*Evolution of Photogrammetric models in Data Products for ISRO RS missions

Presented during World Geo Spatial Forum- 2011Pradeep K Srivastava,Deputy Director, Signal and Image Processing,Space Applications Centre (ISRO)Ahmedabad, India

*STEREO STRIP TRIANGULATION (SST) APPROACH

Basically SST is performed over a stereo pair of Cartosat-1 image segment by employing photogrammetric bundle adjustment technique.

InputsSST requires a primary GCP library data with accuracy better than 1 m. Major tasks under SST are

Generation of data base of Triangulated Control Points (TCPs) in stereo modeDEM generation over a strip, andImprovement of image orientation parametersComponentsTCP IdentificationGCP IdentificationRigorous Imaging Model

* Recent Advances in Cartosat-1 Data ProcessingConjugate point identification

Identification of tie points or conjugate points is done in an automatic way by stereo image matching that uses Hierarchical Matching technique.Image Pyramids are formed by sub-sampling the original image at various scales (levels of hierarchy)Selection of optimal number of pyramids depends on the viewing angle of the stereo pair used and terrain undulations.The match points obtained in the last level are the conjugate points used for DEM generation.The process is tuned to identify, one conjugate point for every 100 m * 100 m region on ground.

*Recent Advances in Cartosat-1 Data ProcessingTCP identification

TCPs are image points, but they may not be available on a topographic map, like in the case of GCPs. The generation of TCP database involves

Feature detection to extract candidate Matching to find the locationComputation of ground coordinatesBlunder detection Human visual confirmation

Approximately one TCP per square kilometer in Cartosat-1 stereo strip of 500 km length is selected.

*Recent Advances in Cartosat-1 Data ProcessingRigorous Imaging Model

Cartosat-1 rigorous imaging model is based on photogrammetric collinearity conditions.

System knowledge over 52 s gap between two cameras in sighting a common GCP is utilised

Model uses onboard star sensors measurement for attitude and GPS based state vector information for orbit.

Inertial co-ordinate system(ECI) : 2. Geocentric (Greenwich) system, Earth Centered Rotating (ECEF) 3. Local Orbital co-ordinate system: 4. Spacecraft body co-ordinate system: 5. Image co-ordinate system:

(, , h) Object point in geodetic Everest (Ellipsoid) Frame of reference through co-ordinate transformation (Spherical to Cartesian) (X, Y, Z) in Geocentric Cartesian co-ordinate system (ECEF Everest ellipsoid) through 7 parameter datum conversion X, Y, Z in WGS 84 (ECEF Greenwich frame) rotation through sidereal angle

X, Y, Z in Geocentric inertial system(ECI) transformation through orbital elements

X, Y, Z in local orbital co-ordinate system through attitude angles

X, Y, Z in Spacecraft body co-ordinate system tilt angles X, Y, Z in Focal Plane or Image Plane Coordinate system and interior orientation Point in image co-ordinate system s,p (scanline and pixel)

The relation between the image and the object co-ordinate systems is expressed by a 3x3 orthogonal matrix designated by M. The nine elements of M are functions of the orientation parameters.

in which v is the vector in x, y, z system and V is the same vector in the X, Y, Z system.

Modified collinearity condition equations for spaceborne imagery

where (x0, y0, -f) is the photo co-ordinate of principle point, (xa, ya) is the photo co-ordinate of an image point , (XA, YA, ZA) is the object space co-ordinate of the same image point and (XL, YL, ZL) is the perspective center co-ordinate in object space co-ordinate system. k is the scale factor that is equal to the ratio of the length of a to the length of A in figure 2. M is the rotation (orientation) matrix from one co-ordinate system to the other, which is a function of exterior orientation parameters.

*Recent Advances in Cartosat-1 Data ProcessingGCP identification

GCPs are the features on ground whose precise ground coordinates are known and which are identifiable on the image.

A database having well distributed network of ground control points over Indian landmass with ground coordinates obtained using differential GPS and image chips for manual/auto correlation purpose is used for operational use.

In-flight geometric calibration ConventionalIn-flight calibration successfully completed for Cartosat-1, Cartosat-2 & Cartosat-2A as part of initial phase exercises/ normal phase to improve the system level performanceUsing Rigorous imaging sensor model techniques with the help of Imaging sensor data (control points) Achieved accuracies New TechniquesNew techniques studied and carried out R&D exercises for utilising only a set of imaging sensors information for Cartosat-1

Promising results obtained without Control points or a few control points required for validation

Two Imaging sensors (stereo) from the same orbit of Cartosat-1 are used to derive pseudo attitude

Platform biases are estimated using only image points or with minimum controls - Photogrammetry Co-planarity Approach (with/without controls) - Photogrammetry Line based Resection method (no controls) - Accuracy achieved better than 10 pixels for Cartosat-1 - Further study and R&D efforts are on for Chandrayaan-1

SatelliteOriginal system Level (RMS in meters)Improved thro ln-flight calibration(RMS in meters)Catosat-1700 1000 m Around 100 m for both Fore and AftCartosat-21300 m Better than 50 mCartosat-2A500 700 m Better than 70 m

National DEM from CARTOSAT-1DEM 1/3 arc-sec posting (~10m)OrthoImage 1/12 arc-sec resolution co-registered (0.1 pixel registration accuracy)15 m (CE-90) plannimetric accuracy8 m (LE-90) height accuracyDensity of match points ~ 4% using aspect-based correlation, concensus based outlier identificationAutomatic breakline identification/ incorporation through TIN modeling

DEM generated for Himalayan region using new image matching algorithmNote : SSTS in the southern India generated using GCPL library (pink color in this region represents non availability of cloud free data )DEM Status on 27-12-2010

LEGEND SSTS run using GCPS collected from neighboring segments Not processed Outside India Completed

Perspective view of Sonamarg

DEM REPRESENTATION OF SONAMARG AREA IN SRINAGAR DISTRICT

Four software packages for Chandrayaan-1 Data Processing are operationalised at ISSDC viz.,Quick Look Display (QLD) for TMC and HySI with near real time and offline optionsLevel-0/1 data processing of TMC and HySI with PDS generationData Archival in PDS standards for all the payload dataBrowse and data visualisation First day products and many special products are generated from TMC/HySI and MIS sensorsPayload Operations Centre (POC) for TMC and HySI is setup at SIPA/SAC for generating higher level products like Lunar DEM, Lunar Atlas and mosaics. This also acts as a gateway for HeX data to PRL. A high bandwidth data link is established between SAC and ISSDC and the available raw data has been transferred to SAC-POCChandrayaan-1 Data Processing L-1 DPGS s/w at ISSDC - Operations established in 3 identical chains - No. of data sets processed successfully at ISSDC : TMC 949 (1071) , HySI - 1071 (1158)

Active archive for TMC/HYSI/LLRI & AO payloads available at ISSDC

Long Term Archive (LTA) will be ready by end of 2010

Data Dissemination of TMC & HYSI from active archive available at ISSDC

DEM and Lunar Atlas generation at SAC- POC Using RPCs & COTS software, DEM generation activity from TMC is on using COTS package customisation. Indigenous software is being developed .

Coordinate system for moon02 Feb 2010ISG 2010- Planetary Geomatics: An introduction

ISG 2010- Planetary Geomatics: An introduction

0TMC NEAR SIDE COVERAGETMC 90 degree EAST COVERAGETMC FAR SIDE COVERAGETMC 90 degree WEST COVERAGE900180270

Chandrayaan-1 TMC & HySI ImagesForeNadirAftForeNadirAftTMC ImageOrbit: 1936DOP: 17-04-09HySIHySIBand:16-24-32Band:49-56-64HySI ImageOrbit: 1089DOP: 07-02-09Histogram1.5 kmStrip Width: 20 km

Chandrayaan-1 TMC IMAGE MOSAICOrbit: 35862580 3521

MOSAICDOP: 23-0411-08 10-08StripWidth: 20 km40 km 40 km0 10 km85 km

Jawahar Sthal Seen by TMCTMC Nadir ImageOrbit: 2792DOP: 29-06-09TMC Nadir Image Overlaid on Clementine Polar ImageTMC ImageJawahar Sthal (MIP Impact Point:Lat.: - 89.76 Long.:- 39.40 )

Shackelton CraterShackelton CraterScale045 kmScale022 kmAll Projections are in Polar Stereographic Portion of SAR and MIS referenced image, with uncertainty circle (Diameter- 1km)

Air-borne HySI RegistrationHySI bands are inherently acquired in non-registered mode. Successive bands look at the same feature at a time interval of 51.8 msec. Air-borne platforms are subjected to a high attitude rate resulting in distortion in image features due to changes in scale and orientation.The Correlation based operator is employed for visible bands and Mutual Information based operator for infra-red bandsImplemented multi-threaded registration software for speeding up computation of multi-CPU multi-core machines. Band 256 ( Reference Band)Acquired Band 100 Registered Band 100

*Recent Advances in Cartosat-1 Data ProcessingTable 2 : SSTS model accuracyTable 3 : Accuracy of ortho products for AFT camera

S. NoModel accuracy (in pixels) (Fore)Model accuracy (in pixels) (Aft)No. of GCPs used RMS Scan RMS PixelRMS Scan RMS PixelCase 12.52.322.532Case 22.51.01.31.036Case 31.21.31.11.194

S. NoAlong error(m)Across error(m)Radial error(m)Case 13.69.610.3Case 24.48.09.1Case 37.36.39.6Case 45.56.58.5Case 53.812.813.6Case 6131016.4Case 72.73.74.6RMS(m)5.98.110.3

*Figure 1 Cartosat-1 Strip DEM (over 500 km) generated from SSTS approachRecent Advances in Cartosat-1 Data Processing

*Figure 2 SSTS Performance analysis (Model Error)Recent Advances in Cartosat-1 Data Processing

Chart1

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1.263810.825615

2.746741.78407

3.389110.778642

1.524871.42999

0.5615460.891684

2.184242.20201

1.454781.3091

1.889041.16584

1.388960.657134

1.671720.826678

1.240910.951316

1.100880.152797

1.293170.879282

4.424671.61506

0.7273051.56168

0.5381220.48981

0.798820.651572

0.7205480.983084

1.018031.06712

0.658420.591596

1.075770.909229

1.29621.58254

1.091860.986351

0.8449181.50184

1.124221.19019

1.271191.17416

1.550120.44875

1.234881.42074

6.157033.75485

3.293793.11727

0.6026782.0034

0.8592590.394727

3.421472.23395

1.542941.88301

1.67781.81067

1.550011.81296

1.538471.45049

1.24122.09853

1.104681.32385

0.9670090.950037

1.049981.66561

1.734662.37945

1.360391.69973

2.074051.39097

2.232340.96785

1.375971.6298

1.129431.95587

2.720441.73163

1.965881.50025

1.300652.22769

1.795841.70492

2.542871.81526

0.773721.92915

1.314960.996789

1.945811.05057

1.134630.625186

2.026791.23779

1.553171.14447

1.834061.92143

2.668691.23945

1.597841.60502

1.076361.05969

2.231771.66048

1.207650.614606

1.20511.15831

0.9984140.952242

2.631881.43664

2.612131.5028

0.6248641.56401

1.233551.48491

1.391710.620477

2.049881.53163

2.469131.58589

1.665650.699539

2.258824.08375

1.263941.65826

7.081422.18763

5.893091.98941

1.389072.82524

0.3668430.741906

0.8828490.74284

1.622631.28658

1.551482.02887

1.454760.547085

1.471282.76356

2.845222.02136

2.15331.99419

1.669010.424706

1.930662.59403

0.2206481.09518

1.251581.50832

1.33950.953416

2.220950.562783

0.5254220.885288

1.184881.32498

0.9636381.52503

1.212571.68271

2.446143.02854

1.237510.133867

1.696261.15872

0.7468640.656188

1.938710.650534

1.840631.54576

0.8596081.95736

1.140991.42982

2.222361.84032

2.49481.51326

3.587352.11327

1.330321.61378

1.119590.508491

1.831051.3551

1.079030.459337

1.486220.983207

1.625781.39803

1.106911.27381

3.824960.790541

1.870722.27925

0.8999911.22468

1.264620.6124

0.8188290.396135

1.455311.0915

1.250620.469383

2.104581.38542

2.42291.59046

1.228180.479053

1.488780.88971

1.916251.27715

1.225620.864967

1.34440.727817

1.997751.44517

2.264561.45024

1.627520.924704

2.212720.945883

0.805510.586568

1.788520.737955

1.552661.20457

1.67721.56961

1.754691.64253

0.9314240.297131

1.304221.72536

1.802571.29016

1.251531.83259

1.056511.37033

2.276221.19873

1.524880.433376

1.616551.05204

3.378641.30576

1.762370.92356

1.003310.756464

3.240611.17672

1.378870.603691

1.291842.22545

1.707250.618532

1.527350.39888

1.447050.50954

1.948830.818545

0.6095740.503641

3.408712.01557

2.060630.705701

3.176711.26313

3.396831.4424

1.823071.2922

0.5369780.0915327

1.803420.795877

1.676081.98215

1.373530.623721

1.601190.958686

2.125741.11442

1.693141.29729

2.327191.77178

1.264811.18969

1.278090.042027

1.684261.93427

1.644771.20542

2.394981.45662

2.532521.52086

1.988520.969303

1.654820.7441

2.276931.09916

2.361553.52776

1.057861.49134

1.535141.98118

2.007750.997205

2.254621.21395

3.708412.19712

2.266021.68789

1.373791.02245

1.242251.53034

2.168271.16622

1.230731.99063

0.3228970.420235

0.4334210.745646

RMS erros scan

RMS error pixel

Date of Pass

RMS errors

Segment_SST_between_Date_of_Pas

Path NoOrbit NoDate of PassSeg NoStart RowEnd RowNo. Of GCPs AvailNo. Of GCPs IdNo. Of TCPs GenRMSRMSMeanMeanStdStd

5161205/13/05 0:00230231322218331.394752.30177-0.9170580.2435571.050872.28884

5161205/13/05 0:001255270135251001.971935.27037-0.1409920.09506241.966895.26951

5391055/12/05 0:0043163301514286976.878295.50005-2.893540.07042636.240065.4996

5253575/29/05 0:0012552573221170.9829853.448690.02682040.04954910.9826193.44833

5253575/29/05 0:0022612656496472.444253.86168-0.3121220.137612.424243.85922

5015356/10/05 0:002274289179110027.838076.66112-2.277970.1059047.499746.66028

5016986/21/05 0:0012622633338231.558761.87949-0.1578110.08768391.550751.87744

5491795/17/05 0:001270285115328254.684733.593670.9424770.04247374.588953.59342

5491795/17/05 0:002285301167297315.099488.05082.137860.1499214.629718.0494

5491795/17/05 0:003301317147331985.485537.079514.265640.2817853.448967.0739

5142835/24/05 0:001250265169282704.689032.68362-0.6159860.1611274.648392.67877

5261945/18/05 0:002272288145339011.809422.301140.2174150.2163041.796312.29095

5261945/18/05 0:003288304147347012.400411.921680.8200280.1130062.255991.91836

52111727/23/05 0:0012672692233195.955120.528468-1.040660.08126185.863490.522183

52111727/23/05 0:002272283119181013.276192.60228-1.090520.1022253.089372.60028

5142835/24/05 0:0022652811612340006.820889.221361.30650.85272110.839.21577

5142835/24/05 0:0032812971410309885.746336.39717-10.120641.884123.9699125.238

5142835/24/05 0:0042973111212256606.420396.64803-6.1779634.991119.7333116.21

61212757/30/05 0:001272275221444453.246685.303272.6146-0.0986569.949715.13951

4931355/14/05 0:00127128632113744.9243.35781-0.0624794-0.02268774.92363.35773

509465/8/05 0:0012472621615330167.39194.96033-8.83536-35.548722.5336134.088

5731645/16/05 0:0012772921312314457.992952.63616-18.7974-43.732679.1216145.604

5483425/28/05 0:003305320123292771.303070.317334-0.260570.04625431.276750.313945

5483425/28/05 0:004320328104145953.298016.75044-0.9743540.05180963.150796.75024

5483425/28/05 0:00533434013838108132.314574.09636-0.754033-2.332739.967868.88291

5483425/28/05 0:002289302148260125.783472.464641.0170.1803475.693352.45803

5483425/28/05 0:001274289139318135.541472.01604-1.206390.08973065.408562.01404

5585796/13/05 0:002287300137117415.597264.55433-1.020120.2584075.503524.54699

5585796/13/05 0:00331532354127052.892829.2901-0.3328740.1378712.87369.28907

5585796/13/05 0:0012722871711214933.452222.55049-3.419582.633357.076218.30257

5136096/15/05 0:00124626153315381.180640.17730.03480820.05748641.180120.167722

5136096/15/05 0:002261277208306684.483454.90845-1.328820.1611874.2824.90581

5391055/12/05 0:0012692842016333906.464914.10988-1.883328.818665.9931733.9396

5815646/12/05 0:001276291157240729.452614.18688-1.022940.305639.39714.17571

546269811/3/05 0:0012742891510299136.050872.85214-1.015630.348025.965032.83083

546269811/3/05 0:0022893051410309343.310042.69733-1.1437-0.08103293.106172.69611

546269811/3/05 0:003305319117273383.960752.62193-1.949770.03069033.44762.62175

556293511/19/05 0:0012732881511311383.613321.45182-1.04174-0.03840143.45991.45131

556293511/19/05 0:00330432076296895.741321.81338-3.03578-0.1642974.873071.80592

523271311/4/05 0:00531132476253030.6094260.685559-0.21774-0.01416020.5692010.685413

523271311/4/05 0:0042953111410294343.921344.34828-1.235030.02948233.721774.34818

556293511/19/05 0:0022883041211335342.808652.15285-1.08686-0.006350482.589842.15284

603274211/6/05 0:00127428176133771.343653.61748-0.0226118-0.005422911.343463.61747

569268311/2/05 0:0012752848791242.709052.17451-0.09257450.07754272.707472.17313

523271311/4/05 0:00124826373107534.285325.77695-1.104260.05757554.14065.77666

512263910/30/05 0:0032712871513345552.91681.87506-1.117150.03705742.694381.8747

512263910/30/05 0:00428730333304890.3606380.3079040.001034630.002446240.3606370.307894

512263910/30/05 0:0022552711512342222.771041.59115-1.00631-0.03692332.581861.59072

512263910/30/05 0:00124825577144001.177981.0126-0.134408-0.01291851.170291.01252

523271311/4/05 0:0032792951514326803.6054.49363-1.74946-0.06043333.152054.49322

560228310/6/05 0:00127728374127751.421560.555378-0.341273-0.005486621.379990.555351

559244610/17/05 0:00127728387119883.813021.44951-0.3601510.1653823.795981.44005

58421059/24/05 0:0012892913337963.539211.801540.217524-0.1826953.532521.79226

523271311/4/05 0:002263279133122272031.173081.35122-0.0249769-0.0311981.172811.35086

583226810/5/05 0:0012902943388040.2837010.179128-0.1898450.01286850.2108210.178665

500272811/5/05 0:00228228833130565.724680.212030.7485750.02586225.675530.210447

500272811/5/05 0:00328830066204612.418452.71417-0.7658670.05544712.293982.71361

500272811/5/05 0:0012672821612294095.345376.2832-2.13407-0.01718894.900896.28317

534278711/9/05 0:0043043201411271174.735470.985421-2.36130.05084714.104750.984108

534278711/9/05 0:001257272116253914.628924.79448-2.184510.1141264.081034.79312

534278711/9/05 0:0022722881511307755.520321.42067-3.16360.003248034.52391.42067

534278711/9/05 0:0032883041511289714.403944.21895-2.774060.02042233.420424.2189

580275711/7/05 0:00229730533140097.065082.997321.05179-0.04028616.986352.99705

510296511/21/05 0:00124725366128782.89381.588150.0258004-0.01046292.893681.58812

545286111/14/05 0:0053373427596912.543981.77959-0.2919690.01058772.527171.77956

545286111/14/05 0:0012742891312311332.40671.95703-0.8415720.006503962.254771.95702

545286111/14/05 0:0022893051414312923.049581.93417-0.8948160.01501352.915341.93411

510296511/21/05 0:00428529855261741.722880.909942-0.0787553-0.04997921.721080.908569

510296511/21/05 0:0032692851610343146.584186.77582-2.197670.01775326.206586.7758

510296511/21/05 0:0022532691512329813.570141.2636-1.79158-0.05630313.088071.26235

567300911/24/05 0:0012782857797611.196391.63013-0.2405960.01244781.171951.63008

567300911/24/05 0:002285301119228592.539621.00804-1.3288-0.02037032.164241.00784

545286111/14/05 0:004321337138110300631.407082.30378-0.00271108-0.01313891.407072.30374

557277211/8/05 0:002288304139323695.953781.67194-0.3842260.02111325.941371.6718

557277211/8/05 0:001273288128312952.461172.43878-0.5886330.03632272.389742.43851

557277211/8/05 0:00330431944292764.485430.981521-0.731278-0.1626814.425410.967946

579292011/18/05 0:00229230596260323.980681.82847-1.66162-0.03751623.617291.82809

579292011/18/05 0:001277292137299052.524492.49677-1.2577-0.02260132.188892.49666

521303911/26/05 0:001259269109178742.410322.92484-0.7269130.001173522.298092.92484

521303911/26/05 0:0022712861311283923.18231.37471-1.45550.02147112.829941.37455

578308311/29/05 0:00127628897210833.361552.34395-1.19948-0.01631543.140272.34389

578308311/29/05 0:00229129975172203.053060.691615-0.000498440.09632093.053060.684875

555309811/30/05 0:001273288118312181.496861.6894-0.3615020.005733081.452561.68939

555309811/30/05 0:002288304138334972.439350.76132-0.895321-0.02174492.26910.761009

509312812/2/05 0:0012472621413286903.647023.47929-1.287990.04197293.412013.47904

532311312/1/05 0:00332233386221782.547794.17002-0.7587870.01515652.432174.16999

509312812/2/05 0:0032782941312323456.869444.08-0.9544920.01649836.80284.07997

509312812/2/05 0:0022622781612339623.975323.40686-1.686390.03936863.599893.40663

532311312/1/05 0:0012572645382165.838324.11877-1.893090.07553765.522884.11808

532311312/1/05 0:0023073221413286703.324031.89703-1.54103-0.02819772.945241.89682

5476686/19/05 0:001272287125321315.740482.52842-0.6707760.1160725.701152.52575

5355946/14/05 0:00125627182210981.024660.689532-0.00438364-0.004527861.024650.689517

5355946/14/05 0:003271283108244512.79862.61205-1.351530.197212.450622.60459

49615138/15/05 0:0012752772244810.7579120.00612867-0.039941-0.004180170.7568590.00448183

55413948/7/05 0:001332347118306243.409273.62504-1.584780.08792093.018543.62397

5475056/8/05 0:0033133198464144313.199454.023832.58699-0.81578635.64713.4825

5476686/19/05 0:002287303147319233.040954.26009-29.25181.7827868.81785.63127

52917358/30/05 0:0022752911412297153.690881.97729-10.3259-7.3908429.120824.9295

52917358/30/05 0:0032912943238054.67890.616908-0.7407690.07624744.619890.612177

5023725/30/05 0:0032832961010257372.636851.64378-0.488040.03192982.591291.64347

5023725/30/05 0:001259274179299336.328623.63308-0.7678180.1904666.281873.62808

5475056/8/05 0:001276289148264103.611545.63061-1.302870.04450243.368345.63043

5475056/8/05 0:0022933081411302145.123944.19968-2.235580.1218544.610524.19792

5134466/4/05 0:0012462611410244182.300463.05482-1.165370.1586372.001573.04859

5134466/4/05 0:0022612771919330245.105512.7755-2.129840.08973934.640052.77405

5134466/4/05 0:0032792941815293933.595894.68197-1.550730.1502463.244334.67956

5134466/4/05 0:0042942975466463.212766.46961-0.4410540.1350273.182346.4682

5134466/4/05 0:0053003033363932.87196.62003-0.2717640.1980142.859016.61707

536246110/18/05 0:00126027588288492.104481.51701-0.586376-0.0129672.021131.51696

549220910/1/05 0:0012752901514294335.761446.55019-1.618550.0446075.529426.55004

549220910/1/05 0:00229030675281752.718381.08282-1.03512-0.07929462.513581.07991

549220910/1/05 0:00330632193202331.40080.916675-0.515120.02374361.302650.916367

524255010/24/05 0:0012492568836343.426860.819817-1.03866-0.009612143.265670.81976

524255010/24/05 0:0022582732715216183.863211.94687-1.458610.4031053.577271.90468

524255010/24/05 0:00327328496222942.907954.91859-1.17792-0.09300132.65874.91771

524255010/24/05 0:0042942964352846.150850.891640.3571370.1694836.140470.875384

524255010/24/05 0:0052993033391321.809477.33217-0.0720782-0.00456021.808037.33217

524255010/24/05 0:006306320139258333.570321.92048-1.59314-0.03094083.195171.92023

558260910/28/05 0:0012732795366773.4992.765450.0661046-0.08133343.498382.76426

558260910/28/05 0:0022912954380023.099450.593536-0.73231-0.0189953.011690.593232

502240210/14/05 0:0012652801817312102.1151.03675-1.01525-0.05414191.855391.03533

502240210/14/05 0:00228028786163452.287522.09799-0.583002-0.08853242.211982.09612

502240210/14/05 0:00328930173198421.686860.706917-0.2521480.02272911.667910.706552

51521509/27/05 0:0012532671311270302.911111.86577-1.3727-0.002299172.567151.86577

51619879/16/05 0:0012512533341272.985985.933510.0470746-0.1189322.985615.93231

53821359/26/05 0:0012752784358220.4637270.335410.07418320.003780580.4577550.335389

503223910/3/05 0:00126127697315507.821864.59027-0.8716030.04012197.773144.5901

503223910/3/05 0:0022762921610349533.658414.95621-0.442325-0.02514783.631574.95614

536246110/18/05 0:00227528033115810.7957110.209316-0.119271-0.02673230.7867210.207602

536246110/18/05 0:0032832853356901.361741.29095-0.140109-0.01544851.354521.29086

547253510/23/05 0:0013013161311259773.347770.998923-1.62094-0.04613282.929180.997857

547253510/23/05 0:0023163196549173.3499.19073-0.2299010.06811873.34119.19048

514231310/8/05 0:0012462611511227092.392590.829332-1.20857-0.02316392.06490.829009

514231310/8/05 0:0022612771412356783.842962.5371-1.46065-0.05181043.554552.53657

514231310/8/05 0:0032772931615338853.531071.9105-1.77776-0.04550023.050911.90996

514231310/8/05 0:00429330855293971.455471.26729-0.316516-0.001192511.420631.26729

5594166/2/05 0:0012752901612324102.149592.06878-0.7078790.08074632.02972.0672

566317212/5/05 0:00330331665226914.787071.09222-0.530436-0.07762484.757591.08946

566317212/5/05 0:001279287107174201.881498.5155-0.388421-0.05769341.840968.5153

566317212/5/05 0:002287303119330383.156163.59046-1.105590.02051762.956183.5904

520320212/7/05 0:003282298149343493.646061.66058-1.67738-0.001572543.237311.66058

520320212/7/05 0:0042983111412275223.523624.46293-1.24013-0.01371383.298174.46291

520320212/7/05 0:0022662821610338793.412791.90674-1.772420.05763662.916451.90587

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