Apollo lunar descent guidance demo
See also: ApolloLunarDescentGuidance
%-------------------------------------------------------------------------- % Copyright (c) 2015 Princeton Satellite Systems, Inc. % All rights reserved. %-------------------------------------------------------------------------- tEnd = 300; dT = 1; n = ceil(tEnd/dT); h = 15; r = h+1738; v = sqrt(Constant('mu moon')/r)*1000; x = [1000*h;0;492000;0;0;-v]; xP = zeros(9,n); mode = cell(n,1); t = 0; dG = ApolloLunarDescentGuidance; fC = 1/(r*1000); gM = fC*v^2; for k = 1:n [aCG,dG] = ApolloLunarDescentGuidance( x, t, dG ); xP(:,k) = [x;aCG]; mode{k} = dG.mode; x = RK4(@RHS,x,dT,0,aCG,fC,gM); t = t + dT; end [t,tL] = TimeLabl((0:(k-1))*dT); yL = {'R_{G_x} (m)' 'R_{G_y} (m)', 'R_{G_z} (m)',... 'V_{G_x} (m/s)' 'V_{G_y} (m/s)', 'V_{G_z} (m/s)',... 'A_{G_x} (m/s^2)' 'A_{G_y} (m/s^2)', 'A_{G_z} (m/s^2)'}; h = xP(1,:); z = xP(3,:); NewFig('Trajectory') plot(z,h); grid on text(z(1),1.01*h(1),mode{1}); text(z(1),0.99*h(1),sprintf('t = %4.1f min',t(1))); for k = 2:n if( ~strcmp(mode{k},mode{k-1}) ) text(z(k),1.01*h(k),mode{k}); text(z(k),0.99*h(k),sprintf('t = %4.1f min',t(k))); end end text(z(n),h(n),sprintf('t = %4.1f min',t(n))); Plot2D(t,xP(1:3,:),tL,yL(1:3),'R_G'); Plot2D(t,xP(4:6,:),tL,yL(4:6),'V_G'); Plot2D(t,xP(7:9,:),tL,yL(7:9),'A_G'); %-------------------------------------------------------------------------- % Right hand side %-------------------------------------------------------------------------- function xDot = RHS(x,~,aCG,fC,gM) a = [fC*x(6)^2 - gM;0;0]; xDot = [x(4:6);aCG+a]; end %-------------------------------------- % $Date$ % $Id: e81e416d77672edbf7906fe2eee310623f3dc4e5 $
t = 0.0 mode: P63 rG = [15000.00 0.00 492000.00] aCG = [ -2.31 0.00 -2.26] t = 1.0 mode: P63 rG = [14998.85 0.00 490326.51] aCG = [ -2.28 0.00 -2.20] t = 2.0 mode: P63 rG = [14995.40 0.00 488650.78] aCG = [ -2.26 0.00 -2.15] t = 3.0 mode: P63 rG = [14989.69 0.00 486972.88] aCG = [ -2.24 0.00 -2.10] t = 4.0 mode: P63 rG = [14981.75 0.00 485292.85] aCG = [ -2.21 0.00 -2.04] t = 5.0 mode: P63 rG = [14971.60 0.00 483610.75] aCG = [ -2.19 0.00 -1.99] t = 6.0 mode: P63 rG = [14959.26 0.00 481926.64] aCG = [ -2.17 0.00 -1.94] t = 7.0 mode: P63 rG = [14944.78 0.00 480240.56] aCG = [ -2.14 0.00 -1.88] t = 8.0 mode: P63 rG = [14928.16 0.00 478552.58] aCG = [ -2.12 0.00 -1.83] t = 9.0 mode: P63 rG = [14909.45 0.00 476862.73] aCG = [ -2.10 0.00 -1.78] t = 10.0 mode: P63 rG = [14888.67 0.00 475171.09] aCG = [ -2.07 0.00 -1.72] t = 11.0 mode: P63 rG = [14865.83 0.00 473477.69] aCG = [ -2.05 0.00 -1.67] t = 12.0 mode: P63 rG = [14840.98 0.00 471782.60] aCG = [ -2.03 0.00 -1.62] t = 13.0 mode: P63 rG = [14814.13 0.00 470085.86] aCG = [ -2.01 0.00 -1.57] t = 14.0 mode: P63 rG = [14785.31 0.00 468387.53] aCG = [ -1.98 0.00 -1.52] t = 15.0 mode: P63 rG = [14754.55 0.00 466687.65] aCG = [ -1.96 0.00 -1.46] t = 16.0 mode: P63 rG = [14721.87 0.00 464986.29] aCG = [ -1.94 0.00 -1.41] t = 17.0 mode: P63 rG = [14687.29 0.00 463283.49] aCG = [ -1.92 0.00 -1.36] t = 18.0 mode: P63 rG = [14650.85 0.00 461579.30] aCG = [ -1.90 0.00 -1.31] t = 19.0 mode: P63 rG = [14612.56 0.00 459873.78] aCG = [ -1.87 0.00 -1.26] t = 20.0 mode: P63 rG = [14572.45 0.00 458166.97] aCG = [ -1.85 0.00 -1.21] t = 21.0 mode: P63 rG = [14530.55 0.00 456458.93] aCG = [ -1.83 0.00 -1.16] t = 22.0 mode: P63 rG = [14486.87 0.00 454749.70] aCG = [ -1.81 0.00 -1.11] t = 23.0 mode: P63 rG = [14441.45 0.00 453039.34] aCG = [ -1.79 0.00 -1.06] t = 24.0 mode: P63 rG = [14394.30 0.00 451327.90] aCG = [ -1.77 0.00 -1.01] t = 25.0 mode: P63 rG = [14345.44 0.00 449615.43] aCG = [ -1.75 0.00 -0.96] t = 26.0 mode: P63 rG = [14294.91 0.00 447901.98] aCG = [ -1.73 0.00 -0.91] t = 27.0 mode: P63 rG = [14242.73 0.00 446187.59] aCG = [ -1.70 0.00 -0.86] t = 28.0 mode: P63 rG = [14188.90 0.00 444472.32] aCG = [ -1.68 0.00 -0.81] t = 29.0 mode: P63 rG = [14133.47 0.00 442756.21] aCG = [ -1.66 0.00 -0.76] t = 30.0 mode: P63 rG = [14076.45 0.00 441039.32] aCG = [ -1.64 0.00 -0.71] t = 31.0 mode: P63 rG = [14017.87 0.00 439321.69] aCG = [ -1.62 0.00 -0.66] t = 32.0 mode: P63 rG = [13957.74 0.00 437603.38] aCG = [ -1.60 0.00 -0.61] t = 33.0 mode: P63 rG = [13896.08 0.00 435884.43] aCG = [ -1.58 0.00 -0.57] t = 34.0 mode: P63 rG = [13832.93 0.00 434164.88] aCG = [ -1.56 0.00 -0.52] t = 35.0 mode: P63 rG = [13768.29 0.00 432444.80] aCG = [ -1.54 0.00 -0.47] t = 36.0 mode: P63 rG = [13702.20 0.00 430724.22] aCG = [ -1.52 0.00 -0.42] t = 37.0 mode: P63 rG = [13634.66 0.00 429003.19] aCG = [ -1.50 0.00 -0.38] t = 38.0 mode: P63 rG = [13565.71 0.00 427281.76] aCG = [ -1.48 0.00 -0.33] t = 39.0 mode: P63 rG = [13495.37 0.00 425559.98] aCG = [ -1.46 0.00 -0.28] t = 40.0 mode: P63 rG = [13423.64 0.00 423837.90] aCG = [ -1.44 0.00 -0.23] t = 41.0 mode: P63 rG = [13350.56 0.00 422115.55] aCG = [ -1.42 0.00 -0.19] t = 42.0 mode: P63 rG = [13276.14 0.00 420393.00] aCG = [ -1.40 0.00 -0.14] t = 43.0 mode: P63 rG = [13200.41 0.00 418670.28] aCG = [ -1.39 0.00 -0.10] t = 44.0 mode: P63 rG = [13123.38 0.00 416947.44] aCG = [ -1.37 0.00 -0.05] t = 45.0 mode: P63 rG = [13045.07 0.00 415224.54] aCG = [ -1.35 0.00 -0.00] t = 46.0 mode: P63 rG = [12965.50 0.00 413501.60] aCG = [ -1.33 0.00 0.04] t = 47.0 mode: P63 rG = [12884.69 0.00 411778.68] aCG = [ -1.31 0.00 0.09] t = 48.0 mode: P63 rG = [12802.67 0.00 410055.83] aCG = [ -1.29 0.00 0.13] t = 49.0 mode: P63 rG = [12719.44 0.00 408333.09] aCG = [ -1.27 0.00 0.18] t = 50.0 mode: P63 rG = [12635.03 0.00 406610.51] aCG = [ -1.25 0.00 0.22] t = 51.0 mode: P63 rG = [12549.45 0.00 404888.13] aCG = [ -1.23 0.00 0.27] t = 52.0 mode: P63 rG = [12462.73 0.00 403165.99] aCG = [ -1.22 0.00 0.31] t = 53.0 mode: P63 rG = [12374.87 0.00 401444.14] aCG = [ -1.20 0.00 0.36] t = 54.0 mode: P63 rG = [12285.91 0.00 399722.63] aCG = [ -1.18 0.00 0.40] t = 55.0 mode: P63 rG = [12195.86 0.00 398001.50] aCG = [ -1.16 0.00 0.44] t = 56.0 mode: P63 rG = [12104.73 0.00 396280.79] aCG = [ -1.14 0.00 0.49] t = 57.0 mode: P63 rG = [12012.54 0.00 394560.54] aCG = [ -1.12 0.00 0.53] t = 58.0 mode: P63 rG = [11919.31 0.00 392840.81] aCG = [ -1.11 0.00 0.58] t = 59.0 mode: P63 rG = [11825.06 0.00 391121.63] aCG = [ -1.09 0.00 0.62] t = 60.0 mode: P63 rG = [11729.80 0.00 389403.05] aCG = [ -1.07 0.00 0.66] t = 61.0 mode: P63 rG = [11633.55 0.00 387685.11] aCG = [ -1.05 0.00 0.70] t = 62.0 mode: P63 rG = [11536.33 0.00 385967.85] aCG = [ -1.03 0.00 0.75] t = 63.0 mode: P63 rG = [11438.15 0.00 384251.32] aCG = [ -1.02 0.00 0.79] t = 64.0 mode: P63 rG = [11339.04 0.00 382535.55] aCG = [ -1.00 0.00 0.83] t = 65.0 mode: P63 rG = [11238.99 0.00 380820.60] aCG = [ -0.98 0.00 0.87] t = 66.0 mode: P63 rG = [11138.04 0.00 379106.50] aCG = [ -0.96 0.00 0.92] t = 67.0 mode: P63 rG = [11036.20 0.00 377393.30] aCG = [ -0.95 0.00 0.96] t = 68.0 mode: P63 rG = [10933.49 0.00 375681.03] aCG = [ -0.93 0.00 1.00] t = 69.0 mode: P63 rG = [10829.91 0.00 373969.74] aCG = [ -0.91 0.00 1.04] t = 70.0 mode: P63 rG = [10725.48 0.00 372259.46] aCG = [ -0.89 0.00 1.08] t = 71.0 mode: P63 rG = [10620.23 0.00 370550.25] aCG = [ -0.88 0.00 1.12] t = 72.0 mode: P63 rG = [10514.16 0.00 368842.14] aCG = [ -0.86 0.00 1.16] t = 73.0 mode: P63 rG = [10407.30 0.00 367135.18] aCG = [ -0.84 0.00 1.20] t = 74.0 mode: P63 rG = [10299.65 0.00 365429.39] aCG = [ -0.82 0.00 1.24] t = 75.0 mode: P63 rG = [10191.23 0.00 363724.83] aCG = [ -0.81 0.00 1.28] t = 76.0 mode: P63 rG = [10082.05 0.00 362021.53] aCG = [ -0.79 0.00 1.32] t = 77.0 mode: P63 rG = [ 9972.14 0.00 360319.54] aCG = [ -0.77 0.00 1.36] t = 78.0 mode: P63 rG = [ 9861.49 0.00 358618.89] aCG = [ -0.76 0.00 1.40] t = 79.0 mode: P63 rG = [ 9750.14 0.00 356919.62] aCG = [ -0.74 0.00 1.44] t = 80.0 mode: P63 rG = [ 9638.09 0.00 355221.77] aCG = [ -0.72 0.00 1.48] t = 81.0 mode: P63 rG = [ 9525.36 0.00 353525.39] aCG = [ -0.71 0.00 1.52] t = 82.0 mode: P63 rG = [ 9411.95 0.00 351830.51] aCG = [ -0.69 0.00 1.56] t = 83.0 mode: P63 rG = [ 9297.89 0.00 350137.16] aCG = [ -0.67 0.00 1.60] t = 84.0 mode: P63 rG = [ 9183.19 0.00 348445.39] aCG = [ -0.66 0.00 1.64] t = 85.0 mode: P63 rG = [ 9067.87 0.00 346755.24] aCG = [ -0.64 0.00 1.67] t = 86.0 mode: P63 rG = [ 8951.92 0.00 345066.75] aCG = [ -0.62 0.00 1.71] t = 87.0 mode: P63 rG = [ 8835.38 0.00 343379.94] aCG = [ -0.61 0.00 1.75] t = 88.0 mode: P63 rG = [ 8718.24 0.00 341694.87] aCG = [ -0.59 0.00 1.79] t = 89.0 mode: P63 rG = [ 8600.54 0.00 340011.57] aCG = [ -0.57 0.00 1.82] t = 90.0 mode: P63 rG = [ 8482.27 0.00 338330.07] aCG = [ -0.56 0.00 1.86] t = 91.0 mode: P63 rG = [ 8363.45 0.00 336650.41] aCG = [ -0.54 0.00 1.90] t = 92.0 mode: P63 rG = [ 8244.09 0.00 334972.64] aCG = [ -0.52 0.00 1.94] t = 93.0 mode: P63 rG = [ 8124.21 0.00 333296.78] aCG = [ -0.51 0.00 1.97] t = 94.0 mode: P63 rG = [ 8003.82 0.00 331622.87] aCG = [ -0.49 0.00 2.01] t = 95.0 mode: P63 rG = [ 7882.93 0.00 329950.96] aCG = [ -0.48 0.00 2.04] t = 96.0 mode: P63 rG = [ 7761.56 0.00 328281.07] aCG = [ -0.46 0.00 2.08] t = 97.0 mode: P63 rG = [ 7639.71 0.00 326613.24] aCG = [ -0.44 0.00 2.12] t = 98.0 mode: P63 rG = [ 7517.40 0.00 324947.52] aCG = [ -0.43 0.00 2.15] t = 99.0 mode: P63 rG = [ 7394.64 0.00 323283.92] aCG = [ -0.41 0.00 2.19] t = 100.0 mode: P63 rG = [ 7271.45 0.00 321622.50] aCG = [ -0.39 0.00 2.22] t = 101.0 mode: P63 rG = [ 7147.83 0.00 319963.28] aCG = [ -0.38 0.00 2.26] t = 102.0 mode: P63 rG = [ 7023.79 0.00 318306.31] aCG = [ -0.36 0.00 2.29] t = 103.0 mode: P63 rG = [ 6899.35 0.00 316651.60] aCG = [ -0.35 0.00 2.33] t = 104.0 mode: P63 rG = [ 6774.53 0.00 314999.21] aCG = [ -0.33 0.00 2.36] t = 105.0 mode: P63 rG = [ 6649.32 0.00 313349.17] aCG = [ -0.31 0.00 2.40] t = 106.0 mode: P63 rG = [ 6523.75 0.00 311701.50] aCG = [ -0.30 0.00 2.43] t = 107.0 mode: P63 rG = [ 6397.82 0.00 310056.24] aCG = [ -0.28 0.00 2.46] t = 108.0 mode: P63 rG = [ 6271.54 0.00 308413.44] aCG = [ -0.27 0.00 2.50] t = 109.0 mode: P63 rG = [ 6144.94 0.00 306773.11] aCG = [ -0.25 0.00 2.53] t = 110.0 mode: P63 rG = [ 6018.01 0.00 305135.30] aCG = [ -0.24 0.00 2.56] t = 111.0 mode: P63 rG = [ 5890.77 0.00 303500.04] aCG = [ -0.22 0.00 2.60] t = 112.0 mode: P63 rG = [ 5763.23 0.00 301867.35] aCG = [ -0.20 0.00 2.63] t = 113.0 mode: P63 rG = [ 5635.40 0.00 300237.29] aCG = [ -0.19 0.00 2.66] t = 114.0 mode: P63 rG = [ 5507.29 0.00 298609.87] aCG = [ -0.17 0.00 2.70] t = 115.0 mode: P63 rG = [ 5378.92 0.00 296985.13] aCG = [ -0.16 0.00 2.73] t = 116.0 mode: P63 rG = [ 5250.29 0.00 295363.10] aCG = [ -0.14 0.00 2.76] t = 117.0 mode: P63 rG = [ 5121.41 0.00 293743.82] aCG = [ -0.13 0.00 2.79] t = 118.0 mode: P63 rG = [ 4992.29 0.00 292127.31] aCG = [ -0.11 0.00 2.82] t = 119.0 mode: P63 rG = [ 4862.95 0.00 290513.61] aCG = [ -0.09 0.00 2.86] t = 120.0 mode: P63 rG = [ 4733.40 0.00 288902.76] aCG = [ -0.08 0.00 2.89] t = 121.0 mode: P63 rG = [ 4603.64 0.00 287294.77] aCG = [ -0.06 0.00 2.92] t = 122.0 mode: P63 rG = [ 4473.69 0.00 285689.69] aCG = [ -0.05 0.00 2.95] t = 123.0 mode: P63 rG = [ 4343.55 0.00 284087.54] aCG = [ -0.03 0.00 2.98] t = 124.0 mode: P63 rG = [ 4213.24 0.00 282488.36] aCG = [ -0.02 0.00 3.01] t = 125.0 mode: P63 rG = [ 4082.77 0.00 280892.17] aCG = [ -0.00 0.00 3.04] t = 126.0 mode: P63 rG = [ 3952.14 0.00 279299.01] aCG = [ 0.01 0.00 3.07] t = 127.0 mode: P63 rG = [ 3821.36 0.00 277708.91] aCG = [ 0.03 0.00 3.10] t = 128.0 mode: P63 rG = [ 3690.46 0.00 276121.89] aCG = [ 0.04 0.00 3.13] t = 129.0 mode: P63 rG = [ 3559.43 0.00 274537.99] aCG = [ 0.06 0.00 3.16] t = 130.0 mode: P63 rG = [ 3428.28 0.00 272957.24] aCG = [ 0.08 0.00 3.19] t = 131.0 mode: P63 rG = [ 3297.03 0.00 271379.66] aCG = [ 0.09 0.00 3.22] t = 132.0 mode: P63 rG = [ 3165.68 0.00 269805.29] aCG = [ 0.11 0.00 3.25] t = 133.0 mode: P63 rG = [ 3034.25 0.00 268234.15] aCG = [ 0.12 0.00 3.28] t = 134.0 mode: P63 rG = [ 2902.75 0.00 266666.28] aCG = [ 0.14 0.00 3.31] t = 135.0 mode: P63 rG = [ 2771.17 0.00 265101.70] aCG = [ 0.15 0.00 3.34] t = 136.0 mode: P63 rG = [ 2639.54 0.00 263540.44] aCG = [ 0.17 0.00 3.36] t = 137.0 mode: P63 rG = [ 2507.86 0.00 261982.53] aCG = [ 0.18 0.00 3.39] t = 138.0 mode: P63 rG = [ 2376.15 0.00 260427.99] aCG = [ 0.20 0.00 3.42] t = 139.0 mode: P63 rG = [ 2244.40 0.00 258876.87] aCG = [ 0.21 0.00 3.45] t = 140.0 mode: P63 rG = [ 2112.64 0.00 257329.17] aCG = [ 0.23 0.00 3.47] t = 141.0 mode: P63 rG = [ 1980.86 0.00 255784.94] aCG = [ 0.24 0.00 3.50] t = 142.0 mode: P63 rG = [ 1849.09 0.00 254244.20] aCG = [ 0.26 0.00 3.53] t = 143.0 mode: P63 rG = [ 1717.32 0.00 252706.97] aCG = [ 0.28 0.00 3.56] t = 144.0 mode: P63 rG = [ 1585.57 0.00 251173.28] aCG = [ 0.29 0.00 3.58] t = 145.0 mode: P63 rG = [ 1453.84 0.00 249643.17] aCG = [ 0.31 0.00 3.61] t = 146.0 mode: P63 rG = [ 1322.15 0.00 248116.65] aCG = [ 0.32 0.00 3.64] t = 147.0 mode: P63 rG = [ 1190.50 0.00 246593.76] aCG = [ 0.34 0.00 3.66] t = 148.0 mode: P63 rG = [ 1058.91 0.00 245074.51] aCG = [ 0.35 0.00 3.69] t = 149.0 mode: P63 rG = [ 927.38 0.00 243558.94] aCG = [ 0.37 0.00 3.71] t = 150.0 mode: P63 rG = [ 795.92 0.00 242047.07] aCG = [ 0.38 0.00 3.74] t = 151.0 mode: P63 rG = [ 664.54 0.00 240538.93] aCG = [ 0.40 0.00 3.77] t = 152.0 mode: P63 rG = [ 533.24 0.00 239034.54] aCG = [ 0.41 0.00 3.79] t = 153.0 mode: P63 rG = [ 402.04 0.00 237533.92] aCG = [ 0.43 0.00 3.82] t = 154.0 mode: P63 rG = [ 270.95 0.00 236037.11] aCG = [ 0.44 0.00 3.84] t = 155.0 mode: P63 rG = [ 139.98 0.00 234544.13] aCG = [ 0.46 0.00 3.86] t = 156.0 mode: P63 rG = [ 9.12 0.00 233055.00] aCG = [ 0.47 0.00 3.89] t = 157.0 mode: P63 rG = [ -121.60 0.00 231569.75] aCG = [ 0.49 0.00 3.91] t = 158.0 mode: P63 rG = [ -252.18 0.00 230088.40] aCG = [ 0.50 0.00 3.94] t = 159.0 mode: P63 rG = [ -382.62 0.00 228610.97] aCG = [ 0.52 0.00 3.96] t = 160.0 mode: P63 rG = [ -512.89 0.00 227137.50] aCG = [ 0.53 0.00 3.99] t = 161.0 mode: P63 rG = [ -643.01 0.00 225668.00] aCG = [ 0.55 0.00 4.01] t = 162.0 mode: P63 rG = [ -772.94 0.00 224202.49] aCG = [ 0.56 0.00 4.03] t = 163.0 mode: P63 rG = [ -902.70 0.00 222741.01] aCG = [ 0.58 0.00 4.06] t = 164.0 mode: P63 rG = [-1032.26 0.00 221283.57] aCG = [ 0.59 0.00 4.08] t = 165.0 mode: P63 rG = [-1161.62 0.00 219830.19] aCG = [ 0.61 0.00 4.10] t = 166.0 mode: P63 rG = [-1290.78 0.00 218380.91] aCG = [ 0.62 0.00 4.12] t = 167.0 mode: P63 rG = [-1419.72 0.00 216935.73] aCG = [ 0.64 0.00 4.15] t = 168.0 mode: P63 rG = [-1548.44 0.00 215494.69] aCG = [ 0.65 0.00 4.17] t = 169.0 mode: P63 rG = [-1676.92 0.00 214057.81] aCG = [ 0.67 0.00 4.19] t = 170.0 mode: P63 rG = [-1805.16 0.00 212625.11] aCG = [ 0.68 0.00 4.21] t = 171.0 mode: P63 rG = [-1933.16 0.00 211196.61] aCG = [ 0.70 0.00 4.23] t = 172.0 mode: P63 rG = [-2060.89 0.00 209772.32] aCG = [ 0.71 0.00 4.25] t = 173.0 mode: P63 rG = [-2188.36 0.00 208352.29] aCG = [ 0.73 0.00 4.28] t = 174.0 mode: P63 rG = [-2315.56 0.00 206936.52] aCG = [ 0.74 0.00 4.30] t = 175.0 mode: P63 rG = [-2442.47 0.00 205525.03] aCG = [ 0.76 0.00 4.32] t = 176.0 mode: P63 rG = [-2569.10 0.00 204117.85] aCG = [ 0.77 0.00 4.34] t = 177.0 mode: P63 rG = [-2695.43 0.00 202715.00] aCG = [ 0.79 0.00 4.36] t = 178.0 mode: P63 rG = [-2821.45 0.00 201316.50] aCG = [ 0.81 0.00 4.38] t = 179.0 mode: P63 rG = [-2947.15 0.00 199922.36] aCG = [ 0.82 0.00 4.40] t = 180.0 mode: P63 rG = [-3072.54 0.00 198532.61] aCG = [ 0.84 0.00 4.42] t = 181.0 mode: P63 rG = [-3197.59 0.00 197147.28] aCG = [ 0.85 0.00 4.44] t = 182.0 mode: P63 rG = [-3322.31 0.00 195766.37] aCG = [ 0.87 0.00 4.46] t = 183.0 mode: P63 rG = [-3446.68 0.00 194389.90] aCG = [ 0.88 0.00 4.48] t = 184.0 mode: P63 rG = [-3570.69 0.00 193017.91] aCG = [ 0.90 0.00 4.50] t = 185.0 mode: P63 rG = [-3694.34 0.00 191650.40] aCG = [ 0.91 0.00 4.51] t = 186.0 mode: P63 rG = [-3817.62 0.00 190287.39] aCG = [ 0.93 0.00 4.53] t = 187.0 mode: P63 rG = [-3940.53 0.00 188928.91] aCG = [ 0.94 0.00 4.55] t = 188.0 mode: P63 rG = [-4063.04 0.00 187574.98] aCG = [ 0.95 0.00 4.57] t = 189.0 mode: P63 rG = [-4185.16 0.00 186225.60] aCG = [ 0.97 0.00 4.59] t = 190.0 mode: P63 rG = [-4306.88 0.00 184880.80] aCG = [ 0.98 0.00 4.61] t = 191.0 mode: P63 rG = [-4428.19 0.00 183540.60] aCG = [ 1.00 0.00 4.62] t = 192.0 mode: P63 rG = [-4549.09 0.00 182205.02] aCG = [ 1.01 0.00 4.64] t = 193.0 mode: P63 rG = [-4669.55 0.00 180874.06] aCG = [ 1.03 0.00 4.66] t = 194.0 mode: P63 rG = [-4789.59 0.00 179547.76] aCG = [ 1.04 0.00 4.68] t = 195.0 mode: P63 rG = [-4909.18 0.00 178226.12] aCG = [ 1.06 0.00 4.69] t = 196.0 mode: P63 rG = [-5028.32 0.00 176909.17] aCG = [ 1.07 0.00 4.71] t = 197.0 mode: P63 rG = [-5147.00 0.00 175596.92] aCG = [ 1.09 0.00 4.73] t = 198.0 mode: P63 rG = [-5265.22 0.00 174289.39] aCG = [ 1.10 0.00 4.74] t = 199.0 mode: P63 rG = [-5382.97 0.00 172986.59] aCG = [ 1.12 0.00 4.76] t = 200.0 mode: P63 rG = [-5500.24 0.00 171688.54] aCG = [ 1.13 0.00 4.77] t = 201.0 mode: P63 rG = [-5617.02 0.00 170395.25] aCG = [ 1.15 0.00 4.79] t = 202.0 mode: P63 rG = [-5733.30 0.00 169106.75] aCG = [ 1.16 0.00 4.81] t = 203.0 mode: P63 rG = [-5849.08 0.00 167823.05] aCG = [ 1.18 0.00 4.82] t = 204.0 mode: P63 rG = [-5964.34 0.00 166544.16] aCG = [ 1.19 0.00 4.84] t = 205.0 mode: P63 rG = [-6079.09 0.00 165270.10] aCG = [ 1.21 0.00 4.85] t = 206.0 mode: P63 rG = [-6193.31 0.00 164000.88] aCG = [ 1.22 0.00 4.87] t = 207.0 mode: P63 rG = [-6307.00 0.00 162736.52] aCG = [ 1.24 0.00 4.88] t = 208.0 mode: P63 rG = [-6420.14 0.00 161477.04] aCG = [ 1.25 0.00 4.90] t = 209.0 mode: P63 rG = [-6532.73 0.00 160222.44] aCG = [ 1.27 0.00 4.91] t = 210.0 mode: P63 rG = [-6644.77 0.00 158972.75] aCG = [ 1.28 0.00 4.92] t = 211.0 mode: P63 rG = [-6756.24 0.00 157727.97] aCG = [ 1.30 0.00 4.94] t = 212.0 mode: P63 rG = [-6867.13 0.00 156488.12] aCG = [ 1.31 0.00 4.95] t = 213.0 mode: P63 rG = [-6977.45 0.00 155253.22] aCG = [ 1.32 0.00 4.96] t = 214.0 mode: P63 rG = [-7087.18 0.00 154023.27] aCG = [ 1.34 0.00 4.98] t = 215.0 mode: P63 rG = [-7196.31 0.00 152798.30] aCG = [ 1.35 0.00 4.99] t = 216.0 mode: P63 rG = [-7304.84 0.00 151578.31] aCG = [ 1.37 0.00 5.00] t = 217.0 mode: P63 rG = [-7412.75 0.00 150363.31] aCG = [ 1.38 0.00 5.02] t = 218.0 mode: P63 rG = [-7520.05 0.00 149153.33] aCG = [ 1.40 0.00 5.03] t = 219.0 mode: P63 rG = [-7626.72 0.00 147948.37] aCG = [ 1.41 0.00 5.04] t = 220.0 mode: P63 rG = [-7732.76 0.00 146748.44] aCG = [ 1.43 0.00 5.05] t = 221.0 mode: P63 rG = [-7838.16 0.00 145553.57] aCG = [ 1.44 0.00 5.07] t = 222.0 mode: P63 rG = [-7942.91 0.00 144363.75] aCG = [ 1.45 0.00 5.08] t = 223.0 mode: P63 rG = [-8047.00 0.00 143179.00] aCG = [ 1.47 0.00 5.09] t = 224.0 mode: P63 rG = [-8150.42 0.00 141999.33] aCG = [ 1.48 0.00 5.10] t = 225.0 mode: P63 rG = [-8253.18 0.00 140824.76] aCG = [ 1.50 0.00 5.11] t = 226.0 mode: P63 rG = [-8355.26 0.00 139655.30] aCG = [ 1.51 0.00 5.12] t = 227.0 mode: P63 rG = [-8456.65 0.00 138490.95] aCG = [ 1.53 0.00 5.13] t = 228.0 mode: P63 rG = [-8557.34 0.00 137331.73] aCG = [ 1.54 0.00 5.14] t = 229.0 mode: P63 rG = [-8657.34 0.00 136177.64] aCG = [ 1.55 0.00 5.15] t = 230.0 mode: P63 rG = [-8756.62 0.00 135028.71] aCG = [ 1.57 0.00 5.16] t = 231.0 mode: P63 rG = [-8855.19 0.00 133884.93] aCG = [ 1.58 0.00 5.17] t = 232.0 mode: P63 rG = [-8953.04 0.00 132746.32] aCG = [ 1.60 0.00 5.18] t = 233.0 mode: P63 rG = [-9050.16 0.00 131612.90] aCG = [ 1.61 0.00 5.19] t = 234.0 mode: P63 rG = [-9146.53 0.00 130484.65] aCG = [ 1.63 0.00 5.20] t = 235.0 mode: P63 rG = [-9242.17 0.00 129361.61] aCG = [ 1.64 0.00 5.21] t = 236.0 mode: P63 rG = [-9337.05 0.00 128243.78] aCG = [ 1.65 0.00 5.22] t = 237.0 mode: P63 rG = [-9431.16 0.00 127131.16] aCG = [ 1.67 0.00 5.23] t = 238.0 mode: P63 rG = [-9524.52 0.00 126023.77] aCG = [ 1.68 0.00 5.24] t = 239.0 mode: P63 rG = [-9617.09 0.00 124921.61] aCG = [ 1.69 0.00 5.25] t = 240.0 mode: P63 rG = [-9708.89 0.00 123824.69] aCG = [ 1.71 0.00 5.26] t = 241.0 mode: P63 rG = [-9799.89 0.00 122733.03] aCG = [ 1.72 0.00 5.26] t = 242.0 mode: P63 rG = [-9890.10 0.00 121646.62] aCG = [ 1.74 0.00 5.27] t = 243.0 mode: P63 rG = [-9979.51 0.00 120565.48] aCG = [ 1.75 0.00 5.28] t = 244.0 mode: P63 rG = [-10068.10 0.00 119489.62] aCG = [ 1.76 0.00 5.29] t = 245.0 mode: P63 rG = [-10155.88 0.00 118419.04] aCG = [ 1.78 0.00 5.29] t = 246.0 mode: P63 rG = [-10242.83 0.00 117353.75] aCG = [ 1.79 0.00 5.30] t = 247.0 mode: P63 rG = [-10328.95 0.00 116293.76] aCG = [ 1.80 0.00 5.31] t = 248.0 mode: P63 rG = [-10414.23 0.00 115239.07] aCG = [ 1.82 0.00 5.31] t = 249.0 mode: P63 rG = [-10498.67 0.00 114189.69] aCG = [ 1.83 0.00 5.32] t = 250.0 mode: P63 rG = [-10582.25 0.00 113145.63] aCG = [ 1.84 0.00 5.33] t = 251.0 mode: P63 rG = [-10664.97 0.00 112106.89] aCG = [ 1.86 0.00 5.33] t = 252.0 mode: P63 rG = [-10746.83 0.00 111073.49] aCG = [ 1.87 0.00 5.34] t = 253.0 mode: P63 rG = [-10827.81 0.00 110045.42] aCG = [ 1.88 0.00 5.35] t = 254.0 mode: P63 rG = [-10907.91 0.00 109022.69] aCG = [ 1.90 0.00 5.35] t = 255.0 mode: P63 rG = [-10987.12 0.00 108005.31] aCG = [ 1.91 0.00 5.36] t = 256.0 mode: P63 rG = [-11065.43 0.00 106993.29] aCG = [ 1.92 0.00 5.36] t = 257.0 mode: P63 rG = [-11142.85 0.00 105986.62] aCG = [ 1.94 0.00 5.37] t = 258.0 mode: P63 rG = [-11219.36 0.00 104985.32] aCG = [ 1.95 0.00 5.37] t = 259.0 mode: P63 rG = [-11294.95 0.00 103989.38] aCG = [ 1.96 0.00 5.38] t = 260.0 mode: P63 rG = [-11369.62 0.00 102998.82] aCG = [ 1.97 0.00 5.38] t = 261.0 mode: P63 rG = [-11443.36 0.00 102013.64] aCG = [ 1.99 0.00 5.38] t = 262.0 mode: P63 rG = [-11516.17 0.00 101033.84] aCG = [ 2.00 0.00 5.39] t = 263.0 mode: P63 rG = [-11588.03 0.00 100059.43] aCG = [ 2.01 0.00 5.39] t = 264.0 mode: P63 rG = [-11658.95 0.00 99090.41] aCG = [ 2.02 0.00 5.40] t = 265.0 mode: P63 rG = [-11728.91 0.00 98126.78] aCG = [ 2.04 0.00 5.40] t = 266.0 mode: P63 rG = [-11797.91 0.00 97168.54] aCG = [ 2.05 0.00 5.40] t = 267.0 mode: P63 rG = [-11865.95 0.00 96215.71] aCG = [ 2.06 0.00 5.41] t = 268.0 mode: P63 rG = [-11933.00 0.00 95268.29] aCG = [ 2.07 0.00 5.41] t = 269.0 mode: P63 rG = [-11999.08 0.00 94326.27] aCG = [ 2.09 0.00 5.41] t = 270.0 mode: P63 rG = [-12064.17 0.00 93389.66] aCG = [ 2.10 0.00 5.41] t = 271.0 mode: P63 rG = [-12128.27 0.00 92458.47] aCG = [ 2.11 0.00 5.42] t = 272.0 mode: P63 rG = [-12191.37 0.00 91532.68] aCG = [ 2.12 0.00 5.42] t = 273.0 mode: P63 rG = [-12253.46 0.00 90612.32] aCG = [ 2.13 0.00 5.42] t = 274.0 mode: P63 rG = [-12314.55 0.00 89697.38] aCG = [ 2.14 0.00 5.42] t = 275.0 mode: P63 rG = [-12374.61 0.00 88787.85] aCG = [ 2.16 0.00 5.42] t = 276.0 mode: P63 rG = [-12433.65 0.00 87883.75] aCG = [ 2.17 0.00 5.42] t = 277.0 mode: P63 rG = [-12491.66 0.00 86985.08] aCG = [ 2.18 0.00 5.43] t = 278.0 mode: P63 rG = [-12548.63 0.00 86091.82] aCG = [ 2.19 0.00 5.43] t = 279.0 mode: P63 rG = [-12604.57 0.00 85204.00] aCG = [ 2.20 0.00 5.43] t = 280.0 mode: P63 rG = [-12659.45 0.00 84321.60] aCG = [ 2.21 0.00 5.43] t = 281.0 mode: P63 rG = [-12713.28 0.00 83444.63] aCG = [ 2.22 0.00 5.43] t = 282.0 mode: P63 rG = [-12766.05 0.00 82573.09] aCG = [ 2.24 0.00 5.43] t = 283.0 mode: P63 rG = [-12817.76 0.00 81706.98] aCG = [ 2.25 0.00 5.43] t = 284.0 mode: P63 rG = [-12868.40 0.00 80846.30] aCG = [ 2.26 0.00 5.43] t = 285.0 mode: P63 rG = [-12917.96 0.00 79991.04] aCG = [ 2.27 0.00 5.43] t = 286.0 mode: P63 rG = [-12966.44 0.00 79141.22] aCG = [ 2.28 0.00 5.43] t = 287.0 mode: P63 rG = [-13013.83 0.00 78296.82] aCG = [ 2.29 0.00 5.43] t = 288.0 mode: P63 rG = [-13060.13 0.00 77457.85] aCG = [ 2.30 0.00 5.43] t = 289.0 mode: P63 rG = [-13105.33 0.00 76624.30] aCG = [ 2.31 0.00 5.42] t = 290.0 mode: P63 rG = [-13149.43 0.00 75796.19] aCG = [ 2.32 0.00 5.42] t = 291.0 mode: P63 rG = [-13192.42 0.00 74973.49] aCG = [ 2.33 0.00 5.42] t = 292.0 mode: P63 rG = [-13234.30 0.00 74156.22] aCG = [ 2.34 0.00 5.42] t = 293.0 mode: P63 rG = [-13275.06 0.00 73344.37] aCG = [ 2.35 0.00 5.42] t = 294.0 mode: P63 rG = [-13314.70 0.00 72537.94] aCG = [ 2.36 0.00 5.42] t = 295.0 mode: P63 rG = [-13353.21 0.00 71736.92] aCG = [ 2.37 0.00 5.41] t = 296.0 mode: P63 rG = [-13390.58 0.00 70941.32] aCG = [ 2.38 0.00 5.41] t = 297.0 mode: P63 rG = [-13426.82 0.00 70151.14] aCG = [ 2.39 0.00 5.41] t = 298.0 mode: P63 rG = [-13461.92 0.00 69366.36] aCG = [ 2.40 0.00 5.41] t = 299.0 mode: P63 rG = [-13495.86 0.00 68586.99] aCG = [ 2.41 0.00 5.40]
