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FFTW could benefit from not using sin() and cos() from libm #300

Closed hselasky closed 1 year ago

hselasky commented 1 year ago

Hi there!

The sin() and cos() functions in libm accross all OS'es are typically designed for gaming performance and not accuracy.

Why are you using these functions at all in FFTW3 for setting up tables and such?

More accurate values are easily computed by repeated use of the sqrt() function. See here for example:

http://www.selasky.org/hans_petter/math/binary_cosinus/

--HPS

matteo-frigo commented 1 year ago

Do you have a specific example of a system where our usage of sin/cos is inappropriate?

x86 systems have hardware support for sin/cos, which produces answers correct to about 1/2 units in the last place. On systems that have no hardware support, the GNU C library resorts to a library written by IBM a while ago, which accomplishes the feat of producing the correctly rounded value of sin() and cos() in a range of values for sure larger than the one we use. (It turns out that something like 600 bits of internal precision are sufficient in all cases, and the IBM library does that when needed.) This takes care of pretty much all installations of GNU/Linux.

You don't want to use repeated square roots, that's inaccurate. If you really want to compute sin/cos yourself, use some kind of Chebyshev approximation.

We actually test accuracy against a reference implementation with ~100 bits precision. See https://fftw.org/accuracy for measured accuracy.

hselasky commented 1 year ago

Hi Matteo!

Do you have a specific example of a system where our usage of sin/cos is inappropriate?

Yes, I do. I'm working on nailing an issue.

x86 systems have hardware support for sin/cos, which produces answers correct to about 1/2 units in the last place. On systems that have no hardware support, the GNU C library resorts to a library written by IBM a while ago, which accomplishes the feat of producing the correctly rounded value of sin() and cos() in a range of values for sure larger than the one we use. (It turns out that something like 600 bits of internal precision are sufficient in all cases, and the IBM library does that when needed.) This takes care of pretty much all installations of GNU/Linux.

Did you check non-Linux OS'es, what they use for sin() and cos()? Among other systems, FreeBSD's libm is not based on hardware instructions, because these may produce different results from vendor to vendor. I've seen some unit tests fail because people check if the float or double output from their FFTW3 based application is identical after every change. One one system it's good and on another system it's bad.

You don't want to use repeated square roots, that's inaccurate. If you really want to compute sin/cos yourself, use some kind of Chebyshev approximation.

Not if your floating point value has enough bits, that you double the amount of bits used for every doubling of number of angles. Then repeated square roots is the only way to mathematically express exact values for sin() and cos() I believe.

If you are saying that repeated use of square roots is inaccurate, then you are really saying that complex multiplication is inaccurate too! Because complex multiplication is the opposite step of squaring. It multiplies two squares together and then the squares go away, and you're left with what is inside the square root expression.

Inside the FFT transform there is repated squaring. The FFT output from one butterfly is used for the next one log2(N) times, where N is the size of the transform, usually 2^log2(N).

The thing is that you must not round up the sin() and cos() values at any time in the FFT, because then the absolute() value will go above 1.0.

For example if abs(X) = 1.002 (two thousands off for example)

Then if this error repeats down through the FFT and the FFT has 10 repeating steps, then you get this:

X=1.002 N = 1 N=N+1; X^(2^N) ans = 1.0080 N=N+1; X^(2^N) ans = 1.0161 N=N+1; X^(2^N) ans = 1.0325 N=N+1; X^(2^N) ans = 1.0660 N=N+1; X^(2^N) ans = 1.1364 N=N+1; X^(2^N) ans = 1.2914 N=N+1; X^(2^N) ans = 1.6678 N=N+1; X^(2^N) ans = 2.7815 N=N+1; X^(2^N) ans = 7.7365 N=N+1; X^(2^N) ans = 59.854

It does not help if the error is 10^-3 or 10^-15 . It quickly explodes.

You seem to be a knowledgable guy, and you are probably familiar with the history of Quick Sort: https://www.cs.princeton.edu/courses/archive/fall12/cos226/lectures/23Quicksort-2x2.pdf

One day a guy wanted to sort some values and noted that Quick Sort was being terribly slow. You can guess the rest.

I'm saying that the FFT has the same problem. There exist input patterns for which a 1024 FFT will simply explode. Going forth and back is not enough to test this. Probably the error reverses in the transform. When you measure do you ever compute the FFT "the slow" way by summing all the sin's and cos's and comparing against that?

This might sound like a fireball in the international community of mathematics, but I claim now, without yet having the final proof that the FFT has a problem similar to quick sort. The input pattern decides the accuracy of the output!

We actually test accuracy against a reference implementation with ~100 bits precision. See https://fftw.org/accuracy for measured accuracy.

Thank you for the link. I will have a look there later today.

May I ask if you test like I suggested, namely the measuring the devation of the FFT from it's slow counterpart, by summing sin's and cos's not using the FFT?

--HPS

hselasky commented 1 year ago

Hi @matteo-frigo ,

I just made this small test program and ran it on FreeBSD, and the result is that which angles are at fault depends on the gain infact. I plan is to build up some kind of brute forcer which try and fail values so that you get a sort of lightning struck going through butterflies which are chained together in the FFT. Feel free to post the results of this test program from Linux.

#include <stdio.h>
#include <math.h>
#include <stdint.h>

int main()
{
    for (double g = 1.0; g < 100.0; g = g + 1) {
        double phase = 0;
        double phase_step = 2.0 * M_PI / 256.0;

        for (int x = 0; x != 256; x++) {
            double c = g * cos(phase);
            double s = g * sin(phase);
            double r = sqrt(c*c + s*s) - g;

            if (r > 0.0) {
                printf("ERROR = %e GAIN = %f ANGLE=2.0*pi*%d/256.0\n", r, g, x);
            }
            phase += phase_step;
        }
    }

    return (0);
}
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*1/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*3/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*9/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*13/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*14/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*50/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*51/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*52/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*69/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*89/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*90/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*93/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*95/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*100/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*109/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*123/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*132/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*134/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*139/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*142/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*144/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*151/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*157/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*178/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*184/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*188/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*195/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*197/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*203/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*209/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*212/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*215/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*217/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*230/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*243/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*250/256.0
ERROR = 4.440892e-16 GAIN = 3.000000 ANGLE=2.0*pi*255/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*21/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*22/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*47/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*74/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*84/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*103/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*113/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*132/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*140/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*142/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*144/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*173/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*174/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*188/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*230/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*250/256.0
ERROR = 8.881784e-16 GAIN = 5.000000 ANGLE=2.0*pi*251/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*1/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*3/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*9/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*13/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*14/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*50/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*51/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*52/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*69/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*89/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*90/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*93/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*95/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*100/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*109/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*123/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*132/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*134/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*139/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*142/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*144/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*151/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*157/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*178/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*184/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*188/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*195/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*197/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*203/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*209/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*212/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*215/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*217/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*230/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*243/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*250/256.0
ERROR = 8.881784e-16 GAIN = 6.000000 ANGLE=2.0*pi*255/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*4/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*5/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*9/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*19/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*33/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*34/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*36/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*41/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*47/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*51/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*53/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*67/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*79/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*92/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*93/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*99/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*100/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*109/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*115/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*126/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*133/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*134/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*135/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*150/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*151/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*156/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*175/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*179/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*194/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*202/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*203/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*207/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*211/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*215/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*217/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*229/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*246/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*248/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*249/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*250/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*251/256.0
ERROR = 8.881784e-16 GAIN = 7.000000 ANGLE=2.0*pi*255/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*21/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*22/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*74/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*84/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*103/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*113/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*144/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*173/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*174/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.776357e-15 GAIN = 10.000000 ANGLE=2.0*pi*251/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*40/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*67/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*99/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*111/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*149/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*186/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.776357e-15 GAIN = 11.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*3/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*9/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*50/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*52/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*69/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*89/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*90/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*93/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*100/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*109/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*144/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*157/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*184/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*195/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*197/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*203/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*209/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*212/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*215/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*243/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.776357e-15 GAIN = 12.000000 ANGLE=2.0*pi*255/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*39/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*40/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*48/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*49/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*58/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*65/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*71/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*84/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*90/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*93/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*103/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*108/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*109/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*138/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*141/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*157/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*162/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*167/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*173/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*174/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*184/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*185/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*195/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*203/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*204/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*215/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*249/256.0
ERROR = 1.776357e-15 GAIN = 13.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*5/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*9/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*19/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*33/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*36/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*41/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*67/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*79/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*92/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*93/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*99/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*100/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*109/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*115/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*126/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*133/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*135/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*150/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*175/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*179/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*194/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*203/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*211/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*215/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*229/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*248/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*249/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*251/256.0
ERROR = 1.776357e-15 GAIN = 14.000000 ANGLE=2.0*pi*255/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*10/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*16/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*37/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*40/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*44/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*45/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*48/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*50/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*55/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*58/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*60/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*68/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*89/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*90/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*92/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*93/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*99/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*111/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*112/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*125/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*135/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*137/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*138/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*141/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*144/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*150/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*167/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*170/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*186/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*187/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*195/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*197/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*198/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*200/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*205/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*216/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*224/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*233/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*238/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*243/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*249/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*251/256.0
ERROR = 1.776357e-15 GAIN = 15.000000 ANGLE=2.0*pi*252/256.0
ERROR = 3.552714e-15 GAIN = 17.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*4/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*6/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*16/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*34/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*144/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*211/256.0
ERROR = 3.552714e-15 GAIN = 19.000000 ANGLE=2.0*pi*234/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*21/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*22/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*47/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*74/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*84/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*103/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*113/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*132/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*140/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*142/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*144/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*173/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*174/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*188/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*230/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 20.000000 ANGLE=2.0*pi*251/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*1/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*34/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*36/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*40/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*47/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*73/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*100/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*130/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*133/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*152/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*187/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*207/256.0
ERROR = 3.552714e-15 GAIN = 21.000000 ANGLE=2.0*pi*217/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*40/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*47/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*67/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*95/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*99/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*111/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*130/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*140/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*149/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*186/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*217/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*234/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*246/256.0
ERROR = 3.552714e-15 GAIN = 22.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*2/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*3/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*6/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*10/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*14/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*34/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*42/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*45/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*49/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*50/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*52/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*58/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*60/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*99/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*101/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*111/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*113/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*119/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*122/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*125/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*130/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*132/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*134/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*137/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*148/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*167/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*173/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*174/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*178/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*197/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*202/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*206/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*234/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*238/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*243/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*249/256.0
ERROR = 3.552714e-15 GAIN = 23.000000 ANGLE=2.0*pi*252/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*1/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*3/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*9/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*13/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*14/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*50/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*51/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*52/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*69/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*89/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*90/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*93/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*95/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*100/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*109/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*123/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*132/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*134/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*139/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*142/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*144/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*157/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*178/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*184/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*188/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*195/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*197/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*203/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*209/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*212/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*215/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*217/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*230/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*243/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 24.000000 ANGLE=2.0*pi*255/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*4/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*6/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*8/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*27/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*34/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*47/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*51/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*60/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*70/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*74/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*80/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*98/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*108/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*109/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*118/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*127/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*134/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*135/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*140/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*142/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*155/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*175/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*184/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*188/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*190/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*195/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*196/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*197/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*200/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*202/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*203/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*212/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*215/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*217/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*243/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*246/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*251/256.0
ERROR = 3.552714e-15 GAIN = 25.000000 ANGLE=2.0*pi*252/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*1/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*4/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*6/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*13/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*39/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*40/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*48/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*49/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*51/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*58/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*65/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*71/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*73/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*84/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*90/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*93/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*95/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*103/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*108/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*109/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*123/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*132/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*134/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*138/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*141/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*142/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*157/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*162/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*167/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*173/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*174/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*184/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*185/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*188/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*195/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*203/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*204/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*207/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*215/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*217/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*230/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*234/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*249/256.0
ERROR = 3.552714e-15 GAIN = 26.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*1/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*4/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*7/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*9/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*21/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*22/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*32/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*34/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*41/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*51/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*53/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*56/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*58/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*70/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*73/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*74/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*95/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*111/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*112/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*123/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*125/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*129/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*130/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*133/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*134/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*135/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*138/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*140/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*141/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*142/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*144/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*149/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*167/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*170/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*179/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*186/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*188/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*194/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*198/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*203/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*204/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*207/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*219/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*229/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*240/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*241/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*246/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*249/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*253/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*254/256.0
ERROR = 3.552714e-15 GAIN = 27.000000 ANGLE=2.0*pi*255/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*4/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*5/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*9/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*19/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*33/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*34/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*36/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*41/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*47/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*51/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*53/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*67/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*79/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*92/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*93/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*99/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*100/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*109/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*115/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*126/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*133/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*134/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*135/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*150/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*175/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*179/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*194/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*202/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*203/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*207/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*211/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*215/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*217/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*229/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*246/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*248/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*249/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*251/256.0
ERROR = 3.552714e-15 GAIN = 28.000000 ANGLE=2.0*pi*255/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*1/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*3/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*6/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*14/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*20/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*45/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*50/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*53/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*60/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*70/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*73/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*80/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*95/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*98/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*99/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*122/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*123/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*132/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*134/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*140/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*149/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*153/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*157/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*177/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*178/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*190/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*196/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*197/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*203/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*215/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*217/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*236/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*243/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*246/256.0
ERROR = 3.552714e-15 GAIN = 29.000000 ANGLE=2.0*pi*251/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*4/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*6/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*10/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*14/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*16/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*34/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*37/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*40/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*44/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*45/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*48/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*50/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*51/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*53/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*55/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*58/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*60/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*68/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*89/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*90/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*92/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*93/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*95/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*99/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*111/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*112/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*125/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*130/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*134/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*135/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*137/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*138/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*139/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*140/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*141/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*144/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*150/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*167/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*170/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*178/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*186/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*187/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*195/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*197/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*198/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*200/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*202/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*205/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*207/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*216/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*224/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*230/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*233/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*234/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*238/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*243/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*246/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*249/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*251/256.0
ERROR = 3.552714e-15 GAIN = 30.000000 ANGLE=2.0*pi*252/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*1/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*4/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*9/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*14/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*21/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*30/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*34/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*50/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*55/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*65/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*71/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*73/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*78/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*80/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*95/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*103/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*106/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*111/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*113/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*122/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*123/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*129/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*132/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*138/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*140/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*144/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*149/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*151/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*152/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*156/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*157/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*167/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*170/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*173/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*174/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*187/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*188/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*197/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*198/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*204/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*207/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*209/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*211/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*212/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*217/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*229/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*240/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*249/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*250/256.0
ERROR = 3.552714e-15 GAIN = 31.000000 ANGLE=2.0*pi*253/256.0
ERROR = 7.105427e-15 GAIN = 33.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 34.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 35.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 35.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 35.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*68/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 37.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*16/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*144/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*211/256.0
ERROR = 7.105427e-15 GAIN = 38.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*40/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*148/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*209/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*238/256.0
ERROR = 7.105427e-15 GAIN = 39.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*22/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*84/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*103/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*113/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*144/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*173/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*174/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 40.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*85/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*155/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*184/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*190/256.0
ERROR = 7.105427e-15 GAIN = 41.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*36/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*40/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*100/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*152/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*187/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 42.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*23/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*42/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*71/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*78/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*106/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*119/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*139/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*170/256.0
ERROR = 7.105427e-15 GAIN = 43.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*40/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*67/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*99/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*186/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 44.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*2/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*45/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*80/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*110/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*122/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*135/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*186/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*238/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 45.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*2/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*3/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*10/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*42/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*45/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*49/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*52/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*60/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*99/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*101/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*113/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*119/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*122/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*125/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*137/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*148/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*167/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*173/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*174/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*197/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*206/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*238/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*243/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 46.000000 ANGLE=2.0*pi*252/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*2/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*3/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*42/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*55/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*56/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*92/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*98/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*119/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*138/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*139/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*152/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*174/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*186/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*206/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*209/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*211/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*219/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*240/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*252/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*253/256.0
ERROR = 7.105427e-15 GAIN = 47.000000 ANGLE=2.0*pi*255/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*3/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*13/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*52/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*69/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*89/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*93/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*100/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*109/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*139/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*144/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*157/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*184/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*195/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*197/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*209/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*212/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*215/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*243/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 48.000000 ANGLE=2.0*pi*255/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*13/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*16/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*39/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*49/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*52/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*71/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*76/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*93/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*96/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*99/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*103/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*112/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*137/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*139/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*148/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*160/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*172/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*190/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*191/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*195/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*198/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*200/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*204/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*215/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*216/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 49.000000 ANGLE=2.0*pi*252/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*8/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*27/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*60/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*70/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*80/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*98/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*108/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*109/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*118/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*127/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*135/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*155/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*175/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*184/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*190/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*195/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*196/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*197/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*200/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*212/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*215/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*243/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 50.000000 ANGLE=2.0*pi*252/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*7/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*15/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*16/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*33/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*44/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*48/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*49/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*54/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*106/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*118/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*121/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*124/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*145/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*150/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*167/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*174/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*187/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*206/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*229/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*238/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 51.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*13/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*39/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*40/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*48/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*49/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*65/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*71/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*84/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*93/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*103/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*108/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*109/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*138/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*141/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*157/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*162/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*167/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*173/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*174/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*184/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*185/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*195/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*204/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*215/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 52.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*13/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*22/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*42/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*45/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*48/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*49/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*52/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*60/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*70/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*76/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*92/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*112/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*125/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*129/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*139/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*148/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*150/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*152/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*161/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*173/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*175/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*186/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*187/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*204/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*209/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*215/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*243/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 53.000000 ANGLE=2.0*pi*253/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*7/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*22/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*32/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*41/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*56/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*70/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*112/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*125/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*129/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*135/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*138/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*141/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*144/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*167/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*170/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*179/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*186/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*194/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*198/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*204/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*219/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*229/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*240/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*241/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*253/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*254/256.0
ERROR = 7.105427e-15 GAIN = 54.000000 ANGLE=2.0*pi*255/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*15/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*40/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*41/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*67/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*68/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*78/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*81/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*103/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*120/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*122/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*124/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*135/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*137/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*138/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*139/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*141/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*142/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*153/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*170/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*194/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*198/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*199/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*204/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*212/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*215/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*219/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*243/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 55.000000 ANGLE=2.0*pi*252/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*5/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*19/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*33/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*36/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*41/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*67/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*79/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*92/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*93/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*99/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*100/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*109/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*115/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*126/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*135/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*150/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*175/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*179/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*194/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*211/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*215/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*229/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*248/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 56.000000 ANGLE=2.0*pi*255/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*18/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*38/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*40/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*41/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*65/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*67/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*76/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*104/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*106/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*126/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*141/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*152/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*166/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*167/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*173/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*174/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*190/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*195/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*198/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*206/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*216/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*229/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*243/256.0
ERROR = 7.105427e-15 GAIN = 57.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*3/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*20/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*45/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*60/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*70/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*80/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*98/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*99/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*122/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*153/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*157/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*177/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*190/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*196/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*197/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*215/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*236/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*243/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 58.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*13/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*16/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*39/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*40/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*45/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*61/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*71/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*78/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*79/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*85/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*93/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*106/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*113/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*160/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*161/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*170/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*172/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*179/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*190/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*198/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*200/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*205/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*209/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*211/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*212/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 59.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*10/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*16/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*37/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*40/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*44/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*45/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*48/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*53/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*55/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*60/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*68/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*89/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*92/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*93/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*99/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*112/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*125/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*130/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*135/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*137/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*138/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*139/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*141/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*144/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*150/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*167/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*170/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*186/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*187/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*195/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*197/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*198/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*200/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*205/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*216/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*224/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*233/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*234/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*238/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*243/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 60.000000 ANGLE=2.0*pi*252/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*2/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*16/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*37/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*48/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*55/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*71/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*76/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*99/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*112/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*135/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*137/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*139/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*161/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*178/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*179/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*181/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*184/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*186/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*187/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*191/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*200/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*219/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*230/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*246/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*252/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*253/256.0
ERROR = 7.105427e-15 GAIN = 61.000000 ANGLE=2.0*pi*255/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*4/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*14/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*21/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*30/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*50/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*55/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*65/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*71/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*78/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*80/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*103/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*106/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*111/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*113/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*122/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*129/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*132/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*138/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*140/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*144/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*151/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*152/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*157/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*167/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*170/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*173/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*174/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*187/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*197/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*198/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*204/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*207/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*209/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*211/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*212/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*229/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*240/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 62.000000 ANGLE=2.0*pi*253/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*1/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*2/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*6/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*9/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*13/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*33/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*34/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*37/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*39/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*41/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*47/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*48/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*51/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*52/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*55/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*58/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*69/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*70/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*73/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*74/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*89/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*90/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*92/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*95/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*99/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*122/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*123/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*133/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*134/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*137/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*145/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*149/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*152/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*156/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*161/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*170/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*173/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*174/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*175/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*184/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*185/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*188/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*190/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*202/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*203/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*217/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*219/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*248/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*249/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*250/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*251/256.0
ERROR = 7.105427e-15 GAIN = 63.000000 ANGLE=2.0*pi*252/256.0
ERROR = 1.421085e-14 GAIN = 66.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 67.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.421085e-14 GAIN = 67.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 68.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 69.000000 ANGLE=2.0*pi*74/256.0
ERROR = 1.421085e-14 GAIN = 69.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 70.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 70.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.421085e-14 GAIN = 70.000000 ANGLE=2.0*pi*251/256.0
ERROR = 1.421085e-14 GAIN = 71.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 71.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 71.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 73.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 73.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.421085e-14 GAIN = 73.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.421085e-14 GAIN = 73.000000 ANGLE=2.0*pi*211/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*21/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*68/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 74.000000 ANGLE=2.0*pi*251/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*149/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*150/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*173/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*174/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 75.000000 ANGLE=2.0*pi*253/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*16/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*144/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*211/256.0
ERROR = 1.421085e-14 GAIN = 76.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*48/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*80/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*170/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*204/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*249/256.0
ERROR = 1.421085e-14 GAIN = 77.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*40/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*50/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*148/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*149/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*209/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*238/256.0
ERROR = 1.421085e-14 GAIN = 78.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*9/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*49/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*150/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 79.000000 ANGLE=2.0*pi*255/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*21/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*22/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*74/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*84/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*103/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*113/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*144/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*173/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*174/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 80.000000 ANGLE=2.0*pi*251/256.0
ERROR = 1.421085e-14 GAIN = 81.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.421085e-14 GAIN = 81.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 81.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 81.000000 ANGLE=2.0*pi*167/256.0
ERROR = 1.421085e-14 GAIN = 81.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.421085e-14 GAIN = 81.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.421085e-14 GAIN = 81.000000 ANGLE=2.0*pi*252/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*85/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*111/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*155/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*184/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*190/256.0
ERROR = 1.421085e-14 GAIN = 82.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*49/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*109/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 83.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*36/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*40/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*100/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*133/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*152/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*187/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.421085e-14 GAIN = 84.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*49/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*60/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*70/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*92/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*157/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*238/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 85.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*21/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*23/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*42/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*71/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*78/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*106/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*119/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*170/256.0
ERROR = 1.421085e-14 GAIN = 86.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*40/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*44/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*68/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*74/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*90/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*100/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*109/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*137/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*198/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*200/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*219/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.421085e-14 GAIN = 87.000000 ANGLE=2.0*pi*243/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*40/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*67/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*99/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*111/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*149/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*186/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 88.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*16/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*21/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*30/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*52/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*55/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*71/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*106/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*119/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*125/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*148/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*150/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*152/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*157/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*167/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*212/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*219/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*229/256.0
ERROR = 1.421085e-14 GAIN = 89.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*2/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*45/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*74/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*80/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*110/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*122/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*135/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*186/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*238/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 90.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*2/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*17/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*23/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*45/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*50/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*58/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*63/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*88/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*92/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*108/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*119/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*122/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*133/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*141/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*184/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*186/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*195/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*206/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*211/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*243/256.0
ERROR = 1.421085e-14 GAIN = 91.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*2/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*3/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*10/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*42/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*45/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*49/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*50/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*52/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*58/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*60/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*99/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*101/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*111/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*113/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*119/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*122/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*125/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*137/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*148/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*167/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*173/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*174/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*197/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*206/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*234/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*238/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*243/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*249/256.0
ERROR = 1.421085e-14 GAIN = 92.000000 ANGLE=2.0*pi*252/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*2/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*9/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*21/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*48/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*58/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*90/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*96/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*100/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*112/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*137/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*149/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*175/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*187/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*210/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*229/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*240/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*241/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*249/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*252/256.0
ERROR = 1.421085e-14 GAIN = 93.000000 ANGLE=2.0*pi*255/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*2/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*3/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*9/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*21/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*42/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*55/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*56/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*74/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*92/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*98/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*119/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*133/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*138/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*152/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*174/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*186/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*206/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*209/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*211/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*219/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*240/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*252/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*253/256.0
ERROR = 1.421085e-14 GAIN = 94.000000 ANGLE=2.0*pi*255/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*2/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*15/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*23/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*34/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*52/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*65/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*70/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*71/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*80/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*84/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*99/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*108/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*111/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*119/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*133/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*148/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*149/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*184/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*185/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*187/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*197/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*209/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*212/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*225/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*244/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*245/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*249/256.0
ERROR = 1.421085e-14 GAIN = 95.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*3/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*9/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*50/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*52/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*69/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*89/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*90/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*93/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*100/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*109/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*134/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*144/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*157/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*184/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*195/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*197/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*203/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*209/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*212/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*215/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*243/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 96.000000 ANGLE=2.0*pi*255/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*4/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*9/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*39/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*40/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*48/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*50/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*60/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*67/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*68/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*74/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*93/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*103/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*129/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*130/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*141/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*144/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*167/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*173/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*174/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*179/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*197/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*198/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*202/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*203/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*204/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*211/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*238/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*243/256.0
ERROR = 1.421085e-14 GAIN = 97.000000 ANGLE=2.0*pi*253/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*1/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*16/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*39/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*49/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*52/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*58/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*71/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*76/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*90/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*93/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*96/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*99/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*103/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*111/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*112/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*133/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*137/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*139/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*140/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*148/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*149/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*160/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*172/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*178/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*190/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*191/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*195/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*198/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*200/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*203/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*204/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*215/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*216/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*217/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*230/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*250/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*251/256.0
ERROR = 1.421085e-14 GAIN = 98.000000 ANGLE=2.0*pi*252/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*6/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*11/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*13/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*14/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*21/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*39/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*47/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*51/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*52/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*53/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*60/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*67/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*73/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*95/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*103/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*106/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*117/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*122/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*123/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*127/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*132/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*137/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*138/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*142/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*145/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*151/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*152/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*153/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*156/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*167/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*174/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*179/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*188/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*190/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*203/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*205/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*207/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*229/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*238/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*246/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*248/256.0
ERROR = 1.421085e-14 GAIN = 99.000000 ANGLE=2.0*pi*250/256.0
matteo-frigo commented 1 year ago

You are so confused it's hard to know where to begin.

Your program computes gsqrt(1+epsilon)-g where epsilon is a O(10^-16) rounding error. Of course the result is proportional to gepsilon. What else do you expect? The only thing you can expect with floating point is a bound on relative errors, not absolute errors.

If you want to compute sqrt(a^2+b^2), then this formula is the worst way to do it. See https://ieeexplore.ieee.org/document/5390405 for a better approach.

Computing the sum of an array by adding all numbers is inaccurate, because roundoff errors accumulate N times. The recursive formula sum(A[1:N]) = sum(A[1:N/2])+sum([N/2+1:N]) is much more accurate, because each element incurs O(log N) roundoff errors. Coincidentally, this is exactly what the FFT does. If you compare the FFT answer with the "slow" algorithm, you get a different result because the slow algorithm is wrong! Your program has the same bug, by the way: phase += step is just accumulating errors with no bounds.

I haven't looked at FreeBSD in recent times, but old-school BSD used an implementation by Sun Microsystems that was accurate within 1 unit in the last place (i.e., at most an error in the last bit). It was not as paranoid as the IBM library that I mentioned (exact answer correctly rounded), and it could not match the 80-bit internal precision of x86 hardware (maybe 0.51 units in the last place), but it was a very high quality implementation nonetheless, and as good as it gets if one is restricted to 64-bit double precision. It was clearly written by competent people and for sure it was not optimized for gaming speed. I definitely checked accuracy on {Free,Net,Open}BSD in the past and noticed no problems.

The sin()/cos() implementations, whether linux or freebsd or whatever, produce the correct answer within one or half a bit, and you cannot match that by taking log N square roots, because each square root loses one or half a bit of precision. These days gcc (at least) supports 128-bit floating point, so it should be relatively straightforward to verify the error of the double-precision implementation.

Of course complex multiplication is inaccurate. Every multiplication loses half a bit or so of precision.

hselasky commented 1 year ago

Hi @matteo-frigo ,

I highly appreciate your time to look into this, and bringing some historic details to the light. Regarding your statement:

Computing the sum of an array by adding all numbers is inaccurate

If the numbers you add are integers and the sum fits into the target floating point variable, the result is absolutely not inaccurate.

If the numbers you add are decimal values, you need to sort them first by value, then add the two closest, sort, add, sort add until only one value is left. You don't mix big numbers and small numbers randomly when adding. Of course I know what floating point is and does.

--HPS

hselasky commented 1 year ago

Hi,

I did a quick vector multiplication search, and the numbers I got so far pretty much match the error rate mentioned at https://fftw.org/accuracy/opteron-2.2GHz-64bit/ for single precision.

For a 1024 value sized single precision complex multiplication chain, I get:
GAIN = 1.000000 + 8.344650e-07:
(2.999774,-0.036814,[1023])=3.000000
(-2.977439,-0.367232,[1023])=3.000000
(-2.999775,-0.036815,[1023])=3.000001
(2.979637,-0.348956,[1023])=3.000001
(2.812018,-1.045257,[1023])=3.000001
(2.918821,-0.693175,[1022])=3.000001
(2.785520,-1.113952,[1023])=3.000002
(2.945893,0.567207,[1022])=3.000002
(2.964775,0.458393,[1023])=3.000002
(1.874579,2.342214,[1023])=3.000003

The same for 8192:

GAIN = 1.000000 + 1.072884e-06:
(2.999992,-0.006903,[8191])=3.000000
(0.399182,-2.973324,[8191])=3.000000
(0.387776,-2.974833,[8191])=3.000001
(1.719892,2.458043,[8191])=3.000001
(1.904958,2.317572,[8191])=3.000001
(1.476692,2.611396,[8191])=3.000002
(2.994496,-0.181666,[8191])=3.000002
(2.987724,-0.271145,[8191])=3.000002
(-2.894982,0.786825,[8191])=3.000002
(-2.862687,0.897240,[8191])=3.000003
(1.645608,2.508384,[8191])=3.000003
(1.781551,2.413731,[8191])=3.000003
(2.945021,0.571725,[8191])=3.000003

The challenge is there is no simple logic, because once the radius changes of a vector, it also changes which angles are most subject to errors.

--HPS

hselasky commented 1 year ago

Sorry for all the noise.

The issue that triggered this investigation is now resolved.

The guy that measured the wrong signal had mistook +0 degrees from +360 degrees phase offset, and this was obviously not a FFT's fault.