167 lines
6.1 KiB
Plaintext
167 lines
6.1 KiB
Plaintext
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-1.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: 38357 ground actions and 761 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1.71 secs
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Goal: conjunctive
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Simplified: 14685 ground actions and 341 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.93 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 261 MB)
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Horizon 0: 341 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 75471 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 150601 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 225731 variables
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15 UNSAT (0 decisions 0 conflicts)
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Horizon 20: 300861 variables
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Allocated 32 MB (total 726 MB)
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Horizon 25: 375991 variables
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Allocated 32 MB permanent (total 959 MB)
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Horizon 30: 451121 variables
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Horizon 35: 526251 variables
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Horizon 40: 601381 variables
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Allocated 32 MB permanent (total 1327 MB)
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Horizon 45: 676511 variables
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Allocated 32 MB permanent (total 1480 MB)
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Horizon 50: 751641 variables
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Horizon 55: 826771 variables
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Allocated 32 MB permanent (total 1766 MB)
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Horizon 60: 901901 variables
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Horizon 65: 977031 variables
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Allocated 32 MB permanent (total 2071 MB)
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Horizon 70: 1052161 variables
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Allocated 32 MB permanent (total 2246 MB)
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Horizon 75: 1127291 variables
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Allocated 32 MB permanent (total 2426 MB)
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Horizon 80: 1202421 variables
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Allocated 32 MB permanent (total 2609 MB)
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Horizon 85: 1277551 variables
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Allocated 32 MB permanent (total 2798 MB)
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Horizon 90: 1352681 variables
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SAT (240 decisions 159 conflicts)
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PLAN FOUND: 80 steps
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STEP 0: unpark(pr2,xrel0,yrel0)
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STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1)
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STEP 2: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
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STEP 3.0: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1)
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STEP 3.1: ungrasp-cart(pr2,cart)
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STEP 4.0: base-left(pr2,x2,x1,y0)
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STEP 4.1: park(pr2)
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STEP 5: unpark(pr2,xrel0,yrel0)
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STEP 6: base-down(pr2,x1,y0,y1)
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STEP 7.0: base-down(pr2,x1,y1,y2)
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STEP 7.1: park(pr2)
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STEP 8.0: get-down(pr2,x1,y2,xrel0,x1,yrel0,y2,object3,y3)
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STEP 8.1: unpark(pr2,xrel0,yrel0)
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STEP 9: base-right(pr2,x1,x2,y2)
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STEP 10: base-down(pr2,x2,y2,y3)
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STEP 11: base-down(pr2,x2,y3,y4)
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STEP 12: base-down(pr2,x2,y4,y5)
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STEP 13: base-up(pr2,x2,y5,y4)
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STEP 14: base-up(pr2,x2,y4,y3)
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STEP 15: base-down(pr2,x2,y3,y4)
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STEP 16: base-down(pr2,x2,y4,y5)
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STEP 17: base-down(pr2,x2,y5,y6)
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STEP 18: base-down(pr2,x2,y6,y7)
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STEP 19: base-right(pr2,x2,x3,y7)
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STEP 20: base-right(pr2,x3,x4,y7)
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STEP 21: base-up(pr2,x4,y7,y6)
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STEP 22.0: base-right(pr2,x4,x5,y6)
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STEP 22.1: park(pr2)
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STEP 23: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7)
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STEP 24: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6)
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STEP 25: unpark(pr2,xrel0,yrel0)
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STEP 26.0: base-up(pr2,x5,y6,y5)
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STEP 26.1: park(pr2)
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STEP 27: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
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STEP 28: put-down(pr2,x5,y5,xrel0,x5,yrel-1,y4,object3,y5)
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STEP 29: finish-object(object3,x5,y5) get-down(pr2,x5,y5,xrel0,x5,yrel-1,y4,object0,y5)
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STEP 30: put-left(pr2,x5,y5,xrel0,x5,yrel-1,y4,object0,x4)
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STEP 31: finish-object(object0,x4,y4) gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
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STEP 32: unpark(pr2,xrel0,yrel0)
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STEP 33: base-down(pr2,x5,y5,y6)
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STEP 34: base-down(pr2,x5,y6,y7)
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STEP 35: base-left(pr2,x5,x4,y7)
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STEP 36: base-left(pr2,x4,x3,y7)
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STEP 37: base-left(pr2,x3,x2,y7)
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STEP 38: base-up(pr2,x2,y7,y6)
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STEP 39: base-up(pr2,x2,y6,y5)
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STEP 40: base-up(pr2,x2,y5,y4)
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STEP 41.0: base-left(pr2,x2,x1,y4)
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STEP 41.1: park(pr2)
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STEP 42: gripper-up(pr2,x1,y4,xrel0,x1,yrel0,yrel-1,y4,y3)
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STEP 43: gripper-down(pr2,x1,y4,xrel0,x1,yrel-1,yrel0,y3,y4)
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STEP 44: gripper-right(pr2,x1,y4,xrel0,xrel1,x1,x2,yrel0,y4)
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STEP 45: gripper-left(pr2,x1,y4,xrel1,xrel0,x2,x1,yrel0,y4)
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STEP 46: unpark(pr2,xrel0,yrel0)
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STEP 47.0: base-left(pr2,x1,x0,y4)
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STEP 47.1: park(pr2)
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STEP 48: gripper-up(pr2,x0,y4,xrel0,x0,yrel0,yrel-1,y4,y3)
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STEP 49: gripper-right(pr2,x0,y4,xrel0,xrel1,x0,x1,yrel-1,y3)
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STEP 50: gripper-left(pr2,x0,y4,xrel1,xrel0,x1,x0,yrel-1,y3)
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STEP 51: gripper-down(pr2,x0,y4,xrel0,x0,yrel-1,yrel0,y3,y4)
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STEP 52: unpark(pr2,xrel0,yrel0)
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STEP 53: base-up(pr2,x0,y4,y3)
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STEP 54: base-up(pr2,x0,y3,y2)
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STEP 55: base-right(pr2,x0,x1,y2)
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STEP 56: base-right(pr2,x1,x2,y2)
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STEP 57.0: base-right(pr2,x2,x3,y2)
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STEP 57.1: park(pr2)
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STEP 58.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object2,y1)
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STEP 58.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
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STEP 59: gripper-up(pr2,x3,y2,xrel1,x4,yrel0,yrel-1,y2,y1)
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STEP 60.0: put-left(pr2,x3,y2,xrel1,x4,yrel-1,y1,object2,x3)
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STEP 60.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel-1,yrel0,y1,y2)
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STEP 61: gripper-up(pr2,x3,y2,xrel1,x4,yrel0,yrel-1,y2,y1)
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STEP 62.0: get-right(pr2,x3,y2,xrel1,x4,yrel-1,y1,object1,x5)
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STEP 62.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel-1,yrel0,y1,y2)
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STEP 63: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel0,y2)
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STEP 64: unpark(pr2,xrel0,yrel0)
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STEP 65: park(pr2)
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STEP 66: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
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STEP 67: gripper-down(pr2,x3,y2,xrel-1,x2,yrel0,yrel1,y2,y3)
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STEP 68.0: put-left(pr2,x3,y2,xrel-1,x2,yrel1,y3,object1,x1)
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STEP 68.1: gripper-up(pr2,x3,y2,xrel-1,x2,yrel1,yrel0,y3,y2)
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STEP 69: finish-object(object1,x1,y3) gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
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STEP 70.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object2,y1)
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STEP 70.1: unpark(pr2,xrel0,yrel0)
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STEP 71: base-left(pr2,x3,x2,y2)
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STEP 72.0: base-down(pr2,x2,y2,y3)
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STEP 72.1: park(pr2)
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STEP 73: unpark(pr2,xrel0,yrel0)
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STEP 74.0: base-down(pr2,x2,y3,y4)
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STEP 74.1: park(pr2)
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STEP 75: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
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STEP 76: put-left(pr2,x2,y4,xrel0,x2,yrel1,y5,object2,x1)
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STEP 77: finish-object(object2,x1,y5)
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97 actions in the plan.
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total time 17.21 preprocess 4.10
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total size 2.938 GB
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max. learned clause length 44806
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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 -1 900 1003
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25 -1 841 944
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30 -1 780 922
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35 -1 721 935
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40 -1 660 915
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45 -1 600 800
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50 -1 540 730
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55 -1 480 679
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60 -1 420 576
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65 -1 361 534
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70 -1 300 438
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75 -1 240 337
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80 1 159 240
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