,89.35259,93.43077,84.44602]}, - {"t":7.33024, "x":16.12618, "y":0.91486, "heading":-1.01696, "vx":1.53786, "vy":-0.44394, "omega":0.61413, "ax":-7.43028, "ay":5.09019, "alpha":-1.24932, "fx":[-131.38272,-124.4149,-121.43598,-128.31446], "fy":[79.07245,89.62366,93.64747,83.98711]}, - {"t":7.37357, "x":16.18584, "y":0.9004, "heading":-0.99035, "vx":1.21588, "vy":-0.22337, "omega":0.56, "ax":-7.43467, "ay":5.08433, "alpha":-1.31002, "fx":[-131.65015,-124.24916,-121.34454,-128.60238], "fy":[78.66478,89.88831,93.7982,83.58048]}, - {"t":7.4169, "x":16.23155, "y":0.89549, "heading":-0.96608, "vx":0.89372, "vy":-0.00305, "omega":0.50323, "ax":-7.43815, "ay":5.07961, "alpha":-1.35979, "fx":[-131.85752,-124.08781,-121.2833,-128.8548], "fy":[78.3483,90.13965,93.9037,83.21932]}, - {"t":7.46023, "x":16.26329, "y":0.90013, "heading":-0.94428, "vx":0.5714, "vy":0.21706, "omega":0.44431, "ax":-7.44097, "ay":5.07576, "alpha":-1.40133, "fx":[-132.02138,-123.93539,-121.2424,-129.07622], "fy":[78.09835,90.37309,93.97835,82.89925]}, - {"t":7.50357, "x":16.28106, "y":0.9143, "heading":-0.92502, "vx":0.24897, "vy":0.43701, "omega":0.38358, "ax":-7.44458, "ay":5.0737, "alpha":-1.28665, "fx":[-131.59465,-124.11943,-121.78731,-129.0191], "fy":[78.81953,90.12533,93.27391,82.99021]}, - {"t":7.5475, "x":16.28482, "y":0.93839, "heading":-0.90817, "vx":-0.07807, "vy":0.65989, "omega":0.32706, "ax":-7.44608, "ay":5.07029, "alpha":-1.27933, "fx":[-131.55381,-124.07426,-121.89114,-129.10375], "fy":[78.86082,90.16375,93.11706,82.83495]}, - {"t":7.59143, "x":16.2742, "y":0.97227, "heading":-0.89381, "vx":-0.40518, "vy":0.88263, "omega":0.27086, "ax":-7.44783, "ay":5.06628, "alpha":-1.27042, "fx":[-131.51499,-124.05187,-121.99821,-129.17658], "fy":[78.89336,90.16603,92.95128,82.69302]}, - {"t":7.63536, "x":16.24922, "y":1.01594, "heading":-0.88191, "vx":-0.73236, "vy":1.10519, "omega":0.21505, "ax":-7.4499, "ay":5.06146, "alpha":-1.25942, "fx":[-131.47805,-124.05463,-122.11149,-129.23819], "fy":[78.91567,90.12734,92.77114,82.56203]}, - {"t":7.67929, "x":16.20986, "y":1.06937, "heading":-0.87246, "vx":-1.05963, "vy":1.32754, "omega":0.15972, "ax":-7.45241, "ay":5.05553, "alpha":-1.24553, "fx":[-131.44234,-124.08627,-122.23578,-129.28928], "fy":[78.92611,90.04008,92.56803,82.43855]}, - {"t":7.72322, "x":16.15612, "y":1.13257, "heading":-0.86544, "vx":-1.38701, "vy":1.54963, "omega":0.10501, "ax":-7.45558, "ay":5.048, "alpha":-1.22753, "fx":[-131.40655,-124.15284,-122.3789,-129.33074], "fy":[78.92274,89.89199,92.32796,82.31742]}, - {"t":7.76715, "x":16.08799, "y":1.20551, "heading":-0.86083, "vx":-1.71454, "vy":1.77139, "omega":0.05108, "ax":-7.45972, "ay":5.03804, "alpha":-1.20337, "fx":[-131.36811,-124.26454,-122.55402,-129.36383], "fy":[78.90284,89.66228,92.02722,82.19035]}, - {"t":7.81108, "x":16.00547, "y":1.28819, "heading":-0.85859, "vx":-2.04224, "vy":1.99271, "omega":-0.00178, "ax":-7.4654, "ay":5.0242, "alpha":-1.16937, "fx":[-131.32208,-124.43973,-122.78497,-129.39055], "fy":[78.86202,89.31327,91.62261,82.04261]}, - {"t":7.85501, "x":15.90856, "y":1.38058, "heading":-0.85866, "vx":-2.37019, "vy":2.21342, "omega":-0.05315, "ax":-7.47377, "ay":5.00351, "alpha":-1.11812, "fx":[-131.25836,-124.71476,-123.1191,-129.41457], "fy":[78.79187,88.76948,91.02707,81.845]}, - {"t":7.89893, "x":15.79722, "y":1.48264, "heading":-0.861, "vx":-2.69851, "vy":2.43322, "omega":-0.10227, "ax":-7.48742, "ay":4.96911, "alpha":-1.03241, "fx":[-131.15328,-125.17252,-123.66549,-129.44387], "fy":[78.67292,87.85524,90.03552,81.5292]}, - {"t":7.94286, "x":15.67145, "y":1.59433, "heading":-0.86549, "vx":-3.02743, "vy":2.65151, "omega":-0.14762, "ax":-7.51382, "ay":4.90021, "alpha":-0.86079, "fx":[-130.93695,-126.05046,-124.74291,-129.50127], "fy":[78.44485,86.04841,88.02417,80.88697]}, - {"t":7.98679, "x":15.53121, "y":1.71554, "heading":-0.87198, "vx":-3.35752, "vy":2.86678, "omega":-0.18544, "ax":-7.58704, "ay":4.69143, "alpha":-0.35192, "fx":[-130.28505,-128.40002,-127.82976,-129.69878], "fy":[77.76842,80.81602,81.79352,78.82188]}, - {"t":8.03072, "x":15.37639, "y":1.846, "heading":-0.88012, "vx":-3.69081, "vy":3.07287, "omega":-0.2009, "ax":-5.86761, "ay":-3.67193, "alpha":4.54951, "fx":[-108.61268,-112.42141,-93.15738,-85.03413], "fy":[-39.8326,-53.1942,-81.17667,-75.63037]}, - {"t":8.07465, "x":15.20859, "y":1.97745, "heading":-0.88895, "vx":-3.94858, "vy":2.91157, "omega":-0.00104, "ax":-1.75164, "ay":-2.443, "alpha":0.00069, "fx":[-29.79491,-29.79764,-29.79493,-29.79219], "fy":[-41.55224,-41.55419,-41.55721,-41.55526]}, - {"t":8.11858, "x":15.03344, "y":2.103, "heading":-0.88899, "vx":-4.02552, "vy":2.80425, "omega":-0.00101, "ax":2.73015, "ay":-2.6443, "alpha":-9.82083, "fx":[39.27449,79.55075,60.22742,6.70388], "fy":[-80.0382,-44.66485,-4.50366,-50.70867]}, - {"t":8.16251, "x":14.85924, "y":2.22363, "heading":-0.88904, "vx":-3.90559, "vy":2.68808, "omega":-0.43243, "ax":7.33117, "ay":-5.07082, "alpha":-0.81925, "fx":[121.70326,126.40545,127.76369,122.93183], "fy":[-90.60031,-83.96446,-81.69938,-88.74894]}, - {"t":8.20644, "x":14.69474, "y":2.33683, "heading":-0.90804, "vx":-3.58353, "vy":2.46532, "omega":-0.46842, "ax":7.388, "ay":-5.0929, "alpha":0.29194, "fx":[126.77506,125.076,124.56788,126.25222], "fy":[-85.00385,-87.47478,-88.22744,-85.80936]}, - {"t":8.25037, "x":14.54444, "y":2.44021, "heading":-0.92861, "vx":-3.25898, "vy":2.24159, "omega":-0.4556, "ax":7.40387, "ay":-5.09828, "alpha":0.6592, "fx":[128.47806,124.65083,123.43027,127.19165], "fy":[-82.96987,-88.59979,-90.3373,-84.97441]}, - {"t":8.2943, "x":14.40842, "y":2.53377, "heading":-0.94863, "vx":-2.93373, "vy":2.01762, "omega":-0.42664, "ax":7.41123, "ay":-5.1006, "alpha":0.84196, "fx":[129.34409,124.48549,122.82827,127.59403], "fy":[-81.89773,-89.09297,-91.40649,-84.64151]}, - {"t":8.33823, "x":14.28669, "y":2.61748, "heading":-0.96737, "vx":-2.60815, "vy":1.79356, "omega":-0.38965, "ax":7.41548, "ay":-5.10186, "alpha":0.95122, "fx":[129.87474,124.42553,122.446,127.79417], "fy":[-81.22548,-89.33361,-92.06601,-84.49947]}, - {"t":8.38216, "x":14.17927, "y":2.69135, "heading":-0.98449, "vx":-2.28239, "vy":1.56943, "omega":-0.34787, "ax":7.41823, "ay":-5.10264, "alpha":1.02383, "fx":[130.23596,124.41491,122.17724,127.89985], "fy":[-80.7601,-89.45321,-92.51967,-84.44507]}, - {"t":8.42609, "x":14.08617, "y":2.75537, "heading":-0.99977, "vx":-1.95651, "vy":1.34527, "omega":-0.30289, "ax":7.42017, "ay":-5.10318, "alpha":1.07556, "fx":[130.49868,124.42809,121.97626,127.95661], "fy":[-80.41733,-89.50985,-92.85329,-84.43383]}, - {"t":8.47002, "x":14.00738, "y":2.80954, "heading":-1.01307, "vx":-1.63055, "vy":1.12109, "omega":-0.25564, "ax":7.4216, "ay":-5.10356, "alpha":1.11427, "fx":[130.69835,124.45166,121.82005,127.98716], "fy":[-80.15433,-89.5334,-93.1094,-84.4432]}, - {"t":8.51395, "x":13.94291, "y":2.85387, "heading":-1.02431, "vx":-1.30452, "vy":0.8969, "omega":-0.20669, "ax":7.42271, "ay":-5.10385, "alpha":1.14433, "fx":[130.85479,124.47778,121.69569,128.00419], "fy":[-79.94692,-89.54095,-93.31154,-84.46046]}, - {"t":8.55788, "x":13.89276, "y":2.88834, "heading":-1.03338, "vx":-0.97844, "vy":0.67268, "omega":-0.15642, "ax":7.42359, "ay":-5.10407, "alpha":1.16835, "fx":[130.97994,124.50155,121.59537,128.01538], "fy":[-79.78031,-89.54303,-93.47384,-84.4778]}, - {"t":8.60181, "x":13.85695, "y":2.91297, "heading":-1.04026, "vx":-0.65232, "vy":0.44846, "omega":-0.1051, "ax":7.4243, "ay":-5.10425, "alpha":1.18799, "fx":[131.08148,124.51971,121.51405,128.02568], "fy":[-79.64496,-89.54656,-93.60533,-84.49015]}, - {"t":8.64574, "x":13.83545, "y":2.92775, "heading":-1.04487, "vx":-0.32617, "vy":0.22423, "omega":-0.05291, "ax":7.42489, "ay":-5.10439, "alpha":1.20436, "fx":[131.16452,124.53001,121.44834,128.03842], "fy":[-79.53442,-89.55625,-93.71201,-84.49406]}, - {"t":8.68967, "x":13.82829, "y":2.93267, "heading":-1.0472, "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] - }, - "events":[] -} diff --git a/src/main/deploy/choreo/FourL4CoralTop.traj b/src/main/deploy/choreo/FourL4CoralTop.traj new file mode 100644 index 0000000..c968035 --- /dev/null +++ b/src/main/deploy/choreo/FourL4CoralTop.traj @@ -0,0 +1,322 @@ +{ + "name":"FourL4CoralTop", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":10.026447296142578, "y":6.090535640716553, "heading":0.0, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":12.297821998596191, "y":5.098423957824707, "heading":2.0943951023931953, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":13.836732864379885, "y":6.809457302093506, "heading":2.0943951023931953, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":16.381715774536133, "y":7.025134086608887, "heading":0.9250245035569946, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":13.822354316711426, "y":6.795078754425049, "heading":2.0943951023931953, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":12.543274879455566, "y":5.228369235992432, "heading":-4.1887902047863905, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":13.836732864379885, "y":6.823835849761963, "heading":2.0943951023931953, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":16.381715774536133, "y":6.996376991271973, "heading":0.9250245035569946, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":13.828288078308104, "y":5.12730073928833, "heading":1.0471975511965976, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":16.367338180541992, "y":7.0251336097717285, "heading":0.9250245035569946, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":13.597274780273438, "y":5.271684169769287, "heading":1.0471975511965976, "intervals":27, "split":false, "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":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"10.026447296142578 m", "val":10.026447296142578}, "y":{"exp":"6.090535640716553 m", "val":6.090535640716553}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"12.297821998596191 m", "val":12.297821998596191}, "y":{"exp":"5.098423957824707 m", "val":5.098423957824707}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"13.836732864379883 m", "val":13.836732864379885}, "y":{"exp":"6.809457302093506 m", "val":6.809457302093506}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"16.381715774536133 m", "val":16.381715774536133}, "y":{"exp":"7.025134086608887 m", "val":7.025134086608887}, "heading":{"exp":"53 deg", "val":0.9250245035569946}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"13.822354316711426 m", "val":13.822354316711426}, "y":{"exp":"6.795078754425049 m", "val":6.795078754425049}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"12.543274879455566 m", "val":12.543274879455566}, "y":{"exp":"5.228369235992432 m", "val":5.228369235992432}, "heading":{"exp":"-240 deg", "val":-4.1887902047863905}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"13.836732864379883 m", "val":13.836732864379885}, "y":{"exp":"6.823835849761963 m", "val":6.823835849761963}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"16.381715774536133 m", "val":16.381715774536133}, "y":{"exp":"6.996376991271973 m", "val":6.996376991271973}, "heading":{"exp":"53 deg", "val":0.9250245035569946}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"13.828288078308105 m", "val":13.828288078308104}, "y":{"exp":"5.12730073928833 m", "val":5.12730073928833}, "heading":{"exp":"60 deg", "val":1.0471975511965976}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"16.367338180541992 m", "val":16.367338180541992}, "y":{"exp":"7.0251336097717285 m", "val":7.0251336097717285}, "heading":{"exp":"53 deg", "val":0.9250245035569946}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"13.597274780273438 m", "val":13.597274780273438}, "y":{"exp":"5.271684169769287 m", "val":5.271684169769287}, "heading":{"exp":"60 deg", "val":1.0471975511965976}, "intervals":27, "split":false, "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":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.94791,1.49808,2.35632,3.18091,3.88831,4.57719,5.36796,6.5324,7.71651,8.92465], + "samples":[ + {"t":0.0, "x":10.02645, "y":6.09054, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":5.05159, "ay":-6.98806, "alpha":8.27462, "fx":[75.58628,37.694,96.30711,134.1173], "fy":[-133.17514,-148.63228,-119.37238,-74.27961]}, + {"t":0.02788, "x":10.02841, "y":6.08782, "heading":0.0, "vx":0.14084, "vy":-0.19482, "omega":0.23069, "ax":5.11385, "ay":-6.94879, "alpha":8.20953, "fx":[77.5898,38.96777,96.94539,134.43738], "fy":[-131.98897,-148.28897,-118.84061,-73.66945]}, + {"t":0.05576, "x":10.03432, "y":6.07969, "heading":0.00643, "vx":0.28341, "vy":-0.38855, "omega":0.45957, "ax":5.18163, "ay":-6.90378, "alpha":8.15289, "fx":[79.20941,40.58168,97.89874,134.86207], "fy":[-130.99113,-147.8394,-118.04043,-72.85428]}, + {"t":0.08364, "x":10.04424, "y":6.06617, "heading":0.01924, "vx":0.42787, "vy":-0.58103, "omega":0.68687, "ax":5.25673, "ay":-6.85166, "alpha":8.1015, "fx":[80.52874,42.5625,99.17484,135.39571], "fy":[-130.14788,-147.26332,-116.95168,-71.81604]}, + {"t":0.11152, "x":10.05821, "y":6.04731, "heading":0.03839, "vx":0.57443, "vy":-0.77205, "omega":0.91274, "ax":5.34144, "ay":-6.79049, "alpha":8.05258, "fx":[81.65115,44.94854,100.7838,136.04226], "fy":[-129.40542,-146.53211,-115.5461,-70.53335]}, + {"t":0.1394, "x":10.0763, "y":6.02315, "heading":0.06384, "vx":0.72334, "vy":-0.96137, "omega":1.13724, "ax":5.43873, "ay":-6.71756, "alpha":8.00303, "fx":[82.70655,47.79294,102.7393,136.80616], "fy":[-128.68616,-145.6054,-113.7847,-68.97876]}, + {"t":0.16728, "x":10.09858, "y":5.99373, "heading":0.09555, "vx":0.87497, "vy":-1.14865, "omega":1.36036, "ax":5.55247, "ay":-6.62908, "alpha":7.94855, "fx":[83.8614,51.16876,105.06026,137.69337], "fy":[-127.88172,-144.42555,-111.61349,-67.11455]}, + {"t":0.19516, "x":10.12513, "y":5.95913, "heading":0.13347, "vx":1.02977, "vy":-1.33347, "omega":1.58197, "ax":5.68787, "ay":-6.51968, "alpha":7.88235, "fx":[85.33261,55.17705,107.77337,138.71291], "fy":[-126.84017,-142.9083,-108.95666,-64.8861]}, + {"t":0.22304, "x":10.15605, "y":5.91942, "heading":0.17758, "vx":1.18835, "vy":-1.51523, "omega":1.80172, "ax":5.85199, "ay":-6.38142, "alpha":7.79341, "fx":[87.40677,59.9602,110.91702,139.87885], "fy":[-125.34239,-140.92627,-105.70478,-62.21109]}, + {"t":0.25092, "x":10.19146, "y":5.8747, "heading":0.22781, "vx":1.3515, "vy":-1.69314, "omega":2.019, "ax":6.05464, "ay":-6.2022, "alpha":7.66401, "fx":[90.4663,65.72449,114.54737,141.21274], "fy":[-123.05712,-138.27816,-101.69403,-58.961]}, + {"t":0.2788, "x":10.23149, "y":5.82508, "heading":0.2841, "vx":1.5203, "vy":-1.86606, "omega":2.23267, "ax":6.30956, "ay":-5.96242, "alpha":7.46609, "fx":[95.02257,72.77923,118.74773,142.74588], "fy":[-119.45301,-134.62709,-96.66711,-54.92908]}, + {"t":0.30668, "x":10.27633, "y":5.77074, "heading":0.34634, "vx":1.69621, "vy":-2.03229, "omega":2.44082, "ax":6.63607, "ay":-5.62851, "alpha":7.1552, "fx":[101.7449,81.60509,123.64216,144.51851], "fy":[-113.62205,-129.36733,-90.19508,-49.77312]}, + {"t":0.33456, "x":10.3262, "y":5.71189, "heading":0.41439, "vx":1.88122, "vy":-2.18921, "omega":2.64031, "ax":7.06016, "ay":-5.13906, "alpha":6.66001, "fx":[111.42265,92.967,129.40982,146.56582], "fy":[-103.92683,-121.30883,-81.50813,-42.91173]}, + {"t":0.36244, "x":10.38139, "y":5.64886, "heading":0.488, "vx":2.07806, "vy":-2.33249, "omega":2.82598, "ax":7.60974, "ay":-4.37483, "alpha":5.86218, "fx":[124.59889,108.03282,136.26903,148.85743], "fy":[-87.36746,-107.85811,-69.09576,-33.33724]}, + {"t":0.39031, "x":10.44228, "y":5.58213, "heading":0.56679, "vx":2.29021, "vy":-2.45445, "omega":2.98942, "ax":8.27893, "ay":-3.09781, "alpha":4.54849, "fx":[140.04276,127.93105,144.23031,151.0849], "fy":[-58.99819,-82.79368,-49.67744,-19.30245]}, + {"t":0.41819, "x":10.50935, "y":5.5125, "heading":0.65014, "vx":2.52103, "vy":-2.54082, "omega":3.11623, "ax":8.86363, "ay":-0.87948, "alpha":2.27763, "fx":[151.12634,148.5931,151.35298,151.99894], "fy":[-14.28793,-32.00207,-15.5846,2.03561]}, + {"t":0.44607, "x":10.58308, "y":5.44132, "heading":0.73701, "vx":2.76814, "vy":-2.56534, "omega":3.17973, "ax":8.53514, "ay":2.55521, "alpha":-1.33453, "fx":[146.31207,142.46697,144.16784,147.7742], "fy":[40.5253,52.27891,46.86434,34.18476]}, + {"t":0.47395, "x":10.66357, "y":5.37079, "heading":0.82566, "vx":3.0061, "vy":-2.4941, "omega":3.14252, "ax":6.85171, "ay":5.63051, "alpha":-3.14347, "fx":[124.93826,105.94111,106.3709,128.93236], "fy":[86.51193,108.89795,107.92636,79.75703]}, + {"t":0.50183, "x":10.75004, "y":5.30345, "heading":0.91328, "vx":3.19712, "vy":-2.33712, "omega":3.05488, "ax":5.5463, "ay":7.00845, "alpha":-0.52097, "fx":[96.46498,92.19984,92.13942,96.55961], "fy":[117.5676,120.94062,120.91864,117.41993]}, + {"t":0.52971, "x":10.84133, "y":5.24101, "heading":0.99845, "vx":3.35175, "vy":-2.14173, "omega":3.04036, "ax":4.20143, "ay":7.90455, "alpha":0.44002, "fx":[69.18981,73.37572,73.67535,69.61936], "fy":[135.63963,133.41782,133.29665,135.46268]}, + {"t":0.55759, "x":10.93641, "y":5.18437, "heading":1.08321, "vx":3.46888, "vy":-1.92136, "omega":3.05263, "ax":3.16751, "ay":8.3776, "alpha":1.12531, "fx":[47.37947,58.93799,59.93442,49.26154], "fy":[144.87743,140.55946,140.22984,144.33546]}, + {"t":0.58547, "x":11.03435, "y":5.13406, "heading":1.16832, "vx":3.55719, "vy":-1.68779, "omega":3.084, "ax":2.11163, "ay":8.71893, "alpha":0.55667, "fx":[32.53905,38.34207,39.18735,33.60415], "fy":[149.09917,147.70696,147.52173,148.89848]}, + {"t":0.61335, "x":11.13435, "y":5.0904, "heading":1.2543, "vx":3.61606, "vy":-1.44471, "omega":3.09952, "ax":1.02909, "ay":8.91678, "alpha":-0.94235, "fx":[23.24607,13.76469,11.45486,21.5522], "fy":[151.00318,152.17005,152.31194,151.20248]}, + {"t":0.64123, "x":11.23556, "y":5.05358, "heading":1.34071, "vx":3.64476, "vy":-1.19611, "omega":3.07325, "ax":0.1748, "ay":8.95808, "alpha":-2.24088, "fx":[16.24584,-5.39132,-11.98467,13.02319], "fy":[152.04779,152.83552,152.3633,152.25063]}, + {"t":0.66911, "x":11.33725, "y":5.02372, "heading":1.42639, "vx":3.64963, "vy":-0.94637, "omega":3.01077, "ax":-0.4739, "ay":8.92141, "alpha":-3.26933, "fx":[10.40854,-20.0047,-30.03743,7.38973], "fy":[152.65729,151.71706,149.93153,152.69634]}, + {"t":0.69699, "x":11.43881, "y":5.0008, "heading":1.51033, "vx":3.63642, "vy":-0.69764, "omega":2.91963, "ax":-0.9702, "ay":8.85245, "alpha":-4.08871, "fx":[5.25655,-31.52117,-43.68,3.93334], "fy":[152.9968,149.82322,146.60443,152.88625]}, + {"t":0.72487, "x":11.53982, "y":4.98479, "heading":1.59173, "vx":3.60937, "vy":-0.45084, "omega":2.80563, "ax":-1.35712, "ay":8.77288, "alpha":-4.75512, "fx":[0.55721,-40.90434,-54.00238,2.01246], "fy":[153.14495,147.59488,143.17803,152.97917]}, + {"t":0.75275, "x":11.63992, "y":4.97563, "heading":1.66995, "vx":3.57153, "vy":-0.20625, "omega":2.67306, "ax":-1.66535, "ay":8.69251, "alpha":-5.30642, "fx":[-3.80661,-48.75214,-61.85786,1.10844], "fy":[153.14554,145.23665,140.00827,153.03818]}, + {"t":0.78063, "x":11.73884, "y":4.97326, "heading":1.74447, "vx":3.5251, "vy":0.03609, "omega":2.52512, "ax":-1.91613, "ay":8.61566, "alpha":-5.76629, "fx":[-7.89221,-55.44177,-67.865,0.82794], "fy":[153.0274,142.85314,137.23459,153.08438]}, + {"t":0.80851, "x":11.83638, "y":4.97762, "heading":1.81487, "vx":3.47168, "vy":0.27629, "omega":2.36436, "ax":-2.12416, "ay":8.54411, "alpha":-6.1499, "fx":[-11.72485,-61.22014,-72.46927,0.88891], "fy":[152.81277,140.50374,134.89173,153.12353]}, + {"t":0.83639, "x":11.93234, "y":4.98864, "heading":1.88079, "vx":3.41246, "vy":0.5145, "omega":2.1929, "ax":-2.29965, "ay":8.47849, "alpha":-6.46819, "fx":[-15.31267,-66.25592,-75.99821,1.10103], "fy":[152.52106,138.22553,132.96289,153.15711]}, + {"t":0.86427, "x":12.02658, "y":5.00628, "heading":1.94193, "vx":3.34835, "vy":0.75088, "omega":2.01257, "ax":-2.44978, "ay":8.4188, "alpha":-6.73044, "fx":[-18.65508,-70.66936,-78.70054,1.34502], "fy":[152.17035,136.04344,131.40539,153.18602]}, + {"t":0.89215, "x":12.11898, "y":5.03048, "heading":1.99804, "vx":3.28005, "vy":0.98559, "omega":1.82493, "ax":-2.57964, "ay":8.36475, "alpha":-6.9454, "fx":[-21.74757,-74.54977,-80.77194,1.55369], "fy":[151.77794,133.97494,130.16364,153.21122]}, + {"t":0.92003, "x":12.20943, "y":5.06121, "heading":2.04892, "vx":3.20813, "vy":1.2188, "omega":1.63129, "ax":-2.69296, "ay":8.31588, "alpha":-7.12168, "fx":[-24.58431,-77.96584,-82.37158,1.69588], "fy":[151.36043,132.03253,129.17638,153.2336]}, + {"t":0.94791, "x":12.29782, "y":5.09842, "heading":2.0944, "vx":3.13305, "vy":1.45064, "omega":1.43274, "ax":-2.75329, "ay":8.33861, "alpha":-6.52898, "fx":[-28.04601,-78.00479,-78.70365,-2.57596], "fy":[150.73973,131.9859,131.41759,153.20602]}, + {"t":0.97411, "x":12.37896, "y":5.13929, "heading":2.13193, "vx":3.06092, "vy":1.6691, "omega":1.26169, "ax":-2.75412, "ay":8.34034, "alpha":-6.46941, "fx":[-29.30078,-78.80132,-77.11775,-2.16747], "fy":[150.48156,131.48536,132.31195,153.18811]}, + {"t":1.0003, "x":12.45821, "y":5.18588, "heading":2.16499, "vx":2.98876, "vy":1.88761, "omega":1.0922, "ax":-2.75387, "ay":8.34216, "alpha":-6.40942, "fx":[-30.40856,-79.45085,-75.61112,-1.89966], "fy":[150.23823,131.06213,133.12887,153.16194]}, + {"t":1.0265, "x":12.53556, "y":5.2382, "heading":2.1936, "vx":2.91661, "vy":2.10616, "omega":0.92428, "ax":-2.75245, "ay":8.34396, "alpha":-6.35007, "fx":[-31.3666,-79.95616,-74.20364,-1.74683], "fy":[150.01232,130.71579,133.85891,153.12675]}, + {"t":1.0527, "x":12.61103, "y":5.29624, "heading":2.21782, "vx":2.8445, "vy":2.32476, "omega":0.75792, "ax":-2.74968, "ay":8.34566, "alpha":-6.29134, "fx":[-32.17245,-80.31586,-72.90632,-1.69015], "fy":[149.80529,130.4469,134.49687,153.08043]}, + {"t":1.0789, "x":12.68461, "y":5.36001, "heading":2.23767, "vx":2.77247, "vy":2.54341, "omega":0.59309, "ax":-2.74522, "ay":8.34723, "alpha":-6.232, "fx":[-32.82321,-80.52196,-71.71831,-1.71812], "fy":[149.61716,130.25808,135.04185,153.01899]}, + {"t":1.1051, "x":12.7563, "y":5.42951, "heading":2.25321, "vx":2.70054, "vy":2.7621, "omega":0.42982, "ax":-2.73841, "ay":8.34868, "alpha":-6.16914, "fx":[-33.31426,-80.55499,-70.62094,-1.82788], "fy":[149.44574,130.15573,135.49796,152.93544]}, + {"t":1.1313, "x":12.82611, "y":5.50474, "heading":2.26447, "vx":2.6288, "vy":2.98082, "omega":0.2682, "ax":-2.72789, "ay":8.35012, "alpha":-6.09704, "fx":[-33.63663,-80.37332,-69.56439,-2.02842], "fy":[149.28514,130.15378,135.87675,152.81695]}, + {"t":1.1575, "x":12.89405, "y":5.5857, "heading":2.2715, "vx":2.55733, "vy":3.19958, "omega":0.10846, "ax":-2.71079, "ay":8.35179, "alpha":-6.00423, "fx":[-33.76996,-79.88637,-68.43429,-2.34833], "fy":[149.12187,130.28265,136.20384,152.63782]}, + {"t":1.1837, "x":12.96012, "y":5.67239, "heading":2.27434, "vx":2.48631, "vy":3.41839, "omega":-0.04884, "ax":-2.67995, "ay":8.35429, "alpha":-5.86462, "fx":[-33.65981,-78.8734,-66.95218,-2.85542], "fy":[148.92379,130.61551,136.5385,152.33854]}, + {"t":1.2099, "x":13.02434, "y":5.76481, "heading":2.27306, "vx":2.4161, "vy":3.63726, "omega":-0.20248, "ax":-2.61283, "ay":8.35923, "alpha":-5.60426, "fx":[-33.11697,-76.6554,-64.28752,-3.71398], "fy":[148.59697,131.36809,137.04316,151.74417]}, + {"t":1.23609, "x":13.08674, "y":5.86297, "heading":2.26776, "vx":2.34765, "vy":3.85627, "omega":-0.34931, "ax":-2.39095, "ay":8.37096, "alpha":-4.89315, "fx":[-31.01456,-69.77378,-56.53464,-5.35451], "fy":[147.69595,133.50495,138.31965,150.02984]}, + {"t":1.26229, "x":13.14742, "y":5.96688, "heading":2.2586, "vx":2.28501, "vy":4.07557, "omega":-0.4775, "ax":4.25987, "ay":4.55117, "alpha":10.2629, "fx":[94.3079,107.23139,63.85028,24.44704], "fy":[35.10471,62.26612,107.74924,104.53629]}, + {"t":1.28849, "x":13.20875, "y":6.07521, "heading":2.24609, "vx":2.39661, "vy":4.19481, "omega":-0.20863, "ax":6.08398, "ay":-6.07062, "alpha":-5.91729, "fx":[128.65748,79.82751,85.15801,120.304], "fy":[-74.54732,-125.07357,-123.55496,-89.86236]}, + {"t":1.31469, "x":13.27363, "y":6.18303, "heading":2.24063, "vx":2.55601, "vy":4.03577, "omega":-0.36365, "ax":5.81905, "ay":-6.45677, "alpha":-6.32168, "fx":[127.35717,70.8804,79.44761,118.23604], "fy":[-81.27404,-133.30864,-129.40445,-95.32432]}, + {"t":1.34089, "x":13.34259, "y":6.28654, "heading":2.2311, "vx":2.70846, "vy":3.86661, "omega":-0.52927, "ax":5.69204, "ay":-6.6495, "alpha":-6.01664, "fx":[124.48522,69.2219,77.66664,115.90631], "fy":[-87.08778,-135.18592,-131.14693,-99.00377]}, + {"t":1.36709, "x":13.4155, "y":6.38556, "heading":2.21723, "vx":2.85758, "vy":3.6924, "omega":-0.6869, "ax":5.59393, "ay":-6.80097, "alpha":-5.48138, "fx":[120.80349,69.73394,76.90631,113.16069], "fy":[-92.83993,-135.43234,-131.91806,-102.53958]}, + {"t":1.39329, "x":13.49228, "y":6.47997, "heading":2.19924, "vx":3.00414, "vy":3.51422, "omega":-0.83051, "ax":5.49647, "ay":-6.94162, "alpha":-4.82368, "fx":[116.41108,71.10345,76.55988,109.89922], "fy":[-98.70126,-135.02794,-132.30963,-106.26115]}, + {"t":1.41949, "x":13.57288, "y":6.56965, "heading":2.17748, "vx":3.14814, "vy":3.33236, "omega":-0.95688, "ax":5.38773, "ay":-7.08091, "alpha":-4.08604, "fx":[111.31491,72.77496,76.43757,106.04765], "fy":[-104.67588,-134.34359,-132.50469,-110.25289]}, + {"t":1.44568, "x":13.6572, "y":6.65453, "heading":2.15241, "vx":3.28929, "vy":3.14685, "omega":-1.06393, "ax":5.26393, "ay":-7.2193, "alpha":-3.30444, "fx":[105.62429,74.42953,76.47587,101.62187], "fy":[-110.59294,-133.58495,-132.56993,-114.44503]}, + {"t":1.47188, "x":13.74518, "y":6.73449, "heading":2.12454, "vx":3.4272, "vy":2.95771, "omega":-1.1505, "ax":5.13166, "ay":-7.34903, "alpha":-2.53673, "fx":[99.75366,75.86219,76.65449,96.8817], "fy":[-116.042,-132.88946,-132.53171,-118.55633]}, + {"t":1.49808, "x":13.83673, "y":6.80946, "heading":2.0944, "vx":3.56164, "vy":2.76518, "omega":-1.21696, "ax":4.93932, "ay":-7.49737, "alpha":-2.02951, "fx":[94.10958,74.87889,75.12847,91.94864], "fy":[-120.72388,-133.50145,-133.43314,-122.45427]}, + {"t":1.52577, "x":13.93723, "y":6.88314, "heading":2.0607, "vx":3.69839, "vy":2.55761, "omega":-1.27315, "ax":4.64567, "ay":-7.68732, "alpha":-1.72381, "fx":[87.71501,71.09981,71.22979,86.04144], "fy":[-125.39919,-135.50853,-135.50603,-126.6224]}, + {"t":1.55345, "x":14.0414, "y":6.951, "heading":2.02546, "vx":3.827, "vy":2.34478, "omega":-1.32088, "ax":4.30793, "ay":-7.88424, "alpha":-1.42411, "fx":[80.53866,66.5727,66.65361,79.34133], "fy":[-130.0709,-137.7394,-137.75898,-130.86567]}, + {"t":1.58114, "x":14.149, "y":7.01289, "heading":1.98889, "vx":3.94627, "vy":2.12651, "omega":-1.3603, "ax":3.9289, "ay":-8.08001, "alpha":-1.18018, "fx":[72.89995,61.11742,61.21402,72.08625], "fy":[-134.43899,-140.18677,-140.19744,-134.93146]}, + {"t":1.60882, "x":14.25976, "y":7.06867, "heading":1.95123, "vx":4.05504, "vy":1.90281, "omega":-1.39298, "ax":3.5072, "ay":-8.26948, "alpha":-1.03176, "fx":[64.99929,54.49889,54.67347,64.45446], "fy":[-138.35837,-142.81977,-142.80343,-138.6647]}, + {"t":1.63651, "x":14.37337, "y":7.11818, "heading":1.91266, "vx":4.15214, "vy":1.67387, "omega":-1.42154, "ax":3.03488, "ay":-8.44956, "alpha":-1.00948, "fx":[56.87371,46.37903,46.72578,56.51101], "fy":[-141.80351,-145.57399,-145.5172,-142.00388]}, + {"t":1.66419, "x":14.48949, "y":7.16128, "heading":1.87331, "vx":4.23616, "vy":1.43994, "omega":-1.44949, "ax":2.49137, "ay":-8.61824, "alpha":-1.12733, "fx":[48.244,36.24527,36.9643,48.05636], "fy":[-144.85901,-148.31847,-148.20762,-144.9899]}, + {"t":1.69188, "x":14.60772, "y":7.19785, "heading":1.83318, "vx":4.30514, "vy":1.20134, "omega":-1.4807, "ax":1.824, "ay":-8.77408, "alpha":-1.34206, "fx":[37.92561,23.30392,24.77828,38.09499], "fy":[-147.76718,-150.77195,-150.6245,-147.81455]}, + {"t":1.71956, "x":14.72761, "y":7.22774, "heading":1.79218, "vx":4.35563, "vy":0.95843, "omega":-1.51785, "ax":1.0181, "ay":-8.88799, "alpha":-1.81433, "fx":[26.40317,6.18017,9.41425,27.2726], "fy":[-150.09726,-152.29376,-152.25848,-150.07948]}, + {"t":1.74725, "x":14.84859, "y":7.25087, "heading":1.75016, "vx":4.38382, "vy":0.71236, "omega":-1.56808, "ax":0.12007, "ay":-8.90789, "alpha":-2.94312, "fx":[16.35005,-17.26017,-9.32186,18.40173], "fy":[-151.30889,-151.26224,-152.18536,-151.32603]}, + {"t":1.77493, "x":14.97, "y":7.26718, "heading":1.70675, "vx":4.38714, "vy":0.46575, "omega":-1.64956, "ax":-0.93058, "ay":-8.77728, "alpha":-4.7176, "fx":[5.91333,-48.38975,-30.95579,10.11647], "fy":[-151.77717,-144.15083,-149.24631,-152.0215]}, + {"t":1.80262, "x":15.0911, "y":7.27671, "heading":1.66108, "vx":4.36138, "vy":0.22275, "omega":-1.78017, "ax":-2.14677, "ay":-8.40817, "alpha":-6.93916, "fx":[-7.86997,-84.81728,-54.09478,0.7181], "fy":[-151.26722,-126.03517,-142.4903,-152.28958]}, + {"t":1.8303, "x":15.21102, "y":7.27966, "heading":1.6118, "vx":4.30195, "vy":-0.01004, "omega":-1.97228, "ax":-4.0309, "ay":-7.67354, "alpha":-6.93611, "fx":[-52.44394,-113.46266,-80.15393,-28.19723], "fy":[-141.85508,-101.0793,-129.60946,-149.55472]}, + {"t":1.85799, "x":15.32858, "y":7.27644, "heading":1.55719, "vx":4.19035, "vy":-0.22248, "omega":-2.16431, "ax":-6.38376, "ay":-6.14734, "alpha":-3.79855, "fx":[-109.45786,-127.43415,-109.64478,-87.80699], "fy":[-105.14446,-83.10896,-105.76412,-124.24037]}, + {"t":1.88567, "x":15.44214, "y":7.26792, "heading":1.49727, "vx":4.01361, "vy":-0.39267, "omega":-2.26948, "ax":-7.81862, "ay":-4.3593, "alpha":-0.72091, "fx":[-133.54588,-135.53429,-132.55188,-130.33796], "fy":[-73.15863,-69.52329,-75.1181,-78.80163]}, + {"t":1.91336, "x":15.55027, "y":7.25538, "heading":1.43444, "vx":3.79715, "vy":-0.51336, "omega":-2.28943, "ax":-8.48843, "ay":-2.84248, "alpha":1.62582, "fx":[-143.48931,-140.38283,-145.83296,-147.83781], "fy":[-51.90009,-59.54773,-44.35825,-37.59303]}, + {"t":1.94105, "x":15.65214, "y":7.24008, "heading":1.37106, "vx":3.56215, "vy":-0.59205, "omega":-2.24442, "ax":-8.75249, "ay":-1.70311, "alpha":3.27737, "fx":[-148.18209,-143.37117,-151.43449,-152.52147], "fy":[-37.23828,-52.35231,-18.22461,-8.06224]}, + {"t":1.96873, "x":15.7474, "y":7.22303, "heading":1.30892, "vx":3.31984, "vy":-0.6392, "omega":-2.15369, "ax":-8.83156, "ay":-0.86577, "alpha":4.46244, "fx":[-150.6325,-145.28844,-152.61005,-152.35804], "fy":[-26.38959,-47.14994,2.08067,12.55288]}, + {"t":1.99642, "x":15.83593, "y":7.20501, "heading":1.2493, "vx":3.07533, "vy":-0.66317, "omega":-2.03015, "ax":-8.82992, "ay":-0.24228, "alpha":5.33356, "fx":[-151.9751,-146.5783,-151.7298,-150.49458], "fy":[-17.88967,-43.31747,17.28158,27.44117]}, + {"t":2.0241, "x":15.91769, "y":7.18655, "heading":1.19309, "vx":2.83087, "vy":-0.66988, "omega":-1.88248, "ax":-8.79467, "ay":0.23279, "alpha":5.98485, "fx":[-152.70448,-147.49058,-150.09251,-148.09163], "fy":[-10.9561,-40.40841,28.55547,38.64794]}, + {"t":2.05179, "x":15.99269, "y":7.1681, "heading":1.14097, "vx":2.58739, "vy":-0.66344, "omega":-1.71679, "ax":-8.74705, "ay":0.60361, "alpha":6.47851, "fx":[-153.06614,-148.16763,-148.31313,-145.59209], "fy":[-5.1489,-38.12132,36.9526,47.38666]}, + {"t":2.07947, "x":16.06097, "y":7.14996, "heading":1.09344, "vx":2.34523, "vy":-0.64672, "omega":-1.53743, "ax":-8.69661, "ay":0.89953, "alpha":6.85797, "fx":[-153.19648,-148.69169,-146.6462,-143.17271], "fy":[-0.20738,-36.26082,43.28252,54.38865]}, + {"t":2.10716, "x":16.12256, "y":7.1324, "heading":1.05088, "vx":2.10446, "vy":-0.62182, "omega":-1.34757, "ax":-8.6475, "ay":1.14028, "alpha":7.1548, "fx":[-153.17898,-149.11099,-145.17023,-140.90574], "fy":[4.03038,-34.70439,48.14531,60.11187]}, + {"t":2.13484, "x":16.17751, "y":7.11562, "heading":1.01357, "vx":1.86505, "vy":-0.59025, "omega":-1.14949, "ax":-8.60133, "ay":1.33942, "alpha":7.39257, "fx":[-153.06902,-149.45427,-143.88149,-138.82007], "fy":[7.6693,-33.3775,51.98582,64.85523]}, + {"t":2.16253, "x":16.22585, "y":7.09979, "heading":0.98175, "vx":1.62692, "vy":-0.55317, "omega":-0.94482, "ax":-8.5585, "ay":1.50655, "alpha":7.58918, "fx":[-152.90572,-149.73896,-142.74003,-136.92593], "fy":[10.77983,-32.23618,55.13864,68.82135]}, + {"t":2.19021, "x":16.26761, "y":7.08506, "heading":0.95559, "vx":1.38998, "vy":-0.51146, "omega":-0.73471, "ax":-8.51883, "ay":1.64858, "alpha":7.7584, "fx":[-152.71801,-149.97596,-141.69202,-135.22546], "fy":[13.41072,-31.2552,57.8599,72.15202]}, + {"t":2.2179, "x":16.30283, "y":7.07153, "heading":0.93525, "vx":1.15413, "vy":-0.46582, "omega":-0.51992, "ax":-8.48189, "ay":1.77066, "alpha":7.91103, "fx":[-152.52786,-150.17239,-140.6803,-133.71754], "fy":[15.59649,-30.42023,60.34832,74.9489]}, + {"t":2.24558, "x":16.33153, "y":7.05931, "heading":0.92086, "vx":0.91931, "vy":-0.4168, "omega":-0.3009, "ax":-8.44715, "ay":1.87664, "alpha":8.05566, "fx":[-152.35222,-150.33327,-139.64916,-132.40011], "fy":[17.36185,-29.72255,62.75896,77.28593]}, + {"t":2.27327, "x":16.35375, "y":7.04849, "heading":0.91252, "vx":0.68545, "vy":-0.36484, "omega":-0.07788, "ax":-8.41408, "ay":1.96943, "alpha":8.19939, "fx":[-152.20401,-150.46243,-138.54631,-131.27144], "fy":[18.72451,-29.15552,65.21187,79.21709]}, + {"t":2.30095, "x":16.3695, "y":7.03914, "heading":0.91037, "vx":0.4525, "vy":-0.31032, "omega":0.14912, "ax":-8.38213, "ay":2.05123, "alpha":8.34827, "fx":[-152.09287,-150.56324,-137.32367,-130.33073], "fy":[19.69692,-28.71197,67.79728,80.7813]}, + {"t":2.32864, "x":16.37881, "y":7.03134, "heading":0.9145, "vx":0.22044, "vy":-0.25353, "omega":0.38025, "ax":-8.35083, "ay":2.12363, "alpha":8.50757, "fx":[-152.02552,-150.63903,-135.93805,-129.57856], "fy":[20.28743,-28.38221,70.57839,82.00562]}, + {"t":2.35632, "x":16.38172, "y":7.02513, "heading":0.92502, "vx":-0.01075, "vy":-0.19474, "omega":0.61578, "ax":-8.40363, "ay":2.13087, "alpha":7.91488, "fx":[-151.93613,-151.47837,-137.19377,-131.16541], "fy":[20.86909,-23.41769,68.10776,79.42303]}, + {"t":2.38292, "x":16.37846, "y":7.02071, "heading":0.9414, "vx":-0.23429, "vy":-0.13806, "omega":0.82631, "ax":-8.42975, "ay":2.08622, "alpha":7.74197, "fx":[-152.0517,-151.5787,-137.70931,-132.21086], "fy":[19.92373,-22.65363,67.02679,77.64739]}, + {"t":2.40952, "x":16.36924, "y":7.01777, "heading":0.96338, "vx":-0.45851, "vy":-0.08256, "omega":1.03225, "ax":-8.45761, "ay":2.03621, "alpha":7.55695, "fx":[-152.18914,-151.68654,-138.17764,-133.39292], "fy":[18.74158,-21.79437,66.02125,75.57277]}, + {"t":2.43612, "x":16.35405, "y":7.0163, "heading":0.99084, "vx":-0.68348, "vy":-0.0284, "omega":1.23326, "ax":-8.4878, "ay":1.97986, "alpha":7.35179, "fx":[-152.3404,-151.80544,-138.64757,-134.70711], "fy":[17.34169,-20.79983,64.99109,73.17478]}, + {"t":2.46272, "x":16.33287, "y":7.01624, "heading":1.02364, "vx":-0.90926, "vy":0.02426, "omega":1.42881, "ax":-8.52093, "ay":1.91604, "alpha":7.11706, "fx":[-152.49665,-151.9382,-139.17105,-136.14852], "fy":[15.74721,-19.6249,63.82134,70.42167]}, + {"t":2.48932, "x":16.30567, "y":7.01757, "heading":1.06165, "vx":-1.13591, "vy":0.07523, "omega":1.61812, "ax":-8.55758, "ay":1.84334, "alpha":6.84173, "fx":[-152.6486,-152.08595,-139.80235,-137.71131], "fy":[13.98707,-18.22163,62.38054,67.27258]}, + {"t":2.51592, "x":16.27243, "y":7.02022, "heading":1.10469, "vx":-1.36354, "vy":0.12426, "omega":1.80011, "ax":-8.5983, "ay":1.75998, "alpha":6.51309, "fx":[-152.78693,-152.24702,-140.59631,-139.388], "fy":[12.09807,-16.54316,60.51765,63.67461]}, + {"t":2.54252, "x":16.23312, "y":7.02415, "heading":1.15257, "vx":-1.59225, "vy":0.17107, "omega":1.97336, "ax":-8.64348, "ay":1.66364, "alpha":6.11671, "fx":[-152.90284,-152.41558,-141.6052,-141.1687], "fy":[10.1278,-14.55014,58.05671,59.55802]}, + {"t":2.56912, "x":16.18771, "y":7.02929, "heading":1.20506, "vx":-1.82216, "vy":0.21533, "omega":2.13606, "ax":-8.6933, "ay":1.55109, "alpha":5.63641, "fx":[-152.98862,-152.58064,-142.87336,-143.03974], "fy":[8.13882,-12.22059,54.78794,54.82808]}, + {"t":2.59572, "x":16.13616, "y":7.03556, "heading":1.26188, "vx":-2.0534, "vy":0.25658, "omega":2.28598, "ax":-8.74756, "ay":1.41765, "alpha":5.05385, "fx":[-153.03841,-152.72582,-144.42835,-144.98134], "fy":[6.21469,-9.56385,50.45365,49.35087]}, + {"t":2.62232, "x":16.07845, "y":7.04289, "heading":1.32269, "vx":-2.28608, "vy":0.29429, "omega":2.42041, "ax":-8.80538, "ay":1.25642, "alpha":4.3471, "fx":[-153.04875,-152.8313,-146.26546,-146.96255], "fy":[4.46976,-6.63862,44.72658,42.92766]}, + {"t":2.64892, "x":16.01452, "y":7.05116, "heading":1.38707, "vx":-2.5203, "vy":0.32771, "omega":2.53604, "ax":-8.86473, "ay":1.057, "alpha":3.48706, "fx":[-153.01866,-152.87857,-148.31935,-148.9292], "fy":[3.06554,-3.57376,37.1782,35.2468]}, + {"t":2.67552, "x":15.94435, "y":7.06025, "heading":1.45453, "vx":-2.7561, "vy":0.35583, "omega":2.6288, "ax":-8.92121, "ay":0.80362, "alpha":2.42948, "fx":[-152.94792,-152.85851,-150.40993,-150.77253], "fy":[2.24047,-0.58853,27.23649,25.78883]}, + {"t":2.70212, "x":15.86788, "y":7.07, "heading":1.52445, "vx":-2.9934, "vy":0.37721, "omega":2.69342, "ax":-8.96529, "ay":0.47225, "alpha":1.09838, "fx":[-152.83007,-152.78024,-152.13767,-152.24], "fy":[2.36852,1.99234,14.14284,13.62779]}, + {"t":2.72872, "x":15.78509, "y":7.0802, "heading":1.5961, "vx":-3.23187, "vy":0.38977, "omega":2.72264, "ax":-8.97494, "ay":0.02591, "alpha":-0.65016, "fx":[-152.62818,-152.67524,-152.68947,-152.65205], "fy":[4.08483,3.73324,-3.04679,-3.00805]}, + {"t":2.75532, "x":15.69595, "y":7.09058, "heading":1.66852, "vx":-3.4706, "vy":0.39046, "omega":2.70535, "ax":-8.89476, "ay":-0.59226, "alpha":-3.12017, "fx":[-152.18872,-152.58714,-150.53058,-149.88287], "fy":[8.58396,4.09251,-25.2713,-27.70197]}, + {"t":2.78192, "x":15.60048, "y":7.10076, "heading":1.74048, "vx":-3.7072, "vy":0.3747, "omega":2.62235, "ax":-8.56819, "ay":-1.45551, "alpha":-7.04247, "fx":[-150.89308,-152.53628,-143.14817,-136.39239], "fy":[18.39511,2.42492,-52.74155,-67.10994]}, + {"t":2.80852, "x":15.49884, "y":7.11021, "heading":1.81023, "vx":-3.93511, "vy":0.33599, "omega":2.43502, "ax":-7.58862, "ay":-2.47649, "alpha":-13.85429, "fx":[-146.15747,-152.44304,-127.80669,-89.91351], "fy":[38.82778,-2.18593,-83.1845,-121.95465]}, + {"t":2.83512, "x":15.39149, "y":7.11827, "heading":1.875, "vx":-4.13696, "vy":0.27011, "omega":2.06651, "ax":-6.59292, "ay":-3.35371, "alpha":-17.69287, "fx":[-145.23656,-151.44141,-110.95945,-40.9372], "fy":[38.40022,-16.33183,-104.49802,-145.75309]}, + {"t":2.86172, "x":15.27911, "y":7.12427, "heading":1.92997, "vx":-4.31233, "vy":0.18091, "omega":1.59588, "ax":-5.98587, "ay":-4.68118, "alpha":-15.95398, "fx":[-148.88704,-146.8185,-94.71734,-16.84886], "fy":[-8.85027,-39.85237,-119.29767,-150.50163]}, + {"t":2.88832, "x":15.16229, "y":7.12742, "heading":1.97242, "vx":-4.47155, "vy":0.05639, "omega":1.17151, "ax":-4.72913, "ay":-6.43664, "alpha":-12.64367, "fx":[-120.72081,-135.95476,-73.80207,8.7131], "fy":[-85.58618,-67.81856,-133.18823,-151.34843]}, + {"t":2.91491, "x":15.04167, "y":7.12665, "heading":2.00358, "vx":-4.59735, "vy":-0.11482, "omega":0.8352, "ax":-3.0692, "ay":-7.85045, "alpha":-9.07884, "fx":[-56.8309,-111.90345,-54.33776,14.247], "fy":[-138.37463,-102.51848,-142.17475,-151.06756]}, + {"t":2.94151, "x":14.9183, "y":7.12081, "heading":2.0258, "vx":-4.67898, "vy":-0.32364, "omega":0.5937, "ax":-1.61768, "ay":-8.54054, "alpha":-6.36277, "fx":[-18.22492,-74.88098,-33.7764,16.81736], "fy":[-149.7742,-131.98241,-148.37763,-150.95411]}, + {"t":2.96811, "x":14.79327, "y":7.10918, "heading":2.04159, "vx":-4.72201, "vy":-0.55082, "omega":0.42446, "ax":-0.30125, "ay":-8.83616, "alpha":-4.06351, "fx":[5.2503,-35.70955,-12.35498,22.31761], "fy":[-151.47258,-147.62488,-151.70042,-150.40445]}, + {"t":2.99471, "x":14.66756, "y":7.09141, "heading":2.05288, "vx":-4.73003, "vy":-0.78586, "omega":0.31637, "ax":0.78696, "ay":-8.87926, "alpha":-2.35047, "fx":[20.89409,-3.56049,7.36141,28.84883], "fy":[-150.53526,-152.04659,-152.10171,-149.45091]}, + {"t":3.02131, "x":14.54202, "y":7.06736, "heading":2.0613, "vx":-4.70909, "vy":-1.02204, "omega":0.25385, "ax":1.63635, "ay":-8.79575, "alpha":-1.22785, "fx":[32.25263,19.5331,23.88998,35.65934], "fy":[-148.7977,-151.03074,-150.49992,-148.12453]}, + {"t":3.04791, "x":14.41734, "y":7.03706, "heading":2.06805, "vx":-4.66557, "vy":-1.256, "omega":0.22119, "ax":2.29781, "ay":-8.66245, "alpha":-0.57731, "fx":[41.32476,35.4334,36.9584,42.62368], "fy":[-146.73828,-148.28222,-147.952,-146.41045]}, + {"t":3.07451, "x":14.29405, "y":7.00059, "heading":2.07393, "vx":-4.60445, "vy":-1.48642, "omega":0.20583, "ax":2.82815, "ay":-8.5134, "alpha":-0.28276, "fx":[49.26485,46.42209,46.97514,49.76205], "fy":[-144.41674,-145.3591,-145.20045,-144.26563]}, + {"t":3.10111, "x":14.17257, "y":6.95804, "heading":2.07941, "vx":-4.52922, "vy":-1.71287, "omega":0.19831, "ax":3.27802, "ay":-8.35719, "alpha":-0.2834, "fx":[56.97536,54.15632,54.56915,57.33181], "fy":[-141.66802,-142.77189,-142.63211,-141.54192]}, + {"t":3.12771, "x":14.05326, "y":6.90952, "heading":2.08468, "vx":-4.44203, "vy":-1.93517, "omega":0.19077, "ax":3.70655, "ay":-8.18009, "alpha":-0.61705, "fx":[65.83046,59.72032,60.39611,66.24262], "fy":[-137.86596,-140.62391,-140.36973,-137.70421]}, + {"t":3.15431, "x":13.93641, "y":6.85515, "heading":2.08976, "vx":-4.34343, "vy":-2.15276, "omega":0.17436, "ax":4.16746, "ay":-7.95116, "alpha":-1.353, "fx":[77.32681,63.94419,65.05636,77.22207], "fy":[-131.8311,-138.81939,-138.37123,-131.96617]}, + {"t":3.18091, "x":13.82235, "y":6.79508, "heading":2.0944, "vx":-4.23258, "vy":-2.36426, "omega":0.13837, "ax":4.8374, "ay":-7.58211, "alpha":-0.8739, "fx":[86.49768,78.39502,78.29956,85.9387], "fy":[-126.25081,-131.43399,-131.52567,-126.6678]}, + {"t":3.21814, "x":13.66812, "y":6.7018, "heading":2.09955, "vx":-4.05248, "vy":-2.64655, "omega":0.10583, "ax":5.85139, "ay":-6.82649, "alpha":-0.71141, "fx":[102.93485,97.13718,96.23859,101.81144], "fy":[-113.1588,-118.1661,-118.93472,-114.20673]}, + {"t":3.25537, "x":13.5213, "y":6.59853, "heading":2.10349, "vx":-3.83462, "vy":-2.90071, "omega":0.07934, "ax":7.0442, "ay":-5.58118, "alpha":-0.65744, "fx":[122.64882,118.53651,117.02297,121.07114], "fy":[-91.30436,-96.56557,-98.43741,-93.4295]}, + {"t":3.29261, "x":13.38341, "y":6.48667, "heading":2.10644, "vx":-3.57236, "vy":-3.1085, "omega":0.05487, "ax":8.17852, "ay":-3.71868, "alpha":-0.62245, "fx":[141.00687,138.77215,137.18153,139.49685], "fy":[-58.99968,-64.03662,-67.43441,-62.54395]}, + {"t":3.32984, "x":13.25608, "y":6.36835, "heading":2.10848, "vx":-3.26786, "vy":-3.24696, "omega":0.03169, "ax":8.87789, "ay":-1.37676, "alpha":-0.55603, "fx":[151.62421,151.08112,150.33778,150.9981], "fy":[-19.29062,-23.01949,-27.55873,-23.80459]}, + {"t":3.36707, "x":13.14056, "y":6.24651, "heading":2.10966, "vx":-2.93732, "vy":-3.29822, "omega":0.01099, "ax":8.93304, "ay":0.98175, "alpha":-0.45601, "fx":[151.58962,151.81485,152.28411,152.10555], "fy":[19.88444,17.91914,13.46054,15.5327]}, + {"t":3.4043, "x":13.03739, "y":6.12439, "heading":2.11007, "vx":-2.60473, "vy":-3.26166, "omega":-0.00599, "ax":8.50007, "ay":2.93141, "alpha":-0.34695, "fx":[143.87539,144.1055,145.29698,145.05704], "fy":[51.92047,51.23617,47.76256,48.53028]}, + {"t":3.44153, "x":12.94631, "y":6.00499, "heading":2.10985, "vx":-2.28826, "vy":-3.15252, "omega":-0.01891, "ax":7.86836, "ay":4.36091, "alpha":-0.24947, "fx":[133.17981,133.20384,134.50799,134.46284], "fy":[75.37486,75.31408,72.96004,73.06206]}, + {"t":3.47876, "x":12.86656, "y":5.89064, "heading":2.10915, "vx":-1.99531, "vy":-2.99016, "omega":-0.02819, "ax":7.22853, "ay":5.36202, "alpha":-0.17023, "fx":[122.47523,122.35549,123.44253,123.54793], "fy":[91.85943,92.01002,90.54548,90.41064]}, + {"t":3.51599, "x":12.79729, "y":5.78303, "heading":2.1081, "vx":-1.72618, "vy":-2.79052, "omega":-0.03453, "ax":6.65683, "ay":6.06226, "alpha":-0.1079, "fx":[112.93033,112.76922,113.53445,113.68892], "fy":[103.45041,103.62172,102.78183,102.61529]}, + {"t":3.55323, "x":12.73763, "y":5.68333, "heading":2.10681, "vx":-1.47834, "vy":-2.56482, "omega":-0.03855, "ax":6.16943, "ay":6.56142, "alpha":-0.05904, "fx":[104.7837,104.65431,105.09787,105.22518], "fy":[111.75659,111.87588,111.45875,111.34047]}, + {"t":3.59046, "x":12.68687, "y":5.59239, "heading":2.10538, "vx":-1.24864, "vy":-2.32053, "omega":-0.04075, "ax":5.76004, "ay":6.92651, "alpha":-0.02036, "fx":[97.92611,97.8694,98.02739,98.08386], "fy":[117.86033,117.90689,117.77537,117.72889]}, + {"t":3.62769, "x":12.64437, "y":5.51079, "heading":2.10386, "vx":-1.03418, "vy":-2.06264, "omega":-0.0415, "ax":5.41649, "ay":7.20065, "alpha":0.0107, "fx":[92.1576,92.19275,92.10819,92.07296], "fy":[122.46219,122.43597,122.4997,122.52594]}, + {"t":3.66492, "x":12.60962, "y":5.43899, "heading":2.10231, "vx":-0.83252, "vy":-1.79455, "omega":-0.04111, "ax":5.12668, "ay":7.41163, "alpha":0.03601, "fx":[87.28047,87.41397,87.12648,86.99226], "fy":[126.01584,125.92398,126.12339,126.2153]}, + {"t":3.70215, "x":12.58218, "y":5.37731, "heading":2.10078, "vx":-0.64165, "vy":-1.51861, "omega":-0.03977, "ax":4.88033, "ay":7.57762, "alpha":0.05694, "fx":[83.12615,83.35754,82.90073,82.66761], "fy":[128.8198,128.67117,128.96645,129.11503]}, + {"t":3.73938, "x":12.56167, "y":5.32602, "heading":2.0993, "vx":-0.45994, "vy":-1.23648, "omega":-0.03765, "ax":4.66916, "ay":7.71079, "alpha":0.07449, "fx":[79.55834,79.88365,79.28508,78.95694], "fy":[131.07481,130.87795,131.24203,131.43858]}, + {"t":3.77661, "x":12.54778, "y":5.28533, "heading":2.0979, "vx":-0.2861, "vy":-0.94939, "omega":-0.03487, "ax":4.4866, "ay":7.81948, "alpha":0.08937, "fx":[76.46901,76.88264,76.16465,75.74713], "fy":[132.91904,132.68145,133.09561,133.33245]}, + {"t":3.81385, "x":12.54024, "y":5.2554, "heading":2.0966, "vx":-0.11906, "vy":-0.65826, "omega":-0.03154, "ax":4.32752, "ay":7.90954, "alpha":0.10214, "fx":[73.77293,74.2687,73.44936,72.94876], "fy":[134.44976,134.17782,134.62884,134.89948]}, + {"t":3.85108, "x":12.53881, "y":5.23638, "heading":2.09543, "vx":0.04206, "vy":-0.36378, "omega":-0.02774, "ax":4.18785, "ay":7.98515, "alpha":0.1132, "fx":[71.40273,71.97442,71.06841,70.49105], "fy":[135.73691,135.43594,135.91435,136.21341]}, + {"t":3.88831, "x":12.54327, "y":5.22837, "heading":2.0944, "vx":0.19798, "vy":-0.06648, "omega":-0.02353, "ax":4.14205, "ay":8.00812, "alpha":0.10503, "fx":[70.60711,71.14499,70.30536,69.76269], "fy":[136.13712,135.85809,136.2953,136.57259]}, + {"t":3.92275, "x":12.55255, "y":5.23083, "heading":2.09358, "vx":0.34065, "vy":0.20935, "omega":-0.01991, "ax":4.18196, "ay":7.98652, "alpha":0.10359, "fx":[71.2863,71.81193,70.98382,70.45348], "fy":[135.76845,135.49254,135.92907,136.20335]}, + {"t":3.9572, "x":12.56677, "y":5.24278, "heading":2.0929, "vx":0.48469, "vy":0.48444, "omega":-0.01634, "ax":4.22757, "ay":7.96151, "alpha":0.10194, "fx":[72.06255,72.57407,71.75913,71.24298], "fy":[135.34167,135.06952,135.50514,135.77578]}, + {"t":3.99164, "x":12.58597, "y":5.26419, "heading":2.09234, "vx":0.63031, "vy":0.75867, "omega":-0.01283, "ax":4.28018, "ay":7.93224, "alpha":0.10002, "fx":[72.95807,73.45329,72.65359,72.15385], "fy":[134.84202,134.57445,135.00881,135.27503]}, + {"t":4.02609, "x":12.61022, "y":5.29502, "heading":2.09189, "vx":0.77774, "vy":1.03189, "omega":-0.00939, "ax":4.34155, "ay":7.89751, "alpha":0.09777, "fx":[74.00243,74.47867,73.69688,73.21623], "fy":[134.24938,133.98741,134.42,134.68077]}, + {"t":4.06053, "x":12.63958, "y":5.33525, "heading":2.09157, "vx":0.92728, "vy":1.30391, "omega":-0.00602, "ax":4.41403, "ay":7.85567, "alpha":0.09509, "fx":[75.2357,75.68971,74.92929,74.47102], "fy":[133.53553,133.2805,133.71052,133.96454]}, + {"t":4.09497, "x":12.67414, "y":5.38482, "heading":2.09136, "vx":1.07931, "vy":1.5745, "omega":-0.00274, "ax":4.50092, "ay":7.80433, "alpha":0.09185, "fx":[76.71367,77.14138,76.40696,75.97518], "fy":[132.65974,132.4134,132.83965,133.08517]}, + {"t":4.12942, "x":12.71399, "y":5.44369, "heading":2.09127, "vx":1.23435, "vy":1.84331, "omega":0.00042, "ax":4.60691, "ay":7.7399, "alpha":0.08785, "fx":[78.51615,78.91241,78.2103,77.81023], "fy":[131.56107,131.32585,131.74635,131.98098]}, + {"t":4.16386, "x":12.75923, "y":5.51177, "heading":2.09128, "vx":1.39303, "vy":2.10991, "omega":0.00345, "ax":4.739, "ay":7.65678, "alpha":0.0828, "fx":[80.76129,81.11947,80.45858,80.09689], "fy":[130.14437,129.92367,130.33518,130.55554]}, + {"t":4.19831, "x":12.81003, "y":5.58899, "heading":2.0914, "vx":1.55626, "vy":2.37364, "omega":0.0063, "ax":4.90794, "ay":7.54574, "alpha":0.07621, "fx":[83.63098,83.9425,83.33582,83.02123], "fy":[128.25299,128.05177,128.44866,128.64979]}, + {"t":4.23275, "x":12.86654, "y":5.67522, "heading":2.09162, "vx":1.72531, "vy":2.63354, "omega":0.00892, "ax":5.13111, "ay":7.3905, "alpha":0.0673, "fx":[87.41892,87.67255,87.13987,86.88374], "fy":[125.61141,125.43714,125.809,125.98342]}, + {"t":4.2672, "x":12.92901, "y":5.77031, "heading":2.09193, "vx":1.90205, "vy":2.8881, "omega":0.01124, "ax":5.43824, "ay":7.15987, "alpha":0.05462, "fx":[92.62609,92.8077,92.38069,92.19736], "fy":[121.69215,121.5564,121.88237,122.01843]}, + {"t":4.30164, "x":12.99775, "y":5.87404, "heading":2.09231, "vx":2.08936, "vy":3.13472, "omega":0.01312, "ax":5.88329, "ay":6.7869, "alpha":0.03528, "fx":[100.1601,100.25456,99.98635,99.89116], "fy":[115.36631,115.28659,115.52009,115.60007]}, + {"t":4.33608, "x":13.07321, "y":5.98604, "heading":2.09277, "vx":2.29201, "vy":3.36849, "omega":0.01434, "ax":6.56833, "ay":6.10483, "alpha":0.00287, "fx":[111.73311,111.73795,111.71765,111.71281], "fy":[103.83284,103.82793,103.84984,103.85475]}, + {"t":4.37053, "x":13.15605, "y":6.10568, "heading":2.09326, "vx":2.51825, "vy":3.57877, "omega":0.01444, "ax":7.65811, "ay":4.61525, "alpha":-0.05844, "fx":[130.10796,130.09584,130.41718,130.42796], "fy":[78.76594,78.77455,78.24117,78.23469]}, + {"t":4.40497, "x":13.24733, "y":6.23169, "heading":2.09376, "vx":2.78203, "vy":3.73773, "omega":0.01242, "ax":8.86428, "ay":0.78172, "alpha":-0.17686, "fx":[150.67436,150.72305,150.87983,150.83828], "fy":[14.53211,13.75181,12.0538,12.8495]}, + {"t":4.43942, "x":13.34842, "y":6.3609, "heading":2.09419, "vx":3.08735, "vy":3.76466, "omega":0.00633, "ax":7.29884, "ay":-5.07388, "alpha":-0.16952, "fx":[124.82684,123.89083,123.47615,124.41096], "fy":[-85.31838,-86.65118,-87.28453,-85.96714]}, + {"t":4.47386, "x":13.45909, "y":6.48756, "heading":2.0944, "vx":3.33875, "vy":3.58989, "omega":0.00049, "ax":6.35268, "ay":-6.2592, "alpha":-0.01104, "fx":[108.10751,108.02795,108.00707,108.08659], "fy":[-106.41544,-106.49566,-106.51878,-106.43863]}, + {"t":4.5083, "x":13.57786, "y":6.6075, "heading":2.09442, "vx":3.55757, "vy":3.3743, "omega":0.00011, "ax":5.93238, "ay":-6.68842, "alpha":-0.02777, "fx":[101.03776,100.82075,100.77845,100.99514], "fy":[-113.65156,-113.84335,-113.88453,-113.69317]}, + {"t":4.54275, "x":13.70391, "y":6.71975, "heading":2.09442, "vx":3.7619, "vy":3.14392, "omega":-0.00084, "ax":5.46572, "ay":-7.09487, "alpha":-0.30854, "fx":[94.43829,91.83119,91.52642,94.08529], "fy":[-119.53369,-121.54365,-121.80527,-119.84394]}, + {"t":4.57719, "x":13.83673, "y":6.82384, "heading":2.0944, "vx":3.95016, "vy":2.89955, "omega":-0.01147, "ax":5.06633, "ay":-7.3622, "alpha":-0.14812, "fx":[86.8736,85.57354,85.48613,86.77376], "fy":[-124.74014,-125.63403,-125.71251,-124.82868]}, + {"t":4.6027, "x":13.93914, "y":6.8954, "heading":2.0941, "vx":4.0794, "vy":2.71175, "omega":-0.01525, "ax":4.76072, "ay":-7.55387, "alpha":-0.05437, "fx":[81.23092,80.74175,80.72693,81.21431], "fy":[-128.32655,-128.6346,-128.65133,-128.3445]}, + {"t":4.62821, "x":14.04475, "y":6.96212, "heading":2.09371, "vx":4.20084, "vy":2.51906, "omega":-0.01664, "ax":4.39073, "ay":-7.76519, "alpha":-0.09991, "fx":[75.14117,74.21518,74.23222,75.15181], "fy":[-131.81852,-132.3422,-132.34702,-131.8269]}, + {"t":4.65372, "x":14.15334, "y":7.02385, "heading":2.09329, "vx":4.31284, "vy":2.32098, "omega":-0.01918, "ax":3.93811, "ay":-7.99429, "alpha":-0.42323, "fx":[68.88034,64.80584,65.15186,69.10617], "fy":[-135.01542,-137.02204,-136.92076,-134.96417]}, + {"t":4.67923, "x":14.26463, "y":7.08045, "heading":2.0928, "vx":4.41329, "vy":2.11706, "omega":-0.02998, "ax":3.26616, "ay":-8.2726, "alpha":-1.45041, "fx":[61.8921,47.07239,49.9394,63.32172], "fy":[-138.12719,-143.89066,-143.13285,-137.70786]}, + {"t":4.70474, "x":14.37827, "y":7.13176, "heading":2.09204, "vx":4.49661, "vy":1.90604, "omega":-0.06698, "ax":2.21027, "ay":-8.55485, "alpha":-3.44828, "fx":[51.78207,14.20759,27.17058,57.22395], "fy":[-141.89718,-150.57032,-149.22646,-140.36814]}, + {"t":4.73024, "x":14.49369, "y":7.1776, "heading":2.09033, "vx":4.55299, "vy":1.68782, "omega":-0.15494, "ax":0.86193, "ay":-8.66314, "alpha":-5.94703, "fx":[35.64578,-29.92617,2.37495,50.54988], "fy":[-146.34613,-148.26231,-151.84133,-142.98045]}, + {"t":4.75575, "x":14.61011, "y":7.21784, "heading":2.08637, "vx":4.57497, "vy":1.46684, "omega":-0.30664, "ax":-0.4729, "ay":-8.51139, "alpha":-8.20817, "fx":[12.7061,-71.08668,-18.83057,45.03542], "fy":[-149.51923,-133.75779,-150.90604,-144.92224]}, + {"t":4.78126, "x":14.72666, "y":7.25248, "heading":2.07855, "vx":4.56291, "vy":1.24972, "omega":-0.51601, "ax":-1.61432, "ay":-8.17634, "alpha":-9.93239, "fx":[-16.9163,-100.43969,-34.69485,42.21411], "fy":[-148.32476,-113.79797,-148.28073,-145.90524]}, + {"t":4.80677, "x":14.84253, "y":7.2817, "heading":2.06539, "vx":4.52173, "vy":1.04116, "omega":-0.76937, "ax":-2.62061, "ay":-7.7097, "alpha":-11.36816, "fx":[-54.50114,-118.75263,-46.24405,41.19452], "fy":[-137.93954,-94.99205,-145.28345,-146.34441]}, + {"t":4.83228, "x":14.95702, "y":7.30575, "heading":2.04576, "vx":4.45488, "vy":0.8445, "omega":-1.05936, "ax":-3.64628, "ay":-7.10192, "alpha":-12.63186, "fx":[-97.1174,-128.83627,-56.638,34.50264], "fy":[-112.09673,-81.22022,-141.70108,-148.18872]}, + {"t":4.85779, "x":15.06947, "y":7.32498, "heading":2.01874, "vx":4.36187, "vy":0.66334, "omega":-1.38158, "ax":-4.63132, "ay":-6.69697, "alpha":-11.90281, "fx":[-118.37923,-132.42437,-70.56366,6.25729], "fy":[-92.60473,-75.56397,-135.39402,-152.09123]}, + {"t":4.88329, "x":15.17922, "y":7.33973, "heading":1.9835, "vx":4.24374, "vy":0.49251, "omega":-1.6852, "ax":-5.51779, "ay":-6.41912, "alpha":-9.45315, "fx":[-123.80931,-133.41717,-85.43812,-32.75928], "fy":[-87.34009,-74.05086,-126.60152,-148.75733]}, + {"t":4.9088, "x":15.28568, "y":7.3502, "heading":1.94051, "vx":4.10298, "vy":0.32877, "omega":-1.92633, "ax":-6.22103, "ay":-6.07978, "alpha":-7.0079, "fx":[-125.94992,-133.81295,-98.11845,-65.39037], "fy":[-85.27317,-73.53672,-117.11823,-137.7334]}, + {"t":4.93431, "x":15.38832, "y":7.35661, "heading":1.89138, "vx":3.9443, "vy":0.17368, "omega":-2.1051, "ax":-6.73249, "ay":-5.72541, "alpha":-5.0135, "fx":[-127.27371,-133.90825,-108.25132,-88.63743], "fy":[-83.88806,-73.53152,-107.89488,-124.23562]}, + {"t":4.95982, "x":15.48674, "y":7.35918, "heading":1.83768, "vx":3.77256, "vy":0.02763, "omega":-2.23298, "ax":-7.09581, "ay":-5.39884, "alpha":-3.46018, "fx":[-128.35906,-133.78237,-116.12525,-104.52424], "fy":[-82.60925,-73.90284,-99.44478,-111.37386]}, + {"t":4.98533, "x":15.58066, "y":7.35812, "heading":1.78072, "vx":3.59156, "vy":-0.11008, "omega":-2.32125, "ax":-7.35653, "ay":-5.11375, "alpha":-2.24346, "fx":[-129.38391,-133.48639,-122.1628,-115.49692], "fy":[-81.27019,-74.55857,-91.99962,-100.10502]}, + {"t":5.01084, "x":15.66988, "y":7.35365, "heading":1.72151, "vx":3.4039, "vy":-0.24053, "omega":-2.37847, "ax":-7.54769, "ay":-4.86946, "alpha":-1.27074, "fx":[-130.40779,-133.06673,-126.76321,-123.29822], "fy":[-79.82217,-75.41141,-85.61955,-90.45961]}, + {"t":5.03635, "x":15.75426, "y":7.34593, "heading":1.66084, "vx":3.21137, "vy":-0.36474, "omega":-2.41089, "ax":-7.69114, "ay":-4.66079, "alpha":-0.47646, "fx":[-131.4477,-132.56706,-130.25558,-129.02569], "fy":[-78.25741,-76.37962,-80.27273,-82.20504]}, + {"t":5.06185, "x":15.83367, "y":7.33511, "heading":1.59934, "vx":3.01519, "vy":-0.48363, "omega":-2.42304, "ax":-7.80117, "ay":-4.4819, "alpha":0.18374, "fx":[-132.50373,-132.02725,-132.89558,-133.35609], "fy":[-76.58387,-77.39124,-75.88421,-75.08369]}, + {"t":5.08736, "x":15.90805, "y":7.32132, "heading":1.53753, "vx":2.81619, "vy":-0.59795, "omega":-2.41835, "ax":-7.88727, "ay":-4.32758, "alpha":0.7401, "fx":[-133.56912,-131.48215,-134.87647,-136.71286], "fy":[-74.81575,-78.38673,-72.36275,-68.87813]}, + {"t":5.11287, "x":15.97732, "y":7.30466, "heading":1.47584, "vx":2.615, "vy":-0.70834, "omega":-2.39948, "ax":-7.95585, "ay":-4.19353, "alpha":1.21394, "fx":[-134.63465,-130.9607,-136.34297,-139.36838], "fy":[-72.96956,-79.31983,-69.61413,-63.41923]}, + {"t":5.13838, "x":16.04143, "y":7.28522, "heading":1.41463, "vx":2.41206, "vy":-0.81531, "omega":-2.36851, "ax":-8.01135, "ay":-4.07628, "alpha":1.62097, "fx":[-135.69073,-130.48557,-137.40338,-141.5035], "fy":[-71.06233,-80.15711,-67.54702,-58.57887]}, + {"t":5.16389, "x":16.10035, "y":7.2631, "heading":1.35422, "vx":2.2077, "vy":-0.91929, "omega":-2.32716, "ax":-8.05691, "ay":-3.97307, "alpha":1.97334, "fx":[-136.72833,-130.07319,-138.13939,-143.2422], "fy":[-69.11074,-80.87663,-66.07517,-54.26032]}, + {"t":5.1894, "x":16.15405, "y":7.23836, "heading":1.29485, "vx":2.00218, "vy":-1.02064, "omega":-2.27683, "ax":-8.09477, "ay":-3.88168, "alpha":2.28082, "fx":[-137.7395,-129.73415,-138.6134,-144.67215], "fy":[-67.13068,-81.46616,-65.11799,-50.38994]}, + {"t":5.2149, "x":16.20249, "y":7.21106, "heading":1.23678, "vx":1.7957, "vy":-1.11966, "omega":-2.21864, "ax":-8.12657, "ay":-3.80032, "alpha":2.55149, "fx":[-138.71756,-129.47388,-138.87396,-145.8572], "fy":[-65.13705,-81.92133,-64.60045,-46.91077]}, + {"t":5.24041, "x":16.24565, "y":7.18126, "heading":1.18018, "vx":1.5884, "vy":-1.2166, "omega":-2.15356, "ax":-8.15351, "ay":-3.72755, "alpha":2.79211, "fx":[-139.65707,-129.29349,-138.95977,-146.84506], "fy":[-63.14366,-82.24381,-64.45287,-43.77783]}, + {"t":5.26592, "x":16.28351, "y":7.14902, "heading":1.12525, "vx":1.38042, "vy":-1.31168, "omega":-2.08234, "ax":-8.17649, "ay":-3.66215, "alpha":3.00831, "fx":[-140.55385,-129.19065,-138.90253,-147.67227], "fy":[-61.16321,-82.43973,-64.61081,-40.95475]}, + {"t":5.29143, "x":16.31607, "y":7.11437, "heading":1.07213, "vx":1.17185, "vy":-1.4051, "omega":-2.0056, "ax":-8.19622, "ay":-3.60312, "alpha":3.20468, "fx":[-141.40482,-129.16043,-138.72897,-148.36739], "fy":[-59.20727,-82.51835,-65.015,-38.41123]}, + {"t":5.31694, "x":16.34329, "y":7.07735, "heading":1.02097, "vx":0.96277, "vy":-1.49701, "omega":-1.92385, "ax":-8.21324, "ay":-3.54959, "alpha":3.38492, "fx":[-142.20792,-129.19605,-138.4622,-148.95319], "fy":[-57.28637,-82.491,-65.61146,-36.12132]}, + {"t":5.34245, "x":16.36518, "y":7.03801, "heading":0.9719, "vx":0.75327, "vy":-1.58755, "omega":-1.83751, "ax":-8.22798, "ay":-3.50085, "alpha":3.55189, "fx":[-142.96196,-129.28955,-138.12264,-149.44804], "fy":[-55.41004,-82.37031,-66.35157,-34.06214]}, + {"t":5.36796, "x":16.38172, "y":6.99638, "heading":0.92502, "vx":0.54338, "vy":-1.67685, "omega":-1.74691, "ax":-8.25963, "ay":-3.46088, "alpha":3.35584, "fx":[-143.57118,-130.76251,-138.28521,-149.35683], "fy":[-54.05558,-80.19788,-66.304,-34.91699]}, + {"t":5.41108, "x":16.39747, "y":6.92084, "heading":0.84968, "vx":0.18717, "vy":-1.82611, "omega":-1.60218, "ax":-8.28003, "ay":-3.40828, "alpha":3.37361, "fx":[-144.40471,-131.61481,-137.83069,-149.51361], "fy":[-51.75154,-78.76895,-67.20834,-34.16649]}, + {"t":5.45421, "x":16.39784, "y":6.83891, "heading":0.78059, "vx":-0.16993, "vy":-1.9731, "omega":-1.45668, "ax":-8.30413, "ay":-3.34517, "alpha":3.39083, "fx":[-145.20323,-132.54321,-137.57155,-149.68572], "fy":[-49.42146,-77.16869,-67.69539,-33.31605]}, + {"t":5.49734, "x":16.38279, "y":6.75071, "heading":0.71776, "vx":-0.52807, "vy":-2.11737, "omega":-1.31044, "ax":-8.33297, "ay":-3.2682, "alpha":3.40629, "fx":[-145.982,-133.55435,-137.53763,-149.89163], "fy":[-47.01342,-75.37006,-67.71348,-32.26754]}, + {"t":5.54047, "x":16.35227, "y":6.65635, "heading":0.66125, "vx":-0.88745, "vy":-2.25832, "omega":-1.16354, "ax":-8.36796, "ay":-3.17234, "alpha":3.41921, "fx":[-146.76021,-134.66718,-137.76668,-150.15205], "fy":[-44.44878,-73.31779,-67.1825,-30.89305]}, + {"t":5.58359, "x":16.30621, "y":6.55601, "heading":0.61107, "vx":-1.24834, "vy":-2.39514, "omega":-1.01608, "ax":-8.41112, "ay":-3.04974, "alpha":3.42907, "fx":[-147.56237,-135.91824,-138.31203,-150.49003], "fy":[-41.60558,-70.9112,-65.96939,-29.01493]}, + {"t":5.62672, "x":16.24455, "y":6.44987, "heading":0.56725, "vx":-1.61109, "vy":-2.52666, "omega":-0.86819, "ax":-8.4654, "ay":-2.88753, "alpha":3.43514, "fx":[-148.42039,-137.37129,-139.2547,-150.92966], "fy":[-38.28622,-67.96975,-63.84182,-26.36669]}, + {"t":5.66985, "x":16.16719, "y":6.33822, "heading":0.5298, "vx":-1.97618, "vy":-2.6512, "omega":-0.72004, "ax":-8.53517, "ay":-2.66303, "alpha":3.43575, "fx":[-149.37523,-139.13522,-140.72296,-151.48951], "fy":[-34.14904,-64.15864,-60.37045,-22.51144]}, + {"t":5.71298, "x":16.07403, "y":6.2214, "heading":0.49875, "vx":-2.34428, "vy":-2.76605, "omega":-0.57186, "ax":-8.62663, "ay":-2.33262, "alpha":3.42627, "fx":[-150.4725,-141.39757,-142.92096,-152.15491], "fy":[-28.54819,-58.80826,-54.69611,-16.65591]}, + {"t":5.7561, "x":15.9649, "y":6.09994, "heading":0.47409, "vx":-2.71633, "vy":-2.86665, "omega":-0.4241, "ax":-8.74634, "ay":-1.80149, "alpha":3.3928, "fx":[-151.71728,-144.47743,-146.13812,-152.75837], "fy":[-20.10435,-50.40568,-44.88719,-7.17424]}, + {"t":5.79923, "x":15.83962, "y":5.97463, "heading":0.4558, "vx":-3.09354, "vy":-2.94434, "omega":-0.27777, "ax":-8.88179, "ay":-0.82568, "alpha":3.28675, "fx":[-152.7509,-148.77425,-150.40282,-152.37857], "fy":[-5.32196,-34.82688,-25.82261,9.79323]}, + {"t":5.84236, "x":15.69794, "y":5.84688, "heading":0.44382, "vx":-3.47659, "vy":-2.97995, "omega":-0.13602, "ax":-8.79968, "ay":1.36709, "alpha":2.8903, "fx":[-150.0208,-152.28413,-150.90418,-145.51117], "fy":[26.94119,2.65301,18.65784,44.76347]}, + {"t":5.88549, "x":15.53982, "y":5.71964, "heading":0.43795, "vx":-3.8561, "vy":-2.92099, "omega":-0.01137, "ax":-6.15262, "ay":6.42615, "alpha":0.96876, "fx":[-106.98241,-109.37322,-102.19923,-100.06213], "fy":[107.27717,104.64911,111.59758,113.70403]}, + {"t":5.92861, "x":15.3678, "y":5.59964, "heading":0.43746, "vx":-4.12145, "vy":-2.64385, "omega":0.03041, "ax":-1.97898, "ay":8.27281, "alpha":8.52141, "fx":[-71.87888,-76.96499,24.83571,-10.63946], "fy":[133.58952,129.06591,148.7711,151.44582]}, + {"t":5.97174, "x":15.18821, "y":5.49331, "heading":0.43877, "vx":-4.20679, "vy":-2.28706, "omega":0.39792, "ax":2.55547, "ay":7.81423, "alpha":10.85452, "fx":[-34.61654,41.09455,117.82877,49.56443], "fy":[148.10741,143.23507,96.12725,144.2015]}, + {"t":6.01487, "x":15.00916, "y":5.40194, "heading":0.45593, "vx":-4.09658, "vy":-1.95005, "omega":0.86605, "ax":5.60079, "ay":6.77105, "alpha":5.7444, "fx":[59.8349,111.68009,121.96609,87.59049], "fy":[140.26629,103.43198,91.83338,125.16298]}, + {"t":6.058, "x":14.83769, "y":5.32414, "heading":0.49328, "vx":-3.85503, "vy":-1.65803, "omega":1.11379, "ax":6.59841, "ay":6.04087, "alpha":2.76198, "fx":[99.04701,120.41597,123.29792,106.18758], "fy":[116.4013,94.05883,90.46952,110.08408]}, + {"t":6.10112, "x":14.67757, "y":5.25825, "heading":0.54132, "vx":-3.57046, "vy":-1.3975, "omega":1.23291, "ax":7.04066, "ay":5.58961, "alpha":1.20978, "fx":[115.04317,123.39226,124.09575,116.50734], "fy":[100.91421,90.50465,89.60924,99.28274]}, + {"t":6.14425, "x":14.53013, "y":5.20317, "heading":0.59449, "vx":-3.26681, "vy":-1.15644, "omega":1.28508, "ax":7.27931, "ay":5.29809, "alpha":0.28949, "fx":[122.86297,124.70518,124.75583,122.95211], "fy":[91.42478,88.89506,88.83767,91.31818]}, + {"t":6.18738, "x":14.39601, "y":5.15823, "heading":0.64991, "vx":-2.95287, "vy":-0.92794, "omega":1.29756, "ax":7.42615, "ay":5.09702, "alpha":-0.31817, "fx":[127.22674,125.31964,125.38681,127.33352], "fy":[85.38156,88.15633,88.04815,85.20924]}, + {"t":6.23051, "x":14.27556, "y":5.12295, "heading":0.70587, "vx":-2.6326, "vy":-0.70812, "omega":1.28384, "ax":7.52479, "ay":4.95071, "alpha":-0.74973, "fx":[129.87569,125.58514,126.02287,130.49418], "fy":[81.39314,87.8658,87.21117,80.37051]}, + {"t":6.27363, "x":14.16902, "y":5.09701, "heading":0.76124, "vx":-2.30808, "vy":-0.49461, "omega":1.25151, "ax":7.59527, "ay":4.83975, "alpha":-1.0719, "fx":[131.56929,125.66085,126.67252,132.87114], "fy":[78.69993,87.82111,86.32315,76.44654]}, + {"t":6.31676, "x":14.07655, "y":5.08018, "heading":0.81522, "vx":-1.98051, "vy":-0.28588, "omega":1.20528, "ax":7.64801, "ay":4.75282, "alpha":-1.32109, "fx":[132.68501,125.63026,127.33379,134.71252], "fy":[76.86146,87.91286,85.39115,73.21106]}, + {"t":6.35989, "x":13.99824, "y":5.07227, "heading":0.8672, "vx":-1.65067, "vy":-0.08091, "omega":1.14831, "ax":7.68887, "ay":4.68295, "alpha":-1.51902, "fx":[133.43027,125.54131,128.00012,136.17006], "fy":[75.60617,88.07728,84.42706,70.51222]}, + {"t":6.40302, "x":13.93421, "y":5.07314, "heading":0.91672, "vx":-1.31907, "vy":0.12106, "omega":1.08279, "ax":7.72143, "ay":4.6256, "alpha":-1.67954, "fx":[133.92843,125.42312,128.66315,137.34248], "fy":[74.75745,88.27551,83.44498,68.24259]}, + {"t":6.44614, "x":13.8845, "y":5.08266, "heading":0.96342, "vx":-0.98606, "vy":0.32055, "omega":1.01036, "ax":7.74797, "ay":4.57769, "alpha":-1.81203, "fx":[134.25769,125.2939,129.31412,138.29737], "fy":[74.19529,88.48345,82.45974,66.3225]}, + {"t":6.48927, "x":13.84918, "y":5.10074, "heading":1.00699, "vx":-0.65191, "vy":0.51797, "omega":0.93221, "ax":7.77002, "ay":4.53708, "alpha":-1.92307, "fx":[134.47027,125.16503,129.94461,139.08304], "fy":[73.83513,88.6862,81.48607,64.69044]}, + {"t":6.5324, "x":13.82829, "y":5.1273, "heading":1.0472, "vx":-0.31681, "vy":0.71365, "omega":0.84927, "ax":7.78466, "ay":4.51816, "alpha":-1.775, "fx":[134.28028,125.85642,130.68936,138.8334], "fy":[74.18246,87.70424,80.29243,65.23132]}, + {"t":6.57626, "x":13.82188, "y":5.16294, "heading":1.08444, "vx":0.0246, "vy":0.9118, "omega":0.77143, "ax":7.78765, "ay":4.5116, "alpha":-1.77057, "fx":[134.10318,125.83645,131.02585,138.89736], "fy":[74.47692,87.70926,79.71378,65.06419]}, + {"t":6.62011, "x":13.83045, "y":5.20727, "heading":1.11828, "vx":0.36613, "vy":1.10966, "omega":0.69378, "ax":7.79123, "ay":4.50371, "alpha":-1.7657, "fx":[133.95345,125.8479,131.34848,138.95653], "fy":[74.71561,87.66449,79.14681,64.90043]}, + {"t":6.66397, "x":13.854, "y":5.26027, "heading":1.1487, "vx":0.70782, "vy":1.30717, "omega":0.61634, "ax":7.79559, "ay":4.49405, "alpha":-1.76014, "fx":[133.83482,125.89338,131.66018,139.01493], "fy":[74.89089,87.56451,78.5851,64.72938]}, + {"t":6.70782, "x":13.89254, "y":5.32192, "heading":1.17573, "vx":1.04971, "vy":1.50426, "omega":0.53915, "ax":7.80104, "ay":4.48194, "alpha":-1.75351, "fx":[133.75232,125.97806,131.96594,139.07718], "fy":[74.99179,87.39924,78.01758,64.53776]}, + {"t":6.75168, "x":13.94607, "y":5.3922, "heading":1.19938, "vx":1.39183, "vy":1.70082, "omega":0.46225, "ax":7.80801, "ay":4.46635, "alpha":-1.74522, "fx":[133.71336,126.11142,132.27396,139.14923], "fy":[75.00147,87.15075,77.42555,64.30741]}, + {"t":6.79554, "x":14.01462, "y":5.47108, "heading":1.21965, "vx":1.73425, "vy":1.8967, "omega":0.38571, "ax":7.81727, "ay":4.4455, "alpha":-1.73431, "fx":[133.72978,126.31067,132.59811,139.23954], "fy":[74.89207,86.78673,76.77672,64.01096]}, + {"t":6.83939, "x":14.0982, "y":5.55854, "heading":1.23656, "vx":2.07709, "vy":2.09166, "omega":0.30965, "ax":7.83017, "ay":4.4162, "alpha":-1.71899, "fx":[133.82239,126.60819,132.96319,139.36175], "fy":[74.61332,86.24623,76.01193,63.60197]}, + {"t":6.88325, "x":14.19682, "y":5.65452, "heading":1.25014, "vx":2.42049, "vy":2.28534, "omega":0.23426, "ax":7.84936, "ay":4.37205, "alpha":-1.69572, "fx":[134.03213,127.07,133.41796,139.54111], "fy":[74.06386,85.40334,75.01172,62.99058]}, + {"t":6.9271, "x":14.31052, "y":5.75895, "heading":1.26042, "vx":2.76473, "vy":2.47708, "omega":0.15989, "ax":7.88092, "ay":4.29792, "alpha":-1.65597, "fx":[134.45281,127.85008,134.07285,139.83309], "fy":[73.00377,83.95625,73.49534,61.97003]}, + {"t":6.97096, "x":14.43935, "y":5.87172, "heading":1.26743, "vx":3.11035, "vy":2.66557, "omega":0.08727, "ax":7.94241, "ay":4.14764, "alpha":-1.57314, "fx":[135.35807,129.40025,135.24168,140.39282], "fy":[70.69553,80.97042,70.61389,59.92096]}, + {"t":7.01482, "x":14.5834, "y":5.99261, "heading":1.27126, "vx":3.45868, "vy":2.84747, "omega":0.01828, "ax":8.11236, "ay":3.68255, "alpha":-1.30554, "fx":[138.00724,133.78636,138.27698,141.88481], "fy":[63.25248,71.50785,62.08309,53.71339]}, + {"t":7.05867, "x":14.74288, "y":6.12103, "heading":1.27206, "vx":3.81445, "vy":3.00897, "omega":-0.03898, "ax":5.55109, "ay":-5.74193, "alpha":0.86048, "fx":[90.19691,93.79507,98.51601,95.18193], "fy":[-101.42948,-99.26978,-93.93978,-96.03538]}, + {"t":7.10253, "x":14.91551, "y":6.24746, "heading":1.27035, "vx":4.0579, "vy":2.75715, "omega":-0.00124, "ax":3.34671, "ay":-5.23728, "alpha":-0.00831, "fx":[56.96644,56.92101,56.88684,56.93227], "fy":[-89.06081,-89.06857,-89.10838,-89.10062]}, + {"t":7.14638, "x":15.09669, "y":6.36335, "heading":1.2703, "vx":4.20467, "vy":2.52746, "omega":-0.0016, "ax":-2.7315, "ay":-5.56233, "alpha":-12.81923, "fx":[13.98543,-101.20541,-83.53414,-15.09422], "fy":[-101.55378,-49.56232,-99.627,-127.71121]}, + {"t":7.19024, "x":15.27846, "y":6.46884, "heading":1.27023, "vx":4.08488, "vy":2.28352, "omega":-0.5638, "ax":-7.44099, "ay":-4.73578, "alpha":-4.06392, "fx":[-125.75441,-141.77188,-129.30038,-109.44982], "fy":[-83.76596,-53.70203,-79.76132,-104.9876]}, + {"t":7.2341, "x":15.45045, "y":6.56443, "heading":1.2455, "vx":3.75855, "vy":2.07583, "omega":-0.74203, "ax":-7.64331, "ay":-4.68824, "alpha":-1.03811, "fx":[-129.66432,-134.02068,-130.48501,-125.8724], "fy":[-80.40544,-73.01053,-79.24869,-86.31805]}, + {"t":7.27795, "x":15.60794, "y":6.65096, "heading":1.21296, "vx":3.42334, "vy":1.87022, "omega":-0.78756, "ax":-7.6882, "ay":-4.66207, "alpha":-0.06315, "fx":[-130.74366,-131.01959,-130.80493,-130.52813], "fy":[-79.34774,-78.89449,-79.25389,-79.70581]}, + {"t":7.32181, "x":15.75068, "y":6.7285, "heading":1.17842, "vx":3.08617, "vy":1.66576, "omega":-0.79033, "ax":-7.70669, "ay":-4.64735, "alpha":0.41424, "fx":[-131.34606,-129.48052,-130.8474,-132.68035], "fy":[-78.67025,-81.69036,-79.46192,-76.37806]}, + {"t":7.36566, "x":15.87861, "y":6.79708, "heading":1.14376, "vx":2.74819, "vy":1.46195, "omega":-0.77216, "ax":-7.71653, "ay":-4.63812, "alpha":0.69705, "fx":[-131.78118,-128.56495,-130.76945,-133.90798], "fy":[-78.12488,-83.29461,-79.7604,-74.39238]}, + {"t":7.40952, "x":15.99172, "y":6.85674, "heading":1.10989, "vx":2.40977, "vy":1.25854, "omega":-0.74159, "ax":-7.72254, "ay":-4.63186, "alpha":0.88405, "fx":[-132.13412,-127.9726,-130.63257,-134.69321], "fy":[-77.64708,-84.31318,-80.09914,-73.08725]}, + {"t":7.45338, "x":16.08997, "y":6.90748, "heading":1.07737, "vx":2.07109, "vy":1.05541, "omega":-0.70282, "ax":-7.72654, "ay":-4.6274, "alpha":1.01694, "fx":[-132.43674,-127.56943,-130.46653,-135.23203], "fy":[-77.21456,-85.00026,-80.45178,-72.17615]}, + {"t":7.49723, "x":16.17337, "y":6.94931, "heading":1.04655, "vx":1.73224, "vy":0.85247, "omega":-0.65822, "ax":-7.72936, "ay":-4.62409, "alpha":1.11628, "fx":[-132.70332,-127.28612,-130.28783,-135.61928], "fy":[-76.81839,-85.48194,-80.80294,-71.51425]}, + {"t":7.54109, "x":16.24191, "y":6.98225, "heading":1.01768, "vx":1.39326, "vy":0.64967, "omega":-0.60927, "ax":-7.73142, "ay":-4.62157, "alpha":1.1934, "fx":[-132.9411,-127.08286,-130.10647,-135.90676], "fy":[-76.4547,-85.82853,-81.14302,-71.01982]}, + {"t":7.58494, "x":16.29558, "y":7.0063, "heading":0.99096, "vx":1.05419, "vy":0.44699, "omega":-0.55693, "ax":-7.73298, "ay":-4.61961, "alpha":1.25503, "fx":[-133.15412,-126.93486,-129.92891,-136.1254], "fy":[-76.12174,-86.08275,-81.46576,-70.64274]}, + {"t":7.6288, "x":16.33437, "y":7.02146, "heading":0.96654, "vx":0.71505, "vy":0.24439, "omega":-0.50189, "ax":-7.73418, "ay":-4.61807, "alpha":1.30543, "fx":[-133.34482,-126.82569,-129.75952,-136.29501], "fy":[-75.81868,-86.27236,-81.76699,-70.35016]}, + {"t":7.67266, "x":16.35829, "y":7.02774, "heading":0.94452, "vx":0.37586, "vy":0.04186, "omega":-0.44464, "ax":-7.73512, "ay":-4.61684, "alpha":1.3474, "fx":[-133.5148,-126.74388,-129.60131,-136.42902], "fy":[-75.54514,-86.41639,-82.04391,-70.11938]}, + {"t":7.71651, "x":16.36734, "y":7.02513, "heading":0.92502, "vx":0.03663, "vy":-0.16061, "omega":-0.38555, "ax":-7.73692, "ay":-4.61654, "alpha":1.24093, "fx":[-133.4701,-127.19668,-129.69656,-136.04759], "fy":[-75.61818,-85.74414,-81.89025,-70.85158]}, + {"t":7.75966, "x":16.36172, "y":7.01391, "heading":0.90839, "vx":-0.2972, "vy":-0.35981, "omega":-0.332, "ax":-7.73683, "ay":-4.6152, "alpha":1.23859, "fx":[-133.5319,-127.24337,-129.61941,-136.01027], "fy":[-75.48278,-85.6514,-81.98563,-70.89288]}, + {"t":7.80281, "x":16.34169, "y":6.99408, "heading":0.89406, "vx":-0.63103, "vy":-0.55894, "omega":-0.27856, "ax":-7.73668, "ay":-4.61366, "alpha":1.23568, "fx":[-133.58173,-127.28652,-129.55412,-135.97243], "fy":[-75.36305,-85.55905,-82.05676,-70.92911]}, + {"t":7.84595, "x":16.30726, "y":6.96567, "heading":0.88204, "vx":-0.96485, "vy":-0.75801, "omega":-0.22524, "ax":-7.73645, "ay":-4.61186, "alpha":1.23202, "fx":[-133.61918,-127.32609,-129.50048,-135.93349], "fy":[-75.2581,-85.46559,-82.10229,-70.95944]}, + {"t":7.8891, "x":16.25843, "y":6.92867, "heading":0.87233, "vx":-1.29866, "vy":-0.95701, "omega":-0.17208, "ax":-7.73611, "ay":-4.60969, "alpha":1.22735, "fx":[-133.64347,-127.36229,-129.45832,-135.89224], "fy":[-75.16673,-85.36833,-82.11988,-70.98314]}, + {"t":7.93225, "x":16.19519, "y":6.88309, "heading":0.8649, "vx":-1.63246, "vy":-1.15591, "omega":-0.11913, "ax":-7.73562, "ay":-4.607, "alpha":1.22123, "fx":[-133.65328,-127.3957,-129.42749,-135.84656], "fy":[-75.0872,-85.26265,-82.10563,-70.99961]}, + {"t":7.9754, "x":16.11755, "y":6.82893, "heading":0.85976, "vx":-1.96624, "vy":-1.35469, "omega":-0.06643, "ax":-7.73491, "ay":-4.60352, "alpha":1.21296, "fx":[-133.6463,-127.42753,-129.40786,-135.79264], "fy":[-75.01677,-85.14047,-82.05277,-71.00828]}, + {"t":8.01855, "x":16.02551, "y":6.76619, "heading":0.85689, "vx":-2.29998, "vy":-1.55332, "omega":-0.0141, "ax":-7.73383, "ay":-4.59877, "alpha":1.20127, "fx":[-133.6182,-127.46012,-129.3993,-135.72339], "fy":[-74.9507,-84.98694,-81.94891,-71.00862]}, + {"t":8.06169, "x":15.91908, "y":6.69488, "heading":0.85629, "vx":-2.63368, "vy":-1.75175, "omega":0.03774, "ax":-7.73212, "ay":-4.5918, "alpha":1.18365, "fx":[-133.56021,-127.49819,-129.40161,-135.62449], "fy":[-74.87961,-84.77224,-81.76917,-70.99982]}, + {"t":8.10484, "x":15.79824, "y":6.61503, "heading":0.85791, "vx":-2.96731, "vy":-1.94988, "omega":0.08881, "ax":-7.72912, "ay":-4.58039, "alpha":1.15435, "fx":[-133.45173,-127.55224,-129.41406,-135.46271], "fy":[-74.78178,-84.42719,-81.45593,-70.97988]}, + {"t":8.14799, "x":15.66301, "y":6.52663, "heading":0.86175, "vx":-3.3008, "vy":-2.14751, "omega":0.13862, "ax":-7.72286, "ay":-4.55797, "alpha":1.09665, "fx":[-133.23107,-127.65064,-129.43264,-135.14028], "fy":[-74.59141,-83.74766,-80.83978,-70.94001]}, + {"t":8.19114, "x":15.5134, "y":6.42973, "heading":0.86773, "vx":-3.63403, "vy":-2.34418, "omega":0.18593, "ax":-7.70306, "ay":-4.49217, "alpha":0.93413, "fx":[-132.59612,-127.89844,-129.41682,-134.19572], "fy":[-73.96831,-81.75789,-79.11681,-70.79912]}, + {"t":8.23429, "x":15.34943, "y":6.3244, "heading":0.87575, "vx":-3.9664, "vy":-2.53801, "omega":0.22624, "ax":-5.20512, "ay":-0.28367, "alpha":-5.2219, "fx":[-75.01359,-90.70566,-101.54571,-86.88535], "fy":[-2.9624,21.2335,-6.37398,-31.19758]}, + {"t":8.27743, "x":15.17344, "y":6.21462, "heading":0.88551, "vx":-4.19099, "vy":-2.55025, "omega":0.00093, "ax":-0.38584, "ay":0.63479, "alpha":-0.00267, "fx":[-6.55288,-6.56396,-6.57313,-6.56205], "fy":[10.79872,10.8077,10.79658,10.7876]}, + {"t":8.32058, "x":14.99225, "y":6.10518, "heading":0.88555, "vx":-4.20764, "vy":-2.52286, "omega":0.00081, "ax":-0.06411, "ay":0.11495, "alpha":0.00822, "fx":[-1.12162,-1.08745,-1.0595,-1.09367], "fy":[1.95211,1.92419,1.95836,1.98628]}, + {"t":8.36373, "x":14.81064, "y":5.99643, "heading":0.88559, "vx":-4.21041, "vy":-2.5179, "omega":0.00117, "ax":4.92347, "ay":3.01347, "alpha":12.08182, "fx":[41.43264,107.32791,115.88012,70.34661], "fy":[72.72631,-10.93432,45.18713,98.05404]}, + {"t":8.40688, "x":14.63355, "y":5.89059, "heading":0.88564, "vx":-3.99797, "vy":-2.38787, "omega":0.52247, "ax":7.65996, "ay":4.57584, "alpha":-0.2978, "fx":[130.79835,129.2675,129.7851,131.32414], "fy":[77.04476,79.56353,78.64946,76.07734]}, + {"t":8.45003, "x":14.46818, "y":5.79182, "heading":0.90818, "vx":-3.66746, "vy":-2.19043, "omega":0.50962, "ax":7.70183, "ay":4.60063, "alpha":-0.76204, "fx":[132.21532,128.33284,129.77637,133.699], "fy":[76.36264,82.69211,80.32154,73.64544]}, + {"t":8.49317, "x":14.3171, "y":5.70159, "heading":0.93017, "vx":-3.33514, "vy":-1.99192, "omega":0.47674, "ax":7.71548, "ay":4.60863, "alpha":-0.92742, "fx":[132.63296,127.94241,129.82317,134.55409], "fy":[76.21846,83.82953,80.81654,72.70129]}, + {"t":8.53632, "x":14.18038, "y":5.61993, "heading":0.95074, "vx":-3.00223, "vy":-1.79307, "omega":0.43673, "ax":7.72225, "ay":4.61253, "alpha":-1.01208, "fx":[132.80111,127.71693,129.89201,135.00303], "fy":[76.21483,84.4376,80.99486,72.18411]}, + {"t":8.57947, "x":14.05803, "y":5.54686, "heading":0.96958, "vx":-2.66903, "vy":-1.59405, "omega":0.39306, "ax":7.7263, "ay":4.61482, "alpha":-1.06345, "fx":[132.87331,127.56511,129.96688,135.28325], "fy":[76.26185,84.8249,81.04938,71.85116]}, + {"t":8.62262, "x":13.95006, "y":5.48237, "heading":0.98654, "vx":-2.33566, "vy":-1.39493, "omega":0.34717, "ax":7.729, "ay":4.61632, "alpha":-1.0979, "fx":[132.90151,127.45398,130.04058,135.47621], "fy":[76.32759,85.09679,81.04815,71.61644]}, + {"t":8.66577, "x":13.85647, "y":5.42648, "heading":1.00152, "vx":-2.00217, "vy":-1.19574, "omega":0.2998, "ax":7.73093, "ay":4.61736, "alpha":-1.1226, "fx":[132.90825,127.36866,130.10941,135.61754], "fy":[76.39764,85.29925,81.02158,71.44146]}, + {"t":8.70891, "x":13.77728, "y":5.37919, "heading":1.01446, "vx":-1.66859, "vy":-0.99651, "omega":0.25136, "ax":7.73239, "ay":4.61812, "alpha":-1.14117, "fx":[132.905,127.30135,130.17121,135.72539], "fy":[76.46448,85.45569,80.98544,71.30628]}, + {"t":8.75206, "x":13.71248, "y":5.34049, "heading":1.0253, "vx":-1.33496, "vy":-0.79725, "omega":0.20212, "ax":7.73353, "ay":4.6187, "alpha":-1.15564, "fx":[132.89823,127.24752,130.22463,135.81003], "fy":[76.52374,85.57934,80.94878,71.19941]}, + {"t":8.79521, "x":13.66208, "y":5.31039, "heading":1.03403, "vx":-1.00127, "vy":-0.59796, "omega":0.15226, "ax":7.73444, "ay":4.61915, "alpha":-1.16725, "fx":[132.89188,127.20434,130.26878,135.87775], "fy":[76.57268,85.67831,80.91722,71.11369]}, + {"t":8.83836, "x":13.62608, "y":5.28889, "heading":1.0406, "vx":-0.66754, "vy":-0.39866, "omega":0.10189, "ax":7.7352, "ay":4.61951, "alpha":-1.17676, "fx":[132.88851,127.16993,130.30304,135.93261], "fy":[76.60949,85.75785,80.89443,71.04444]}, + {"t":8.88151, "x":13.60448, "y":5.27598, "heading":1.04499, "vx":-0.33379, "vy":-0.19933, "omega":0.05112, "ax":7.73583, "ay":4.6198, "alpha":-1.18472, "fx":[132.88985,127.143,130.32696,135.97737], "fy":[76.63293,85.8215,80.88292,70.98846]}, + {"t":8.92465, "x":13.59727, "y":5.27168, "heading":1.0472, "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] + }, + "events":[] +}