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Example CityCentre
matlabbe edited this page Apr 3, 2015
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1 revision
Output of MATLAB for Precision/Recall:
--- getPrecisionRecall ---
Loading GroundTruth '../../bin/CityCentre.png' ...
GT_total_positives =
561
Recall max (Precision=100%) = 85.205% (p=0.11095), accepted=478
Recall max accepted (Precision=100%) = 85.205% (p=0.11095), accepted=478
ignored = 0
Output of rtabmap-console:
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 1400 CityCentre
Deleted database "rtabmapconsole.db".
Avpd init time = 0.078833s
Parameters :
Data set : CityCentre
Time threshold = 1400.00 ms
Image rate = 0.00 s (inf Hz)
Repeating data set = false
Camera width=0, height=0 (0 is default)
Camera starts at image 1 (default 1)
INFO: All other parameters are set to defaults
Overwritten parameters :
Bayes/FullPredictionUpdate=true
Kp/BadSignRatio=0.25
Kp/TfIdfLikelihoodUsed=false
Kp/WordsPerImage=400
Mem/BadSignaturesIgnored=true
Mem/RecentWmRatio=0.2
Mem/RehearsalIdUpdatedToNewOne=true
Mem/RehearsalSimilarity=0.2
Mem/STMSize=30
RGBD/Enabled=false
Rtabmap/LoopRatio=0.0
Rtabmap/PublishStats=false
Rtabmap/StatisticLogged=true
Rtabmap/StatisticLoggedHeaders=false
Rtabmap/TimeThr=1400
SURF/Extended=false
SURF/HessianThreshold=1000
Processing images...
iteration(1) time=0.157367s/0.171950s
iteration(2) time=0.165299s/0.183955s
iteration(3) time=0.169688s/0.187009s
iteration(4) time=0.170277s/0.189243s
iteration(5) time=0.175141s/0.188861s
iteration(6) time=0.165247s/0.180890s
iteration(7) time=0.159643s/0.173117s
iteration(8) time=0.165114s/0.179041s
iteration(9) time=0.164459s/0.180659s
iteration(10) time=0.169957s/0.184734s
iteration(11) time=0.185091s/0.202350s
iteration(12) time=0.192808s/0.209373s
iteration(13) time=0.219071s/0.237814s
iteration(14) time=0.196460s/0.215424s
iteration(15) time=0.188964s/0.208629s
iteration(16) time=0.199426s/0.217139s
iteration(17) time=0.220928s/0.237468s
iteration(18) time=0.255133s/0.276321s
iteration(19) time=0.217814s/0.232536s
iteration(20) time=0.211039s/0.225715s
iteration(21) time=0.197621s/0.211682s
iteration(22) time=0.199811s/0.216309s
iteration(23) time=0.217961s/0.232059s
iteration(24) time=0.203412s/0.216448s
iteration(25) time=0.191790s/0.207027s
iteration(26) time=0.209741s/0.226866s
iteration(27) time=0.187648s/0.201345s
iteration(28) time=0.213073s/0.226241s
iteration(29) time=0.174252s/0.187841s
iteration(30) time=0.218769s/0.233311s
iteration(31) time=0.173668s/0.190899s
iteration(32) high(2) hyp(0.05) time=0.208015s/0.224035s
iteration(33) high(2) hyp(0.08) time=0.207833s/0.221849s
iteration(34) high(2) hyp(0.09) time=0.202885s/0.218487s
iteration(35) high(3) hyp(0.09) time=0.224427s/0.243241s
iteration(36) high(4) hyp(0.07) time=0.227528s/0.242361s
iteration(37) high(5) hyp(0.06) time=0.201747s/0.219212s
iteration(38) high(7) hyp(0.06) time=0.193019s/0.212500s
iteration(39) high(7) hyp(0.06) time=0.199364s/0.215311s
iteration(40) high(4) hyp(0.05) time=0.225318s/0.242898s
iteration(41) high(5) hyp(0.06) time=0.226394s/0.245621s
iteration(42) high(7) hyp(0.05) time=0.227254s/0.243302s
iteration(43) high(11) hyp(0.05) time=0.214986s/0.230031s
iteration(44) high(8) hyp(0.05) time=0.221254s/0.235459s
iteration(45) high(13) hyp(0.05) time=0.199643s/0.217188s
iteration(46) high(13) hyp(0.06) time=0.207372s/0.222470s
iteration(47) high(14) hyp(0.05) time=0.205911s/0.219838s
iteration(48) high(13) hyp(0.06) time=0.206964s/0.220763s
iteration(49) high(14) hyp(0.06) time=0.200828s/0.216224s
iteration(50) high(19) hyp(0.07) time=0.208040s/0.222982s
iteration(51) high(10) hyp(0.06) time=0.223711s/0.238609s
iteration(52) high(9) hyp(0.06) time=0.197155s/0.210391s
iteration(53) high(9) hyp(0.07) time=0.229103s/0.242039s
iteration(54) high(7) hyp(0.07) time=0.227288s/0.242041s
iteration(55) high(8) hyp(0.06) time=0.211171s/0.224791s
iteration(56) high(7) hyp(0.08) time=0.199151s/0.213932s
iteration(57) high(9) hyp(0.08) time=0.197944s/0.213629s
iteration(58) high(11) hyp(0.05) time=0.209187s/0.225057s
iteration(59) high(9) hyp(0.07) time=0.207105s/0.221834s
iteration(60) high(28) hyp(0.07) time=0.209801s/0.224927s
iteration(61) high(26) hyp(0.06) time=0.206081s/0.220342s
iteration(62) high(27) hyp(0.05) time=0.210318s/0.224833s
iteration(63) high(18) hyp(0.06) time=0.214494s/0.228675s
iteration(64) high(27) hyp(0.06) time=0.228202s/0.243386s
iteration(65) high(16) hyp(0.05) time=0.222855s/0.238914s
iteration(66) high(30) hyp(0.05) time=0.218725s/0.234336s
iteration(67) high(8) hyp(0.05) time=0.226816s/0.243536s
iteration(68) high(28) hyp(0.05) time=0.226370s/0.239591s
iteration(69) high(28) hyp(0.06) time=0.222662s/0.236998s
iteration(70) high(28) hyp(0.07) time=0.220542s/0.237638s
iteration(71) high(9) hyp(0.06) time=0.173769s/0.188087s
iteration(72) high(7) hyp(0.06) time=0.223054s/0.236919s
iteration(73) high(38) hyp(0.06) time=0.235242s/0.248253s
iteration(74) high(10) hyp(0.06) time=0.237264s/0.254127s
iteration(75) high(10) hyp(0.06) time=0.236762s/0.251571s
iteration(76) high(31) hyp(0.07) time=0.173146s/0.185930s
iteration(77) high(31) hyp(0.08) time=0.252019s/0.266651s
iteration(78) high(32) hyp(0.07) time=0.166963s/0.183224s
iteration(79) high(32) hyp(0.07) time=0.245093s/0.259294s
iteration(80) high(31) hyp(0.07) time=0.176237s/0.192717s
iteration(81) high(26) hyp(0.07) time=0.249127s/0.262046s
iteration(82) high(28) hyp(0.07) time=0.247913s/0.260608s
iteration(83) high(9) hyp(0.07) time=0.245422s/0.258619s
iteration(84) high(8) hyp(0.06) time=0.245843s/0.259082s
iteration(85) high(30) hyp(0.07) time=0.262737s/0.277734s
iteration(86) high(30) hyp(0.07) time=0.253879s/0.270578s
iteration(87) high(26) hyp(0.06) time=0.245404s/0.261269s
iteration(88) high(18) hyp(0.06) time=0.269968s/0.284220s
iteration(89) high(30) hyp(0.07) time=0.259172s/0.274140s
iteration(90) high(27) hyp(0.07) time=0.270232s/0.287812s
iteration(91) high(36) hyp(0.07) time=0.303495s/0.322106s
iteration(92) high(23) hyp(0.06) time=0.275066s/0.292527s
iteration(93) high(13) hyp(0.06) time=0.309601s/0.327568s
iteration(94) high(19) hyp(0.06) time=0.289179s/0.306999s
iteration(95) high(49) hyp(0.06) time=0.302114s/0.320090s
iteration(96) high(44) hyp(0.06) time=0.284845s/0.299338s
iteration(97) high(30) hyp(0.06) time=0.318882s/0.333034s
iteration(98) high(32) hyp(0.06) time=0.289079s/0.303613s
iteration(99) high(57) hyp(0.05) time=0.305976s/0.320352s
count = 100, loop closures = 0, max time (at 97) = 0.318882s
WM(65)=[2,1;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0]
iteration(100) high(38) hyp(0.06) time=0.301288s/0.317616s
iteration(101) high(65) hyp(0.06) time=0.310108s/0.323867s
iteration(102) high(11) hyp(0.06) time=0.294421s/0.308258s
iteration(103) high(9) hyp(0.06) time=0.308152s/0.322665s
iteration(104) high(57) hyp(0.06) time=0.293294s/0.309370s
iteration(105) high(66) hyp(0.06) time=0.318476s/0.336162s
iteration(106) high(33) hyp(0.05) time=0.303921s/0.318948s
iteration(107) high(65) hyp(0.06) time=0.297669s/0.313294s
iteration(108) high(37) hyp(0.06) time=0.308504s/0.322266s
iteration(109) high(72) hyp(0.06) time=0.328518s/0.342092s
iteration(110) high(38) hyp(0.06) time=0.331488s/0.344992s
iteration(111) high(40) hyp(0.06) time=0.308629s/0.322441s
iteration(112) high(16) hyp(0.06) time=0.300270s/0.314756s
iteration(113) high(18) hyp(0.06) time=0.321315s/0.335204s
iteration(114) high(55) hyp(0.05) time=0.303692s/0.317444s
iteration(115) high(84) hyp(0.06) time=0.316264s/0.331364s
iteration(116) high(35) hyp(0.06) time=0.334508s/0.348943s
iteration(117) high(84) hyp(0.06) time=0.336040s/0.350964s
iteration(118) high(32) hyp(0.05) time=0.322111s/0.339492s
iteration(119) high(29) hyp(0.06) time=0.331148s/0.344744s
iteration(120) high(80) hyp(0.06) time=0.316582s/0.334398s
iteration(121) high(46) hyp(0.06) time=0.329135s/0.342874s
iteration(122) high(21) hyp(0.06) time=0.341673s/0.357656s
iteration(123) high(38) hyp(0.05) time=0.351089s/0.366693s
iteration(124) high(37) hyp(0.05) time=0.342574s/0.358426s
iteration(125) high(41) hyp(0.06) time=0.339569s/0.355766s
iteration(126) high(33) hyp(0.06) time=0.382044s/0.397979s
iteration(127) high(34) hyp(0.07) time=0.351458s/0.369639s
iteration(128) high(20) hyp(0.06) time=0.388716s/0.405246s
iteration(129) high(21) hyp(0.05) time=0.372811s/0.390515s
iteration(130) high(13) hyp(0.06) time=0.384608s/0.402634s
iteration(131) high(40) hyp(0.06) time=0.440498s/0.458817s
iteration(132) high(48) hyp(0.06) time=0.354656s/0.373803s
iteration(133) high(93) hyp(0.06) time=0.351392s/0.366499s
iteration(134) high(33) hyp(0.06) time=0.355905s/0.371966s
iteration(135) high(41) hyp(0.06) time=0.361876s/0.380583s
iteration(136) high(41) hyp(0.07) time=0.355999s/0.372540s
iteration(137) high(39) hyp(0.07) time=0.367280s/0.382065s
iteration(138) high(39) hyp(0.06) time=0.354159s/0.368415s
iteration(139) high(42) hyp(0.06) time=0.351943s/0.367590s
iteration(140) high(32) hyp(0.06) time=0.381974s/0.398844s
iteration(141) high(39) hyp(0.05) time=0.387025s/0.403866s
iteration(142) high(22) hyp(0.05) time=0.377456s/0.394314s
iteration(143) high(100) hyp(0.05) time=0.395305s/0.415005s
iteration(144) high(21) hyp(0.05) time=0.397100s/0.412694s
iteration(145) high(39) hyp(0.05) time=0.380540s/0.396918s
iteration(146) high(91) hyp(0.05) time=0.394357s/0.412313s
iteration(147) high(43) hyp(0.06) time=0.412766s/0.429410s
iteration(148) high(109) hyp(0.04) time=0.383271s/0.399305s
iteration(149) high(36) hyp(0.06) time=0.372048s/0.388844s
iteration(150) high(40) hyp(0.05) time=0.435290s/0.450816s
iteration(151) high(121) hyp(0.04) time=0.392825s/0.409506s
iteration(152) high(63) hyp(0.05) time=0.390827s/0.407197s
iteration(153) high(34) hyp(0.05) time=0.408964s/0.425629s
iteration(154) high(34) hyp(0.05) time=0.401444s/0.415855s
iteration(155) high(44) hyp(0.05) time=0.372591s/0.387380s
iteration(156) high(23) hyp(0.06) time=0.390283s/0.407829s
iteration(157) high(15) hyp(0.06) time=0.403641s/0.420884s
iteration(158) high(24) hyp(0.05) time=0.485774s/0.500862s
iteration(159) high(18) hyp(0.06) time=0.455965s/0.468969s
iteration(160) high(80) hyp(0.06) time=0.422600s/0.436980s
iteration(161) high(121) hyp(0.06) time=0.377945s/0.390510s
iteration(162) high(77) hyp(0.06) time=0.394361s/0.408979s
iteration(163) high(71) hyp(0.06) time=0.391121s/0.403964s
iteration(164) high(26) hyp(0.06) time=0.401342s/0.415447s
iteration(165) high(30) hyp(0.06) time=0.404817s/0.422638s
iteration(166) high(58) hyp(0.05) time=0.395621s/0.409393s
iteration(167) high(84) hyp(0.05) time=0.432452s/0.445389s
iteration(168) high(81) hyp(0.06) time=0.402611s/0.417691s
iteration(169) high(108) hyp(0.06) time=0.423669s/0.438894s
iteration(170) high(119) hyp(0.06) time=0.406908s/0.420738s
iteration(171) high(57) hyp(0.07) time=0.424129s/0.438913s
iteration(172) high(121) hyp(0.06) time=0.442271s/0.456720s
iteration(173) high(122) hyp(0.06) time=0.427461s/0.439723s
iteration(174) high(111) hyp(0.06) time=0.400111s/0.416417s
iteration(175) high(122) hyp(0.05) time=0.420296s/0.433011s
iteration(176) high(111) hyp(0.05) time=0.438340s/0.452101s
iteration(177) high(121) hyp(0.06) time=0.426479s/0.440294s
iteration(178) high(73) hyp(0.05) time=0.450187s/0.467463s
iteration(179) high(119) hyp(0.05) time=0.448313s/0.465816s
iteration(180) high(108) hyp(0.05) time=0.434912s/0.448785s
iteration(181) high(146) hyp(0.06) time=0.458969s/0.472567s
iteration(182) high(138) hyp(0.06) time=0.445329s/0.459516s
iteration(183) high(70) hyp(0.05) time=0.433948s/0.447255s
iteration(184) high(147) hyp(0.05) time=0.464695s/0.480024s
iteration(185) high(145) hyp(0.05) time=0.470260s/0.488207s
iteration(186) high(127) hyp(0.05) time=0.446904s/0.460455s
iteration(187) high(127) hyp(0.06) time=0.433645s/0.448390s
iteration(188) high(149) hyp(0.05) time=0.445668s/0.458788s
iteration(189) high(151) hyp(0.05) time=0.434924s/0.450285s
iteration(190) high(106) hyp(0.05) time=0.448677s/0.461937s
iteration(191) high(108) hyp(0.05) time=0.473860s/0.490206s
iteration(192) high(95) hyp(0.05) time=0.479033s/0.491470s
iteration(193) high(103) hyp(0.05) time=0.447767s/0.460504s
iteration(194) high(103) hyp(0.06) time=0.465153s/0.480484s
iteration(195) high(143) hyp(0.05) time=0.191273s/0.206922s
iteration(196) high(138) hyp(0.04) time=0.478015s/0.495177s
iteration(197) high(138) hyp(0.04) time=0.490171s/0.505077s
iteration(198) high(95) hyp(0.05) time=0.218309s/0.233801s
iteration(199) high(108) hyp(0.05) time=0.497918s/0.510775s
count = 200, loop closures = 0, max time (at 199) = 0.497918s
WM(163)=[2,1;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;70,1;71,0;72,0;73,0;75,1;77,1;79,1;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0]
iteration(200) high(66) hyp(0.05) time=0.494973s/0.509850s
iteration(201) high(133) hyp(0.05) time=0.491820s/0.505481s
iteration(202) high(123) hyp(0.05) time=0.486105s/0.499313s
iteration(203) high(139) hyp(0.05) time=0.486889s/0.501211s
iteration(204) high(136) hyp(0.05) time=0.477379s/0.490950s
iteration(205) high(145) hyp(0.05) time=0.490614s/0.506563s
iteration(206) high(124) hyp(0.06) time=0.501007s/0.515428s
iteration(207) high(102) hyp(0.06) time=0.499110s/0.512482s
iteration(208) high(163) hyp(0.05) time=0.487350s/0.500061s
iteration(209) high(102) hyp(0.05) time=0.517343s/0.534274s
iteration(210) high(98) hyp(0.05) time=0.485443s/0.499355s
iteration(211) high(150) hyp(0.05) time=0.501077s/0.515228s
iteration(212) high(152) hyp(0.05) time=0.473363s/0.487268s
iteration(213) high(177) hyp(0.05) time=0.503213s/0.517064s
iteration(214) high(180) hyp(0.05) time=0.495935s/0.508927s
iteration(215) high(106) hyp(0.05) time=0.517736s/0.531149s
iteration(216) high(126) hyp(0.04) time=0.502510s/0.516383s
iteration(217) high(123) hyp(0.05) time=0.499981s/0.512942s
iteration(218) high(146) hyp(0.05) time=0.503843s/0.516790s
iteration(219) high(147) hyp(0.05) time=0.491622s/0.505070s
iteration(220) high(148) hyp(0.05) time=0.521612s/0.536115s
iteration(221) high(144) hyp(0.05) time=0.515583s/0.529033s
iteration(222) high(135) hyp(0.04) time=0.510652s/0.523238s
iteration(223) high(123) hyp(0.04) time=0.510165s/0.524549s
iteration(224) high(123) hyp(0.03) time=0.497988s/0.511414s
iteration(225) high(136) hyp(0.05) time=0.517932s/0.530521s
iteration(226) high(190) hyp(0.05) time=0.513646s/0.528151s
iteration(227) high(190) hyp(0.05) time=0.523623s/0.536293s
iteration(228) high(7) hyp(0.04) time=0.517200s/0.530003s
iteration(229) high(7) hyp(0.04) time=0.516288s/0.531966s
iteration(230) high(177) hyp(0.05) time=0.188072s/0.202580s
iteration(231) high(177) hyp(0.06) time=0.531086s/0.545229s
iteration(232) high(177) hyp(0.06) time=0.187885s/0.205516s
iteration(233) high(177) hyp(0.06) time=0.528682s/0.544783s
iteration(234) high(177) hyp(0.06) time=0.198263s/0.212790s
iteration(235) high(177) hyp(0.05) time=0.556488s/0.571123s
iteration(236) high(190) hyp(0.06) time=0.190303s/0.202840s
iteration(237) high(190) hyp(0.06) time=0.550949s/0.565660s
iteration(238) high(177) hyp(0.05) time=0.198174s/0.210742s
iteration(239) high(177) hyp(0.05) time=0.519272s/0.533524s
iteration(240) high(189) hyp(0.05) time=0.193961s/0.211308s
iteration(241) high(189) hyp(0.05) time=0.536264s/0.551915s
iteration(242) high(176) hyp(0.05) time=0.206669s/0.219595s
iteration(243) high(177) hyp(0.05) time=0.548421s/0.561285s
iteration(244) high(177) hyp(0.06) time=0.186059s/0.201789s
iteration(245) high(176) hyp(0.06) time=0.551949s/0.566382s
iteration(246) high(176) hyp(0.06) time=0.190238s/0.206259s
iteration(247) high(182) hyp(0.06) time=0.574290s/0.588259s
iteration(248) high(177) hyp(0.06) time=0.202434s/0.215244s
iteration(249) high(177) hyp(0.05) time=0.541685s/0.556341s
iteration(250) high(177) hyp(0.05) time=0.188531s/0.202611s
iteration(251) high(177) hyp(0.04) time=0.563290s/0.577746s
iteration(252) high(176) hyp(0.05) time=0.208499s/0.221268s
iteration(253) high(176) hyp(0.05) time=0.600245s/0.613976s
iteration(254) high(176) hyp(0.05) time=0.205384s/0.217920s
iteration(255) high(188) hyp(0.05) time=0.570835s/0.583732s
iteration(256) high(190) hyp(0.05) time=0.559665s/0.573008s
iteration(257) high(124) hyp(0.05) time=0.538937s/0.551580s
iteration(258) high(181) hyp(0.05) time=0.588182s/0.603024s
iteration(259) high(161) hyp(0.05) time=0.538600s/0.551644s
iteration(260) high(173) hyp(0.06) time=0.581856s/0.595059s
iteration(261) high(160) hyp(0.05) time=0.541052s/0.555173s
iteration(262) high(212) hyp(0.06) time=0.549431s/0.562902s
iteration(263) high(162) hyp(0.05) time=0.549840s/0.567968s
iteration(264) high(212) hyp(0.06) time=0.582295s/0.598519s
iteration(265) high(212) hyp(0.06) time=0.655988s/0.669205s
iteration(266) high(214) hyp(0.06) time=0.580859s/0.597373s
iteration(267) high(200) hyp(0.06) time=0.574446s/0.587365s
iteration(268) high(218) hyp(0.05) time=0.564666s/0.578337s
iteration(269) high(195) hyp(0.06) time=0.596431s/0.609484s
iteration(270) high(200) hyp(0.05) time=0.596284s/0.609005s
iteration(271) high(169) hyp(0.05) time=0.586609s/0.601075s
iteration(272) high(139) hyp(0.05) time=0.574505s/0.591492s
iteration(273) high(211) hyp(0.05) time=0.593189s/0.608055s
iteration(274) high(222) hyp(0.05) time=0.591308s/0.604145s
iteration(275) high(220) hyp(0.05) time=0.603548s/0.619757s
iteration(276) high(220) hyp(0.05) time=0.625034s/0.640554s
iteration(277) high(187) hyp(0.05) time=0.204789s/0.219159s
iteration(278) high(80) hyp(0.05) time=0.580247s/0.592346s
iteration(279) high(173) hyp(0.06) time=0.579517s/0.594765s
iteration(280) high(175) hyp(0.06) time=0.603460s/0.620387s
iteration(281) high(171) hyp(0.07) time=0.605654s/0.617730s
iteration(282) high(169) hyp(0.07) time=0.608143s/0.620713s
iteration(283) high(176) hyp(0.06) time=0.768520s/0.781686s
iteration(284) high(176) hyp(0.06) time=0.679324s/0.692824s
iteration(285) high(249) hyp(0.06) time=0.618292s/0.630653s
iteration(286) high(172) hyp(0.06) time=0.613128s/0.626041s
iteration(287) high(29) hyp(0.05) time=0.621608s/0.633815s
iteration(288) high(247) hyp(0.04) time=0.642542s/0.656813s
iteration(289) high(119) hyp(0.05) time=0.627999s/0.644530s
iteration(290) high(161) hyp(0.04) time=0.643594s/0.656442s
iteration(291) high(204) hyp(0.04) time=0.609339s/0.621738s
iteration(292) high(186) hyp(0.04) time=0.614129s/0.629058s
iteration(293) high(209) hyp(0.05) time=0.637607s/0.649664s
iteration(294) high(169) hyp(0.04) time=0.662473s/0.674623s
iteration(295) high(174) hyp(0.05) time=0.628357s/0.640639s
iteration(296) high(176) hyp(0.04) time=0.640501s/0.653910s
iteration(297) high(203) hyp(0.05) time=0.660188s/0.673748s
iteration(298) high(174) hyp(0.04) time=0.631030s/0.644458s
iteration(299) high(161) hyp(0.04) time=0.655402s/0.667302s
count = 300, loop closures = 0, max time (at 283) = 0.768520s
WM(249)=[2,1;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;70,1;71,0;72,0;73,0;75,1;77,1;79,1;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;194,1;195,0;197,1;198,0;199,0;200,0;201,0;202,0;203,0;204,0;205,0;206,0;207,0;208,0;209,0;210,0;211,0;212,0;213,0;214,0;215,0;216,0;217,0;218,0;219,0;220,0;221,0;222,0;223,0;224,0;225,0;226,0;227,0;229,1;231,1;233,1;235,1;237,1;239,1;241,1;243,1;245,1;247,1;249,1;251,1;253,1;254,0;255,0;256,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;268,0;269,0]
iteration(300) high(182) hyp(0.05) time=0.655902s/0.670675s
iteration(301) high(181) hyp(0.05) time=0.646171s/0.658092s
iteration(302) high(247) hyp(0.06) time=0.657005s/0.671549s
iteration(303) high(247) hyp(0.05) time=0.623586s/0.636321s
iteration(304) high(81) hyp(0.05) time=0.654112s/0.668550s
iteration(305) high(176) hyp(0.06) time=0.643391s/0.657341s
iteration(306) high(82) hyp(0.05) time=0.666282s/0.679920s
iteration(307) high(174) hyp(0.05) time=0.602068s/0.614719s
iteration(308) high(173) hyp(0.04) time=0.611170s/0.627248s
iteration(309) high(247) hyp(0.04) time=0.623955s/0.636590s
iteration(310) high(99) hyp(0.05) time=0.657317s/0.671078s
iteration(311) high(190) hyp(0.05) time=0.655509s/0.669761s
iteration(312) high(111) hyp(0.05) time=0.703755s/0.716671s
iteration(313) high(185) hyp(0.04) time=0.652196s/0.667358s
iteration(314) high(173) hyp(0.05) time=0.654021s/0.670533s
iteration(315) high(173) hyp(0.05) time=0.691994s/0.707276s
iteration(316) high(262) hyp(0.05) time=0.224661s/0.238738s
iteration(317) high(222) hyp(0.04) time=0.659956s/0.674234s
iteration(318) high(54) hyp(0.04) time=0.642735s/0.655763s
iteration(319) high(283) hyp(0.05) time=0.697219s/0.711263s
iteration(320) high(282) hyp(0.05) time=0.675266s/0.688242s
iteration(321) high(171) hyp(0.04) time=0.674877s/0.690078s
iteration(322) high(229) hyp(0.05) time=0.675429s/0.692919s
iteration(323) high(286) hyp(0.05) time=0.683670s/0.696994s
iteration(324) high(183) hyp(0.05) time=0.688877s/0.701509s
iteration(325) high(274) hyp(0.04) time=0.681207s/0.696305s
iteration(326) high(282) hyp(0.04) time=0.643527s/0.656303s
iteration(327) high(276) hyp(0.04) time=0.694759s/0.714482s
iteration(328) high(278) hyp(0.04) time=0.680321s/0.693114s
iteration(329) high(276) hyp(0.05) time=0.657085s/0.670082s
iteration(330) high(169) hyp(0.05) time=0.674884s/0.689044s
iteration(331) high(281) hyp(0.04) time=0.700435s/0.713504s
iteration(332) high(67) hyp(0.03) time=0.682858s/0.695567s
iteration(333) high(172) hyp(0.03) time=0.715368s/0.728264s
iteration(334) high(172) hyp(0.03) time=0.639329s/0.652562s
iteration(335) high(301) hyp(0.04) time=0.178796s/0.192447s
iteration(336) high(303) hyp(0.04) time=0.716422s/0.728635s
iteration(337) high(67) hyp(0.05) time=0.729289s/0.745477s
iteration(338) high(301) hyp(0.04) time=0.763018s/0.776648s
iteration(339) high(249) hyp(0.04) time=0.752271s/0.768378s
iteration(340) high(299) hyp(0.05) time=0.751079s/0.765745s
iteration(341) high(303) hyp(0.04) time=0.742261s/0.755903s
iteration(342) high(184) hyp(0.05) time=0.775600s/0.788330s
iteration(343) high(309) hyp(0.05) time=0.683304s/0.698714s
iteration(344) high(174) hyp(0.05) time=0.747310s/0.762333s
iteration(345) high(289) hyp(0.04) time=0.723425s/0.743263s
iteration(346) high(216) hyp(0.04) time=0.727219s/0.742377s
iteration(347) high(175) hyp(0.05) time=0.701843s/0.714162s
iteration(348) high(257) hyp(0.05) time=0.764324s/0.780221s
iteration(349) high(258) hyp(0.05) time=0.783999s/0.796838s
iteration(350) high(188) hyp(0.05) time=0.768244s/0.781611s
iteration(351) high(55) hyp(0.05) time=0.782674s/0.797067s
iteration(352) high(187) hyp(0.04) time=0.701050s/0.713858s
iteration(353) high(188) hyp(0.05) time=0.765245s/0.780380s
iteration(354) high(318) hyp(0.05) time=0.713650s/0.727762s
iteration(355) high(70) hyp(0.04) time=0.765171s/0.779257s
iteration(356) high(7) hyp(0.05) time=0.704084s/0.718092s
iteration(357) high(155) hyp(0.04) time=0.695432s/0.709255s
iteration(358) high(285) hyp(0.04) time=0.760482s/0.775456s
iteration(359) high(133) hyp(0.04) time=0.760626s/0.774736s
iteration(360) high(98) hyp(0.04) time=0.767532s/0.784785s
iteration(361) high(45) hyp(0.04) time=0.795247s/0.809152s
iteration(362) high(221) hyp(0.04) time=0.776503s/0.790403s
iteration(363) high(173) hyp(0.04) time=0.750180s/0.766140s
iteration(364) high(48) hyp(0.05) time=0.748089s/0.764092s
iteration(365) high(95) hyp(0.05) time=0.836407s/0.849805s
iteration(366) high(175) hyp(0.05) time=0.815539s/0.829260s
iteration(367) high(91) hyp(0.04) time=0.815832s/0.829335s
iteration(368) high(100) hyp(0.05) time=0.798804s/0.812572s
iteration(369) high(104) hyp(0.06) time=1.028374s/1.047387s
iteration(370) high(190) hyp(0.04) time=0.841169s/0.856466s
iteration(371) high(104) hyp(0.05) time=0.800475s/0.814832s
iteration(372) high(100) hyp(0.05) time=0.773736s/0.790165s
iteration(373) high(124) hyp(0.05) time=0.862620s/0.876442s
iteration(374) high(96) hyp(0.05) time=0.824571s/0.838260s
iteration(375) high(170) hyp(0.04) time=0.817334s/0.833138s
iteration(376) high(123) hyp(0.05) time=0.800546s/0.814166s
iteration(377) high(215) hyp(0.05) time=0.892168s/0.908795s
iteration(378) high(280) hyp(0.05) time=0.979269s/0.993409s
iteration(379) high(205) hyp(0.05) time=0.844607s/0.860905s
iteration(380) high(226) hyp(0.04) time=0.790809s/0.804260s
iteration(381) high(224) hyp(0.05) time=0.798252s/0.813947s
iteration(382) high(221) hyp(0.05) time=0.771736s/0.785264s
iteration(383) high(217) hyp(0.04) time=0.825256s/0.838245s
iteration(384) high(199) hyp(0.05) time=0.828395s/0.844209s
iteration(385) high(270) hyp(0.04) time=0.789755s/0.804658s
iteration(386) high(224) hyp(0.04) time=0.837963s/0.851987s
iteration(387) high(278) hyp(0.04) time=0.855669s/0.870595s
iteration(388) high(278) hyp(0.04) time=0.859817s/0.873677s
iteration(389) high(42) hyp(0.04) time=0.854341s/0.869791s
iteration(390) high(278) hyp(0.04) time=0.845433s/0.862644s
iteration(391) high(278) hyp(0.04) time=0.810167s/0.824033s
iteration(392) high(279) hyp(0.04) time=0.835912s/0.850534s
iteration(393) high(64) hyp(0.04) time=0.847667s/0.861029s
iteration(394) high(63) hyp(0.04) time=0.803362s/0.816405s
iteration(395) high(58) hyp(0.05) time=0.864520s/0.878753s
iteration(396) high(266) hyp(0.05) time=0.845849s/0.858866s
iteration(397) high(92) hyp(0.05) time=0.892743s/0.906778s
iteration(398) high(27) hyp(0.05) time=0.885108s/0.899494s
iteration(399) high(354) hyp(0.04) time=0.808695s/0.822965s
count = 400, loop closures = 0, max time (at 369) = 1.028374s
WM(347)=[2,1;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;70,1;71,0;72,0;73,0;75,1;77,1;79,1;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;194,1;195,0;197,1;198,0;199,0;200,0;201,0;202,0;203,0;204,0;205,0;206,0;207,0;208,0;209,0;210,0;211,0;212,0;213,0;214,0;215,0;216,0;217,0;218,0;219,0;220,0;221,0;222,0;223,0;224,0;225,0;226,0;227,0;229,1;231,1;233,1;235,1;237,1;239,1;241,1;243,1;245,1;247,1;249,1;251,1;253,1;254,0;255,0;256,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;268,0;269,0;270,0;271,0;272,0;273,0;274,0;276,1;277,0;278,0;279,0;280,0;281,0;282,0;283,0;284,0;285,0;286,0;287,0;288,0;289,0;290,0;291,0;292,0;293,0;294,0;295,0;296,0;297,0;298,0;299,0;300,0;301,0;302,0;303,0;304,0;305,0;306,0;307,0;308,0;309,0;310,0;311,0;312,0;313,0;315,1;316,0;317,0;318,0;319,0;320,0;321,0;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;332,0;334,1;335,0;336,0;337,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0]
iteration(400) high(46) hyp(0.04) time=0.864806s/0.879210s
iteration(401) high(297) hyp(0.04) time=0.884846s/0.899151s
iteration(402) high(245) hyp(0.05) time=0.920552s/0.934973s
iteration(403) high(200) hyp(0.05) time=0.904416s/0.918917s
iteration(404) high(266) hyp(0.04) time=0.860386s/0.876659s
iteration(405) high(79) hyp(0.04) time=0.891417s/0.905376s
iteration(406) high(247) hyp(0.04) time=0.942618s/0.960560s
iteration(407) high(215) hyp(0.05) time=0.885899s/0.903486s
iteration(408) high(368) hyp(0.04) time=0.913370s/0.930527s
iteration(409) high(57) hyp(0.04) time=0.926934s/0.941607s
iteration(410) high(119) hyp(0.04) time=0.886003s/0.903212s
iteration(411) high(87) hyp(0.04) time=0.923009s/0.939761s
iteration(412) high(261) hyp(0.04) time=0.900289s/0.914724s
iteration(413) high(127) hyp(0.04) time=0.904678s/0.921297s
iteration(414) high(219) hyp(0.05) time=0.859520s/0.879420s
iteration(415) high(104) hyp(0.05) time=0.912225s/0.926876s
iteration(416) high(105) hyp(0.04) time=0.913500s/0.928587s
iteration(417) high(202) hyp(0.04) time=0.974443s/0.989648s
iteration(418) high(41) hyp(0.04) time=0.915767s/0.929011s
iteration(419) high(114) hyp(0.05) time=0.937675s/0.951884s
iteration(420) high(190) hyp(0.05) time=0.927370s/0.941163s
iteration(421) high(183) hyp(0.05) time=0.870185s/0.883514s
iteration(422) high(183) hyp(0.05) time=0.880948s/0.895001s
iteration(423) high(191) hyp(0.05) time=0.900530s/0.915679s
iteration(424) high(182) hyp(0.04) time=0.859520s/0.878763s
iteration(425) high(105) hyp(0.04) time=0.998764s/1.013674s
iteration(426) high(386) hyp(0.05) time=0.915592s/0.930711s
iteration(427) high(84) hyp(0.04) time=0.946873s/0.962268s
iteration(428) high(392) hyp(0.05) time=0.972308s/0.986960s
iteration(429) high(391) hyp(0.05) time=0.916520s/0.930723s
iteration(430) high(141) hyp(0.04) time=0.961662s/0.975271s
iteration(431) high(111) hyp(0.04) time=1.008922s/1.024171s
iteration(432) high(399) hyp(0.05) time=1.001684s/1.015137s
iteration(433) high(83) hyp(0.04) time=0.948148s/0.961965s
iteration(434) high(68) hyp(0.04) time=0.982224s/0.999485s
iteration(435) high(79) hyp(0.04) time=0.913529s/0.928151s
iteration(436) high(82) hyp(0.04) time=1.123037s/1.136391s
iteration(437) high(66) hyp(0.04) time=0.914698s/0.931577s
iteration(438) high(171) hyp(0.05) time=0.961903s/0.977036s
iteration(439) high(299) hyp(0.04) time=0.996125s/1.010121s
iteration(440) high(75) hyp(0.04) time=0.915554s/0.928215s
iteration(441) high(77) hyp(0.04) time=0.898915s/0.912055s
iteration(442) high(77) hyp(0.04) time=0.963461s/0.978651s
iteration(443) high(280) hyp(0.05) time=0.990131s/1.004715s
iteration(444) high(255) hyp(0.04) time=0.917311s/0.932423s
iteration(445) high(90) hyp(0.04) time=0.912886s/0.925521s
iteration(446) high(67) hyp(0.04) time=0.983348s/0.996630s
iteration(447) high(67) hyp(0.05) time=0.941202s/0.956680s
iteration(448) high(302) hyp(0.05) time=0.251054s/0.264054s
iteration(449) high(302) hyp(0.05) time=0.998000s/1.012440s
iteration(450) high(188) hyp(0.04) time=0.235406s/0.250483s
iteration(451) high(185) hyp(0.04) time=0.982586s/0.996150s
iteration(452) high(322) hyp(0.04) time=0.917068s/0.929535s
iteration(453) high(348) hyp(0.04) time=0.990770s/1.003775s
iteration(454) high(351) hyp(0.04) time=1.008122s/1.021635s
iteration(455) high(87) hyp(0.04) time=1.014016s/1.027327s
iteration(456) high(120) hyp(0.05) time=0.973451s/0.986359s
iteration(457) high(237) hyp(0.04) time=1.000856s/1.013703s
iteration(458) high(237) hyp(0.04) time=1.000981s/1.013701s
iteration(459) high(371) hyp(0.04) time=0.222332s/0.235483s
iteration(460) high(371) hyp(0.04) time=1.007431s/1.021411s
iteration(461) high(185) hyp(0.04) time=0.225914s/0.243651s
iteration(462) high(291) hyp(0.04) time=0.973069s/0.986381s
iteration(463) high(176) hyp(0.04) time=0.955868s/0.970455s
iteration(464) high(294) hyp(0.05) time=1.000711s/1.014813s
iteration(465) high(256) hyp(0.03) time=1.009609s/1.022605s
iteration(466) high(353) hyp(0.03) time=1.024537s/1.040483s
iteration(467) high(83) hyp(0.05) time=0.236238s/0.250608s
iteration(468) high(390) hyp(0.04) time=0.975782s/0.990705s
iteration(469) high(190) hyp(0.04) time=0.999321s/1.012693s
iteration(470) high(382) hyp(0.04) time=0.927023s/0.940386s
iteration(471) high(174) hyp(0.04) time=0.948754s/0.962612s
iteration(472) high(262) hyp(0.04) time=0.974196s/0.989043s
iteration(473) high(201) hyp(0.04) time=0.948476s/0.963058s
iteration(474) high(408) hyp(0.04) time=0.970280s/0.987495s
iteration(475) high(200) hyp(0.04) time=0.226880s/0.239615s
iteration(476) high(75) hyp(0.04) time=0.974407s/0.989799s
iteration(477) high(337) hyp(0.04) time=1.018595s/1.032745s
iteration(478) high(173) hyp(0.04) time=0.961966s/0.978929s
iteration(479) high(173) hyp(0.03) time=0.994342s/1.010858s
iteration(480) high(335) hyp(0.04) time=0.985169s/0.999788s
iteration(481) high(402) hyp(0.04) time=0.994116s/1.011747s
iteration(482) high(303) hyp(0.04) time=1.054422s/1.069950s
iteration(483) high(54) hyp(0.04) time=0.952552s/0.966786s
iteration(484) high(80) hyp(0.04) time=0.957137s/0.970251s
iteration(485) high(57) hyp(0.04) time=0.980122s/0.995490s
iteration(486) high(397) hyp(0.04) time=1.013204s/1.027456s
iteration(487) high(124) hyp(0.04) time=1.010245s/1.023428s
iteration(488) high(48) hyp(0.04) time=1.098747s/1.115023s
iteration(489) high(412) hyp(0.04) time=1.009632s/1.030241s
iteration(490) high(87) hyp(0.04) time=1.052398s/1.067539s
iteration(491) high(122) hyp(0.03) time=0.983114s/0.997192s
iteration(492) high(352) hyp(0.04) time=0.989103s/1.003055s
iteration(493) high(318) hyp(0.04) time=0.987138s/1.000985s
iteration(494) high(64) hyp(0.04) time=1.056320s/1.072231s
iteration(495) high(47) hyp(0.04) time=0.976566s/0.989842s
iteration(496) high(46) hyp(0.04) time=0.965538s/0.979721s
iteration(497) high(367) hyp(0.04) time=1.075988s/1.090753s
iteration(498) high(20) hyp(0.04) time=0.988782s/1.004605s
iteration(499) high(113) hyp(0.04) time=1.033028s/1.047045s
count = 500, loop closures = 0, max time (at 436) = 1.123037s
WM(441)=[2,1;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;70,1;71,0;72,0;73,0;75,1;77,1;79,1;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;194,1;195,0;197,1;198,0;199,0;200,0;201,0;202,0;203,0;204,0;205,0;206,0;207,0;208,0;209,0;210,0;211,0;212,0;213,0;214,0;215,0;216,0;217,0;218,0;219,0;220,0;221,0;222,0;223,0;224,0;225,0;226,0;227,0;229,1;231,1;233,1;235,1;237,1;239,1;241,1;243,1;245,1;247,1;249,1;251,1;253,1;254,0;255,0;256,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;268,0;269,0;270,0;271,0;272,0;273,0;274,0;276,1;277,0;278,0;279,0;280,0;281,0;282,0;283,0;284,0;285,0;286,0;287,0;288,0;289,0;290,0;291,0;292,0;293,0;294,0;295,0;296,0;297,0;298,0;299,0;300,0;301,0;302,0;303,0;304,0;305,0;306,0;307,0;308,0;309,0;310,0;311,0;312,0;313,0;315,1;316,0;317,0;318,0;319,0;320,0;321,0;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;332,0;334,1;335,0;336,0;337,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;389,0;390,0;391,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;399,0;400,0;401,0;402,0;403,0;404,0;405,0;406,0;407,0;408,0;409,0;410,0;411,0;412,0;413,0;414,0;415,0;416,0;417,0;418,0;419,0;420,0;421,0;422,0;423,0;424,0;425,0;426,0;427,0;428,0;429,0;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,0;443,0;444,0;445,0;447,1;449,1;450,0;451,0;452,0;453,0;454,0;455,0;456,0;458,1;460,1;461,0;462,0;463,0;464,0;466,1;467,0;468,0;469,0]
iteration(500) high(20) hyp(0.05) time=1.230496s/1.245318s
iteration(501) high(17) hyp(0.04) time=1.044381s/1.057335s
iteration(502) high(36) hyp(0.04) time=1.017989s/1.030674s
iteration(503) high(66) hyp(0.05) time=1.009335s/1.025987s
iteration(504) high(23) hyp(0.04) time=1.092610s/1.106329s
iteration(505) high(431) hyp(0.04) time=1.045010s/1.058832s
iteration(506) high(396) hyp(0.05) time=0.996987s/1.012530s
iteration(507) high(405) hyp(0.07) time=1.118400s/1.132691s
iteration(508) high(396) hyp(0.06) time=1.015161s/1.030070s
iteration(509) high(405) hyp(0.07) time=1.037426s/1.053747s
iteration(510) high(405) hyp(0.06) time=1.009338s/1.023238s
iteration(511) high(391) hyp(0.05) time=1.028385s/1.042048s
iteration(512) high(49) hyp(0.03) time=1.037198s/1.052172s
iteration(513) high(136) hyp(0.03) time=1.007483s/1.021868s
iteration(514) high(92) hyp(0.03) time=1.014554s/1.032252s
iteration(515) high(38) hyp(0.04) time=1.062504s/1.076060s
iteration(516) high(150) hyp(0.04) time=1.064571s/1.080692s
iteration(517) high(219) hyp(0.03) time=1.029116s/1.043006s
iteration(518) high(90) hyp(0.03) time=1.060466s/1.074535s
iteration(519) high(87) hyp(0.04) time=1.054772s/1.071362s
iteration(520) high(354) hyp(0.04) time=1.021131s/1.034470s
iteration(521) high(55) hyp(0.04) time=1.021441s/1.037014s
iteration(522) high(258) hyp(0.04) time=1.091023s/1.104774s
iteration(523) high(153) hyp(0.03) time=1.056953s/1.076287s
iteration(524) high(51) hyp(0.04) time=1.046752s/1.061890s
iteration(525) high(153) hyp(0.04) time=1.078793s/1.095743s
iteration(526) high(140) hyp(0.04) time=1.031087s/1.045321s
iteration(527) high(134) hyp(0.04) time=1.049457s/1.066170s
iteration(528) high(311) hyp(0.04) time=1.048947s/1.065628s
iteration(529) high(202) hyp(0.04) time=1.062364s/1.076649s
iteration(530) high(387) hyp(0.04) time=1.108136s/1.123217s
iteration(531) high(10) hyp(0.04) time=1.090331s/1.104821s
iteration(532) high(133) hyp(0.04) time=1.074613s/1.089939s
iteration(533) high(125) hyp(0.04) time=1.124909s/1.140710s
iteration(534) high(19) hyp(0.04) time=1.150419s/1.165765s
iteration(535) high(116) hyp(0.03) time=1.074935s/1.090055s
iteration(536) high(35) hyp(0.04) time=1.121916s/1.136867s
iteration(537) high(129) hyp(0.03) time=1.091263s/1.106894s
iteration(538) high(40) hyp(0.04) time=1.114628s/1.131434s
iteration(539) high(41) hyp(0.04) time=1.137321s/1.152186s
iteration(540) high(93) hyp(0.04) time=1.128198s/1.142777s
iteration(541) high(50) hyp(0.03) time=1.152192s/1.166711s
iteration(542) high(53) hyp(0.04) time=1.127515s/1.141677s
iteration(543) high(463) hyp(0.04) time=1.143590s/1.159139s
iteration(544) high(53) hyp(0.04) time=1.138405s/1.151935s
iteration(545) high(146) hyp(0.04) time=1.129053s/1.143200s
iteration(546) high(464) hyp(0.04) time=1.157001s/1.172985s
iteration(547) high(502) hyp(0.04) time=1.083609s/1.096560s
iteration(548) high(64) hyp(0.03) time=1.133877s/1.146709s
iteration(549) high(467) hyp(0.04) time=1.113463s/1.127611s
iteration(550) high(89) hyp(0.04) time=1.134634s/1.148556s
iteration(551) high(89) hyp(0.04) time=0.238148s/0.255665s
iteration(552) high(440) hyp(0.04) time=1.146755s/1.159333s
iteration(553) high(179) hyp(0.05) time=1.107143s/1.121975s
iteration(554) high(108) hyp(0.04) time=1.109288s/1.122899s
iteration(555) high(108) hyp(0.04) time=1.232550s/1.248087s
iteration(556) high(108) hyp(0.04) time=0.291422s/0.308084s
iteration(557) high(105) hyp(0.04) time=1.144024s/1.159924s
iteration(558) high(464) hyp(0.04) time=0.244142s/0.258538s
iteration(559) high(464) hyp(0.04) time=1.111718s/1.125910s
iteration(560) high(396) hyp(0.04) time=0.243318s/0.257125s
iteration(561) high(396) hyp(0.04) time=1.128166s/1.143696s
iteration(562) high(462) hyp(0.04) time=0.234323s/0.246807s
iteration(563) high(462) hyp(0.04) time=1.129219s/1.144758s
iteration(564) high(422) hyp(0.04) time=0.237925s/0.250888s
iteration(565) high(430) hyp(0.04) time=1.127710s/1.143873s
iteration(566) high(210) hyp(0.03) time=1.163580s/1.181789s
iteration(567) high(329) hyp(0.04) time=1.182512s/1.196939s
iteration(568) high(205) hyp(0.04) time=1.152787s/1.165745s
iteration(569) high(289) hyp(0.04) time=1.118132s/1.131275s
iteration(570) high(82) hyp(0.05) time=1.156107s/1.172373s
iteration(571) high(452) hyp(0.03) time=1.181526s/1.195449s
iteration(572) high(452) hyp(0.03) time=1.188353s/1.203010s
iteration(573) high(413) hyp(0.04) time=0.247812s/0.261106s
iteration(574) high(116) hyp(0.04) time=1.151445s/1.164223s
iteration(575) high(45) hyp(0.04) time=1.154247s/1.168463s
iteration(576) high(81) hyp(0.04) time=1.155885s/1.170431s
iteration(577) high(505) hyp(0.04) time=1.165579s/1.180871s
iteration(578) high(54) hyp(0.04) time=1.173062s/1.185926s
iteration(579) high(384) hyp(0.04) time=1.168019s/1.180651s
iteration(580) high(119) hyp(0.03) time=1.153022s/1.171157s
iteration(581) high(167) hyp(0.03) time=1.315778s/1.328627s
iteration(582) high(161) hyp(0.03) time=1.192206s/1.206990s
iteration(583) high(54) hyp(0.03) time=1.187502s/1.200972s
iteration(584) high(130) hyp(0.03) time=1.151486s/1.164306s
iteration(585) high(71) hyp(0.04) time=1.161681s/1.176997s
iteration(586) high(91) hyp(0.03) time=1.197718s/1.211253s
iteration(587) high(70) hyp(0.03) time=1.200503s/1.212982s
iteration(588) high(502) hyp(0.03) time=1.145784s/1.158587s
iteration(589) high(58) hyp(0.03) time=1.187066s/1.204274s
iteration(590) high(409) hyp(0.04) time=0.247984s/0.261193s
iteration(591) high(67) hyp(0.03) time=1.261514s/1.277120s
iteration(592) high(550) hyp(0.03) time=1.232626s/1.246750s
iteration(593) high(57) hyp(0.03) time=0.263118s/0.277825s
iteration(594) high(71) hyp(0.04) time=1.198533s/1.211012s
iteration(595) high(71) hyp(0.04) time=1.174206s/1.187696s
iteration(596) high(70) hyp(0.04) time=0.230667s/0.250309s
iteration(597) high(70) hyp(0.03) time=1.225460s/1.238427s
iteration(598) high(83) hyp(0.03) time=0.255272s/0.270821s
iteration(599) high(87) hyp(0.04) time=1.179547s/1.193999s
count = 600, loop closures = 0, max time (at 581) = 1.315778s
WM(529)=[2,1;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;70,1;71,0;72,0;73,0;75,1;77,1;79,1;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;194,1;195,0;197,1;198,0;199,0;200,0;201,0;202,0;203,0;204,0;205,0;206,0;207,0;208,0;209,0;210,0;211,0;212,0;213,0;214,0;215,0;216,0;217,0;218,0;219,0;220,0;221,0;222,0;223,0;224,0;225,0;226,0;227,0;229,1;231,1;233,1;235,1;237,1;239,1;241,1;243,1;245,1;247,1;249,1;251,1;253,1;254,0;255,0;256,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;268,0;269,0;270,0;271,0;272,0;273,0;274,0;276,1;277,0;278,0;279,0;280,0;281,0;282,0;283,0;284,0;285,0;286,0;287,0;288,0;289,0;290,0;291,0;292,0;293,0;294,0;295,0;296,0;297,0;298,0;299,0;300,0;301,0;302,0;303,0;304,0;305,0;306,0;307,0;308,0;309,0;310,0;311,0;312,0;313,0;315,1;316,0;317,0;318,0;319,0;320,0;321,0;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;332,0;334,1;335,0;336,0;337,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;389,0;390,0;391,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;399,0;400,0;401,0;402,0;403,0;404,0;405,0;406,0;407,0;408,0;409,0;410,0;411,0;412,0;413,0;414,0;415,0;416,0;417,0;418,0;419,0;420,0;421,0;422,0;423,0;424,0;425,0;426,0;427,0;428,0;429,0;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,0;443,0;444,0;445,0;447,1;449,1;450,0;451,0;452,0;453,0;454,0;455,0;456,0;458,1;460,1;461,0;462,0;463,0;464,0;466,1;467,0;468,0;469,0;470,0;471,0;472,0;474,1;475,0;476,0;477,0;478,0;479,0;480,0;481,0;482,0;483,0;484,0;485,0;486,0;487,0;488,0;489,0;490,0;491,0;492,0;493,0;494,0;495,0;496,0;497,0;498,0;499,0;500,0;501,0;502,0;503,0;504,0;505,0;506,0;507,0;508,0;509,0;510,0;511,0;512,0;513,0;514,0;515,0;516,0;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,0;531,0;532,0;533,0;534,0;535,0;536,0;537,0;538,0;539,0;540,0;541,0;542,0;543,0;544,0;545,0;546,0;547,0;548,0;550,1;551,0;552,0;553,0;555,1;557,1;559,1;561,1;563,1;564,0]
iteration(600) high(87) hyp(0.05) time=1.202706s/1.219965s
iteration(601) high(189) hyp(0.04) time=0.235292s/0.251510s
iteration(602) high(86) hyp(0.03) time=1.175710s/1.188944s
iteration(603) high(273) hyp(0.02) time=1.220863s/1.235847s
iteration(604) high(67) hyp(0.03) time=1.225758s/1.238866s
iteration(605) high(557) hyp(0.03) time=1.195030s/1.208662s
iteration(606) high(101) hyp(0.04) time=1.204828s/1.219570s
iteration(607) high(218) hyp(0.04) time=1.264706s/1.279027s
iteration(608) high(525) hyp(0.04) time=1.200921s/1.216622s
iteration(609) high(527) hyp(0.04) time=1.231223s/1.244943s
iteration(610) high(63) hyp(0.04) time=1.178212s/1.191303s
iteration(611) high(49) hyp(0.03) time=1.194337s/1.208418s
iteration(612) high(453) hyp(0.04) time=1.247219s/1.261356s
iteration(613) high(439) hyp(0.03) time=1.190445s/1.207821s
iteration(614) high(301) hyp(0.04) time=1.409297s/1.424216s
iteration(615) high(301) hyp(0.04) time=1.171430s/1.188503s
iteration(616) high(183) hyp(0.04) time=0.248817s/0.264619s
iteration(617) high(249) hyp(0.03) time=1.187784s/1.201558s
iteration(618) high(415) hyp(0.04) time=1.228572s/1.241746s
iteration(619) high(303) hyp(0.04) time=1.209470s/1.223071s
iteration(620) high(566) hyp(0.04) time=1.235718s/1.251738s
iteration(621) high(75) hyp(0.04) time=1.221832s/1.235304s
iteration(622) high(265) hyp(0.04) time=1.211074s/1.225747s
iteration(623) high(507) hyp(0.04) time=1.258215s/1.274253s
iteration(624) high(507) hyp(0.04) time=1.276408s/1.290884s
iteration(625) high(507) hyp(0.03) time=1.230355s/1.247517s
iteration(626) high(215) hyp(0.04) time=1.262433s/1.275698s
iteration(627) high(389) hyp(0.04) time=1.266431s/1.283725s
iteration(628) high(266) hyp(0.04) time=1.217843s/1.231668s
iteration(629) high(566) hyp(0.04) time=1.260164s/1.277236s
iteration(630) high(555) hyp(0.04) time=1.231310s/1.245198s
iteration(631) high(115) hyp(0.04) time=1.267714s/1.281723s
iteration(632) high(35) hyp(0.04) time=1.282186s/1.296816s
iteration(633) high(121) hyp(0.03) time=1.304302s/1.317875s
iteration(634) high(413) hyp(0.03) time=1.222848s/1.236589s
iteration(635) high(442) hyp(0.04) time=1.261307s/1.274996s
iteration(636) high(21) hyp(0.04) time=1.305526s/1.319020s
iteration(637) high(444) hyp(0.03) time=1.264145s/1.277704s
iteration(638) high(292) hyp(0.04) time=1.313318s/1.326973s
iteration(639) high(381) hyp(0.04) time=1.301462s/1.317780s
iteration(640) high(90) hyp(0.04) time=1.359990s/1.375040s
iteration(641) high(28) hyp(0.04) time=1.266321s/1.281260s
iteration(642) high(30) hyp(0.03) time=1.301620s/1.319259s
iteration(643) high(160) hyp(0.04) time=1.291467s/1.305526s
iteration(644) high(366) hyp(0.04) time=1.309494s/1.324953s
iteration(645) high(317) hyp(0.03) time=1.362720s/1.377417s
iteration(646) high(400) hyp(0.03) time=1.249927s/1.263781s
iteration(647) high(110) hyp(0.04) time=1.278183s/1.293086s
iteration(648) high(536) hyp(0.04) time=1.309149s/1.325507s
iteration(649) high(360) hyp(0.03) time=1.340974s/1.355450s
iteration(650) high(104) hyp(0.04) time=1.296521s/1.313341s
iteration(651) high(156) hyp(0.03) time=1.333903s/1.347753s
iteration(652) high(550) hyp(0.03) time=1.338100s/1.352810s
iteration(653) high(32) hyp(0.04) time=1.335746s/1.351067s
iteration(654) high(141) hyp(0.04) time=1.443450s/1.459730s
iteration(655) high(552) hyp(0.04) time=1.376691s/1.393880s
iteration(656) high(142) hyp(0.03) time=1.348873s/1.365969s
iteration(657) high(84) hyp(0.04) time=1.352577s/1.369174s
iteration(658) high(68) hyp(0.04) time=1.316525s/1.334977s
iteration(659) high(39) hyp(0.04) time=1.354974s/1.371645s
iteration(660) high(519) hyp(0.03) time=1.375062s/1.391863s
iteration(661) high(362) hyp(0.03) time=1.580895s/1.598759s
iteration(662) high(144) hyp(0.04) time=1.421479s/1.440108s
iteration(663) high(141) hyp(0.04) time=1.335116s/1.350468s
iteration(664) high(148) hyp(0.04) time=1.345663s/1.360614s
iteration(665) high(151) hyp(0.04) time=1.344598s/1.362282s
iteration(666) high(153) hyp(0.04) time=1.335734s/1.351295s
iteration(667) high(132) hyp(0.03) time=1.371542s/1.387982s
iteration(668) high(36) hyp(0.03) time=1.379166s/1.399248s
iteration(669) high(35) hyp(0.03) time=1.351795s/1.370078s
iteration(670) high(45) hyp(0.03) time=1.394258s/1.410717s
iteration(671) high(143) hyp(0.04) time=1.345672s/1.363479s
iteration(672) high(19) hyp(0.03) time=1.404758s/1.421534s
iteration(673) high(150) hyp(0.04) time=1.397205s/1.414753s
iteration(674) high(152) hyp(0.04) time=1.355479s/1.373249s
iteration(675) high(152) hyp(0.04) time=1.379706s/1.396312s
iteration(676) high(369) hyp(0.04) time=1.362196s/1.381449s
iteration(677) high(50) hyp(0.04) time=1.360379s/1.377876s
iteration(678) high(302) hyp(0.04) time=1.378117s/1.392337s
iteration(679) high(156) hyp(0.04) time=1.371170s/1.387032s
iteration(680) high(157) hyp(0.07) time=1.394984s/1.409811s
iteration(681) high(158) hyp(0.09) time=1.341299s/1.355302s
iteration(682) loop(159) hyp(0.11) time=1.371061s/1.384391s *
iteration(683) loop(160) hyp(0.20) time=1.439072s/1.459161s *
iteration(684) loop(161) hyp(0.37) time=1.409560s/1.424819s *
iteration(685) loop(162) hyp(0.66) time=1.325957s/1.340920s *
iteration(686) loop(163) hyp(0.85) time=1.346663s/1.364852s *
iteration(687) loop(164) hyp(0.94) time=1.467558s/1.481623s *
iteration(688) loop(164) hyp(0.97) time=1.436800s/1.452828s *
iteration(689) loop(165) hyp(0.98) time=1.456347s/1.471057s *
iteration(690) loop(166) hyp(0.98) time=1.383082s/1.397768s *
iteration(691) loop(167) hyp(0.98) time=1.417682s/1.435483s *
iteration(692) loop(168) hyp(0.99) time=1.413304s/1.432167s *
iteration(693) loop(169) hyp(0.99) time=1.479223s/1.493734s *
iteration(694) loop(170) hyp(0.98) time=1.446466s/1.464959s *
iteration(695) loop(171) hyp(0.98) time=1.474319s/1.491668s *
iteration(696) loop(172) hyp(0.98) time=1.464179s/1.483630s *
iteration(697) loop(172) hyp(0.98) time=1.396325s/1.409349s *
iteration(698) loop(173) hyp(0.98) time=1.362749s/1.375799s *
iteration(699) loop(174) hyp(0.98) time=1.443350s/1.457636s *
count = 700, loop closures = 19, max time (at 661) = 1.580895s
WM(592)=[2,1;5,0;13,0;14,0;38,0;39,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;70,1;71,0;72,0;73,0;75,1;77,1;79,1;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;194,1;195,0;197,1;198,0;199,0;200,0;201,0;202,0;203,0;204,0;205,0;206,0;207,0;208,0;209,0;210,0;211,0;212,0;213,0;214,0;215,0;216,0;217,0;218,0;219,0;220,0;221,0;222,0;223,0;224,0;225,0;226,0;227,0;229,1;231,1;233,1;235,1;237,1;239,1;241,1;243,1;245,1;247,1;249,1;251,1;253,1;254,0;255,0;256,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;268,0;269,0;270,0;271,0;272,0;273,0;274,0;276,1;277,0;278,0;279,0;280,0;281,0;282,0;283,0;284,0;285,0;286,0;287,0;288,0;289,0;290,0;291,0;292,0;293,0;294,0;295,0;296,0;297,0;298,0;299,0;300,0;301,0;302,0;303,0;304,0;305,0;306,0;307,0;308,0;309,0;310,0;311,0;312,0;313,0;315,1;316,0;317,0;318,0;319,0;320,0;321,0;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;332,0;334,1;335,0;336,0;337,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;389,0;390,0;391,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;399,0;400,0;401,0;402,0;403,0;404,0;405,0;406,0;407,0;408,0;409,0;410,0;411,0;412,0;413,0;414,0;415,0;416,0;417,0;418,0;419,0;420,0;421,0;422,0;423,0;424,0;425,0;426,0;427,0;428,0;429,0;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,0;443,0;444,0;445,0;447,1;449,1;450,0;451,0;452,0;453,0;454,0;455,0;456,0;458,1;460,1;461,0;462,0;463,0;464,0;466,1;467,0;468,0;469,0;470,0;471,0;472,0;474,1;475,0;476,0;477,0;478,0;479,0;480,0;481,0;482,0;483,0;484,0;485,0;486,0;487,0;488,0;489,0;490,0;491,0;492,0;493,0;494,0;495,0;496,0;497,0;498,0;499,0;500,0;501,0;502,0;503,0;504,0;505,0;506,0;507,0;508,0;509,0;510,0;511,0;512,0;513,0;514,0;515,0;516,0;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,0;531,0;532,0;533,0;534,0;535,0;536,0;537,0;538,0;539,0;540,0;541,0;542,0;543,0;544,0;545,0;546,0;547,0;548,0;550,1;551,0;552,0;553,0;555,1;557,1;559,1;561,1;563,1;564,0;565,0;566,0;567,0;568,0;569,0;570,0;572,1;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;583,0;584,0;585,0;586,0;587,0;589,1;590,0;592,1;593,0;595,1;597,1;598,0;600,1;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;615,1;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;658,0;659,0;660,0;661,0;662,0;663,0;664,0;665,0;666,0;667,0;668,0;669,0;670,0]
iteration(700) loop(175) hyp(0.97) time=1.476036s/1.491275s *
iteration(701) loop(176) hyp(0.98) time=1.440970s/1.458472s *
iteration(702) loop(177) hyp(0.96) time=1.394182s/1.411293s *
iteration(703) loop(177) hyp(0.96) time=1.548556s/1.567218s *
iteration(704) loop(178) hyp(0.96) time=1.405415s/1.426402s *
iteration(705) loop(179) hyp(0.96) time=1.438752s/1.457905s *
iteration(706) loop(180) hyp(0.95) time=1.554975s/1.571882s *
iteration(707) loop(180) hyp(0.94) time=1.418988s/1.438259s *
iteration(708) loop(182) hyp(0.94) time=1.508648s/1.526515s *
iteration(709) loop(183) hyp(0.94) time=1.422013s/1.441328s *
iteration(710) loop(183) hyp(0.96) time=1.472647s/1.492285s *
iteration(711) loop(184) hyp(0.98) time=1.365127s/1.381772s *
iteration(712) loop(185) hyp(0.98) time=1.313665s/1.327290s *
iteration(713) loop(186) hyp(0.98) time=1.416690s/1.435248s *
iteration(714) loop(187) hyp(0.98) time=1.372140s/1.387214s *
iteration(715) loop(188) hyp(0.98) time=1.376039s/1.391027s *
iteration(716) loop(188) hyp(0.98) time=1.402898s/1.418628s *
iteration(717) loop(189) hyp(0.98) time=1.366752s/1.381617s *
iteration(718) loop(190) hyp(0.98) time=1.338950s/1.354556s *
iteration(719) loop(191) hyp(0.97) time=1.408007s/1.424979s *
iteration(720) loop(192) hyp(0.93) time=1.425250s/1.445337s *
iteration(721) loop(192) hyp(0.93) time=1.403464s/1.417820s *
iteration(722) loop(194) hyp(0.92) time=1.402505s/1.417861s *
iteration(723) loop(194) hyp(0.90) time=1.373048s/1.387241s *
iteration(724) loop(195) hyp(0.95) time=1.376791s/1.391721s *
iteration(725) loop(197) hyp(0.97) time=1.363126s/1.376144s *
iteration(726) loop(197) hyp(0.97) time=1.368497s/1.381671s *
iteration(727) loop(198) hyp(0.97) time=1.410251s/1.424270s *
iteration(728) loop(198) hyp(0.97) time=1.394733s/1.409734s *
iteration(729) loop(199) hyp(0.98) time=1.397557s/1.412424s *
iteration(730) loop(200) hyp(0.98) time=1.329622s/1.343089s *
iteration(731) loop(201) hyp(0.98) time=1.431264s/1.445915s *
iteration(732) loop(202) hyp(0.98) time=1.363550s/1.386669s *
iteration(733) loop(203) hyp(0.98) time=1.398583s/1.412934s *
iteration(734) loop(204) hyp(0.96) time=1.385562s/1.399607s *
iteration(735) loop(204) hyp(0.96) time=1.369792s/1.383763s *
iteration(736) loop(205) hyp(0.95) time=1.374304s/1.391367s *
iteration(737) loop(206) hyp(0.97) time=1.441344s/1.458030s *
iteration(738) loop(207) hyp(0.98) time=1.407485s/1.427323s *
iteration(739) loop(208) hyp(0.98) time=1.517174s/1.536203s *
iteration(740) loop(209) hyp(0.98) time=1.413723s/1.433266s *
iteration(741) loop(210) hyp(0.98) time=1.421489s/1.438127s *
iteration(742) loop(210) hyp(0.97) time=1.466155s/1.480835s *
iteration(743) loop(211) hyp(0.97) time=1.526555s/1.542402s *
iteration(744) loop(212) hyp(0.98) time=1.578121s/1.597803s *
iteration(745) loop(212) hyp(0.96) time=1.791134s/1.810693s *
iteration(746) loop(212) hyp(0.81) time=1.511741s/1.531987s *
iteration(747) loop(212) hyp(0.40) time=1.532244s/1.550728s *
iteration(748) loop(213) hyp(0.26) time=1.568625s/1.584715s *
iteration(749) loop(213) hyp(0.15) time=1.530808s/1.546896s *
iteration(750) high(213) hyp(0.09) time=1.504879s/1.521663s
iteration(751) high(214) hyp(0.06) time=1.411929s/1.432993s
iteration(752) high(217) hyp(0.05) time=1.467601s/1.489250s
iteration(753) high(217) hyp(0.06) time=1.472194s/1.490747s
iteration(754) high(224) hyp(0.05) time=1.526050s/1.544599s
iteration(755) high(219) hyp(0.05) time=1.379185s/1.395059s
iteration(756) high(223) hyp(0.05) time=1.367431s/1.380324s
iteration(757) high(224) hyp(0.05) time=1.338279s/1.355563s
iteration(758) high(225) hyp(0.05) time=1.359288s/1.375169s
iteration(759) high(216) hyp(0.04) time=1.391383s/1.410311s
iteration(760) high(224) hyp(0.04) time=1.419239s/1.434080s
iteration(761) high(227) hyp(0.04) time=1.468286s/1.487925s
iteration(762) high(227) hyp(0.07) time=1.433124s/1.448552s
iteration(763) high(229) hyp(0.06) time=1.506899s/1.524108s
iteration(764) high(229) hyp(0.08) time=1.509359s/1.524895s
iteration(765) loop(231) hyp(0.12) time=1.516420s/1.530211s *
iteration(766) loop(231) hyp(0.16) time=1.453379s/1.470911s *
iteration(767) loop(233) hyp(0.22) time=1.600981s/1.617251s *
iteration(768) loop(233) hyp(0.30) time=1.462638s/1.477079s *
iteration(769) loop(235) hyp(0.48) time=1.329953s/1.347289s *
iteration(770) loop(235) hyp(0.55) time=1.372369s/1.384920s *
iteration(771) loop(237) hyp(0.61) time=1.374021s/1.391182s *
iteration(772) loop(237) hyp(0.57) time=1.553718s/1.571181s *
iteration(773) loop(237) hyp(0.26) time=1.445128s/1.461607s *
iteration(774) loop(237) hyp(0.15) time=1.331133s/1.344029s *
iteration(775) high(237) hyp(0.07) time=1.385567s/1.398969s
iteration(776) high(237) hyp(0.04) time=1.334256s/1.345767s
iteration(777) high(237) hyp(0.03) time=1.331435s/1.344821s
iteration(778) high(347) hyp(0.04) time=1.345036s/1.357050s
iteration(779) high(311) hyp(0.03) time=1.361922s/1.375873s
iteration(780) high(285) hyp(0.03) time=1.423784s/1.439554s
iteration(781) high(247) hyp(0.07) time=1.442016s/1.460301s
iteration(782) high(245) hyp(0.06) time=1.416587s/1.434883s
iteration(783) high(247) hyp(0.10) time=1.424843s/1.442877s
iteration(784) loop(247) hyp(0.17) time=1.450458s/1.468604s *
iteration(785) loop(249) hyp(0.32) time=1.435148s/1.451883s *
iteration(786) loop(249) hyp(0.64) time=1.707983s/1.721824s *
iteration(787) loop(251) hyp(0.80) time=1.384976s/1.399612s *
iteration(788) loop(251) hyp(0.82) time=1.367850s/1.379377s *
iteration(789) loop(247) hyp(0.49) time=1.412857s/1.426157s *
iteration(790) time=1.417822s/1.432592s
iteration(791) loop(253) hyp(0.30) time=0.224298s/0.242551s *
iteration(792) loop(255) hyp(0.53) time=1.485195s/1.502234s *
iteration(793) loop(255) hyp(0.81) time=1.561752s/1.580557s *
iteration(794) loop(256) hyp(0.91) time=1.408179s/1.425032s *
iteration(795) loop(257) hyp(0.93) time=1.379428s/1.393175s *
iteration(796) loop(258) hyp(0.96) time=1.420706s/1.437575s *
iteration(797) loop(259) hyp(0.96) time=1.420991s/1.439518s *
iteration(798) loop(260) hyp(0.96) time=1.500113s/1.518025s *
iteration(799) loop(261) hyp(0.96) time=1.363690s/1.377968s *
count = 800, loop closures = 94, max time (at 745) = 1.791134s
WM(575)=[2,1;5,0;13,0;14,0;38,0;39,0;70,1;75,1;77,1;79,1;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;194,0;195,0;197,0;198,0;199,0;200,0;201,0;202,0;203,0;204,0;205,0;206,0;207,0;208,0;209,0;210,0;211,0;212,0;213,0;214,0;215,0;216,0;217,0;218,0;219,0;220,0;221,0;222,0;223,0;224,0;225,0;226,0;227,0;229,1;231,0;233,0;235,0;237,0;239,1;241,1;243,1;245,1;247,0;249,0;251,0;253,0;254,0;255,0;256,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;268,0;269,0;270,0;271,0;272,0;273,0;274,0;276,1;277,0;278,0;279,0;280,0;281,0;282,0;283,0;284,0;285,0;286,0;287,0;288,0;289,0;290,0;291,0;292,0;293,0;294,0;295,0;296,0;297,0;298,0;299,0;300,0;301,0;302,0;303,0;304,0;305,0;306,0;307,0;308,0;309,0;310,0;311,0;312,0;313,0;315,1;316,0;317,0;318,0;319,0;320,0;321,0;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;332,0;334,1;335,0;336,0;337,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;389,0;390,0;391,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;399,0;400,0;401,0;402,0;403,0;404,0;405,0;406,0;407,0;408,0;409,0;410,0;411,0;412,0;413,0;414,0;415,0;416,0;417,0;418,0;419,0;420,0;421,0;422,0;423,0;424,0;425,0;426,0;427,0;428,0;429,0;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,0;443,0;444,0;445,0;447,1;449,1;450,0;451,0;452,0;453,0;454,0;455,0;456,0;458,1;460,1;461,0;462,0;463,0;464,0;466,1;467,0;468,0;469,0;470,0;471,0;472,0;474,1;475,0;476,0;477,0;478,0;479,0;480,0;481,0;482,0;483,0;484,0;485,0;486,0;487,0;488,0;489,0;490,0;491,0;492,0;493,0;494,0;495,0;496,0;497,0;498,0;499,0;500,0;501,0;502,0;503,0;504,0;505,0;506,0;507,0;508,0;509,0;510,0;511,0;512,0;513,0;514,0;515,0;516,0;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,0;531,0;532,0;533,0;534,0;535,0;536,0;537,0;538,0;539,0;540,0;541,0;542,0;543,0;544,0;545,0;546,0;547,0;548,0;550,1;551,0;552,0;553,0;555,1;557,1;559,1;561,1;563,1;564,0;565,0;566,0;567,0;568,0;569,0;570,0;572,1;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;583,0;584,0;585,0;586,0;587,0;589,1;590,0;592,1;593,0;595,1;597,1;598,0;600,1;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;615,1;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;658,0;659,0;660,0;661,0;662,0;663,0;664,0;665,0;666,0;667,0;668,0;669,0;670,0;671,0;672,0;673,0;674,0;675,0;676,0;677,0;678,0;679,0;680,0;681,0;682,0;683,0;684,0;685,0;686,0;687,0;688,0;689,0;690,0;691,0;692,0;693,0;694,0;695,0;696,0;697,0;698,0;699,0;700,0;701,0;702,0;703,0;704,0;705,0;706,0;707,0;708,0;709,0;710,0;711,0;712,0;713,0;714,0;715,0;716,0;717,0;718,0;719,0;720,0;721,0;722,1;723,0;724,0;725,1;726,0;727,0;728,0;729,0;730,0;731,0;732,0;733,0;734,0;735,0;736,0;737,0;738,0;739,0;740,0;741,0;742,0;743,0;744,0;745,0;746,0;747,0;748,0;749,0;750,0;751,0;752,0;753,0;754,0;755,0;756,0;757,0;758,0;759,0;760,0;761,0;762,0;763,0;764,0;765,1;766,0;767,1;768,0;769,1]
iteration(800) loop(262) hyp(0.96) time=1.518565s/1.538605s *
iteration(801) loop(263) hyp(0.96) time=1.443862s/1.465062s *
iteration(802) loop(264) hyp(0.97) time=1.471909s/1.487834s *
iteration(803) loop(265) hyp(0.97) time=1.449972s/1.467094s *
iteration(804) loop(267) hyp(0.97) time=1.440699s/1.457017s *
iteration(805) loop(267) hyp(0.97) time=1.407588s/1.422038s *
iteration(806) loop(268) hyp(0.97) time=1.455474s/1.474064s *
iteration(807) loop(269) hyp(0.97) time=1.468845s/1.488094s *
iteration(808) loop(270) hyp(0.97) time=1.412909s/1.431245s *
iteration(809) loop(271) hyp(0.97) time=1.410154s/1.428316s *
iteration(810) loop(272) hyp(0.97) time=1.452999s/1.467791s *
iteration(811) loop(273) hyp(0.98) time=1.434867s/1.453769s *
iteration(812) loop(274) hyp(0.98) time=1.360130s/1.374735s *
iteration(813) loop(276) hyp(0.98) time=1.369324s/1.383047s *
iteration(814) loop(277) hyp(0.98) time=1.412604s/1.425911s *
iteration(815) loop(277) hyp(0.98) time=1.348482s/1.363579s *
iteration(816) loop(278) hyp(0.98) time=1.418455s/1.436019s *
iteration(817) loop(279) hyp(0.98) time=1.387753s/1.402187s *
iteration(818) loop(280) hyp(0.97) time=1.379252s/1.395981s *
iteration(819) loop(281) hyp(0.97) time=1.362435s/1.374635s *
iteration(820) loop(282) hyp(0.98) time=1.334275s/1.346952s *
iteration(821) loop(283) hyp(0.98) time=1.405668s/1.419993s *
iteration(822) loop(284) hyp(0.98) time=1.439969s/1.454700s *
iteration(823) loop(284) hyp(0.96) time=1.430750s/1.448121s *
iteration(824) loop(286) hyp(0.96) time=1.447427s/1.468724s *
iteration(825) loop(287) hyp(0.96) time=1.693394s/1.711895s *
iteration(826) loop(288) hyp(0.97) time=1.393631s/1.408257s *
iteration(827) loop(289) hyp(0.97) time=1.333660s/1.347895s *
iteration(828) loop(290) hyp(0.97) time=1.499739s/1.516798s *
iteration(829) loop(291) hyp(0.97) time=1.348053s/1.363054s *
iteration(830) loop(292) hyp(0.96) time=1.394011s/1.405980s *
iteration(831) loop(293) hyp(0.96) time=1.419011s/1.434270s *
iteration(832) loop(294) hyp(0.97) time=1.370145s/1.385255s *
iteration(833) loop(295) hyp(0.96) time=1.377448s/1.394712s *
iteration(834) loop(296) hyp(0.96) time=1.416243s/1.434692s *
iteration(835) loop(297) hyp(0.97) time=1.427414s/1.442857s *
iteration(836) loop(298) hyp(0.97) time=1.480789s/1.493775s *
iteration(837) loop(299) hyp(0.96) time=1.446591s/1.462985s *
iteration(838) loop(300) hyp(0.97) time=1.493825s/1.508613s *
iteration(839) loop(301) hyp(0.98) time=1.388812s/1.403747s *
iteration(840) loop(302) hyp(0.98) time=1.407454s/1.420149s *
iteration(841) loop(303) hyp(0.98) time=1.438444s/1.453389s *
iteration(842) loop(304) hyp(0.97) time=1.364512s/1.379088s *
iteration(843) loop(305) hyp(0.97) time=1.345566s/1.358450s *
iteration(844) loop(306) hyp(0.97) time=1.356124s/1.371267s *
iteration(845) loop(307) hyp(0.98) time=1.376214s/1.389459s *
iteration(846) loop(308) hyp(0.97) time=1.340356s/1.352870s *
iteration(847) loop(309) hyp(0.96) time=1.452203s/1.465765s *
iteration(848) loop(310) hyp(0.96) time=1.402446s/1.415606s *
iteration(849) loop(311) hyp(0.97) time=1.320434s/1.333507s *
iteration(850) loop(312) hyp(0.98) time=1.413145s/1.426541s *
iteration(851) loop(313) hyp(0.98) time=1.505234s/1.521857s *
iteration(852) loop(315) hyp(0.98) time=1.380332s/1.396050s *
iteration(853) loop(316) hyp(0.97) time=1.447709s/1.460793s *
iteration(854) loop(316) hyp(0.98) time=1.424707s/1.440983s *
iteration(855) loop(317) hyp(0.98) time=1.349243s/1.364958s *
iteration(856) loop(318) hyp(0.93) time=1.405758s/1.418939s *
iteration(857) loop(319) hyp(0.86) time=1.319290s/1.332618s *
iteration(858) loop(320) hyp(0.89) time=1.357930s/1.374629s *
iteration(859) loop(321) hyp(0.90) time=1.375975s/1.390919s *
iteration(860) loop(321) hyp(0.92) time=1.435232s/1.450668s *
iteration(861) loop(323) hyp(0.88) time=1.416978s/1.431268s *
iteration(862) loop(324) hyp(0.84) time=1.377293s/1.391623s *
iteration(863) loop(325) hyp(0.88) time=1.400391s/1.415554s *
iteration(864) loop(326) hyp(0.90) time=1.413645s/1.430306s *
iteration(865) loop(327) hyp(0.92) time=1.520384s/1.535469s *
iteration(866) loop(328) hyp(0.92) time=1.426762s/1.442437s *
iteration(867) loop(329) hyp(0.94) time=1.489906s/1.506473s *
iteration(868) loop(330) hyp(0.96) time=1.460654s/1.478774s *
iteration(869) loop(331) hyp(0.96) time=1.358324s/1.374354s *
iteration(870) loop(332) hyp(0.98) time=1.425267s/1.438297s *
iteration(871) loop(334) hyp(0.97) time=1.348521s/1.363059s *
iteration(872) loop(335) hyp(0.97) time=1.504971s/1.524776s *
iteration(873) loop(335) hyp(0.98) time=1.907384s/1.929484s *
iteration(874) loop(336) hyp(0.98) time=1.507568s/1.520422s *
iteration(875) loop(337) hyp(0.97) time=1.493086s/1.506865s *
iteration(876) loop(338) hyp(0.97) time=1.393480s/1.408768s *
iteration(877) loop(339) hyp(0.96) time=1.445925s/1.460124s *
iteration(878) loop(340) hyp(0.95) time=1.625490s/1.642198s *
iteration(879) loop(341) hyp(0.95) time=1.680978s/1.698207s *
iteration(880) loop(342) hyp(0.95) time=1.441813s/1.457454s *
iteration(881) loop(343) hyp(0.97) time=1.387296s/1.400366s *
iteration(882) loop(345) hyp(0.96) time=1.352418s/1.364618s *
iteration(883) loop(346) hyp(0.93) time=1.400303s/1.414477s *
iteration(884) loop(346) hyp(0.94) time=1.500109s/1.516638s *
iteration(885) loop(347) hyp(0.94) time=1.452715s/1.467501s *
iteration(886) loop(348) hyp(0.95) time=1.478083s/1.496257s *
iteration(887) loop(349) hyp(0.95) time=1.440039s/1.458186s *
iteration(888) loop(350) hyp(0.94) time=1.446571s/1.465387s *
iteration(889) loop(351) hyp(0.94) time=1.508397s/1.525924s *
iteration(890) loop(353) hyp(0.94) time=1.406215s/1.420310s *
iteration(891) loop(354) hyp(0.95) time=1.303596s/1.321084s *
iteration(892) loop(355) hyp(0.96) time=1.720259s/1.738810s *
iteration(893) loop(356) hyp(0.96) time=1.500235s/1.515817s *
iteration(894) loop(357) hyp(0.97) time=1.371980s/1.389231s *
iteration(895) loop(358) hyp(0.97) time=1.365500s/1.380774s *
iteration(896) loop(359) hyp(0.97) time=1.423514s/1.437703s *
iteration(897) loop(359) hyp(0.97) time=1.587032s/1.604467s *
iteration(898) loop(361) hyp(0.97) time=1.440315s/1.460353s *
iteration(899) loop(361) hyp(0.97) time=1.408103s/1.425881s *
count = 900, loop closures = 194, max time (at 873) = 1.907384s
WM(564)=[2,1;5,0;13,0;14,0;38,0;39,0;70,1;75,1;77,1;79,1;229,1;239,1;241,1;243,1;245,1;299,0;300,0;301,0;302,0;303,0;304,0;305,0;306,0;307,0;308,0;309,0;310,0;311,0;312,0;313,0;315,0;316,0;317,0;318,0;319,0;320,0;321,0;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;332,0;334,0;335,0;336,0;337,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;389,0;390,0;391,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;399,0;400,0;401,0;402,0;403,0;404,0;405,0;406,0;407,0;408,0;409,0;410,0;411,0;412,0;413,0;414,0;415,0;416,0;417,0;418,0;419,0;420,0;421,0;422,0;423,0;424,0;425,0;426,0;427,0;428,0;429,0;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,0;443,0;444,0;445,0;447,1;449,1;450,0;451,0;452,0;453,0;454,0;455,0;456,0;458,1;460,1;461,0;462,0;463,0;464,0;466,1;467,0;468,0;469,0;470,0;471,0;472,0;474,1;475,0;476,0;477,0;478,0;479,0;480,0;481,0;482,0;483,0;484,0;485,0;486,0;487,0;488,0;489,0;490,0;491,0;492,0;493,0;494,0;495,0;496,0;497,0;498,0;499,0;500,0;501,0;502,0;503,0;504,0;505,0;506,0;507,0;508,0;509,0;510,0;511,0;512,0;513,0;514,0;515,0;516,0;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,0;531,0;532,0;533,0;534,0;535,0;536,0;537,0;538,0;539,0;540,0;541,0;542,0;543,0;544,0;545,0;546,0;547,0;548,0;550,1;551,0;552,0;553,0;555,1;557,1;559,1;561,1;563,1;564,0;565,0;566,0;567,0;568,0;569,0;570,0;572,1;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;583,0;584,0;585,0;586,0;587,0;589,1;590,0;592,1;593,0;595,1;597,1;598,0;600,1;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;615,1;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;658,0;659,0;660,0;661,0;662,0;663,0;664,0;665,0;666,0;667,0;668,0;669,0;670,0;671,0;672,0;673,0;674,0;675,0;676,0;677,0;678,0;679,0;680,0;681,0;682,0;683,0;684,0;685,0;686,0;687,0;688,0;689,0;690,0;691,0;692,0;693,0;694,0;695,0;696,0;697,0;698,0;699,0;700,0;701,0;702,0;703,0;704,0;705,0;706,0;707,0;708,0;709,0;710,0;711,0;712,0;713,0;714,0;715,0;716,0;717,0;718,0;719,0;720,0;721,0;722,1;723,0;724,0;725,1;726,0;727,0;728,0;729,0;730,0;731,0;732,0;733,0;734,0;735,0;736,0;737,0;738,0;739,0;740,0;741,0;742,0;743,0;744,0;745,0;746,0;747,0;748,0;749,0;750,0;751,0;752,0;753,0;754,0;755,0;756,0;757,0;758,0;759,0;760,0;761,0;762,0;763,0;764,0;765,1;766,0;767,1;768,0;769,1;770,0;771,1;772,0;773,0;774,0;775,0;776,0;777,0;778,0;779,0;780,0;781,0;782,0;783,0;784,1;785,1;786,0;787,1;788,0;789,0;791,1;792,0;793,0;794,0;795,0;796,0;797,0;798,0;799,0;800,0;801,0;802,0;803,0;804,0;805,0;806,0;807,0;808,0;809,0;810,0;811,0;812,0;813,1;814,0;815,0;816,0;817,0;818,0;819,0;820,0;821,0;822,0;823,0;824,0;825,0;826,0;827,0;828,0;829,0;830,0;831,0;832,0;833,0;834,0;835,0;836,0;837,0;838,0;839,0;840,0;841,0;842,0;843,0;844,0;845,0;846,0;847,0;848,0;849,0;850,0;851,0;852,1;853,0;854,0;855,0;856,0;857,0;858,0;860,1;861,0;862,0;863,0;864,0;865,0;866,0;867,0;868,0;869,0;870,0]
iteration(900) loop(363) hyp(0.96) time=1.509104s/1.525502s *
iteration(901) loop(363) hyp(0.97) time=1.351978s/1.367523s *
iteration(902) loop(364) hyp(0.97) time=1.435028s/1.450913s *
iteration(903) loop(365) hyp(0.97) time=1.424991s/1.442757s *
iteration(904) loop(366) hyp(0.97) time=1.454436s/1.470520s *
iteration(905) loop(367) hyp(0.95) time=1.384268s/1.399707s *
iteration(906) loop(369) hyp(0.94) time=1.537309s/1.551920s *
iteration(907) loop(369) hyp(0.91) time=1.392412s/1.408642s *
iteration(908) loop(370) hyp(0.91) time=1.445522s/1.464159s *
iteration(909) loop(371) hyp(0.89) time=1.474102s/1.491008s *
iteration(910) loop(372) hyp(0.88) time=1.485606s/1.502043s *
iteration(911) loop(373) hyp(0.88) time=1.511197s/1.531241s *
iteration(912) loop(371) hyp(0.66) time=1.418324s/1.437581s *
iteration(913) loop(374) hyp(0.56) time=1.362617s/1.376995s *
iteration(914) loop(375) hyp(0.32) time=1.651718s/1.677375s *
iteration(915) loop(376) hyp(0.40) time=2.203350s/2.223712s *
iteration(916) loop(376) hyp(0.41) time=1.631371s/1.651912s *
iteration(917) loop(378) hyp(0.48) time=1.458303s/1.476447s *
iteration(918) loop(379) hyp(0.51) time=1.434027s/1.453371s *
iteration(919) loop(380) hyp(0.68) time=1.379188s/1.395692s *
iteration(920) loop(381) hyp(0.87) time=1.459209s/1.478454s *
iteration(921) loop(382) hyp(0.92) time=1.705317s/1.725590s *
iteration(922) loop(383) hyp(0.95) time=1.671157s/1.687785s *
iteration(923) loop(384) hyp(0.97) time=1.513687s/1.530571s *
iteration(924) loop(385) hyp(0.97) time=1.444545s/1.465447s *
iteration(925) loop(386) hyp(0.94) time=1.594350s/1.616171s *
iteration(926) loop(387) hyp(0.93) time=1.451965s/1.467675s *
iteration(927) loop(388) hyp(0.96) time=1.453587s/1.471030s *
iteration(928) loop(389) hyp(0.97) time=1.542729s/1.562278s *
iteration(929) loop(390) hyp(0.97) time=1.384299s/1.400919s *
iteration(930) loop(391) hyp(0.97) time=1.521860s/1.544336s *
iteration(931) loop(392) hyp(0.98) time=1.668824s/1.689329s *
iteration(932) loop(392) hyp(0.97) time=1.494653s/1.515786s *
iteration(933) loop(393) hyp(0.95) time=1.673974s/1.692900s *
iteration(934) loop(395) hyp(0.95) time=1.640050s/1.658571s *
iteration(935) loop(396) hyp(0.92) time=1.631375s/1.651491s *
iteration(936) loop(397) hyp(0.84) time=1.444594s/1.463983s *
iteration(937) loop(398) hyp(0.88) time=1.395911s/1.409835s *
iteration(938) loop(399) hyp(0.94) time=1.374530s/1.387879s *
iteration(939) loop(400) hyp(0.96) time=1.464197s/1.479542s *
iteration(940) loop(401) hyp(0.94) time=1.447854s/1.462754s *
iteration(941) loop(402) hyp(0.94) time=1.429350s/1.444880s *
iteration(942) loop(403) hyp(0.96) time=1.454206s/1.471317s *
iteration(943) loop(404) hyp(0.98) time=1.416019s/1.432935s *
iteration(944) loop(405) hyp(0.97) time=1.393914s/1.410806s *
iteration(945) loop(406) hyp(0.96) time=1.361946s/1.376668s *
iteration(946) loop(407) hyp(0.96) time=1.429122s/1.447502s *
iteration(947) loop(408) hyp(0.97) time=1.434169s/1.452396s *
iteration(948) loop(409) hyp(0.96) time=1.576071s/1.596422s *
iteration(949) loop(410) hyp(0.96) time=1.483046s/1.500065s *
iteration(950) loop(411) hyp(0.97) time=1.548363s/1.567212s *
iteration(951) loop(412) hyp(0.97) time=1.470902s/1.489983s *
iteration(952) loop(413) hyp(0.97) time=1.439408s/1.456141s *
iteration(953) loop(414) hyp(0.96) time=1.362414s/1.382143s *
iteration(954) loop(414) hyp(0.96) time=1.456003s/1.471571s *
iteration(955) loop(416) hyp(0.93) time=1.319114s/1.334993s *
iteration(956) loop(416) hyp(0.87) time=1.337078s/1.350373s *
iteration(957) loop(418) hyp(0.86) time=1.910851s/1.926201s *
iteration(958) loop(419) hyp(0.92) time=1.580496s/1.595036s *
iteration(959) loop(420) hyp(0.96) time=1.516071s/1.533448s *
iteration(960) loop(421) hyp(0.97) time=1.978723s/1.994905s *
iteration(961) loop(422) hyp(0.98) time=1.560957s/1.575099s *
iteration(962) loop(423) hyp(0.98) time=1.371291s/1.386594s *
iteration(963) loop(424) hyp(0.98) time=1.395901s/1.409280s *
iteration(964) loop(425) hyp(0.98) time=1.353751s/1.367896s *
iteration(965) loop(426) hyp(0.93) time=1.346533s/1.360813s *
iteration(966) loop(427) hyp(0.93) time=1.385150s/1.398921s *
iteration(967) loop(428) hyp(0.96) time=1.359111s/1.372069s *
iteration(968) loop(429) hyp(0.97) time=1.362605s/1.376637s *
iteration(969) loop(430) hyp(0.97) time=1.411065s/1.425781s *
iteration(970) loop(431) hyp(0.94) time=1.409593s/1.423851s *
iteration(971) loop(432) hyp(0.91) time=1.372323s/1.388289s *
iteration(972) loop(433) hyp(0.92) time=1.458356s/1.472831s *
iteration(973) loop(434) hyp(0.91) time=1.462374s/1.484626s *
iteration(974) loop(435) hyp(0.95) time=1.574515s/1.590122s *
iteration(975) loop(436) hyp(0.97) time=1.392466s/1.406637s *
iteration(976) loop(437) hyp(0.98) time=1.435956s/1.449476s *
iteration(977) loop(438) hyp(0.98) time=1.442937s/1.457937s *
iteration(978) loop(439) hyp(0.98) time=1.488083s/1.506178s *
iteration(979) loop(440) hyp(0.98) time=1.362545s/1.377124s *
iteration(980) loop(441) hyp(0.98) time=1.420474s/1.436085s *
iteration(981) loop(442) hyp(0.98) time=1.392623s/1.405712s *
iteration(982) loop(443) hyp(0.98) time=1.446192s/1.461508s *
iteration(983) loop(444) hyp(0.97) time=1.450409s/1.469316s *
iteration(984) loop(445) hyp(0.97) time=1.629381s/1.647801s *
iteration(985) loop(447) hyp(0.98) time=1.501946s/1.521512s *
iteration(986) loop(447) hyp(0.98) time=1.395797s/1.411243s *
iteration(987) loop(449) hyp(0.98) time=0.318047s/0.333556s *
iteration(988) loop(449) hyp(0.99) time=1.346434s/1.361244s *
iteration(989) loop(450) hyp(0.98) time=0.249454s/0.265447s *
iteration(990) loop(451) hyp(0.98) time=1.368476s/1.380951s *
iteration(991) loop(452) hyp(0.98) time=1.442671s/1.458491s *
iteration(992) loop(453) hyp(0.98) time=1.580341s/1.598104s *
iteration(993) loop(454) hyp(0.98) time=1.496645s/1.513438s *
iteration(994) loop(455) hyp(0.97) time=1.542251s/1.557068s *
iteration(995) loop(456) hyp(0.97) time=1.382740s/1.396417s *
iteration(996) loop(458) hyp(0.97) time=1.479590s/1.493702s *
iteration(997) loop(458) hyp(0.97) time=1.349680s/1.363820s *
iteration(998) loop(460) hyp(0.98) time=1.335666s/1.352067s *
iteration(999) loop(460) hyp(0.99) time=1.389324s/1.403648s *
count = 1000, loop closures = 294, max time (at 915) = 2.203350s
WM(543)=[2,1;5,0;13,0;14,0;38,0;39,0;70,1;75,1;77,1;79,1;229,1;239,1;241,1;243,1;245,1;419,0;420,0;421,0;422,0;423,0;424,0;425,0;426,0;427,0;428,0;429,0;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,0;443,0;444,0;445,0;447,0;449,0;450,0;451,0;452,0;453,0;454,0;455,0;456,0;458,0;460,0;461,0;462,0;463,0;464,0;466,1;467,0;468,0;469,0;470,0;471,0;472,0;474,1;475,0;476,0;477,0;478,0;479,0;480,0;481,0;482,0;483,0;484,0;485,0;486,0;487,0;488,0;489,0;490,0;491,0;492,0;493,0;494,0;495,0;496,0;497,0;498,0;499,0;500,0;501,0;502,0;503,0;504,0;505,0;506,0;507,0;508,0;509,0;510,0;511,0;512,0;513,0;514,0;515,0;516,0;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,0;531,0;532,0;533,0;534,0;535,0;536,0;537,0;538,0;539,0;540,0;541,0;542,0;543,0;544,0;545,0;546,0;547,0;548,0;550,1;551,0;552,0;553,0;555,1;557,1;559,1;561,1;563,1;564,0;565,0;566,0;567,0;568,0;569,0;570,0;572,1;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;583,0;584,0;585,0;586,0;587,0;589,1;590,0;592,1;593,0;595,1;597,1;598,0;600,1;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;615,1;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;658,0;659,0;660,0;661,0;662,0;663,0;664,0;665,0;666,0;667,0;668,0;669,0;670,0;671,0;672,0;673,0;674,0;675,0;676,0;677,0;678,0;679,0;680,0;681,0;682,0;683,0;684,0;685,0;686,0;687,0;688,0;689,0;690,0;691,0;692,0;693,0;694,0;695,0;696,0;697,0;698,0;699,0;700,0;701,0;702,0;703,0;704,0;705,0;706,0;707,0;708,0;709,0;710,0;711,0;712,0;713,0;714,0;715,0;716,0;717,0;718,0;719,0;720,0;721,0;722,1;723,0;724,0;725,1;726,0;727,0;728,0;729,0;730,0;731,0;732,0;733,0;734,0;735,0;736,0;737,0;738,0;739,0;740,0;741,0;742,0;743,0;744,0;745,0;746,0;747,0;748,0;749,0;750,0;751,0;752,0;753,0;754,0;755,0;756,0;757,0;758,0;759,0;760,0;761,0;762,0;763,0;764,0;765,1;766,0;767,1;768,0;769,1;770,0;771,1;772,0;773,0;774,0;775,0;776,0;777,0;778,0;779,0;780,0;781,0;782,0;783,0;784,1;785,1;786,0;787,1;788,0;789,0;791,1;792,0;793,0;794,0;795,0;796,0;797,0;798,0;799,0;800,0;801,0;802,0;803,0;804,0;805,0;806,0;807,0;808,0;809,0;810,0;811,0;812,0;813,1;814,0;815,0;816,0;817,0;818,0;819,0;820,0;821,0;822,0;823,0;824,0;825,0;826,0;827,0;828,0;829,0;830,0;831,0;832,0;833,0;834,0;835,0;836,0;837,0;838,0;839,0;840,0;841,0;842,0;843,0;844,0;845,0;846,0;847,0;848,0;849,0;850,0;851,0;852,1;853,0;854,0;855,0;856,0;857,0;858,0;860,1;861,0;862,0;863,0;864,0;865,0;866,0;867,0;868,0;869,0;870,0;871,1;872,0;873,0;874,0;875,0;876,0;877,0;878,0;879,0;880,0;881,0;882,0;883,0;884,0;885,0;886,0;887,0;888,0;889,0;890,0;891,0;892,0;893,0;894,0;895,0;896,0;897,0;898,0;899,0;900,0;901,0;902,0;903,0;904,0;905,0;906,0;907,0;908,0;909,0;910,0;911,0;912,0;913,0;914,0;915,0;916,0;917,0;918,0;919,0;920,0;921,0;922,0;923,0;924,0;925,0;926,0;927,0;928,0;929,0;930,0;931,0;932,0;933,0;934,0;935,0;936,0;937,0;938,0;939,0;940,0;941,0;942,0;943,0;944,0;945,0;946,0;947,0;948,0;949,0;950,0;951,0;952,0;953,0;954,0;955,0;956,0;957,0;958,0;959,0;960,0;961,0;962,0;963,0;964,0;965,0;966,0;967,0]
iteration(1000) loop(461) hyp(0.98) time=0.309980s/0.323934s *
iteration(1001) loop(462) hyp(0.98) time=1.395992s/1.408575s *
iteration(1002) loop(463) hyp(0.98) time=1.369551s/1.384634s *
iteration(1003) loop(464) hyp(0.98) time=1.400408s/1.413681s *
iteration(1004) loop(466) hyp(0.98) time=1.389222s/1.402101s *
iteration(1005) loop(466) hyp(0.98) time=1.385391s/1.399794s *
iteration(1006) loop(467) hyp(0.98) time=0.310798s/0.326309s *
iteration(1007) loop(468) hyp(0.98) time=1.421830s/1.437986s *
iteration(1008) loop(469) hyp(0.98) time=1.452796s/1.470954s *
iteration(1009) loop(470) hyp(0.98) time=1.412306s/1.428715s *
iteration(1010) loop(471) hyp(0.98) time=1.495983s/1.512299s *
iteration(1011) loop(472) hyp(0.98) time=1.506046s/1.521202s *
iteration(1012) loop(474) hyp(0.98) time=1.361406s/1.378887s *
iteration(1013) loop(474) hyp(0.98) time=1.362423s/1.377104s *
iteration(1014) loop(475) hyp(0.98) time=0.301170s/0.314080s *
iteration(1015) loop(476) hyp(0.98) time=1.396811s/1.414302s *
iteration(1016) loop(477) hyp(0.98) time=1.380107s/1.395357s *
iteration(1017) loop(478) hyp(0.98) time=1.389288s/1.407142s *
iteration(1018) loop(479) hyp(0.98) time=1.399902s/1.418512s *
iteration(1019) loop(480) hyp(0.98) time=1.457884s/1.474415s *
iteration(1020) loop(481) hyp(0.97) time=1.408868s/1.422090s *
iteration(1021) loop(482) hyp(0.98) time=1.460308s/1.476186s *
iteration(1022) loop(483) hyp(0.97) time=1.361791s/1.378083s *
iteration(1023) loop(484) hyp(0.98) time=1.360395s/1.372955s *
iteration(1024) loop(485) hyp(0.98) time=1.398910s/1.412282s *
iteration(1025) loop(486) hyp(0.97) time=1.397977s/1.412943s *
iteration(1026) loop(487) hyp(0.97) time=1.439168s/1.454434s *
iteration(1027) loop(488) hyp(0.97) time=1.381380s/1.394711s *
iteration(1028) loop(489) hyp(0.97) time=1.399049s/1.413489s *
iteration(1029) loop(490) hyp(0.96) time=1.415266s/1.432442s *
iteration(1030) loop(491) hyp(0.96) time=1.349750s/1.369268s *
iteration(1031) loop(492) hyp(0.95) time=1.432300s/1.451694s *
iteration(1032) loop(493) hyp(0.88) time=1.490059s/1.508973s *
iteration(1033) loop(494) hyp(0.94) time=1.427663s/1.446300s *
iteration(1034) loop(495) hyp(0.96) time=1.469951s/1.484446s *
iteration(1035) loop(496) hyp(0.96) time=1.465853s/1.482818s *
iteration(1036) loop(497) hyp(0.93) time=1.553616s/1.578733s *
iteration(1037) loop(498) hyp(0.88) time=1.586067s/1.603949s *
iteration(1038) loop(499) hyp(0.88) time=1.625891s/1.642209s *
iteration(1039) loop(500) hyp(0.83) time=1.414785s/1.431546s *
iteration(1040) loop(501) hyp(0.92) time=1.433960s/1.451789s *
iteration(1041) loop(502) hyp(0.96) time=1.366439s/1.379083s *
iteration(1042) loop(503) hyp(0.97) time=1.370431s/1.385043s *
iteration(1043) loop(504) hyp(0.97) time=1.347294s/1.359685s *
iteration(1044) loop(505) hyp(0.97) time=1.382576s/1.399093s *
iteration(1045) loop(506) hyp(0.96) time=1.395597s/1.409119s *
iteration(1046) loop(507) hyp(0.97) time=1.363812s/1.378264s *
iteration(1047) loop(508) hyp(0.96) time=1.579554s/1.594102s *
iteration(1048) loop(509) hyp(0.95) time=1.465156s/1.481478s *
iteration(1049) loop(510) hyp(0.95) time=1.477287s/1.496328s *
iteration(1050) loop(511) hyp(0.85) time=1.379491s/1.395259s *
iteration(1051) loop(512) hyp(0.75) time=1.455167s/1.475558s *
iteration(1052) loop(513) hyp(0.66) time=1.478304s/1.495525s *
iteration(1053) loop(514) hyp(0.61) time=1.490898s/1.510041s *
iteration(1054) loop(515) hyp(0.59) time=1.655864s/1.670714s *
iteration(1055) loop(516) hyp(0.57) time=1.681077s/1.696791s *
iteration(1056) loop(518) hyp(0.59) time=1.666968s/1.689551s *
iteration(1057) loop(518) hyp(0.64) time=1.518157s/1.536308s *
iteration(1058) loop(520) hyp(0.74) time=1.520290s/1.539173s *
iteration(1059) loop(520) hyp(0.86) time=1.534720s/1.550934s *
iteration(1060) loop(521) hyp(0.85) time=1.629087s/1.649539s *
iteration(1061) loop(522) hyp(0.83) time=1.477504s/1.494567s *
iteration(1062) loop(523) hyp(0.78) time=1.455996s/1.476865s *
iteration(1063) loop(524) hyp(0.81) time=1.447323s/1.465115s *
iteration(1064) loop(525) hyp(0.77) time=1.449059s/1.468636s *
iteration(1065) loop(526) hyp(0.81) time=1.494300s/1.513374s *
iteration(1066) loop(527) hyp(0.86) time=1.564756s/1.581921s *
iteration(1067) loop(527) hyp(0.87) time=1.477222s/1.495605s *
iteration(1068) loop(529) hyp(0.85) time=1.525517s/1.544888s *
iteration(1069) loop(529) hyp(0.77) time=1.392479s/1.411510s *
iteration(1070) loop(530) hyp(0.72) time=1.475419s/1.493050s *
iteration(1071) loop(531) hyp(0.62) time=1.455459s/1.475767s *
iteration(1072) loop(532) hyp(0.67) time=1.394516s/1.410987s *
iteration(1073) loop(533) hyp(0.65) time=1.386870s/1.402703s *
iteration(1074) loop(534) hyp(0.67) time=1.499457s/1.518904s *
iteration(1075) loop(535) hyp(0.71) time=1.416508s/1.436773s *
iteration(1076) loop(536) hyp(0.70) time=1.589683s/1.611054s *
iteration(1077) loop(536) hyp(0.65) time=1.503909s/1.522847s *
iteration(1078) loop(538) hyp(0.68) time=1.494305s/1.513332s *
iteration(1079) loop(539) hyp(0.63) time=1.390044s/1.408507s *
iteration(1080) loop(540) hyp(0.51) time=1.581653s/1.601358s *
iteration(1081) loop(541) hyp(0.61) time=1.557445s/1.578486s *
iteration(1082) loop(542) hyp(0.70) time=1.657241s/1.674358s *
iteration(1083) loop(543) hyp(0.71) time=1.446748s/1.466297s *
iteration(1084) loop(544) hyp(0.67) time=1.461726s/1.480177s *
iteration(1085) loop(545) hyp(0.78) time=1.489703s/1.504141s *
iteration(1086) loop(546) hyp(0.84) time=1.417220s/1.431107s *
iteration(1087) loop(546) hyp(0.88) time=1.442327s/1.461725s *
iteration(1088) loop(548) hyp(0.91) time=1.461694s/1.481177s *
iteration(1089) loop(548) hyp(0.93) time=1.423133s/1.440738s *
iteration(1090) loop(550) hyp(0.93) time=1.455334s/1.470879s *
iteration(1091) loop(551) hyp(0.93) time=1.451313s/1.465662s *
iteration(1092) loop(552) hyp(0.95) time=1.445501s/1.463784s *
iteration(1093) loop(552) hyp(0.94) time=1.336793s/1.351618s *
iteration(1094) loop(555) hyp(0.94) time=1.423054s/1.438342s *
iteration(1095) loop(557) hyp(0.95) time=1.484601s/1.501590s *
iteration(1096) loop(557) hyp(0.95) time=1.372746s/1.386331s *
iteration(1097) loop(557) hyp(0.94) time=1.343064s/1.358810s *
iteration(1098) loop(559) hyp(0.94) time=0.259781s/0.275289s *
iteration(1099) loop(559) hyp(0.95) time=1.385092s/1.398763s *
count = 1100, loop closures = 394, max time (at 1055) = 1.681077s
WM(535)=[2,1;5,0;13,0;14,0;38,0;39,0;70,1;75,1;77,1;79,1;229,1;239,1;241,1;243,1;245,1;526,0;527,0;529,0;530,0;531,0;532,0;533,0;534,0;535,0;536,0;538,0;539,0;540,0;541,0;542,0;543,0;544,0;545,0;546,0;547,0;548,0;550,0;551,0;552,0;553,0;555,0;557,0;559,0;561,0;563,1;564,0;565,0;566,0;567,0;568,0;569,0;570,0;572,1;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;583,0;584,0;585,0;586,0;587,0;589,1;590,0;592,1;593,0;595,1;597,1;598,0;600,1;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;615,1;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;658,0;659,0;660,0;661,0;662,0;663,0;664,0;665,0;666,0;667,0;668,0;669,0;670,0;671,0;672,0;673,0;674,0;675,0;676,0;677,0;678,0;679,0;680,0;681,0;682,0;683,0;684,0;685,0;686,0;687,0;688,0;689,0;690,0;691,0;692,0;693,0;694,0;695,0;696,0;697,0;698,0;699,0;700,0;701,0;702,0;703,0;704,0;705,0;706,0;707,0;708,0;709,0;710,0;711,0;712,0;713,0;714,0;715,0;716,0;717,0;718,0;719,0;720,0;721,0;722,1;723,0;724,0;725,1;726,0;727,0;728,0;729,0;730,0;731,0;732,0;733,0;734,0;735,0;736,0;737,0;738,0;739,0;740,0;741,0;742,0;743,0;744,0;745,0;746,0;747,0;748,0;749,0;750,0;751,0;752,0;753,0;754,0;755,0;756,0;757,0;758,0;759,0;760,0;761,0;762,0;763,0;764,0;765,1;766,0;767,1;768,0;769,1;770,0;771,1;772,0;773,0;774,0;775,0;776,0;777,0;778,0;779,0;780,0;781,0;782,0;783,0;784,1;785,1;786,0;787,1;788,0;789,0;791,1;792,0;793,0;794,0;795,0;796,0;797,0;798,0;799,0;800,0;801,0;802,0;803,0;804,0;805,0;806,0;807,0;808,0;809,0;810,0;811,0;812,0;813,1;814,0;815,0;816,0;817,0;818,0;819,0;820,0;821,0;822,0;823,0;824,0;825,0;826,0;827,0;828,0;829,0;830,0;831,0;832,0;833,0;834,0;835,0;836,0;837,0;838,0;839,0;840,0;841,0;842,0;843,0;844,0;845,0;846,0;847,0;848,0;849,0;850,0;851,0;852,1;853,0;854,0;855,0;856,0;857,0;858,0;860,1;861,0;862,0;863,0;864,0;865,0;866,0;867,0;868,0;869,0;870,0;871,1;872,0;873,0;874,0;875,0;876,0;877,0;878,0;879,0;880,0;881,0;882,0;883,0;884,0;885,0;886,0;887,0;888,0;889,0;890,0;891,0;892,0;893,0;894,0;895,0;896,0;897,0;898,0;899,0;900,0;901,0;902,0;903,0;904,0;905,0;906,0;907,0;908,0;909,0;910,0;911,0;912,0;913,0;914,0;915,0;916,0;917,0;918,0;919,0;920,0;921,0;922,0;923,0;924,0;925,0;926,0;927,0;928,0;929,0;930,0;931,0;932,0;933,0;934,0;935,0;936,0;937,0;938,0;939,0;940,0;941,0;942,0;943,0;944,0;945,0;946,0;947,0;948,0;949,0;950,0;951,0;952,0;953,0;954,0;955,0;956,0;957,0;958,0;959,0;960,0;961,0;962,0;963,0;964,0;965,0;966,0;967,0;968,0;969,0;970,0;971,0;972,0;973,0;974,0;975,0;976,0;977,0;978,0;979,0;980,0;981,0;982,0;983,0;984,0;986,2;988,2;989,0;990,0;991,0;992,0;993,0;994,0;995,0;996,1;997,0;999,2;1000,0;1001,0;1002,0;1003,0;1005,2;1006,0;1007,0;1008,0;1009,0;1010,0;1011,0;1013,2;1014,0;1015,0;1016,0;1017,0;1018,0;1019,0;1020,0;1021,0;1022,0;1023,0;1024,0;1025,0;1026,0;1027,0;1028,0;1029,0;1030,0;1031,0;1032,0;1033,0;1034,0;1035,0;1036,0;1037,0;1038,0;1039,0;1040,0;1041,0;1042,0;1043,0;1044,0;1045,0;1046,0;1047,0;1048,0;1049,0;1050,0;1051,0;1052,0;1053,0;1054,0;1055,0;1056,0;1057,0;1058,0;1059,0;1060,0;1061,0;1062,0;1063,0;1064,0;1065,0;1066,0;1067,0]
iteration(1100) loop(561) hyp(0.96) time=0.347526s/0.360605s *
iteration(1101) loop(561) hyp(0.97) time=1.392925s/1.406314s *
iteration(1102) loop(563) hyp(0.97) time=0.334108s/0.352412s *
iteration(1103) loop(563) hyp(0.97) time=1.450893s/1.466015s *
iteration(1104) loop(564) hyp(0.97) time=1.447405s/1.464737s *
iteration(1105) loop(564) hyp(0.98) time=1.408174s/1.428344s *
iteration(1106) loop(565) hyp(0.97) time=1.395804s/1.410917s *
iteration(1107) loop(566) hyp(0.98) time=1.408023s/1.420938s *
iteration(1108) loop(567) hyp(0.97) time=1.444179s/1.458150s *
iteration(1109) loop(568) hyp(0.93) time=1.304940s/1.319693s *
iteration(1110) loop(570) hyp(0.90) time=1.401642s/1.417822s *
iteration(1111) loop(572) hyp(0.89) time=1.434045s/1.450409s *
iteration(1112) loop(573) hyp(0.91) time=1.393252s/1.407452s *
iteration(1113) loop(574) hyp(0.92) time=1.358897s/1.374756s *
iteration(1114) loop(574) hyp(0.94) time=1.427479s/1.443489s *
iteration(1115) loop(576) hyp(0.95) time=1.403664s/1.419852s *
iteration(1116) loop(577) hyp(0.95) time=1.316606s/1.330548s *
iteration(1117) loop(578) hyp(0.95) time=1.411825s/1.427348s *
iteration(1118) loop(578) hyp(0.95) time=1.435165s/1.452740s *
iteration(1119) loop(580) hyp(0.94) time=1.433968s/1.449076s *
iteration(1120) loop(580) hyp(0.93) time=1.605646s/1.620846s *
iteration(1121) loop(582) hyp(0.91) time=1.307657s/1.320721s *
iteration(1122) loop(582) hyp(0.91) time=1.359932s/1.373624s *
iteration(1123) loop(583) hyp(0.90) time=1.382247s/1.398192s *
iteration(1124) loop(585) hyp(0.91) time=1.409937s/1.424582s *
iteration(1125) loop(586) hyp(0.90) time=1.429995s/1.447180s *
iteration(1126) loop(586) hyp(0.93) time=1.463563s/1.479993s *
iteration(1127) loop(589) hyp(0.92) time=1.403223s/1.420875s *
iteration(1128) loop(589) hyp(0.90) time=1.503135s/1.517524s *
iteration(1129) loop(590) hyp(0.93) time=1.405554s/1.422837s *
iteration(1130) loop(592) hyp(0.94) time=1.471720s/1.486857s *
iteration(1131) loop(592) hyp(0.94) time=1.387343s/1.403475s *
iteration(1132) loop(593) hyp(0.94) time=1.391637s/1.404013s *
iteration(1133) loop(595) hyp(0.92) time=1.460475s/1.473880s *
iteration(1134) loop(595) hyp(0.93) time=1.519754s/1.536703s *
iteration(1135) loop(597) hyp(0.94) time=1.415910s/1.432277s *
iteration(1136) loop(597) hyp(0.93) time=1.390231s/1.404778s *
iteration(1137) loop(598) hyp(0.95) time=1.393884s/1.407424s *
iteration(1138) loop(600) hyp(0.96) time=1.409555s/1.425474s *
iteration(1139) loop(600) hyp(0.96) time=1.538194s/1.553429s *
iteration(1140) loop(601) hyp(0.96) time=1.467554s/1.486861s *
iteration(1141) loop(602) hyp(0.96) time=1.490035s/1.507754s *
iteration(1142) loop(602) hyp(0.96) time=1.375010s/1.389964s *
iteration(1143) loop(604) hyp(0.96) time=1.456834s/1.474425s *
iteration(1144) loop(605) hyp(0.97) time=1.646068s/1.664838s *
iteration(1145) loop(605) hyp(0.96) time=1.510153s/1.526937s *
iteration(1146) loop(606) hyp(0.92) time=1.565075s/1.584729s *
iteration(1147) loop(608) hyp(0.92) time=1.636681s/1.651964s *
iteration(1148) loop(609) hyp(0.92) time=1.564575s/1.583816s *
iteration(1149) loop(610) hyp(0.92) time=1.566824s/1.585507s *
iteration(1150) loop(611) hyp(0.94) time=1.520723s/1.539179s *
iteration(1151) loop(612) hyp(0.96) time=1.421496s/1.437012s *
iteration(1152) loop(613) hyp(0.96) time=1.604411s/1.619939s *
iteration(1153) loop(615) hyp(0.96) time=1.595882s/1.613698s *
iteration(1154) loop(615) hyp(0.96) time=1.383021s/1.399900s *
iteration(1155) loop(616) hyp(0.96) time=1.474779s/1.489914s *
iteration(1156) loop(617) hyp(0.96) time=1.629557s/1.646511s *
iteration(1157) loop(618) hyp(0.96) time=1.596024s/1.613135s *
iteration(1158) loop(619) hyp(0.96) time=1.418269s/1.436171s *
iteration(1159) loop(620) hyp(0.97) time=1.521200s/1.540025s *
iteration(1160) loop(621) hyp(0.97) time=1.629842s/1.648634s *
iteration(1161) loop(622) hyp(0.96) time=1.660624s/1.679046s *
iteration(1162) loop(623) hyp(0.96) time=1.478779s/1.496243s *
iteration(1163) loop(624) hyp(0.96) time=1.618155s/1.635348s *
iteration(1164) loop(625) hyp(0.96) time=1.549658s/1.567545s *
iteration(1165) loop(626) hyp(0.95) time=1.597600s/1.614845s *
iteration(1166) loop(627) hyp(0.96) time=1.445500s/1.464156s *
iteration(1167) loop(628) hyp(0.95) time=1.602688s/1.622261s *
iteration(1168) loop(629) hyp(0.95) time=1.526055s/1.542656s *
iteration(1169) loop(630) hyp(0.96) time=1.614316s/1.628759s *
iteration(1170) loop(631) hyp(0.95) time=1.526028s/1.545988s *
iteration(1171) loop(632) hyp(0.84) time=1.534540s/1.554786s *
iteration(1172) loop(633) hyp(0.62) time=1.531261s/1.551786s *
iteration(1173) loop(635) hyp(0.50) time=1.776728s/1.795659s *
iteration(1174) loop(635) hyp(0.47) time=1.647406s/1.667747s *
iteration(1175) loop(636) hyp(0.53) time=1.553238s/1.573673s *
iteration(1176) loop(637) hyp(0.67) time=1.375334s/1.392668s *
iteration(1177) loop(638) hyp(0.81) time=1.447617s/1.467341s *
iteration(1178) loop(638) hyp(0.90) time=1.489830s/1.509947s *
iteration(1179) loop(640) hyp(0.86) time=1.458063s/1.475324s *
iteration(1180) loop(641) hyp(0.57) time=1.462808s/1.477409s *
iteration(1181) loop(641) hyp(0.34) time=1.308187s/1.328079s *
iteration(1182) loop(643) hyp(0.20) time=1.335334s/1.352962s *
iteration(1183) loop(643) hyp(0.12) time=1.489912s/1.505614s *
iteration(1184) loop(645) hyp(0.15) time=1.405836s/1.426094s *
iteration(1185) high(645) hyp(0.09) time=1.509654s/1.530457s
iteration(1186) high(646) hyp(0.06) time=1.436106s/1.455522s
iteration(1187) high(648) hyp(0.06) time=1.407114s/1.426994s
iteration(1188) high(648) hyp(0.05) time=1.452001s/1.468409s
iteration(1189) high(647) hyp(0.05) time=1.495462s/1.512272s
iteration(1190) high(651) hyp(0.05) time=1.473636s/1.494692s
iteration(1191) high(652) hyp(0.04) time=1.629793s/1.651140s
iteration(1192) high(653) hyp(0.05) time=1.442718s/1.460069s
iteration(1193) high(654) hyp(0.05) time=1.511963s/1.530348s
iteration(1194) high(655) hyp(0.05) time=1.638826s/1.657308s
iteration(1195) high(656) hyp(0.06) time=1.586999s/1.606100s
iteration(1196) high(657) hyp(0.04) time=1.429915s/1.447786s
iteration(1197) high(746) hyp(0.03) time=1.558442s/1.578368s
iteration(1198) high(1030) hyp(0.04) time=1.483819s/1.505272s
iteration(1199) high(1067) hyp(0.02) time=1.650150s/1.670504s
count = 1200, loop closures = 478, max time (at 1173) = 1.776728s
WM(536)=[2,1;70,1;75,1;77,1;79,1;211,0;212,0;229,1;239,1;241,1;243,1;245,1;490,0;491,0;526,0;527,0;542,0;543,0;544,0;546,0;548,0;564,0;565,0;566,0;567,0;568,0;569,0;570,0;573,0;574,0;575,0;576,0;577,0;578,0;579,0;612,0;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;658,0;659,0;660,0;661,0;662,0;663,0;664,0;665,0;666,0;667,0;668,0;669,0;670,0;671,0;672,0;673,0;674,0;675,0;719,0;720,0;721,0;722,1;723,0;724,0;725,1;726,0;727,0;728,0;729,0;730,0;731,0;732,0;733,0;734,0;735,0;736,0;737,0;738,0;739,0;740,0;741,0;742,0;743,0;744,0;745,0;746,0;747,0;748,0;749,0;750,0;751,0;752,0;753,0;754,0;755,0;756,0;757,0;758,0;759,0;760,0;761,0;762,0;763,0;764,0;765,1;766,0;767,1;768,0;769,1;770,0;771,1;772,0;773,0;774,0;775,0;776,0;777,0;778,0;779,0;780,0;781,0;782,0;783,0;784,1;785,1;786,0;787,1;788,0;789,0;791,1;792,0;793,0;794,0;795,0;796,0;797,0;798,0;799,0;800,0;801,0;802,0;803,0;804,0;805,0;806,0;807,0;808,0;809,0;810,0;811,0;812,0;813,1;814,0;815,0;816,0;817,0;818,0;819,0;820,0;821,0;822,0;823,0;824,0;825,0;826,0;827,0;828,0;829,0;830,0;831,0;832,0;833,0;834,0;835,0;836,0;837,0;838,0;839,0;840,0;841,0;842,0;843,0;844,0;845,0;846,0;847,0;848,0;849,0;850,0;851,0;852,1;853,0;854,0;855,0;856,0;857,0;858,0;860,1;861,0;862,0;863,0;864,0;865,0;866,0;867,0;868,0;869,0;870,0;871,1;872,0;873,0;874,0;875,0;876,0;877,0;878,0;879,0;880,0;881,0;882,0;883,0;884,0;885,0;886,0;887,0;888,0;889,0;890,0;891,0;892,0;893,0;894,0;895,0;896,0;897,0;898,0;899,0;900,0;901,0;902,0;903,0;904,0;905,0;906,0;907,0;908,0;909,0;910,0;911,0;912,0;913,0;914,0;915,0;916,0;917,0;918,0;919,0;920,0;921,0;922,0;923,0;924,0;925,0;926,0;927,0;928,0;929,0;930,0;931,0;932,0;933,0;934,0;935,0;936,0;937,0;938,0;939,0;940,0;941,0;942,0;943,0;944,0;945,0;946,0;947,0;948,0;949,0;950,0;951,0;952,0;953,0;954,0;955,0;956,0;957,0;958,0;959,0;960,0;961,0;962,0;963,0;964,0;965,0;966,0;967,0;968,0;969,0;970,0;971,0;972,0;973,0;974,0;975,0;976,0;977,0;978,0;979,0;980,0;981,0;982,0;983,0;984,0;986,2;988,2;989,0;990,0;991,0;992,0;993,0;994,0;995,0;996,1;997,0;999,2;1000,0;1001,0;1002,0;1003,0;1005,2;1006,0;1007,0;1008,0;1009,0;1010,0;1011,0;1013,2;1014,0;1015,0;1016,0;1017,0;1018,0;1019,0;1020,0;1021,0;1022,0;1023,0;1024,0;1025,0;1026,0;1027,0;1028,0;1029,0;1030,0;1031,0;1032,0;1033,0;1034,0;1035,0;1036,0;1037,0;1038,0;1039,0;1040,0;1041,0;1042,0;1043,0;1044,0;1045,0;1046,0;1047,0;1048,0;1049,0;1050,0;1051,0;1052,0;1053,0;1054,0;1055,0;1056,0;1057,0;1058,0;1059,0;1060,0;1061,0;1062,0;1063,0;1064,0;1065,0;1066,0;1067,0;1068,0;1069,0;1070,0;1071,0;1072,0;1073,0;1074,0;1075,0;1076,0;1077,0;1078,0;1079,0;1080,0;1081,0;1082,0;1083,0;1084,0;1085,0;1086,0;1087,0;1088,0;1089,0;1090,1;1091,0;1092,0;1093,0;1095,3;1097,1;1099,2;1101,2;1102,1;1103,0;1105,1;1106,0;1107,0;1108,0;1109,0;1110,0;1111,1;1112,0;1113,0;1114,0;1115,0;1116,0;1117,0;1118,0;1119,0;1120,0;1121,0;1122,0;1123,0;1124,0;1125,0;1126,0;1127,1;1128,0;1129,0;1130,1;1131,0;1132,0;1133,1;1134,0;1135,1;1136,0;1137,0;1138,1;1139,0;1140,0;1141,0;1142,0;1143,0;1144,0;1145,0;1146,0;1147,0;1148,0;1149,0;1150,0;1151,0;1152,0;1153,1;1154,0;1155,0;1156,0;1157,0;1158,0;1159,0;1160,0;1161,0;1162,0;1163,0;1164,0;1165,0;1166,0;1167,0;1168,0;1169,0;1170,0]
iteration(1200) high(663) hyp(0.04) time=1.491306s/1.509575s
iteration(1201) high(663) hyp(0.05) time=1.595211s/1.616243s
iteration(1202) high(663) hyp(0.05) time=1.514727s/1.534283s
iteration(1203) high(663) hyp(0.06) time=1.356194s/1.373047s
iteration(1204) high(665) hyp(0.06) time=1.505092s/1.524688s
iteration(1205) high(70) hyp(0.04) time=1.698581s/1.714743s
iteration(1206) high(667) hyp(0.05) time=1.456054s/1.477182s
iteration(1207) high(667) hyp(0.05) time=1.508414s/1.524253s
iteration(1208) high(667) hyp(0.05) time=1.323095s/1.339005s
iteration(1209) high(670) hyp(0.05) time=1.410184s/1.425869s
iteration(1210) high(672) hyp(0.05) time=1.522658s/1.537996s
iteration(1211) high(672) hyp(0.05) time=1.505538s/1.526508s
iteration(1212) high(674) hyp(0.04) time=1.491563s/1.511801s
iteration(1213) high(675) hyp(0.07) time=1.457472s/1.478338s
iteration(1214) high(675) hyp(0.06) time=1.522009s/1.539186s
iteration(1215) high(655) hyp(0.05) time=1.419449s/1.437530s
iteration(1216) high(673) hyp(0.04) time=1.574990s/1.596861s
iteration(1217) high(675) hyp(0.03) time=1.434059s/1.452435s
iteration(1218) high(904) hyp(0.04) time=1.528208s/1.545135s
iteration(1219) high(1054) hyp(0.03) time=1.600377s/1.622504s
iteration(1220) high(676) hyp(0.03) time=1.582595s/1.603038s
iteration(1221) high(666) hyp(0.04) time=1.396497s/1.415424s
iteration(1222) high(1185) hyp(0.05) time=1.409340s/1.431369s
iteration(1223) high(662) hyp(0.03) time=1.412365s/1.433713s
iteration(1224) high(1067) hyp(0.03) time=1.461192s/1.482520s
iteration(1225) high(669) hyp(0.03) time=1.365434s/1.381571s
iteration(1226) high(1124) hyp(0.03) time=1.415891s/1.433366s
iteration(1227) high(669) hyp(0.03) time=1.409060s/1.425802s
iteration(1228) high(903) hyp(0.03) time=1.422371s/1.444441s
iteration(1229) high(672) hyp(0.03) time=1.463390s/1.485051s
iteration(1230) high(655) hyp(0.03) time=1.374177s/1.390958s
iteration(1231) high(75) hyp(0.04) time=1.512597s/1.531089s
iteration(1232) high(1110) hyp(0.04) time=1.520397s/1.537018s
iteration(1233) high(365) hyp(0.04) time=1.382310s/1.400344s
iteration(1234) high(1072) hyp(0.04) time=1.487451s/1.504082s
iteration(1235) high(674) hyp(0.03) time=1.458482s/1.474839s
iteration(1236) high(670) hyp(0.04) time=1.512246s/1.526748s
iteration(1237) high(1081) hyp(0.04) time=1.495804s/1.496312s
Processing images completed. Loop closures found = 478
Total time = 1301.853029s
Cleanup time = 10.570965s
Database ("rtabmapconsole.db") and log files saved to current directory.