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Expert answer:lab report Mechanical engineering

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Expert answer:Look at the lab file in the drop flies. we will investigate the benefits and limitations of controling a double integrate plant with PD and PID control.
lab.pdf

p_control.txt

p_d_control.txt

p_i_d_control.txt

Unformatted Attachment Preview

Sample
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Time
0.000
0.009
0.018
0.027
0.035
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0.531
Commanded Pos
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Encoder 1 Pos
-10
-10
-4
7
21
40
62
89
120
153
190
231
274
319
366
416
466
518
571
624
678
731
784
836
887
937
986
1034
1080
1125
1168
1209
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1486
1480
1470
1459
1446
1431
1415
1397
1378
1357
1336
1314
1291
1267
1242
Encoder 2 Pos
2
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2
Encoder 3 Pos
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124
0.540
0.549
0.558
0.567
0.576
0.584
0.593
0.602
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0.629
0.638
0.646
0.655
0.664
0.673
0.682
0.691
0.699
0.708
0.717
0.726
0.735
0.744
0.753
0.761
0.770
0.779
0.788
0.797
0.806
0.815
0.823
0.832
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0.868
0.877
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0.912
0.921
0.930
0.939
0.947
0.956
0.965
0.974
0.983
0.992
1.001
1.009
1.018
1.027
1.036
1.045
1.054
1.063
1.071
1.080
1.089
1.098
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1218
1193
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1143
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1093
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1021
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837
824
812
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792
783
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764
762
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772
776
780
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789
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802
807
811
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819
823
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829
832
834
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837
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838
838
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837
837
2
2
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1.107
1.116
1.124
1.133
1.142
1.151
1.160
1.169
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1.213
1.222
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1.240
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1.266
1.275
1.284
1.293
1.302
1.310
1.319
1.328
1.337
1.346
1.355
1.364
1.372
1.381
1.390
1.399
1.408
1.417
1.426
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1.443
1.452
1.461
1.470
1.479
1.488
1.496
1.505
1.514
1.523
1.532
1.541
1.549
1.558
1.567
1.576
1.585
1.594
1.603
1.611
1.620
1.629
1.638
1.647
1.656
1.665
1000
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252
1.673
1.682
1.691
1.700
1.709
1.718
1.727
1.735
1.744
1.753
1.762
1.771
1.780
1.789
1.797
1.806
1.815
1.824
1.833
1.842
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1.859
1.868
1.877
1.886
1.895
1.904
1.913
1.921
1.930
1.939
1.948
1.957
1.966
1.974
1.983
1.992
2.001
2.010
2.019
2.028
2.036
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2.063
2.072
2.081
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2.107
2.116
2.125
2.134
2.143
2.152
2.160
2.169
2.178
2.187
2.196
2.205
2.214
2.222
2.231
1000
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2.240
2.249
2.258
2.267
2.276
2.284
2.293
2.302
2.311
2.320
2.329
2.338
2.346
2.355
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2.373
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2
2
2
2
2
2
2
2
2
2
2
2
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
3.373
3.382
3.391
3.400
3.409
3.418
3.427
3.435
3.444
3.453
3.462
3.471
3.480
3.489
3.497
3.506
3.515
3.524
3.533
3.542
3.551
3.559
3.568
3.577
3.586
3.595
3.604
3.613
3.621
3.630
3.639
3.648
3.657
3.666
3.674
3.683
3.692
3.701
3.710
3.719
3.728
3.736
3.745
3.754
3.763
3.772
3.781
3.790
3.798
3.807
3.816
3.825
3.834
3.843
3.852
3.860
3.869
3.878
3.887
3.896
3.905
3.914
3.922
3.931
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
-403
-409
-412
-413
-413
-408
-401
-393
-383
-372
-359
-344
-329
-312
-295
-278
-260
-241
-223
-204
-185
-166
-148
-129
-111
-93
-76
-59
-43
-27
-11
4
18
31
44
56
67
77
87
96
103
109
114
118
121
124
125
125
125
125
123
121
118
116
113
110
107
104
101
97
94
91
88
86
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
3.940
3.949
3.958
3.967
3.976
3.984
3.993
4.002
4.011
4.020
4.029
4.038
4.046
4.055
4.064
4.073
4.082
4.091
4.099
4.108
4.117
4.126
4.135
4.144
4.153
4.161
4.170
4.179
4.188
4.197
4.206
4.215
4.223
4.232
4.241
4.250
4.259
4.268
4.277
4.285
4.294
4.303
4.312
4.321
4.330
4.339
4.347
4.356
4.365
4.374
4.383
4.392
4.401
4.409
4.418
4.427
4.436
4.445
4.454
4.463
4.471
4.480
4.489
4.498
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
84
82
80
79
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
4.507
4.516
4.524
4.533
4.542
4.551
4.560
4.569
4.578
4.586
4.595
4.604
4.613
4.622
4.631
4.640
4.648
4.657
4.666
4.675
4.684
4.693
4.702
4.710
4.719
4.728
4.737
4.746
4.755
4.764
4.772
4.781
4.790
4.799
4.808
4.817
4.826
4.834
4.843
4.852
4.861
4.870
4.879
4.888
4.896
4.905
4.914
4.923
4.932
4.941
4.949
4.958
4.967
4.976
4.985
4.994
5.003
5.011
5.020
5.029
5.038
5.047
5.056
5.065
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
5.073
5.082
5.091
5.100
5.109
5.118
5.127
5.135
5.144
5.153
5.162
5.171
5.180
5.189
5.197
5.206
5.215
5.224
5.233
5.242
5.251
5.259
5.268
5.277
5.286
5.295
5.304
5.313
5.321
5.330
5.339
5.348
5.357
5.366
5.374
5.383
5.392
5.401
5.410
5.419
5.428
5.436
5.445
5.454
5.463
5.472
5.481
5.490
5.498
5.507
5.516
5.525
5.534
5.543
5.552
5.560
5.569
5.578
5.587
5.596
5.605
5.614
5.622
5.631
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
5.640
5.649
5.658
5.667
5.676
5.684
5.693
5.702
5.711
5.720
5.729
5.738
5.746
5.755
5.764
5.773
5.782
5.791
5.799
5.808
5.817
5.826
5.835
5.844
5.853
5.861
5.870
5.879
5.888
5.897
5.906
5.915
5.923
5.932
5.941
5.950
5.959
5.968
5.977
5.985
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
78
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0]
Sample
[
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
Time
0.000
0.009
0.018
0.027
0.035
0.044
0.053
0.062
0.071
0.080
0.089
0.097
0.106
0.115
0.124
0.133
0.142
0.151
0.159
0.168
0.177
0.186
0.195
0.204
0.213
0.221
0.230
0.239
0.248
0.257
0.266
0.274
0.283
0.292
0.301
0.310
0.319
0.328
0.336
0.345
0.354
0.363
0.372
0.381
0.390
0.398
0.407
0.416
0.425
0.434
0.443
0.452
0.460
0.469
0.478
0.487
0.496
0.505
0.514
0.522
0.531
Commanded Pos
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
Encoder 1 Pos
0
41
127
204
265
318
364
408
444
475
501
524
544
562
578
594
608
621
632
640
648
655
663
670
675
679
681
683
684
685
686
687
687
687
687
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
Encoder 2 Pos
0
1
-2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Encoder 3 Pos
0;
2;
-2;
-4;
1;
1;
0;
0;
0;
-1;
-1;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
0;
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
0.540
0.549
0.558
0.567
0.576
0.584
0.593
0.602
0.611
0.620
0.629
0.638
0.646
0.655
0.664
0.673
0.682
0.691
0.699
0.708
0.717
0.726
0.735
0.744
0.753
0.761
0.770
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0.788
0.797
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0.815
0.823
0.832
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0.859
0.868
0.877
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0.894
0.903
0.912
0.921
0.930
0.939
0.947
0.956
0.965
0.974
0.983
0.992
1.001
1.009
1.018
1.027
1.036
1.045
1.054
1.063
1.071
1.080
1.089
1.098
1000
1000
1000
1000
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1000
1000
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1000
1000
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1000
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1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
0
0
0
0
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125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
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145
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168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
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188
1.107
1.116
1.124
1.133
1.142
1.151
1.160
1.169
1.178
1.186
1.195
1.204
1.213
1.222
1.231
1.240
1.248
1.257
1.266
1.275
1.284
1.293
1.302
1.310
1.319
1.328
1.337
1.346
1.355
1.364
1.372
1.381
1.390
1.399
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1.417
1.426
1.434
1.443
1.452
1.461
1.470
1.479
1.488
1.496
1.505
1.514
1.523
1.532
1.541
1.549
1.558
1.567
1.576
1.585
1.594
1.603
1.611
1.620
1.629
1.638
1.647
1.656
1.665
1000
1000
1000
1000
1000
1000
1000
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1000
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1000
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1000
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
686
0
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189
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233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
1.673
1.682
1.691
1.700
1.709
1.718
1.727
1.735
1.744
1.753
1.762
1.771
1.780
1.789
1.797
1.806
1.815
1.824
1.833
1.842
1.85 …
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