170 lines
6.1 KiB
Plaintext
170 lines
6.1 KiB
Plaintext
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Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
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Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-11.pddlignoring --stats
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ignoring --verbose
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-m 8192
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Domain: tidybot
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Problem: test
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Parser: 54050 ground actions and 920 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 6.00 secs
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Goal: conjunctive
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Simplified: 26159 ground actions and 413 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 5.99 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 407 MB)
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Horizon 0: 413 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 133273 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 266133 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 398993 variables
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15 UNSAT (0 decisions 0 conflicts)
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Allocated 32 MB permanent (total 911 MB)
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Horizon 20: 531853 variables
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Allocated 32 MB (total 943 MB)
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Horizon 25: 664713 variables
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Allocated 32 MB permanent (total 1214 MB)
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Horizon 30: 797573 variables
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Horizon 35: 930433 variables
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Allocated 32 MB permanent (total 1516 MB)
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Horizon 40: 1063293 variables
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Allocated 32 MB permanent (total 1695 MB)
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Horizon 45: 1196153 variables
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Allocated 32 MB permanent (total 1882 MB)
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Horizon 50: 1329013 variables
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Allocated 32 MB permanent (total 2077 MB)
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Horizon 55: 1461873 variables
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Allocated 32 MB permanent (total 2280 MB)
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Horizon 60: 1594733 variables
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Allocated 32 MB permanent (total 2490 MB)
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Allocated 32 MB permanent (total 2522 MB)
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Horizon 65: 1727593 variables
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Allocated 32 MB permanent (total 2741 MB)
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Horizon 70: 1860453 variables
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Allocated 32 MB (total 2773 MB)
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Allocated 32 MB permanent (total 2999 MB)
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Allocated 32 MB permanent (total 3031 MB)
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Horizon 75: 1993313 variables
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Allocated 32 MB permanent (total 3265 MB)
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Horizon 80: 2126173 variables
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Allocated 32 MB permanent (total 3507 MB)
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Allocated 32 MB permanent (total 3539 MB)
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Horizon 85: 2259033 variables
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Allocated 32 MB permanent (total 3789 MB)
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Allocated 32 MB permanent (total 3821 MB)
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Horizon 90: 2391893 variables
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Allocated 32 MB (total 3853 MB)
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Allocated 32 MB permanent (total 4110 MB)
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Allocated 32 MB permanent (total 4142 MB)
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Horizon 95: 2524753 variables
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Allocated 32 MB permanent (total 4408 MB)
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Allocated 32 MB permanent (total 4440 MB)
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Horizon 100: 2657613 variables
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Allocated 32 MB permanent (total 4713 MB)
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Allocated 32 MB permanent (total 4745 MB)
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Horizon 105: 2790473 variables
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20 UNSAT (1375 decisions 1054 conflicts)
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Allocated 32 MB (total 4777 MB)
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SAT (551 decisions 267 conflicts)
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PLAN FOUND: 85 steps
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STEP 0: finish-object(object0,x3,y5) unpark(pr2,xrel0,yrel0)
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STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1)
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STEP 2: ungrasp-cart(pr2,cart)
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STEP 3.0: base-right(pr2,x0,x1,y0)
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STEP 3.1: park(pr2)
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STEP 4.0: get-down(pr2,x1,y0,xrel0,x1,yrel0,y0,object1,y1)
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STEP 4.1: unpark(pr2,xrel0,yrel0)
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STEP 5: base-left(pr2,x1,x0,y0)
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STEP 6.0: base-right(pr2,x0,x1,y0)
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STEP 6.1: park(pr2)
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STEP 7: put-down(pr2,x1,y0,xrel0,x1,yrel0,y0,object1,y1)
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STEP 8.0: get-down(pr2,x1,y0,xrel0,x1,yrel0,y0,object1,y1)
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STEP 8.1: unpark(pr2,xrel0,yrel0)
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STEP 9: base-right(pr2,x1,x2,y0)
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STEP 10: base-down(pr2,x2,y0,y1)
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STEP 11: base-down(pr2,x2,y1,y2)
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STEP 12: base-right(pr2,x2,x3,y2)
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STEP 13: base-left(pr2,x3,x2,y2)
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STEP 14: base-left(pr2,x2,x1,y2)
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STEP 15: base-left(pr2,x1,x0,y2)
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STEP 16: grasp-cart-above(pr2,cart,x0,y2,y1)
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STEP 17: ungrasp-cart(pr2,cart)
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STEP 18: base-down(pr2,x0,y2,y3)
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STEP 19: base-down(pr2,x0,y3,y4)
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STEP 20: base-right(pr2,x0,x1,y4)
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STEP 21: base-down(pr2,x1,y4,y5)
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STEP 22: base-down(pr2,x1,y5,y6)
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STEP 23: base-down(pr2,x1,y6,y7)
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STEP 24: base-down(pr2,x1,y7,y8)
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STEP 25: base-right(pr2,x1,x2,y8)
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STEP 26: base-right(pr2,x2,x3,y8)
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STEP 27: base-up(pr2,x3,y8,y7)
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STEP 28.0: base-up(pr2,x3,y7,y6)
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STEP 28.1: park(pr2)
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STEP 29: gripper-right(pr2,x3,y6,xrel0,xrel1,x3,x4,yrel0,y6)
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STEP 30: put-left(pr2,x3,y6,xrel1,x4,yrel0,y6,object1,x3)
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STEP 31.0: finish-object(object1,x3,y6) get-left(pr2,x3,y6,xrel1,x4,yrel0,y6,object3,x3)
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STEP 31.1: gripper-up(pr2,x3,y6,xrel1,x4,yrel0,yrel-1,y6,y5)
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STEP 32: put-down(pr2,x3,y6,xrel1,x4,yrel-1,y5,object3,y6)
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STEP 33: get-down(pr2,x3,y6,xrel1,x4,yrel-1,y5,object3,y6)
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STEP 34: gripper-down(pr2,x3,y6,xrel1,x4,yrel-1,yrel0,y5,y6)
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STEP 35: gripper-left(pr2,x3,y6,xrel1,xrel0,x4,x3,yrel0,y6)
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STEP 36.0: put-right(pr2,x3,y6,xrel0,x3,yrel0,y6,object3,x4)
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STEP 36.1: unpark(pr2,xrel0,yrel0)
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STEP 37.0: base-down(pr2,x3,y6,y7) finish-object(object3,x4,y6)
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STEP 37.1: park(pr2)
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STEP 38: gripper-right(pr2,x3,y7,xrel0,xrel1,x3,x4,yrel0,y7)
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STEP 39: gripper-left(pr2,x3,y7,xrel1,xrel0,x4,x3,yrel0,y7)
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STEP 40: unpark(pr2,xrel0,yrel0)
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STEP 41.0: base-right(pr2,x3,x4,y7)
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STEP 41.1: park(pr2)
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STEP 42: unpark(pr2,xrel0,yrel0)
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STEP 43: base-down(pr2,x4,y7,y8)
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STEP 44: base-up(pr2,x4,y8,y7)
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STEP 45.0: base-down(pr2,x4,y7,y8)
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STEP 45.1: park(pr2)
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STEP 46: gripper-right(pr2,x4,y8,xrel0,xrel1,x4,x5,yrel0,y8)
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STEP 47: gripper-left(pr2,x4,y8,xrel1,xrel0,x5,x4,yrel0,y8)
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STEP 48: unpark(pr2,xrel0,yrel0)
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STEP 49: base-right(pr2,x4,x5,y8)
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STEP 50.0: base-right(pr2,x5,x6,y8)
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STEP 50.1: park(pr2)
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STEP 51: gripper-up(pr2,x6,y8,xrel0,x6,yrel0,yrel-1,y8,y7)
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STEP 52.0: get-right(pr2,x6,y8,xrel0,x6,yrel-1,y7,object2,x7)
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STEP 52.1: gripper-down(pr2,x6,y8,xrel0,x6,yrel-1,yrel0,y7,y8)
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STEP 53: unpark(pr2,xrel0,yrel0)
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STEP 54: base-left(pr2,x6,x5,y8)
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STEP 55: base-left(pr2,x5,x4,y8)
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STEP 56.0: base-up(pr2,x4,y8,y7)
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STEP 56.1: park(pr2)
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STEP 57: unpark(pr2,xrel0,yrel0)
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STEP 58.0: base-up(pr2,x4,y7,y6)
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STEP 58.1: park(pr2)
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STEP 59: put-up(pr2,x4,y6,xrel0,x4,yrel0,y6,object2,y5)
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STEP 60: finish-object(object2,x4,y5)
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78 actions in the plan.
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total time 43.52 preprocess 12.82
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total size 4.996 GB
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max. learned clause length 141134
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t val conflicts decisions
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0 0 0 0
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5 0 0 0
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10 0 0 0
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15 0 0 0
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20 0 1054 1375
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25 -1 1020 1404
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30 -1 962 1302
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35 -1 841 1234
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40 -1 782 1205
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45 -1 720 1071
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50 -1 660 1014
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55 -1 600 995
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60 -1 540 905
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65 -1 480 841
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70 -1 420 721
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75 -1 420 747
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80 -1 360 623
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85 1 267 551
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