data.pde

float reading[] = {
  //grounded coils
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  // grounded coils -> T0.025
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  // grounded coils -> T0.2
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  // grounded coils -> T0.4
  //3090.178, 3090.178, 3092.167, 3089.184, 3092.167, 3092.167, 3095.148, 3101.24, 3107.2, 3115.148, 3126.075, 3133.031, 3143.958, 3158.859, 3165.814, 3182.702, 3192.637, 3202.57, 3213.499, 3221.446, 3231.38, 3240.321, 3250.256, 3253.235, 3263.17, 3270.124, 3281.052, 3289.992, 3294.96, 3302.907, 3313.836, 3323.769, 3333.704, 3341.651, 3348.605, 3361.52, 3368.474, 3382.382, 3394.303, 3400.264, 3409.204, 3417.152, 3427.055, 3437.985, 3447.921, 3457.857, 3464.813, 3475.742, 3484.685, 3493.627, 3505.55, 3511.512, 3518.468, 3529.397, 3538.34, 3549.27, 3558.212, 3564.174, 3575.104, 3582.059, 3596.962, 3606.9, 3612.861, 3624.785, 3632.733, 3643.662, 3651.611, 3659.56, 3670.49, 3680.427, 3691.356, 3699.304, 3707.254, 3717.189, 3729.113, 3739.049, 3747.992, 3753.672, 3760.637, 3770.589, 3785.516, 3791.488, 3802.435, 3812.387, 3818.358, 3825.325, 3839.257, 3851.2, 3855.18, 3865.132, 3878.07, 3883.045, 3897.973, 3904.94, 3908.92, 3919.867, 3925.839, 3938.775, 3950.718, 3959.674, 3966.641, 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4910.324, 4917.292, 4930.231, 4941.18, 4946.159, 4957.108, 4965.071, 4975.025, 4984.98, 4996.924, 5000.905, 5011.855, 5020.815, 5029.772, 5042.713, 5049.682, 5055.821, 5069.894, 5072.911, 5084.974, 5095.026, 5103.068, 5113.12, 5124.176, 5133.223, 5145.286, 5151.317, 5161.369, 5169.411, 5178.458, 5189.514, 5195.544, 5205.599, 5209.62, 5223.69, 5232.74, 5242.791, 5249.826, 5257.869, 5269.93, 5274.958, 5290.035, 5296.066, 5308.129, 5318.181, 5326.223, 5335.27, 5343.31, 5354.369, 5363.416, 5369.446, 5382.395, 5389.435, 5397.482, 5406.534, 5418.605, 5428.664, 5435.705, 5444.756, 5455.823, 5459.846, 5470.91, 5481.974, 5489.014, 5500.078, 5509.132, 5516.172, 5524.219, 5531.259, 5546.347, 5555.399, 5564.453, 5572.498, 5578.536, 5591.611, 5599.656, 5611.727, 5618.768, 5626.814, 5638.886, 5650.957, 5656.989, 5666.042, 5673.084, 5681.131, 5690.183, 5701.247, 5711.823, 5720.9, 5728.967, 5738.044, 5747.121, 5756.198, 5769.308, 5779.392, 5787.461, 5791.495, 5802.586, 5814.689, 5823.767, 5831.833, 5843.937, 5854.021, 5863.095, 5868.138, 5877.215, 5886.292, 5896.378, 5900.412, 5914.529, 5920.58, 5931.673, 5940.75, 5949.827, 5952.851, 5967.978, 5978.064, 5987.142, 5998.232, 6005.292, 6014.369, 6023.446, 6035.547, 6038.573, 6053.004, 6061.106, 6067.182, 6077.308, 6089.458, 6097.558, 6105.657, 6113.759, 6121.858, 6131.985, 6141.096, 6152.235, 6158.31, 6170.46, 6177.55, 6191.725, 6189.701, 6205.9, 6212.987, 6218.05, 6232.228, 6239.315, 6252.478, 6259.565, 6268.679, 6275.767, 6284.88, 6296.019, 6303.106, 6316.269, 6320.32, 6331.458, 6339.558, 6347.657, 6356.771, 6366.897, 6374.704, 6381.761, 6395.881, 6403.948, 6412.018, 6425.128, 6430.171, 6445.299, 6448.323, 6460.426, 6466.476, 6478.58, 6487.656, 6495.724, 6505.808, 6511.86, 6520.937, 6529.004, 6537.074, 6549.175, 6557.244, 6569.345, 6574.388, 6590.522, 6599.6, 6608.676, 6613.719, 6625.82, 6635.907, 6641.957, 6653.051, 6663.137, 6669.188, 6679.274, 6688.348, 6695.411, 6710.647, 6716.695, 6726.774, 6734.836, 6745.922, 6756.001, 6766.081, 6776.157, 6783.214, 6789.26, 6803.37, 6814.456, 6821.511, 6831.59, 6838.645, 6849.731, 6860.817, 6867.873, 6877.952, 6887.023, 6897.1, 6903.147, 6916.25, 6928.344, 6930.361, 6944.471, 6948.502, 6960.598, 6970.674, 6981.76, 6990.832, 6998.895, 7008.973, 7016.028, 7031.146, 7036.654, 7044.696, 7054.745, 7064.797, 7073.844, 7081.884, 7089.926, 7098.973, 7111.034, 7117.064, 7128.121, 7136.161, 7141.189, 7155.259, 7162.294, 7174.357, 7185.414, 7195.463, 7200.489, 7211.545, 7217.578, 7228.634, 7234.665, 7248.738, 7254.766, 7263.812, 7275.874, 7282.911, 7294.972, 7303.012, 7310.05, 7322.111, 7329.146, 7339.197, 7345.228, 7358.296, 7365.799, 7378.83, 7388.854, 7396.871, 7404.891, 7417.922, 7424.939, 7436.968, 7442.981, 7456.012, 7461.025, 7472.052, 7480.069, 7490.094, 7503.127, 7510.142, 7521.168, 7529.188, 7537.206, 7547.23, 7559.259, 7568.281, 7574.294, 7586.323, 7595.345, 7605.369, 7615.394, 7625.417, 7631.431, 7642.457, 7651.479, 7663.508, 7673.532, 7677.541, 7688.567, 7697.978, 7702.976, 7713.978, 7723.979, 7736.978, 7743.978, 7753.98, 7761.98, 7769.98, 7779.982, 7789.981, 7799.981, 7806.983, 7815.983, 7824.983, 7832.983, 7839.983, 7851.985, 7858.985, 7869.984, 7877.987, 7884.987, 7899.987, 7905.988, 7918.989, 7923.987, 7934.989, 7944.991, 7953.991, 7956.99, 7969.991, 7977.991, 7988.992, 7995.993, 8004.992, 8014.994, 8024.427, 8030.41, 8040.384, 8050.361, 8059.339, 8070.311, 8069.313, 8087.268, 8097.242, 8104.225, 8113.203, 8120.183, 8132.154, 8139.135, 8151.106, 8161.081, 8167.067, 8178.039, 8186.019, 8193.999, 8204.971, 8212.95, 8222.925, 8231.902, 8242.874, 8245.868, 8258.834, 8265.817, 8276.789, 8285.767, 8297.735, 8303.721, 8314.692, 8324.67, 8331.65, 8342.624, 8350.68, 8361.646, 8371.615, 8377.599, 8387.568, 8397.538, 8406.513, 8414.488, 8426.454, 8433.433, 8439.416, 8453.374, 8461.349, 8469.327, 8479.296, 8489.266, 8497.243, 8506.216, 8518.183, 8527.154, 8535.13, 8545.102, 8554.074, 8564.044, 8574.016, 8578.999, 8589.966, 8599.938, 8607.916, 8619.877, 8626.857, 8635.833, 8646.8, 8654.777, 8661.755, 8672.722, 8680.659, 8689.637, 8702.601, 8710.578, 8720.551, 8726.536, 8734.514, 8747.478, 8752.464, 8765.43, 8776.398, 8781.385, 8791.356, 8800.332, 8805.317, 8817.287, 8824.268, 8835.236, 8844.211, 8855.183, 8863.16, 8876.124, 8884.104, 8892.082, 8904.049, 8908.037, 8920.004, 8927.981, 8939.95, 8946.931, 8955.905, 8967.875, 8974.855, 8983.83, 8991.808, 8997.791, 9007.245, 9015.248, 9024.25, 9036.254, 9041.258, 9058.262, 9061.264, 9073.27, 9082.272, 9088.275, 9097.277, 9110.283, 9121.285, 9126.288, 9135.291, 9144.295, 9151.296, 9159.301, 9168.303, 9180.307, 9187.31, 9197.313, 9207.318, 9218.322, 9226.325, 9234.327, 9241.33, 9251.335, 9263.338, 9273.343, 9281.345, 9292.35, 9301.354, 9307.354, 9316.359, 9325.361, 9336.52, 9345.569, 9354.618, 9362.663, 9371.713, 9380.763, 9392.828, 9399.866, 9407.908, 9420.981, 9431.035, 9439.08, 9448.13, 9456.172, 9464.217, 9475.275, 9482.315, 9493.374, 9503.431, 9511.474, 9524.544, 9530.577, 9541.638, 9548.676, 9561.749, 9570.798, 9575.826, 9590.906, 9597.944, 9609.006, 9618.055, 9623.083, 9634.142, 9641.182, 9650.231, 9660.335, 9667.413, 9679.546, 9686.626, 9697.749, 9705.836, 9715.947, 9726.062, 9735.16, 9743.25, 9754.374, 9762.463, 9772.574, 9777.63, 9791.785, 9799.877, 9808.977, 9818.075, 9827.177, 9832.232, 9844.366, 9854.479, 9863.579, 9874.702, 9880.77, 9887.848, 9895.937, 9907.061, 9919.193, 9926.271, 9938.406, 9945.483, 9952.562, 9962.673, 9971.774, 9977.842, 9988.13, 9998.293, 10005.405, 10016.581, 10027.76, 10034.874, 10043.001, 10051.13, 10060.276, 10069.421, 10079.584, 10089.745, 10096.857, 10107.021, 10116.165, 10124.294, 10133.44, 10140.553, 10151.729, 10159.858, 10172.054, 10181.197, 10190.344, 10198.473, 10209.651, 10217.78, 10223.876, 10236.071, 10244.2, 10256.393, 10263.505, 10272.651, 10283.827, 10289.925, 10301.105, 10309.232, 10319.394, 10327.212, 10338.412, 10348.594, 10354.701, 10365.901, 10375.065, 10380.156, 10391.356, 10402.555, 10411.718, 10420.882, 10428.009, 10439.207, 10451.428, 10458.555, 10468.735, 10475.862, 10484.007, 10494.19, 10504.371, 10513.532, 10523.714, 10529.823, 10542.041, 10549.168, 10558.33, 10569.53, 10578.694, 10586.839, 10593.966, 10607.203, 10617.386, 10622.475, 10632.655, 10637.748, 10649.966, 10659.96, 10670.156, 10677.291, 10688.504, 10695.641, 10703.795, 10712.969, 10724.185, 10735.395, 10741.512, 10750.686, 10758.84, 10766.997, 10778.21, 10786.364, 10799.618, 10802.675, 10812.868, 10824.084, 10833.255, 10841.412, 10852.625, 10859.76, 10868.936, 10879.129, 10889.322, 10897.479, 10907.67, 10920.925, 10929.079, 10936.213, 10945.39, 10953.544, 10964.757, 10970.874, 10979.031, 10988.601, 10999.786, 11011.986, 11020.118, 11026.221, 11037.403, 11044.521, 11053.672, 11064.855, 11074.007, 11082.141, 11092.31, 11102.476, 11109.593, 11118.744, 11124.842, 11135.013, 11149.247, 11157.379, 11166.53, 11174.662, 11182.799, 11189.916, 11204.15, 11212.282, 11220.417, 11231.6, 11240.751, 11248.886, 11260.068, 11268.206, 11275.323, 11282.44, 11291.592, 11304.807, 11315.992, 11323.497, 11333.638, 11343.779, 11351.892, 11360.003, 11371.159, 11375.212, 11387.383, 11395.495, 11407.663, 11415.774, 11422.874, 11435.04, 11442.137, 11449.237, 11458.363, 11465.463, 11476.616, 11486.755, 11493.854, 11503.993, 11514.135, 11523.262, 11532.388, 11539.485, 11550.641, 11557.738, 11565.851, 11578.021, 11587.147, 11595.259, 11602.356, 11611.482, 11618.58, 11627.707, 11637.848, 11649.001, 11657.683, 11667.784, 11675.861, 11681.921, 11693.03, 11703.129, 11713.228, 11718.275, 11729.385, 11737.464, 11750.595, 11755.643, 11766.751, 11770.792, 11782.907, 11790.99, 11798.058, 11810.176, 11818.255, 11830.373, 11836.434, 11848.549, 11856.631, 11866.728, 11874.808, 11886.926, 11890.964, 11901.065, 11910.152, 11919.241, 11929.34, 11936.407, 11947.519, 11955.596, 11964.688, 11973.774, 11985.492, 11997.558, 12003.591, 12011.636, 12023.701, 12028.728, 12036.772, 12049.843, 12054.868, 12065.93, 12074.977, 12083.021, 12092.071, 12100.113, 12112.18, 12121.231, 12129.273, 12137.315, 12147.372, 12155.415, 12164.464, 12177.535, 12184.575, 12192.617, 12199.655, 12213.73, 12218.759
  // T-0.4 -> T0.4
  //3101.24, 3095.148, 3087.196, 3078.248, 3071.289, 3069.301, 3064.329, 3064.329, 3064.329, 3066.318, 3072.283, 3075.265, 3083.219, 3090.178, 3099.253, 3106.207, 3114.155, 3120.116, 3131.044, 3137.997, 3146.938, 3154.886, 3161.84, 3169.787, 3174.754, 3180.715, 3188.663, 3193.629, 3200.583, 3211.512, 3217.472, 3225.419, 3232.373, 3244.295, 3247.275, 3257.209, 3268.137, 3279.065, 3293.966, 3299.927, 3310.855, 3317.808, 3324.763, 3335.691, 3346.619, 3358.54, 3368.474, 3378.408, 3383.375, 3394.303, 3402.251, 3412.186, 3418.146, 3431.03, 3437.985, 3448.915, 3459.844, 3466.8, 3476.736, 3486.672, 3494.621, 3505.55, 3518.468, 3523.435, 3535.36, 3544.302, 3557.219, 3564.174, 3573.117, 3583.052, 3591.002, 3600.938, 3610.874, 3620.81, 3627.765, 3639.688, 3648.631, 3656.58, 3668.503, 3676.452, 3686.388, 3697.317, 3707.254, 3717.189, 3723.151, 3735.074, 3740.043, 3750.686, 3764.617, 3773.575, 3783.527, 3793.479, 3799.45, 3810.397, 3817.362, 3828.31, 3838.261, 3848.213, 3854.184, 3870.107, 3878.07, 3889.017, 3895.982, 3903.944, 3913.896, 3922.852, 3931.81, 3944.747, 3950.718, 3958.679, 3971.617, 3978.584, 3990.525, 3998.487, 4006.448, 4015.406, 4026.353, 4032.323, 4046.256, 4056.208, 4064.169, 4074.121, 4080.93, 4090.89, 4096.867, 4107.824, 4117.785, 4131.729, 4138.701, 4145.674, 4155.635, 4165.596, 4173.563, 4181.532, 4191.493, 4200.457, 4211.414, 4221.375, 4227.35, 4238.307, 4247.272, 4255.241, 4268.19, 4274.166, 4286.118, 4293.091, 4301.059, 4313.012, 4322.973, 4334.925, 4340.901, 4353.851, 4360.823, 4371.78, 4380.743, 4386.72, 4398.673, 4407.27, 4414.257, 4425.236, 4435.217, 4448.191, 4457.175, 4466.157, 4479.133, 4487.119, 4492.107, 4502.089, 4509.075, 4520.056, 4532.033, 4538.021, 4549.997, 4557.982, 4566.964, 4575.949, 4584.932, 4594.911, 4599.902, 4610.881, 4621.861, 4634.837, 4640.825, 4647.811, 4656.795, 4670.766, 4679.75, 4688.733, 4699.712, 4705.701, 4714.683, 4724.665, 4737.121, 4743.094, 4752.052, 4762.006, 4771.961, 4785.897, 4791.871, 4796.847, 4807.796, 4816.756, 4827.705, 4835.668, 4845.623, 4857.566, 4870.508, 4874.489, 4883.447, 4893.401, 4899.375, 4910.324, 4920.279, 4930.231, 4941.18, 4950.14, 4962.084, 4967.062, 4976.02, 4984.98, 4992.943, 5002.897, 5010.86, 5023.801, 5033.753, 5041.716, 5050.676, 5054.817, 5065.873, 5077.937, 5088.995, 5096.03, 5104.073, 5115.129, 5122.167, 5132.218, 5140.258, 5149.305, 5159.356, 5169.411, 5178.458, 5189.514, 5199.565, 5210.625, 5216.655, 5229.723, 5233.744, 5243.796, 5251.838, 5259.878, 5275.962, 5280.988, 5291.04, 5296.066, 5309.134, 5317.176, 5327.228, 5338.287, 5345.322, 5355.374, 5364.42, 5373.467, 5379.498, 5388.43, 5397.482, 5409.553, 5417.601, 5426.652, 5437.716, 5445.764, 5456.827, 5465.879, 5471.915, 5483.985, 5492.03, 5501.084, 5511.144, 5519.191, 5528.243, 5542.323, 5549.366, 5554.394, 5562.441, 5570.489, 5580.545, 5590.604, 5601.668, 5612.734, 5618.768, 5628.827, 5636.874, 5644.921, 5649.949, 5666.042, 5672.079, 5681.131, 5693.2, 5701.247, 5706.278, 5719.891, 5726.95, 5739.054, 5745.104, 5754.181, 5763.255, 5769.308, 5779.392, 5790.485, 5798.553, 5808.639, 5817.716, 5827.8, 5837.884, 5845.951, 5856.038, 5868.138, 5874.191, 5885.282, 5896.378, 5902.429, 5910.496, 5918.563, 5926.63, 5940.75, 5946.801, 5955.877, 5965.964, 5978.064, 5988.148, 5994.199, 6004.285, 6012.353, 6024.453, 6031.513, 6040.854, 6048.953, 6060.091, 6068.193, 6078.317, 6086.419, 6098.57, 6105.657, 6118.822, 6123.885, 6134.009, 6145.147, 6150.21, 6163.373, 6172.487, 6178.56, 6187.674, 6196.788, 6205.9, 6212.987, 6227.165, 6235.264, 6245.39, 6252.478, 6258.553, 6268.679, 6281.842, 6289.943, 6303.106, 6309.182, 6317.281, 6327.407, 6336.521, 6346.647, 6356.771, 6365.885, 6374.704, 6381.761, 6390.838, 6400.924, 6412.018, 6419.078, 6429.162, 6439.249, 6449.333, 6453.366, 6464.459, 6473.536, 6482.613, 6496.733, 6505.808, 6514.887, 6518.92, 6531.023, 6536.064, 6542.115, 6552.201, 6562.285, 6571.362, 6581.448, 6590.522, 6599.6, 6607.669, 6616.746, 6626.83, 6635.907, 6645.993, 6654.06, 6661.12, 6672.214, 6680.281, 6689.358, 6696.418, 6708.63, 6715.686, 6726.774, 6734.836, 6744.916, 6749.954, 6762.047, 6771.119, 6783.214, 6794.301, 6799.339, 6811.432, 6823.528, 6831.59, 6840.662, 6847.717, 6857.793, 6863.841, 6876.944, 6886.014, 6896.093, 6903.147, 6914.234, 6927.337, 6929.354, 6943.463, 6952.533, 6964.626, 6972.691, 6980.753, 6990.832, 6995.87, 7006.957, 7018.042, 7029.131, 7036.654, 7046.706, 7057.762, 7067.813, 7078.87, 7085.905, 7095.957, 7100.982, 7113.043, 7118.069, 7127.116, 7142.193, 7154.254, 7163.299, 7172.346, 7177.372, 7189.433, 7195.463, 7205.515, 7214.562, 7219.587, 7231.648, 7242.705, 7251.751, 7257.782, 7267.834, 7277.885, 7284.92, 7293.968, 7305.024, 7314.071, 7325.127, 7331.155, 7340.202, 7349.249, 7354.275, 7367.803, 7377.827, 7386.85, 7393.865, 7402.887, 7414.916, 7421.933, 7431.955, 7443.986, 7451.001, 7457.017, 7469.043, 7477.063, 7488.089, 7499.116, 7507.136, 7512.146, 7522.171, 7527.184, 7540.215, 7552.241, 7561.263, 7570.285, 7577.303, 7587.325, 7596.347, 7605.369, 7614.391, 7626.42, 7634.44, 7643.459, 7651.479, 7662.506, 7670.523, 7678.543, 7690.572, 7699.977, 7706.977, 7716.977, 7727.978, 7734.979, 7743.978, 7753.98, 7763.979, 7773.981, 7781.981, 7795.982, 7802.982, 7808.983, 7820.984, 7828.984, 7838.984, 7847.986, 7856.985, 7870.986, 7881.985, 7888.988, 7896.988, 7906.988, 7915.99, 7924.987, 7932.99, 7941.989, 7951.991, 7962.99, 7971.993, 7979.993, 7989.992, 7997.994, 8010.993, 8018.993, 8029.413, 8039.387, 8044.375, 8053.353, 8062.33, 8070.311, 8081.282, 8090.259, 8100.234, 8108.214, 8119.186, 8128.163, 8141.132, 8147.115, 8156.095, 8163.075, 8176.044, 8183.024, 8191.004, 8204.971, 8211.953, 8221.928, 8231.902, 8234.894, 8249.857, 8256.84, 8264.82, 8275.792, 8282.774, 8294.744, 8303.721, 8311.701, 8320.679, 8331.65, 8339.631, 8347.61, 8356.66, 8365.635, 8374.607, 8385.576, 8392.555, 8403.521, 8414.488, 8420.471, 8432.436, 8442.404, 8451.38, 8461.349, 8466.335, 8479.296, 8485.277, 8496.246, 8506.216, 8519.177, 8523.166, 8536.127, 8544.104, 8553.077, 8561.055, 8573.019, 8581.991, 8590.966, 8597.943, 8608.91, 8619.877, 8627.855, 8638.822, 8646.8, 8655.771, 8666.741, 8675.674, 8683.653, 8693.626, 8702.601, 8708.584, 8721.548, 8730.524, 8738.503, 8747.478, 8756.452, 8765.43, 8777.396, 8787.368, 8793.352, 8804.323, 8813.295, 8821.275, 8831.248, 8842.217, 8849.2, 8856.181, 8868.146, 8878.119, 8886.099, 8894.076, 8903.052, 8913.023, 8921.998, 8933.965, 8937.956, 8951.917, 8960.892, 8971.863, 8977.847, 8984.827, 8994.799, 9003.242, 9011.244, 9023.251, 9032.253, 9037.256, 9047.258, 9058.262, 9067.267, 9075.27, 9087.273, 9094.276, 9103.28, 9111.283, 9121.285, 9132.292, 9141.294, 9148.297, 9157.299, 9163.302, 9176.308, 9187.31, 9194.312, 9203.317, 9216.32, 9224.323, 9232.328, 9240.33, 9248.333, 9259.337, 9269.342, 9281.345, 9290.348, 9300.352, 9306.354, 9312.355, 9322.36, 9333.503, 9342.553, 9353.614, 9360.651, 9368.696, 9378.751, 9392.828, 9398.861, 9402.883, 9414.948, 9422.993, 9433.047, 9442.097, 9453.155, 9462.205, 9470.25, 9479.299, 9486.337, 9498.402, 9510.469, 9516.502, 9527.562, 9533.596, 9539.629, 9552.699, 9562.754, 9571.803, 9576.831, 9590.906, 9600.963, 9609.006, 9619.062, 9629.116, 9637.161, 9642.187, 9656.265, 9661.348, 9672.469, 9681.57, 9690.669, 9698.759, 9706.849, 9714.938, 9727.071, 9740.216, 9744.263, 9752.352, 9763.473, 9776.62, 9781.674, 9788.754, 9799.877, 9808.977, 9819.088, 9829.199, 9833.245, 9845.378, 9853.468, 9865.601, 9872.681, 9881.779, 9890.881, 9896.946, 9910.092, 9918.182, 9925.261, 9937.395, 9947.506, 9955.595, 9964.697, 9973.796, 9979.864, 9989.147, 9998.293, 10010.486, 10018.615, 10026.742, 10034.874, 10045.035, 10055.196, 10064.343, 10076.535, 10082.631, 10088.729, 10101.938, 10107.021, 10119.214, 10128.357, 10137.504, 10148.683, 10159.858, 10166.973, 10175.103, 10186.28, 10195.424, 10204.568, 10212.7, 10219.812, 10233.022, 10243.184, 10252.329, 10263.505, 10271.637, 10282.812, 10291.959, 10297.04, 10306.184, 10317.361, 10325.175, 10336.376, 10347.574, 10356.737, 10365.901, 10374.046, 10381.173, 10386.264, 10402.555, 10411.718, 10416.809, 10429.026, 10438.19, 10445.317, 10455.498, 10464.662, 10476.88, 10481.971, 10496.225, 10501.315, 10506.405, 10519.643, 10526.77, 10535.934, 10546.114, 10556.296, 10567.496, 10577.677, 10587.858, 10596.005, 10606.186, 10614.33, 10622.475, 10633.675, 10641.821, 10652.002, 10664.038, 10668.117, 10679.33, 10689.523, 10697.678, 10706.852, 10715.008, 10722.145, 10735.395, 10743.552, 10754.765, 10765.978, 10774.134, 10781.269, 10788.403, 10800.636, 10807.771, 10816.946, 10830.196, 10836.313, 10846.51, 10856.703, 10861.799, 10870.975, 10879.129, 10889.322, 10899.519, 10908.692, 10918.886, 10929.079, 10932.135, 10945.39, 10953.544, 10964.757, 10973.933, 10982.085, 10991.649, 11002.835, 11011.986, 11017.069, 11028.255, 11037.403, 11046.555, 11054.689, 11065.872, 11074.007, 11084.173, 11092.31, 11101.458, 11110.609, 11119.759, 11127.896, 11139.079, 11148.228, 11156.364, 11167.545, 11170.597, 11182.799, 11190.931, 11205.165, 11211.268, 11223.468, 11233.634, 11240.751, 11250.92, 11260.068, 11268.206, 11277.354, 11287.523, 11295.657, 11305.823, 11311.924, 11326.541, 11333.638, 11342.765, 11351.892, 11360.003, 11370.145, 11378.256, 11392.451, 11398.536, 11406.648, 11413.745, 11425.913, 11435.04, 11444.166, 11450.252, 11460.39, 11466.476, 11479.658, 11489.799, 11500.955, 11508.052, 11518.193, 11526.305, 11534.417, 11540.5, 11551.655, 11560.779, 11574.977, 11577.006, 11584.104, 11596.271, 11604.386, 11613.51, 11622.636, 11628.722, 11641.901, 11652.043, 11655.663, 11666.774, 11677.88, 11686.972, 11694.039, 11704.139, 11711.208, 11724.336, 11732.416, 11741.503, 11749.582, 11758.671, 11768.771, 11777.859, 11788.968, 11795.028, 11805.125, 11814.214, 11821.284, 11833.402, 11843.501, 11851.578, 11863.698, 11871.775, 11878.849, 11887.935, 11898.036, 11908.133, 11917.225, 11927.321, 11936.407, 11947.519, 11952.566, 11961.656, 11970.745, 11981.854, 11992.532, 11999.569, 12009.624, 12018.673, 12025.711, 12032.751, 12042.803, 12053.864, 12063.918, 12075.984, 12085.033, 12090.062, 12098.104, 12103.133, 12113.187, 12126.257, 12135.307, 12145.363, 12155.415, 12160.443
  // T-0.025 -> T0.025
  //11446.195, 11440.113, 11429.972, 11424.901, 11416.787, 11406.648, 11401.577, 11394.48, 11385.354, 11378.256, 11375.212, 11369.13, 11362.032, 11358.988, 11349.862, 11343.779, 11338.709, 11330.595, 11325.526, 11318.026, 11314.975, 11307.857, 11299.724, 11290.572, 11287.523, 11278.372, 11269.22, 11269.22, 11261.088, 11256.005, 11247.868, 11242.785, 11233.634, 11229.568, 11224.482, 11217.368, 11212.282, 11207.199, 11202.116, 11194.999, 11190.931, 11185.848, 11179.748, 11173.647, 11169.579, 11163.479, 11156.364, 11153.311, 11145.179, 11142.128, 11137.045, 11130.944, 11124.842, 11122.812, 11116.71, 11109.593, 11107.559, 11101.458, 11093.324, 11092.31, 11087.224, 11083.158, 11083.158, 11071.973, 11070.958, 11061.807, 11058.755, 11052.655, 11049.606, 11046.555, 11043.504, 11035.369, 11034.353, 11025.203, 11023.169, 11019.104, 11014.021, 11013.001, 11006.9, 11003.852, 10996.734, 10994.7, 10988.601, 10984.126, 10983.106, 10974.953, 10972.913, 10968.835, 10964.757, 10963.737, 10960.679, 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14200.739, 14209.781, 14219.833, 14223.852, 14234.906, 14238.927, 14253.997, 14258.016, 14268.067, 14271.081, 14281.131, 14289.17, 14297.62, 14305.633, 14316.649, 14322.657, 14327.666, 14335.676, 14344.69, 14351.698, 14359.711, 14369.728, 14375.735, 14381.744, 14393.763, 14399.771, 14408.782, 14415.793, 14422.806, 14428.813, 14441.832, 14444.836, 14452.846, 14464.865, 14474.879, 14481.892, 14484.896, 14495.912, 14501.921, 14508.929, 14518.945, 14523.953, 14532.966, 14540.979, 14548.988, 14560.005, 14564.011, 14574.025, 14577.029, 14590.048, 14594.054, 14605.07, 14610.076, 14619.623, 14625.608, 14636.575, 14643.559, 14650.536, 14657.52, 14664.5, 14675.469, 14680.458, 14689.43, 14696.413, 14704.391, 14712.368, 14721.346, 14729.323, 14739.295, 14741.29, 14749.268, 14759.239, 14767.217, 14777.188, 14781.178, 14788.161, 14800.127, 14811.097, 14817.082, 14822.065, 14828.049, 14838.021, 14845.004, 14854.976, 14863.951, 14868.937, 14875.92, 14884.893, 14893.869, 14899.853, 14907.83, 14916.805, 14921.791, 14930.769, 14939.741, 14949.395, 14954.354, 14965.263, 14968.239, 14978.157, 14984.11, 14996.012, 14997.994, 15011.88, 15016.839, 15022.79, 15031.718, 15040.646, 15043.619, 15056.514, 15062.464, 15071.392, 15080.317, 15084.283, 15093.211, 15099.164, 15109.082, 15120.983, 15125.942, 15134.87, 15137.844, 15147.762, 15152.723, 15162.64, 15171.567, 15180.492, 15188.428, 15194.379, 15202.314, 15207.275, 15216.2, 15225.126, 15234.053, 15241.986, 15245.955, 15252.898, 15265.792, 15268.769, 15278.281, 15288.151, 15295.062, 15302.957, 15309.868, 15314.805, 15325.662, 15330.598, 15340.468, 15347.382, 15354.29, 15365.147, 15373.045, 15376.994, 15386.864, 15394.76, 15399.698, 15411.543, 15416.479, 15423.388, 15431.286, 15439.184, 15447.079, 15455.965, 15462.873, 15471.756, 15482.618, 15489.526, 15494.461, 15501.371, 15505.317, 15515.19, 15527.037, 15532.959, 15541.844, 15546.777, 15551.717, 15561.584, 15570.472, 15579.354, 15588.237, 15586.263
};

float time[];
float meas[][];
float modl[][];
float rand[][];
float nois[][];
float regr[][];
float coef[][];
float rslt[][];
float filt[][];
float diff[];
float zoom[];
float bias;

Matrix Xinv_cube;
Matrix Xinv_quad;
double xi_cube[][];
double xi_quad[][];

void compute_once() {
  if (use_cubic_regression) {
    regression_samples = (int)((float)regression_samples * cubic_multiplier);
    println(regression_samples);
  }
  if(regression_window != 0.0) {
    regression_samples = (int)(round(regression_window / dt));
  }
  inspection_point = regression_samples;
  if (num_references == 0) {
    num_references = reading.length;
  }
  regression_window = regression_samples * dt;
  //check_integer_stability_of_regression_calculation();
  xi_cube = new double[3][regression_samples];
  xi_quad = new double[2][regression_samples];
  compute_regression_matrix_cubic(int(round(1.0/dt)), regression_samples);
  compute_regression_matrix_quadratic(int(round(1.0/dt)), regression_samples);
  time = new float[num_references];
  meas = new float[4][num_references];
  modl = new float[6][num_references];
  nois = new float[4][num_references];
  regr = new float[4][num_references];
  coef = new float[4][num_references];
  rslt = new float[4][num_references];
  filt = new float[4][num_references];
  diff = new float[num_references];
  zoom = new float[2];
  rand = new float[4][num_references];
  for (int i=0; i < num_references; i++) {
    rand[0][i] = randomGaussian();
    rand[1][i] = randomGaussian();
    rand[2][i] = randomGaussian();
  }
}


void compute_samples() {
  for (int i=0; i < num_references; i++) {
    time[i] = i * dt;
    compute_measured_sample(i);
    compute_model_sample(i);
    compute_noise_sample(i);
    if (use_measurement) {
      compute_filter_sample(i, meas);
      if (use_cubic_regression) {
        compute_cubic_regression(i, regression_samples, meas);
      } else {
        compute_quadratic_regression(i, regression_samples, meas);
      }
      compute_zoom(meas);
      compute_result(i, meas);
      compute_diff(i, 0, meas, regr);
    } else {
      compute_filter_sample(i, nois);
      if (use_cubic_regression) {
        compute_cubic_regression(i, regression_samples, nois);
      } else {
        compute_quadratic_regression(i, regression_samples, nois);
      }
      compute_zoom(nois);
      compute_result(i, nois);
      compute_diff(i, 0, modl, regr);
    }
  }
}


void compute_measured_sample(int i) {
  bias = reading[0];
  meas[0][i] = (reading[i] - bias)/pow(2, 14)*2.0*PI;
  meas[1][i] = 0;
  meas[2][i] = 0;
}


void compute_model_sample(int i) {
  if (i == 0) {
    modl[0][i] = p0;
    modl[1][i] = v0;
    modl[2][i] = a0;    
    modl[3][i] = j0;    
    modl[4][i] = s0;    
    modl[5][i] = c0;
  } else {
    int k = 0;
    while(i * dt >= target[0][k]) k++;
    double t = target[0][k] - time[i];
    double pt = target[1][k];
    double vt = target[2][k];
    double at = target[3][k];
    double p = modl[0][i-1];
    double v = modl[1][i-1];
    double a = modl[2][i-1];
    double c = -60 * ( 12*(p-pt) + 6*(v+vt)*t + (a-at)*t*t ) / (t*t*t*t*t);
    double s = 12 * ( 30*(p-pt) + 2*(8*v+7*vt)*t + (3*a-2*at)*t*t ) / (t*t*t*t);
    double j = -3 * ( 20*(p-pt) + 4*(3*v+2*vt)*t + (3*a-at)*t*t ) / (t*t*t);

    double dt2 = dt*dt;
    double dt3 = dt2*dt;
    double dt4 = dt3*dt;
    double dt5 = dt4*dt;

    double c1 = c;
    double s1 = s + c*dt;
    double j1 = j + s*dt + c/2.0*dt2;
    double a1 = a + j*dt + s/2.0*dt2 + c/6.0*dt3 + an * rand[2][i];
    double v1 = v + a*dt + j/2.0*dt2 + s/6.0*dt3 + c/24.0*dt4;
    double p1 = p + v*dt + a/2.0*dt2 + j/6.0*dt3 + s/24.0*dt4 + c/120*dt5;  

    modl[0][i] = (float)p1;
    modl[1][i] = (float)v1;
    modl[2][i] = (float)a1;
    modl[3][i] = (float)j1;
    modl[4][i] = (float)s1;
    modl[5][i] = (float)c1;
  }
}


void compute_noise_sample(int i) {
  int pr = (int)(modl[0][i] / 2 / PI * pow(2, 14));
  int pnr = (int)(pn * rand[0][i] / 2 / PI * pow(2, 14));
  nois[0][i] = (float)((pr + pnr)/pow(2, 14)*2*PI);
  //nois[0][i] = modl[0][i] + pn * rand[0][i];
  nois[1][i] = modl[1][i] + vn * rand[1][i];
  nois[2][i] = modl[2][i];
  ;
}


void compute_filter_sample(int j, float data[][]) {
  filt[0][j] = 0.0;
  filt[1][j] = 0.0;  
  filt[2][j] = 0.0; 
  if (average_samples != 0) {
    int nums = average_samples+1;
    if (j < nums) nums = j + 1;
    int k = j - (nums - 1);
    //float pf = 0.0;
    float vf = 0.0;
    float af = 0.0;
    for (int i = 1; i < nums; i++) {
      //pf += data[0][i+k];
      vf += data[0][i+k] - data[0][i+k-1];
    }
    //filt[0][j] = pf / filter_samples;
    filt[0][j] = data[0][j];
    filt[1][j] = vf / average_samples / dt;
    for (int i = 1; i < nums; i++) {
      af += filt[1][i+k] - filt[1][i+k-1];
    }
    filt[2][j] = af / average_samples / dt;
    if (j > 0) {
      filt[1][j] = (1.0 - vm)*filt[1][j-1] + vm*filt[1][j];
      filt[2][j] = (1.0 - am)*filt[2][j-1] + am*filt[2][j];
    }
  }
  else {
    if (j > 0) {
      filt[0][j] = (1.0 - pm)*filt[0][j-1] + pm*(data[0][j]);
      //filt[1][j] = (1.0 - vm)*filt[1][j-1] + vm*(data[0][j] - data[0][j-1])/dt;
      filt[1][j] = (1.0 - vm)*filt[1][j-1] + vm*(filt[0][j] - filt[0][j-1])/dt;
      filt[2][j] = (1.0 - am)*filt[2][j-1] + am*(filt[1][j] - filt[1][j-1])/dt;
    }
  }
}


void compute_diff(int i, int k, float d1[][], float d2[][]) {
  diff[i] = (d1[k][i]-d2[k][i]);
}


void compute_zoom(float data[][]) {
  int ip = inspection_point;
  int rs = regression_samples;
  float min = 2.0*PI;
  float max = 0.0;
  for (int i = ip-rs; i < ip; i++) {
    if (i < 0) continue;
    if (data[0][i] < min) min = data[0][i];
    if (data[0][i] > max) max = data[0][i];
  }
  zoom[0] = min;
  zoom[1] = max;
}


void compute_quadratic_regression(int j, int rs, float data[][]) {
  if (j < rs) return;
  //double n, x1, x2, x3, x4; 
  double y1, xy, x2y;
  double x, y, a, b, c;

  //int k = j - (rs - 1);
  int k = j - rs;
  //x = 0;
  //x1 = 0;
  //x2 = 0;
  //x3 = 0;
  //x4 = 0;
  y1 = 0;
  xy = 0;
  x2y = 0;
  for (int i=0; i<rs; i++) { 
    //x += dt;
    //y = data[0][i+k];
    //x1 += x;
    //x2 += x * x;
    //x3 += x * x * x;
    //x4 += x * x * x * x;
    //y1 += y;
    //xy += x * y;
    //x2y+= x * x * y;
    y = data[0][i+k];
    y1  += y;
    xy  += y*xi_quad[0][i];
    x2y += y*xi_quad[1][i];
  }
  //n = rs;

  //double q[][] = {{n, x1, x2}, {x1, x2, x3}, {x2, x3, x4}};
  double r[][] = {{y1}, {xy}, {x2y}};

  //Matrix X = new Matrix(3, 3, q);
  Matrix Y = new Matrix(3, 1, r);
  //Matrix Xi;
  //try {
  //  Xi = Matrix3x3Inversion(X);
  //} 
  //catch(NullPointerException e) {
  //  println("3x3 Inversion error");
  //  return;
  //}
  Matrix C = MatrixMultiply(Xinv_quad, Y, 3, 3, 1);
  a = C.matrix[2][0];
  b = C.matrix[1][0];
  c = C.matrix[0][0];


  coef[2][j] = (float)a*2.0;
  coef[1][j] = (float)b;
  coef[0][j] = (float)c;

  //float t = (float)rs * dt;
  //// a*x^2 + b*x + c = acc/2*t^2 + vel*t + pos
  //regr[2][j] = (float)a * 2.0;
  //regr[1][j] = (float)a * 2.0*t + (float)b;
  //regr[0][j] = (float)a * t*t + (float)b*t + (float)c;
  regr[2][j] = (float)a * 2.0;
  regr[1][j] = (float)b;
  regr[0][j] = (float)c;
}


void compute_cubic_regression(int j, int rs, float data[][]) {
  if (j < rs) return;
  //double n, x1, x2, x3, x4, x5, x6;
  double y1, xy, x2y, x3y;
  double x, y, a, b, c, d;

  //int k = j - (nump - 1);
  int k = j - rs;
  //x = 0;
  ////n = 0;
  //x1 = 0;
  //x2 = 0;
  //x3 = 0;
  //x4 = 0;
  //x5 = 0;
  //x6 = 0;
  y1 = 0;
  xy = 0;
  x2y = 0;
  x3y = 0;
  for (int i=0; i<rs; i++) { 
    ////x = time[i+k];
    //x += dt;
    //y = data[0][i+k];
    ////n  += 1.0; // x^0+y^0
    //x1 += x;
    //x2 += x * x;
    //x3 += x * x * x;
    //x4 += x * x * x * x;
    //x5 += x * x * x * x * x;
    //x6 += x * x * x * x * x * x;
    //y1 += y;
    //xy += x * y;
    //x2y+= x * x * y;
    //x3y+= x * x * x * y;
    
    y = data[0][i+k];
    y1  += y;
    xy  += y*xi_cube[0][i];
    x2y += y*xi_cube[1][i];
    x3y += y*xi_cube[2][i];
  }
  //n = nump;

  //double q[][] = {{n, x1, x2, x3}, {x1, x2, x3, x4}, {x2, x3, x4, x5}, {x3, x4, x5, x6}};
  double r[][] = {{y1}, {xy}, {x2y}, {x3y}};

  //Matrix X = new Matrix(4, 4, q);
  Matrix Y = new Matrix(4, 1, r);
  //Matrix Xi;
  //try {
  //  Xi = Matrix4x4Inversion(X);
  //} 
  //catch(NullPointerException e) {
  //  println("4x4 Inversion error");
  //  return;
  //}
  //Matrix C = MatrixMultiply(Xi, Y, 4, 4, 1);
  Matrix C = MatrixMultiply(Xinv_cube, Y, 4, 4, 1);
  a = C.matrix[3][0];
  b = C.matrix[2][0];
  c = C.matrix[1][0];
  d = C.matrix[0][0];

  // a*x^3 + b^2*x + c*x + d= jrk/6*t^3 + acc/2*t^2 + vel*t + pos

  coef[3][j] = (float)a*6.0;
  coef[2][j] = (float)b*2.0;
  coef[1][j] = (float)c;
  coef[0][j] = (float)d;

  //float t = (float)rs * dt;
  //regr[3][j] = (float)(a*6.0);
  //regr[2][j] = (float)(a*6.0*t + b*2.0);
  //regr[1][j] = (float)(a*3.0*t*t + b*2.0*t + c);
  //regr[0][j] = (float)(a*1.0*t*t*t + b*t*t + c*t + d);
  regr[3][j] = (float)(a*6.0);
  regr[2][j] = (float)(b*2.0);
  regr[1][j] = (float)(c);
  regr[0][j] = (float)(d);
}


void compute_result(int j, float data[][]) {
  if (j <= regression_samples ) {
    rslt[2][j] = data[2][j];
    rslt[1][j] = data[1][j];
    rslt[0][j] = data[0][j];
    return;
  }
  double a0 = regr[2][j-1];
  double v0 = rslt[1][j-1];
  double p0 = rslt[0][j-1];

  rslt[2][j] = (float)                        (a0);
  rslt[1][j] = (float)                (a0*dt + v0);
  rslt[0][j] = (float) (0.5*a0*dt*dt + v0*dt + p0);
}