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------PSO start

6.219116,3.410710,-4.782166,1.132898

3.181979,1.134846,-3.718395,1.227941

2.302928,-0.910530,-2.792701,1.258413

4.141745,1.269771,-0.407340,1.409782

4.141745,1.269771,-0.407340,1.409782

2.782469,0.226964,-0.933429,1.415868

2.782469,0.226964,-0.933429,1.415868

2.782469,0.226964,-0.933429,1.415868

2.782469,0.226964,-0.933429,1.415868

2.782469,0.226964,-0.933429,1.415868

3.591808,0.754384,-0.656160,1.481511

3.591808,0.754384,-0.656160,1.481511

3.473467,0.846358,-0.247672,1.483317

3.810920,0.631524,-0.892638,1.489102

3.857352,0.603985,-0.596614,1.490289

3.857352,0.603985,-0.596614,1.490289

3.862678,0.614558,-0.632967,1.493891

3.862678,0.614558,-0.632967,1.493891

3.862678,0.614558,-0.632967,1.493891

3.862678,0.614558,-0.632967,1.493891

total interations:20

tx:3.862678  ty:0.614558  ang:-0.632967 mi:1.493891

------PSO end

------Powell start

7.719056,  0.614558,  -0.632967,  1.298058

7.719056,  1.904456,  -0.632967,  1.466426

16.537888

7.719056,  1.904456,  -0.681950,  1.463247

8.229286,  2.035531,  -0.686927,  1.481208

8.229286,  1.980443,  -0.686927,  1.482608

0.015995

8.223876,  1.978633,  -0.686858,  1.482462

8.057189,  1.978633,  -0.686858,  1.482155

8.057189,  1.967980,  -0.686858,  1.481889

0.027765

8.057581,  1.968111,  -0.686863,  1.481945

8.060448,  1.968111,  -0.686863,  1.481762

8.060448,  1.967566,  -0.686863,  1.481860

0.000009

8.060564,  1.967605,  -0.686865,  1.481848

8.056211,  1.967605,  -0.686865,  1.481832

8.056211,  1.980282,  -0.686865,  1.482319

0.000180

8.056211,  1.980282,  -0.687108,  1.482356

------Powell end

tx:8.0562  ty:1.9803  ang:-0.69 mi:1.482356

time:5.523760

------PSO start

-4.218613,-1.831505,-2.592978,1.198497

-3.096033,0.220999,-1.548051,1.355306

-3.096033,0.220999,-1.548051,1.355306

-3.788383,0.085873,-1.170346,1.356069

-2.132791,0.115566,-1.059226,1.400370

-2.536139,-0.302278,-0.703993,1.402590

-3.122589,0.042784,-0.841495,1.411028

-2.294945,0.111933,-0.833426,1.440319

-2.601845,0.432572,-0.042504,1.558405

-2.601845,0.432572,-0.042504,1.558405

-2.601845,0.432572,-0.042504,1.558405

-2.601845,0.432572,-0.042504,1.558405

-2.623005,0.577600,0.167668,1.558405

-2.623005,0.577600,0.167668,1.558405

total interations:14

tx:-2.623005  ty:0.577600  ang:0.167668 mi:1.558405

------PSO end

------Powell start

-5.479949,  0.577600,  0.167668,  1.500895

-5.479949,  1.084894,  0.167668,  1.552012

8.420517

-5.479949,  1.084894,  0.135345,  1.551926

-4.800852,  1.084894,  0.135345,  1.625440

-4.800852,  1.146578,  0.135345,  1.639162

0.464979

-4.800852,  1.146578,  0.134208,  1.638934

-4.657180,  1.145903,  0.134221,  1.638934

-4.657180,  1.144253,  0.134221,  1.638942

0.018618

-4.671874,  1.142918,  0.134245,  1.639685

-4.679493,  1.142918,  0.134245,  1.639685

-4.679493,  1.144981,  0.134245,  1.638942

0.000028

-4.676647,  1.145240,  0.134241,  1.639855

-4.670146,  1.145240,  0.134241,  1.639855

-4.670146,  1.145272,  0.134241,  1.639788

0.000042

-4.670146,  1.145272,  0.134258,  1.639799

------Powell end

tx:-4.6701  ty:1.1453  ang:0.13 mi:1.639799

time:10.290607