Example NewCollege

Output of MATLAB for Precision/Recall:

--- getPrecisionRecall ---
Loading GroundTruth '../../bin/NewCollege.png' ...

GT_total_positives =

   535

Recall max (Precision=100%) = 89.1589% (p=0.1105), accepted=477
Recall max accepted (Precision=100%) = 89.1589% (p=0.1105), accepted=477
ignored = 0

Output of rtabmap-console:

./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 1400 NewCollege

Deleted database "rtabmapconsole.db".
Avpd init time = 0.061481s

Parameters : 
 Data set : NewCollege
 Time threshold = 1400.00 ms
 Image rate = 0.00 s (inf Hz)
 Repeating data set = false
 Camera width=0, height=0 (0 is default)
 Camera starts at image 1 (default 1)
 INFO: All other parameters are set to defaults
   Overwritten parameters :
    Bayes/FullPredictionUpdate=true
    Kp/BadSignRatio=0.25
    Kp/TfIdfLikelihoodUsed=false
    Kp/WordsPerImage=400
    Mem/BadSignaturesIgnored=true
    Mem/RecentWmRatio=0.2
    Mem/RehearsalIdUpdatedToNewOne=true
    Mem/RehearsalSimilarity=0.2
    Mem/STMSize=30
    RGBD/Enabled=false
    Rtabmap/LoopRatio=0.0
    Rtabmap/PublishStats=false
    Rtabmap/StatisticLogged=true
    Rtabmap/StatisticLoggedHeaders=false
    Rtabmap/TimeThr=1400
    SURF/Extended=false
    SURF/HessianThreshold=1000

Processing images...
 iteration(1) time=0.179077s/0.190722s
 iteration(2) time=0.183709s/0.195540s
 iteration(3) time=0.183424s/0.199591s
 iteration(4) time=0.187633s/0.201803s
 iteration(5) time=0.176686s/0.188335s
 iteration(6) time=0.187116s/0.199013s
 iteration(7) time=0.172156s/0.183802s
 iteration(8) time=0.173225s/0.185078s
 iteration(9) time=0.173661s/0.185514s
 iteration(10) time=0.173327s/0.184121s
 iteration(11) time=0.168245s/0.181864s
 iteration(12) time=0.169945s/0.181248s
 iteration(13) time=0.185944s/0.197390s
 iteration(14) time=0.187175s/0.198984s
 iteration(15) time=0.198374s/0.210045s
 iteration(16) time=0.194840s/0.208300s
 iteration(17) time=0.173348s/0.184399s
 iteration(18) time=0.178606s/0.191099s
 iteration(19) time=0.172848s/0.184332s
 iteration(20) time=0.184903s/0.196483s
 iteration(21) time=0.184753s/0.196190s
 iteration(22) time=0.186756s/0.202461s
 iteration(23) time=0.183559s/0.195546s
 iteration(24) time=0.184997s/0.199597s
 iteration(25) time=0.181040s/0.192861s
 iteration(26) time=0.190531s/0.203210s
 iteration(27) time=0.213335s/0.225013s
 iteration(28) time=0.198741s/0.211399s
 iteration(29) time=0.206366s/0.218836s
 iteration(30) time=0.199057s/0.215297s
 iteration(31) high(1) hyp(0.05) time=0.216775s/0.229576s
 iteration(32) high(1) hyp(0.08) time=0.192319s/0.205112s
 iteration(33) high(1) hyp(0.08) time=0.198386s/0.210849s
 iteration(34) high(2) hyp(0.09) time=0.216499s/0.229874s
 iteration(35) high(2) hyp(0.09) time=0.237512s/0.249987s
 iteration(36) high(2) hyp(0.07) time=0.208763s/0.221015s
 iteration(37) high(2) hyp(0.06) time=0.182872s/0.199345s
 iteration(38) high(7) hyp(0.05) time=0.178165s/0.192375s
 iteration(39) high(3) hyp(0.08) time=0.197784s/0.212336s
 iteration(40) high(9) hyp(0.06) time=0.197664s/0.215840s
 iteration(41) high(6) hyp(0.05) time=0.204328s/0.221225s
 iteration(42) high(6) hyp(0.05) time=0.202302s/0.215741s
 iteration(43) high(7) hyp(0.06) time=0.214839s/0.230975s
 iteration(44) high(6) hyp(0.07) time=0.217348s/0.231028s
 iteration(45) high(15) hyp(0.07) time=0.208598s/0.222195s
 iteration(46) high(16) hyp(0.08) time=0.205973s/0.218786s
 iteration(47) high(17) hyp(0.08) time=0.209504s/0.225463s
 iteration(48) high(15) hyp(0.06) time=0.221636s/0.233735s
 iteration(49) high(7) hyp(0.06) time=0.206654s/0.217845s
 iteration(50) high(16) hyp(0.07) time=0.211513s/0.223424s
 iteration(51) high(13) hyp(0.05) time=0.205412s/0.216978s
 iteration(52) high(18) hyp(0.06) time=0.196759s/0.208481s
 iteration(53) high(14) hyp(0.07) time=0.197857s/0.209280s
 iteration(54) high(15) hyp(0.07) time=0.204526s/0.215578s
 iteration(55) high(16) hyp(0.06) time=0.231844s/0.246304s
 iteration(56) high(10) hyp(0.06) time=0.201874s/0.212928s
 iteration(57) high(20) hyp(0.05) time=0.195979s/0.206969s
 iteration(58) high(11) hyp(0.07) time=0.196202s/0.207299s
 iteration(59) high(12) hyp(0.06) time=0.198512s/0.210048s
 iteration(60) high(13) hyp(0.06) time=0.201506s/0.213078s
 iteration(61) high(14) hyp(0.07) time=0.213049s/0.224659s
 iteration(62) high(22) hyp(0.07) time=0.214861s/0.228497s
 iteration(63) high(16) hyp(0.07) time=0.226671s/0.240661s
 iteration(64) high(30) hyp(0.08) time=0.222250s/0.237585s
 iteration(65) high(20) hyp(0.07) time=0.230203s/0.242035s
 iteration(66) high(28) hyp(0.07) time=0.225023s/0.236373s
 iteration(67) high(34) hyp(0.07) time=0.231021s/0.242990s
 iteration(68) high(27) hyp(0.07) time=0.233357s/0.244839s
 iteration(69) high(27) hyp(0.07) time=0.216710s/0.232268s
 iteration(70) high(27) hyp(0.09) time=0.227683s/0.239437s
 iteration(71) high(26) hyp(0.08) time=0.225602s/0.237323s
 iteration(72) high(24) hyp(0.06) time=0.228712s/0.240779s
 iteration(73) high(30) hyp(0.06) time=0.232846s/0.245489s
 iteration(74) high(29) hyp(0.06) time=0.234067s/0.246055s
 iteration(75) high(43) hyp(0.08) time=0.249450s/0.265084s
 iteration(76) high(31) hyp(0.07) time=0.244099s/0.255861s
 iteration(77) high(43) hyp(0.08) time=0.232314s/0.244249s
 iteration(78) high(33) hyp(0.08) time=0.235100s/0.246437s
 iteration(79) high(32) hyp(0.08) time=0.227715s/0.239462s
 iteration(80) high(45) hyp(0.07) time=0.245177s/0.257776s
 iteration(81) high(42) hyp(0.07) time=0.227978s/0.239206s
 iteration(82) high(20) hyp(0.07) time=0.241179s/0.254975s
 iteration(83) high(19) hyp(0.07) time=0.235876s/0.252798s
 iteration(84) high(28) hyp(0.07) time=0.241647s/0.252649s
 iteration(85) high(38) hyp(0.07) time=0.235786s/0.247301s
 iteration(86) high(28) hyp(0.06) time=0.231471s/0.243134s
 iteration(87) high(25) hyp(0.06) time=0.245687s/0.256758s
 iteration(88) high(50) hyp(0.06) time=0.252777s/0.267351s
 iteration(89) high(21) hyp(0.06) time=0.251656s/0.262750s
 iteration(90) high(44) hyp(0.07) time=0.250622s/0.262553s
 iteration(91) high(24) hyp(0.06) time=0.259020s/0.270769s
 iteration(92) high(7) hyp(0.07) time=0.264361s/0.277155s
 iteration(93) high(6) hyp(0.07) time=0.266011s/0.277718s
 iteration(94) high(2) hyp(0.08) time=0.277367s/0.289861s
 iteration(95) high(2) hyp(0.10) time=0.264871s/0.276586s
 iteration(96) loop(2) hyp(0.13) time=0.263943s/0.275835s *
 iteration(97) loop(3) hyp(0.15) time=0.274031s/0.286488s *
 iteration(98) loop(4) hyp(0.20) time=0.280727s/0.298313s *
 iteration(99) loop(5) hyp(0.30) time=0.270682s/0.283177s *
 count = 100, loop closures = 5, max time (at 98) = 0.280727s
 WM(70)=[1,0;2,0;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;69,0;70,0]
 iteration(100) loop(6) hyp(0.49) time=0.273520s/0.285597s *
 iteration(101) loop(7) hyp(0.59) time=0.273282s/0.288841s *
 iteration(102) loop(8) hyp(0.76) time=0.283483s/0.296018s *
 iteration(103) loop(9) hyp(0.83) time=0.275968s/0.288043s *
 iteration(104) loop(10) hyp(0.87) time=0.273853s/0.287154s *
 iteration(105) loop(11) hyp(0.92) time=0.281614s/0.293603s *
 iteration(106) loop(12) hyp(0.95) time=0.278557s/0.293304s *
 iteration(107) loop(13) hyp(0.90) time=0.280063s/0.292249s *
 iteration(108) loop(14) hyp(0.90) time=0.290606s/0.307743s *
 iteration(109) loop(15) hyp(0.92) time=0.290848s/0.303682s *
 iteration(110) loop(16) hyp(0.93) time=0.280587s/0.295686s *
 iteration(111) loop(17) hyp(0.95) time=0.296384s/0.308131s *
 iteration(112) loop(18) hyp(0.96) time=0.289957s/0.307155s *
 iteration(113) loop(19) hyp(0.95) time=0.314444s/0.326975s *
 iteration(114) loop(20) hyp(0.95) time=0.284440s/0.299458s *
 iteration(115) loop(21) hyp(0.96) time=0.308661s/0.324672s *
 iteration(116) loop(22) hyp(0.95) time=0.301501s/0.313732s *
 iteration(117) loop(23) hyp(0.96) time=0.299452s/0.311704s *
 iteration(118) loop(24) hyp(0.95) time=0.295956s/0.307708s *
 iteration(119) loop(25) hyp(0.96) time=0.305815s/0.321670s *
 iteration(120) loop(26) hyp(0.96) time=0.301563s/0.315760s *
 iteration(121) loop(27) hyp(0.95) time=0.309511s/0.326647s *
 iteration(122) loop(28) hyp(0.95) time=0.314705s/0.331290s *
 iteration(123) loop(29) hyp(0.95) time=0.320855s/0.341174s *
 iteration(124) loop(30) hyp(0.94) time=0.359487s/0.376491s *
 iteration(125) loop(31) hyp(0.94) time=0.328274s/0.341007s *
 iteration(126) loop(32) hyp(0.95) time=0.318403s/0.337501s *
 iteration(127) loop(33) hyp(0.96) time=0.321695s/0.340257s *
 iteration(128) loop(34) hyp(0.96) time=0.323533s/0.341928s *
 iteration(129) loop(35) hyp(0.96) time=0.313458s/0.325857s *
 iteration(130) loop(36) hyp(0.96) time=0.317419s/0.335634s *
 iteration(131) loop(37) hyp(0.97) time=0.312034s/0.330875s *
 iteration(132) loop(38) hyp(0.97) time=0.310185s/0.328944s *
 iteration(133) loop(39) hyp(0.97) time=0.329756s/0.346701s *
 iteration(134) loop(40) hyp(0.96) time=0.323586s/0.342788s *
 iteration(135) loop(41) hyp(0.95) time=0.323145s/0.342817s *
 iteration(136) loop(42) hyp(0.95) time=0.330040s/0.348741s *
 iteration(137) loop(43) hyp(0.95) time=0.343465s/0.361867s *
 iteration(138) loop(44) hyp(0.96) time=0.347811s/0.361459s *
 iteration(139) loop(45) hyp(0.96) time=0.329762s/0.348964s *
 iteration(140) loop(46) hyp(0.97) time=0.334681s/0.352191s *
 iteration(141) loop(47) hyp(0.97) time=0.323343s/0.339701s *
 iteration(142) loop(48) hyp(0.97) time=0.345705s/0.359481s *
 iteration(143) loop(49) hyp(0.97) time=0.351751s/0.365099s *
 iteration(144) loop(50) hyp(0.97) time=0.328062s/0.345332s *
 iteration(145) loop(51) hyp(0.96) time=0.336106s/0.352708s *
 iteration(146) loop(52) hyp(0.97) time=0.336822s/0.352562s *
 iteration(147) loop(53) hyp(0.97) time=0.352745s/0.370183s *
 iteration(148) loop(54) hyp(0.98) time=0.337878s/0.350796s *
 iteration(149) loop(55) hyp(0.97) time=0.332515s/0.344257s *
 iteration(150) loop(56) hyp(0.97) time=0.317706s/0.329199s *
 iteration(151) loop(57) hyp(0.97) time=0.330020s/0.342172s *
 iteration(152) loop(58) hyp(0.98) time=0.323618s/0.335257s *
 iteration(153) loop(59) hyp(0.98) time=0.317108s/0.334419s *
 iteration(154) loop(60) hyp(0.95) time=0.327062s/0.342120s *
 iteration(155) loop(61) hyp(0.87) time=0.356279s/0.367416s *
 iteration(156) loop(62) hyp(0.87) time=0.338044s/0.354625s *
 iteration(157) loop(63) hyp(0.91) time=0.381123s/0.398436s *
 iteration(158) loop(64) hyp(0.93) time=0.338468s/0.351787s *
 iteration(159) loop(65) hyp(0.94) time=0.351593s/0.368106s *
 iteration(160) loop(66) hyp(0.93) time=0.354610s/0.370943s *
 iteration(161) loop(66) hyp(0.93) time=0.342970s/0.359995s *
 iteration(162) loop(68) hyp(0.93) time=0.360388s/0.377525s *
 iteration(163) loop(69) hyp(0.93) time=0.352444s/0.368642s *
 iteration(164) loop(69) hyp(0.94) time=0.358591s/0.374159s *
 iteration(165) loop(71) hyp(0.94) time=0.472903s/0.485728s *
 iteration(166) loop(71) hyp(0.94) time=0.449028s/0.460365s *
 iteration(167) loop(72) hyp(0.94) time=0.355225s/0.372274s *
 iteration(168) loop(74) hyp(0.94) time=0.362559s/0.373870s *
 iteration(169) loop(75) hyp(0.95) time=0.357586s/0.368984s *
 iteration(170) loop(76) hyp(0.95) time=0.387600s/0.404543s *
 iteration(171) loop(77) hyp(0.95) time=0.366873s/0.381971s *
 iteration(172) loop(78) hyp(0.94) time=0.366454s/0.383497s *
 iteration(173) loop(79) hyp(0.95) time=0.362027s/0.373493s *
 iteration(174) loop(80) hyp(0.96) time=0.359086s/0.374852s *
 iteration(175) loop(81) hyp(0.97) time=0.369958s/0.386058s *
 iteration(176) loop(82) hyp(0.95) time=0.374107s/0.388354s *
 iteration(177) loop(83) hyp(0.96) time=0.373259s/0.386973s *
 iteration(178) loop(84) hyp(0.97) time=0.375489s/0.392259s *
 iteration(179) loop(85) hyp(0.97) time=0.376462s/0.393230s *
 iteration(180) loop(86) hyp(0.96) time=0.378929s/0.396390s *
 iteration(181) loop(87) hyp(0.97) time=0.367417s/0.379289s *
 iteration(182) loop(88) hyp(0.93) time=0.397629s/0.410158s *
 iteration(183) loop(88) hyp(0.94) time=0.398934s/0.415504s *
 iteration(184) loop(89) hyp(0.97) time=0.426687s/0.443554s *
 iteration(185) loop(90) hyp(0.97) time=0.420862s/0.434483s *
 iteration(186) loop(91) hyp(0.73) time=0.426011s/0.440504s *
 iteration(187) loop(90) hyp(0.45) time=0.413651s/0.424927s *
 iteration(188) loop(88) hyp(0.22) time=0.420326s/0.434156s *
 iteration(189) high(88) hyp(0.10) time=0.435480s/0.452191s
 iteration(190) high(88) hyp(0.07) time=0.471364s/0.485653s
 iteration(191) high(87) hyp(0.06) time=0.426164s/0.437840s
 iteration(192) high(87) hyp(0.06) time=0.411147s/0.422293s
 iteration(193) high(94) hyp(0.04) time=0.389169s/0.400484s
 iteration(194) high(93) hyp(0.04) time=0.399234s/0.416598s
 iteration(195) high(3) hyp(0.05) time=0.392709s/0.405217s
 iteration(196) high(103) hyp(0.05) time=0.408423s/0.419938s
 iteration(197) high(98) hyp(0.04) time=0.468754s/0.480949s
 iteration(198) high(152) hyp(0.04) time=0.409792s/0.426660s
 iteration(199) high(152) hyp(0.04) time=0.412108s/0.425654s
 count = 200, loop closures = 93, max time (at 165) = 0.472903s
 WM(169)=[1,0;2,0;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,0;77,0;78,0;79,0;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0]
 iteration(200) high(106) hyp(0.04) time=0.200579s/0.215695s
 iteration(201) high(106) hyp(0.04) time=0.423321s/0.438140s
 iteration(202) high(58) hyp(0.04) time=0.186240s/0.200939s
 iteration(203) high(58) hyp(0.04) time=0.514013s/0.527527s
 iteration(204) high(54) hyp(0.04) time=0.182616s/0.196483s
 iteration(205) high(54) hyp(0.04) time=0.552909s/0.573591s
 iteration(206) high(94) hyp(0.04) time=0.271840s/0.285747s
 iteration(207) high(94) hyp(0.04) time=0.509203s/0.530631s
 iteration(208) high(8) hyp(0.03) time=0.226899s/0.241106s
 iteration(209) high(9) hyp(0.03) time=0.516282s/0.531070s
 iteration(210) high(152) hyp(0.04) time=0.217407s/0.235599s
 iteration(211) high(31) hyp(0.04) time=0.469409s/0.486322s
 iteration(212) high(31) hyp(0.04) time=0.485556s/0.500810s
 iteration(213) high(31) hyp(0.04) time=0.222218s/0.238467s
 iteration(214) high(145) hyp(0.04) time=0.207535s/0.225765s
 iteration(215) high(145) hyp(0.04) time=0.467137s/0.483342s
 iteration(216) high(145) hyp(0.04) time=0.202106s/0.216211s
 iteration(217) high(145) hyp(0.04) time=0.205365s/0.219955s
 iteration(218) high(26) hyp(0.04) time=0.208817s/0.225063s
 iteration(219) high(26) hyp(0.04) time=0.440140s/0.456711s
 iteration(220) high(26) hyp(0.04) time=0.250424s/0.267774s
 iteration(221) high(26) hyp(0.04) time=0.263476s/0.280540s
 iteration(222) high(26) hyp(0.04) time=0.264876s/0.282914s
 iteration(223) high(26) hyp(0.04) time=0.254980s/0.270266s
 iteration(224) high(72) hyp(0.04) time=0.222769s/0.238995s
 iteration(225) high(72) hyp(0.04) time=0.439815s/0.457195s
 iteration(226) high(72) hyp(0.04) time=0.253552s/0.273860s
 iteration(227) high(72) hyp(0.04) time=0.232742s/0.248053s
 iteration(228) high(72) hyp(0.04) time=0.239257s/0.256000s
 iteration(229) high(130) hyp(0.04) time=0.217465s/0.231986s
 iteration(230) high(130) hyp(0.04) time=0.437840s/0.452176s
 iteration(231) high(130) hyp(0.04) time=0.217331s/0.234130s
 iteration(232) high(130) hyp(0.04) time=0.217276s/0.232583s
 iteration(233) high(130) hyp(0.04) time=0.218235s/0.232776s
 iteration(234) high(126) hyp(0.04) time=0.199025s/0.214906s
 iteration(235) high(126) hyp(0.04) time=0.478957s/0.495371s
 iteration(236) high(126) hyp(0.04) time=0.222147s/0.240935s
 iteration(237) high(2) hyp(0.03) time=0.233929s/0.248371s
 iteration(238) high(2) hyp(0.03) time=0.455966s/0.473285s
 iteration(239) high(54) hyp(0.03) time=0.259257s/0.274004s
 iteration(240) high(54) hyp(0.04) time=0.495517s/0.511956s
 iteration(241) high(103) hyp(0.03) time=0.234475s/0.247561s
 iteration(242) high(32) hyp(0.03) time=0.451887s/0.467187s
 iteration(243) high(85) hyp(0.03) time=0.243134s/0.257206s
 iteration(244) high(85) hyp(0.04) time=0.467540s/0.480744s
 iteration(245) high(94) hyp(0.03) time=0.210202s/0.224797s
 iteration(246) high(94) hyp(0.03) time=0.462200s/0.480546s
 iteration(247) high(149) hyp(0.03) time=0.246457s/0.260745s
 iteration(248) high(29) hyp(0.04) time=0.493895s/0.511853s
 iteration(249) high(3) hyp(0.04) time=0.207866s/0.223508s
 iteration(250) high(3) hyp(0.04) time=0.452329s/0.468343s
 iteration(251) high(61) hyp(0.04) time=0.195364s/0.211233s
 iteration(252) high(61) hyp(0.04) time=0.452556s/0.466836s
 iteration(253) high(61) hyp(0.03) time=0.197337s/0.213874s
 iteration(254) high(61) hyp(0.04) time=0.444037s/0.458933s
 iteration(255) high(61) hyp(0.04) time=0.472223s/0.486871s
 iteration(256) high(154) hyp(0.03) time=0.192563s/0.207639s
 iteration(257) high(22) hyp(0.03) time=0.454859s/0.472253s
 iteration(258) high(92) hyp(0.04) time=0.200313s/0.218482s
 iteration(259) high(133) hyp(0.04) time=0.456496s/0.473350s
 iteration(260) high(58) hyp(0.04) time=0.454282s/0.471067s
 iteration(261) high(2) hyp(0.04) time=0.472481s/0.490189s
 iteration(262) high(196) hyp(0.04) time=0.465665s/0.483184s
 iteration(263) high(5) hyp(0.04) time=0.468392s/0.488774s
 iteration(264) high(13) hyp(0.04) time=0.481556s/0.498000s
 iteration(265) high(144) hyp(0.04) time=0.464904s/0.481385s
 iteration(266) high(197) hyp(0.04) time=0.484041s/0.500679s
 iteration(267) high(35) hyp(0.04) time=0.478449s/0.495246s
 iteration(268) high(27) hyp(0.04) time=0.477496s/0.493845s
 iteration(269) high(40) hyp(0.04) time=0.478849s/0.493063s
 iteration(270) high(199) hyp(0.04) time=0.205108s/0.221135s
 iteration(271) high(199) hyp(0.04) time=0.475293s/0.490154s
 iteration(272) high(196) hyp(0.05) time=0.199754s/0.212464s
 iteration(273) high(196) hyp(0.05) time=0.551297s/0.566078s
 iteration(274) high(201) hyp(0.06) time=0.198682s/0.210995s
 iteration(275) high(201) hyp(0.09) time=0.494647s/0.507165s
 iteration(276) loop(201) hyp(0.11) time=0.497611s/0.511949s *
 iteration(277) loop(201) hyp(0.17) time=0.180663s/0.196354s *
 iteration(278) loop(201) hyp(0.30) time=0.466992s/0.482890s *
 iteration(279) loop(203) hyp(0.38) time=0.186839s/0.199128s *
 iteration(280) loop(203) hyp(0.48) time=0.459792s/0.474317s *
 iteration(281) loop(205) hyp(0.68) time=0.193318s/0.209215s *
 iteration(282) loop(205) hyp(0.84) time=0.478694s/0.495014s *
 iteration(283) loop(207) hyp(0.90) time=0.188898s/0.204807s *
 iteration(284) loop(207) hyp(0.93) time=0.477489s/0.492746s *
 iteration(285) loop(207) hyp(0.94) time=0.184987s/0.200979s *
 iteration(286) loop(210) hyp(0.91) time=0.191624s/0.204523s *
 iteration(287) loop(210) hyp(0.91) time=0.480480s/0.496512s *
 iteration(288) loop(210) hyp(0.91) time=0.196606s/0.212350s *
 iteration(289) loop(210) hyp(0.92) time=0.192612s/0.208067s *
 iteration(290) loop(217) hyp(0.89) time=0.203227s/0.220328s *
 iteration(291) loop(217) hyp(0.90) time=0.530232s/0.546770s *
 iteration(292) loop(217) hyp(0.90) time=0.206026s/0.222082s *
 iteration(293) loop(223) hyp(0.87) time=0.208040s/0.221121s *
 iteration(294) loop(223) hyp(0.87) time=0.483649s/0.500381s *
 iteration(295) loop(223) hyp(0.87) time=0.206580s/0.221342s *
 iteration(296) loop(228) hyp(0.86) time=0.208991s/0.225082s *
 iteration(297) loop(228) hyp(0.86) time=0.511342s/0.528992s *
 iteration(298) loop(228) hyp(0.86) time=0.215259s/0.231482s *
 iteration(299) loop(228) hyp(0.89) time=0.211145s/0.227097s *
 count = 300, loop closures = 118, max time (at 205) = 0.552909s
 WM(215)=[1,0;2,0;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,0;77,0;78,0;79,0;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;193,0;194,0;195,0;196,0;197,0;199,1;201,0;203,0;205,0;207,0;209,1;210,0;213,2;217,0;223,0;228,0;233,4;236,2;238,1;240,1;242,1;244,1;246,1]
 iteration(300) loop(228) hyp(0.91) time=0.502929s/0.519870s *
 iteration(301) loop(228) hyp(0.92) time=0.209510s/0.226292s *
 iteration(302) loop(233) hyp(0.92) time=0.211869s/0.224843s *
 iteration(303) loop(233) hyp(0.93) time=0.510782s/0.528011s *
 iteration(304) loop(233) hyp(0.93) time=0.211123s/0.224684s *
 iteration(305) loop(233) hyp(0.95) time=0.198260s/0.214158s *
 iteration(306) loop(233) hyp(0.96) time=0.509840s/0.528561s *
 iteration(307) loop(233) hyp(0.96) time=0.198795s/0.217197s *
 iteration(308) loop(233) hyp(0.96) time=0.203147s/0.219278s *
 iteration(309) loop(236) hyp(0.96) time=0.205449s/0.221470s *
 iteration(310) loop(236) hyp(0.96) time=0.513253s/0.528491s *
 iteration(311) loop(236) hyp(0.96) time=0.209885s/0.229191s *
 iteration(312) loop(238) hyp(0.96) time=0.219596s/0.232676s *
 iteration(313) loop(238) hyp(0.96) time=0.500387s/0.515822s *
 iteration(314) loop(240) hyp(0.97) time=0.220483s/0.238171s *
 iteration(315) loop(240) hyp(0.97) time=0.499418s/0.514350s *
 iteration(316) loop(240) hyp(0.97) time=0.223218s/0.240038s *
 iteration(317) loop(242) hyp(0.96) time=0.506927s/0.524291s *
 iteration(318) loop(242) hyp(0.94) time=0.517723s/0.534556s *
 iteration(319) loop(242) hyp(0.72) time=0.520990s/0.538770s *
 iteration(320) loop(242) hyp(0.41) time=0.523034s/0.539192s *
 iteration(321) loop(244) hyp(0.21) time=0.511903s/0.529840s *
 iteration(322) high(242) hyp(0.10) time=0.535727s/0.550996s
 iteration(323) high(248) hyp(0.07) time=0.543444s/0.554787s
 iteration(324) high(246) hyp(0.05) time=0.509225s/0.526526s
 iteration(325) high(250) hyp(0.05) time=0.544063s/0.558280s
 iteration(326) high(217) hyp(0.05) time=0.861391s/0.874576s
 iteration(327) high(223) hyp(0.05) time=0.588679s/0.601916s
 iteration(328) high(233) hyp(0.07) time=0.528116s/0.540309s
 iteration(329) high(223) hyp(0.07) time=0.528658s/0.544930s
 iteration(330) high(233) hyp(0.07) time=0.542527s/0.555090s
 iteration(331) high(223) hyp(0.09) time=0.528292s/0.542733s
 iteration(332) high(223) hyp(0.05) time=0.541175s/0.554452s
 iteration(333) high(209) hyp(0.04) time=0.526112s/0.538697s
 iteration(334) high(236) hyp(0.04) time=0.203632s/0.219819s
 iteration(335) high(255) hyp(0.04) time=0.552647s/0.570290s
 iteration(336) high(210) hyp(0.05) time=0.561284s/0.573855s
 iteration(337) high(210) hyp(0.03) time=0.543304s/0.557546s
 iteration(338) high(210) hyp(0.03) time=0.588028s/0.600677s
 iteration(339) high(246) hyp(0.05) time=0.238166s/0.252289s
 iteration(340) high(233) hyp(0.04) time=0.578472s/0.595599s
 iteration(341) high(192) hyp(0.04) time=0.536168s/0.551893s
 iteration(342) high(169) hyp(0.04) time=0.559607s/0.571979s
 iteration(343) high(252) hyp(0.04) time=0.526067s/0.540472s
 iteration(344) high(183) hyp(0.04) time=0.529833s/0.545426s
 iteration(345) high(97) hyp(0.04) time=0.569639s/0.586145s
 iteration(346) high(17) hyp(0.05) time=0.549934s/0.566197s
 iteration(347) high(201) hyp(0.04) time=0.562027s/0.575948s
 iteration(348) high(46) hyp(0.04) time=0.593412s/0.612340s
 iteration(349) high(271) hyp(0.04) time=0.579883s/0.594030s
 iteration(350) high(262) hyp(0.04) time=0.577425s/0.595375s
 iteration(351) high(278) hyp(0.04) time=0.598412s/0.612192s
 iteration(352) high(262) hyp(0.04) time=0.580367s/0.595291s
 iteration(353) high(266) hyp(0.04) time=0.582084s/0.595458s
 iteration(354) high(292) hyp(0.04) time=0.576502s/0.593421s
 iteration(355) high(199) hyp(0.04) time=0.607437s/0.620515s
 iteration(356) high(261) hyp(0.04) time=0.665414s/0.678002s
 iteration(357) high(260) hyp(0.03) time=0.576432s/0.594898s
 iteration(358) high(280) hyp(0.04) time=0.596556s/0.612635s
 iteration(359) high(325) hyp(0.04) time=0.587271s/0.599180s
 iteration(360) high(295) hyp(0.04) time=0.609046s/0.621059s
 iteration(361) high(246) hyp(0.05) time=0.616047s/0.629992s
 iteration(362) high(267) hyp(0.04) time=0.589547s/0.607730s
 iteration(363) high(301) hyp(0.05) time=0.607501s/0.620526s
 iteration(364) high(329) hyp(0.06) time=0.611578s/0.623850s
 iteration(365) high(328) hyp(0.05) time=0.681863s/0.698003s
 iteration(366) high(329) hyp(0.05) time=0.636495s/0.657604s
 iteration(367) high(92) hyp(0.04) time=0.634393s/0.647126s
 iteration(368) high(98) hyp(0.04) time=0.637175s/0.650321s
 iteration(369) high(181) hyp(0.04) time=0.617563s/0.634928s
 iteration(370) high(274) hyp(0.04) time=0.604666s/0.617503s
 iteration(371) high(39) hyp(0.04) time=0.640377s/0.654340s
 iteration(372) high(327) hyp(0.04) time=0.650780s/0.664821s
 iteration(373) high(331) hyp(0.04) time=0.621167s/0.634219s
 iteration(374) high(262) hyp(0.04) time=0.614181s/0.630735s
 iteration(375) high(262) hyp(0.04) time=0.616453s/0.630645s
 iteration(376) high(331) hyp(0.04) time=0.663754s/0.675525s
 iteration(377) high(262) hyp(0.04) time=0.661555s/0.676596s
 iteration(378) high(261) hyp(0.04) time=0.618963s/0.635687s
 iteration(379) high(264) hyp(0.04) time=0.658216s/0.675822s
 iteration(380) high(260) hyp(0.04) time=0.649737s/0.661850s
 iteration(381) high(264) hyp(0.04) time=0.636526s/0.648772s
 iteration(382) high(25) hyp(0.04) time=0.633089s/0.650981s
 iteration(383) high(259) hyp(0.03) time=0.673763s/0.686992s
 iteration(384) high(354) hyp(0.03) time=0.643877s/0.660752s
 iteration(385) high(141) hyp(0.04) time=0.655065s/0.668740s
 iteration(386) high(6) hyp(0.04) time=0.662573s/0.679864s
 iteration(387) high(334) hyp(0.04) time=0.650130s/0.666026s
 iteration(388) high(137) hyp(0.04) time=0.654836s/0.670125s
 iteration(389) high(263) hyp(0.03) time=0.659924s/0.671929s
 iteration(390) high(263) hyp(0.03) time=0.647648s/0.662058s
 iteration(391) high(263) hyp(0.04) time=0.235480s/0.250190s
 iteration(392) high(263) hyp(0.04) time=0.659774s/0.674779s
 iteration(393) high(131) hyp(0.04) time=0.214649s/0.230973s
 iteration(394) high(349) hyp(0.04) time=0.748737s/0.761021s
 iteration(395) high(358) hyp(0.04) time=0.675614s/0.694241s
 iteration(396) high(49) hyp(0.04) time=0.685061s/0.703173s
 iteration(397) high(84) hyp(0.04) time=0.681145s/0.696819s
 iteration(398) high(353) hyp(0.04) time=0.688894s/0.701422s
 iteration(399) high(266) hyp(0.04) time=0.646767s/0.658664s
 count = 400, loop closures = 139, max time (at 326) = 0.861391s
 WM(300)=[1,0;2,0;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,0;77,0;78,0;79,0;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;193,0;194,0;195,0;196,0;197,0;199,1;201,0;203,0;205,0;207,0;209,1;210,0;213,2;217,0;223,0;228,0;233,0;236,0;238,0;240,0;242,0;244,0;246,1;248,1;250,1;252,1;253,0;255,1;257,1;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;269,1;271,1;273,1;274,0;276,2;278,1;280,2;282,2;285,3;289,3;292,5;295,7;298,6;301,2;304,6;308,3;311,4;313,2;315,2;316,0;317,1;318,0;319,0;320,0;321,1;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;333,1;334,0;335,0;336,0;338,1;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0]
 iteration(400) high(258) hyp(0.04) time=0.701887s/0.715244s
 iteration(401) high(269) hyp(0.04) time=0.202803s/0.217642s
 iteration(402) high(269) hyp(0.04) time=0.683009s/0.697635s
 iteration(403) high(269) hyp(0.04) time=0.222786s/0.240626s
 iteration(404) high(166) hyp(0.04) time=0.215432s/0.230694s
 iteration(405) high(166) hyp(0.03) time=0.706186s/0.720551s
 iteration(406) high(166) hyp(0.03) time=0.221364s/0.234583s
 iteration(407) high(334) hyp(0.05) time=0.209434s/0.224647s
 iteration(408) high(334) hyp(0.05) time=0.734780s/0.749130s
 iteration(409) high(334) hyp(0.05) time=0.226804s/0.241491s
 iteration(410) high(335) hyp(0.05) time=0.208188s/0.223749s
 iteration(411) high(335) hyp(0.05) time=0.743983s/0.759540s
 iteration(412) high(335) hyp(0.05) time=0.227090s/0.239790s
 iteration(413) high(334) hyp(0.07) time=0.207196s/0.223721s
 iteration(414) high(334) hyp(0.08) time=0.675226s/0.689284s
 iteration(415) high(334) hyp(0.09) time=0.232768s/0.247872s
 iteration(416) high(335) hyp(0.08) time=0.219139s/0.234831s
 iteration(417) high(335) hyp(0.08) time=0.710718s/0.727398s
 iteration(418) high(338) hyp(0.10) time=0.208229s/0.223351s
 iteration(419) loop(338) hyp(0.13) time=0.716222s/0.732886s *
 iteration(420) loop(334) hyp(0.20) time=0.203025s/0.218724s *
 iteration(421) loop(334) hyp(0.31) time=0.656428s/0.670603s *
 iteration(422) loop(334) hyp(0.52) time=0.210773s/0.226105s *
 iteration(423) loop(334) hyp(0.74) time=0.706943s/0.723498s *
 iteration(424) loop(338) hyp(0.91) time=0.217054s/0.231916s *
 iteration(425) loop(334) hyp(0.89) time=0.713089s/0.726729s *
 iteration(426) loop(334) hyp(0.90) time=0.756613s/0.777291s *
 iteration(427) loop(334) hyp(0.79) time=0.741152s/0.753230s *
 iteration(428) loop(331) hyp(0.79) time=0.674020s/0.687949s *
 iteration(429) loop(331) hyp(0.83) time=0.712882s/0.728898s *
 iteration(430) loop(330) hyp(0.71) time=0.203146s/0.215866s *
 iteration(431) loop(328) hyp(0.69) time=0.831024s/0.844647s *
 iteration(432) loop(328) hyp(0.75) time=0.865939s/0.881253s *
 iteration(433) loop(327) hyp(0.68) time=0.739577s/0.751782s *
 iteration(434) loop(326) hyp(0.59) time=0.735229s/0.752669s *
 iteration(435) loop(326) hyp(0.29) time=0.682915s/0.699189s *
 iteration(436) loop(326) hyp(0.12) time=0.693889s/0.709469s *
 iteration(437) high(322) hyp(0.10) time=0.682263s/0.698980s
 iteration(438) high(322) hyp(0.06) time=0.686773s/0.703404s
 iteration(439) high(324) hyp(0.05) time=0.686794s/0.704320s
 iteration(440) high(244) hyp(0.08) time=0.712897s/0.727162s
 iteration(441) high(248) hyp(0.11) time=0.760302s/0.776465s
 iteration(442) loop(246) hyp(0.15) time=0.765399s/0.778248s *
 iteration(443) loop(246) hyp(0.20) time=0.776960s/0.789512s *
 iteration(444) loop(246) hyp(0.36) time=0.777852s/0.790090s *
 iteration(445) loop(246) hyp(0.62) time=0.759949s/0.776093s *
 iteration(446) loop(248) hyp(0.85) time=0.231848s/0.244312s *
 iteration(447) loop(248) hyp(0.95) time=0.791473s/0.807692s *
 iteration(448) loop(250) hyp(0.97) time=0.257714s/0.272967s *
 iteration(449) loop(250) hyp(0.97) time=0.749203s/0.764423s *
 iteration(450) loop(252) hyp(0.97) time=0.222613s/0.239389s *
 iteration(451) loop(252) hyp(0.98) time=0.772780s/0.788631s *
 iteration(452) loop(253) hyp(0.98) time=0.753450s/0.770497s *
 iteration(453) loop(253) hyp(0.98) time=0.791457s/0.803970s *
 iteration(454) loop(255) hyp(0.98) time=0.738203s/0.754798s *
 iteration(455) loop(257) hyp(0.97) time=0.812299s/0.825615s *
 iteration(456) loop(257) hyp(0.97) time=0.917540s/0.931752s *
 iteration(457) loop(258) hyp(0.97) time=0.972514s/0.987028s *
 iteration(458) loop(258) hyp(0.98) time=0.965349s/0.981038s *
 iteration(459) loop(259) hyp(0.96) time=0.995216s/1.013164s *
 iteration(460) loop(260) hyp(0.95) time=0.866212s/0.885182s *
 iteration(461) loop(261) hyp(0.94) time=0.809562s/0.828348s *
 iteration(462) loop(263) hyp(0.93) time=0.791883s/0.810923s *
 iteration(463) loop(263) hyp(0.94) time=0.743894s/0.761924s *
 iteration(464) loop(264) hyp(0.93) time=0.762529s/0.775557s *
 iteration(465) loop(266) hyp(0.92) time=0.750942s/0.763175s *
 iteration(466) loop(267) hyp(0.95) time=0.752009s/0.770309s *
 iteration(467) loop(269) hyp(0.97) time=0.855581s/0.872441s *
 iteration(468) loop(269) hyp(0.97) time=0.794861s/0.810568s *
 iteration(469) loop(271) hyp(0.98) time=0.761542s/0.780462s *
 iteration(470) loop(271) hyp(0.98) time=0.790609s/0.806565s *
 iteration(471) loop(273) hyp(0.98) time=0.202679s/0.219458s *
 iteration(472) loop(273) hyp(0.98) time=0.764547s/0.780266s *
 iteration(473) loop(274) hyp(0.97) time=0.213295s/0.229999s *
 iteration(474) loop(276) hyp(0.97) time=0.762521s/0.775234s *
 iteration(475) loop(276) hyp(0.94) time=0.846135s/0.858657s *
 iteration(476) loop(278) hyp(0.87) time=0.741430s/0.757398s *
 iteration(477) loop(278) hyp(0.72) time=0.769152s/0.782225s *
 iteration(478) loop(280) hyp(0.53) time=0.799269s/0.812026s *
 iteration(479) loop(280) hyp(0.50) time=0.762575s/0.777795s *
 iteration(480) loop(282) hyp(0.45) time=0.197360s/0.213035s *
 iteration(481) loop(282) hyp(0.47) time=0.795722s/0.810554s *
 iteration(482) loop(285) hyp(0.47) time=0.204957s/0.222307s *
 iteration(483) loop(285) hyp(0.46) time=0.748464s/0.763669s *
 iteration(484) loop(285) hyp(0.43) time=0.211949s/0.227785s *
 iteration(485) loop(289) hyp(0.41) time=0.768752s/0.782173s *
 iteration(486) loop(289) hyp(0.36) time=0.211396s/0.227691s *
 iteration(487) loop(289) hyp(0.24) time=0.810257s/0.825789s *
 iteration(488) loop(292) hyp(0.18) time=0.222690s/0.238840s *
 iteration(489) loop(292) hyp(0.16) time=0.787466s/0.803995s *
 iteration(490) loop(292) hyp(0.15) time=0.234393s/0.249503s *
 iteration(491) loop(295) hyp(0.14) time=0.230475s/0.247592s *
 iteration(492) loop(295) hyp(0.14) time=0.805169s/0.820247s *
 iteration(493) loop(295) hyp(0.14) time=0.243382s/0.259803s *
 iteration(494) loop(295) hyp(0.14) time=0.825637s/0.841855s *
 iteration(495) loop(295) hyp(0.14) time=0.242111s/0.258677s *
 iteration(496) loop(298) hyp(0.14) time=0.237324s/0.251374s *
 iteration(497) loop(298) hyp(0.14) time=0.845569s/0.862384s *
 iteration(498) loop(301) hyp(0.14) time=0.232213s/0.250157s *
 iteration(499) loop(301) hyp(0.15) time=0.821084s/0.836402s *
 count = 500, loop closures = 216, max time (at 459) = 0.995216s
 WM(367)=[1,0;2,0;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,0;77,0;78,0;79,0;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;193,0;194,0;195,0;196,0;197,0;199,1;201,0;203,0;205,0;207,0;209,1;210,0;213,2;217,0;223,0;228,0;233,0;236,0;238,0;240,0;242,0;244,0;246,0;248,0;250,0;252,0;253,0;255,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;269,0;271,0;273,0;274,0;276,0;278,0;280,0;282,0;285,0;289,0;292,0;295,0;298,0;301,0;304,6;308,3;311,4;313,2;315,2;316,0;317,1;318,0;319,0;320,0;321,1;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;333,1;334,0;335,0;336,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;390,1;392,1;393,0;394,0;395,0;396,0;397,0;398,0;400,1;403,2;406,2;409,2;412,2;415,2;417,1;419,2;421,1;423,1;424,0;425,0;426,0;427,0;429,1;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,1;443,0;445,1;447,2;449,2;450,1;451,0;452,0;453,0;454,1;455,1]
 iteration(500) loop(301) hyp(0.15) time=0.234941s/0.249667s *
 iteration(501) loop(304) hyp(0.16) time=0.245356s/0.259373s *
 iteration(502) loop(304) hyp(0.16) time=0.877922s/0.893664s *
 iteration(503) loop(304) hyp(0.16) time=0.243184s/0.258970s *
 iteration(504) loop(308) hyp(0.16) time=0.234742s/0.253157s *
 iteration(505) loop(308) hyp(0.16) time=0.837320s/0.854410s *
 iteration(506) loop(308) hyp(0.16) time=0.232471s/0.248005s *
 iteration(507) loop(311) hyp(0.15) time=0.234705s/0.251217s *
 iteration(508) loop(311) hyp(0.15) time=0.807530s/0.821957s *
 iteration(509) loop(311) hyp(0.15) time=0.240645s/0.254230s *
 iteration(510) loop(313) hyp(0.15) time=0.238463s/0.251855s *
 iteration(511) loop(313) hyp(0.15) time=0.858253s/0.874233s *
 iteration(512) loop(238) hyp(0.17) time=0.244356s/0.258795s *
 iteration(513) loop(315) hyp(0.19) time=0.877623s/0.896097s *
 iteration(514) loop(240) hyp(0.18) time=0.870259s/0.883792s *
 iteration(515) loop(316) hyp(0.18) time=0.862163s/0.881283s *
 iteration(516) loop(317) hyp(0.16) time=0.846414s/0.862907s *
 iteration(517) loop(318) hyp(0.14) time=0.827649s/0.845292s *
 iteration(518) high(440) hyp(0.10) time=0.766870s/0.784577s
 iteration(519) high(321) hyp(0.11) time=0.886649s/0.902066s
 iteration(520) loop(438) hyp(0.12) time=0.834481s/0.847674s *
 iteration(521) loop(437) hyp(0.13) time=0.783728s/0.800208s *
 iteration(522) loop(436) hyp(0.12) time=0.838780s/0.853083s *
 iteration(523) loop(325) hyp(0.14) time=0.970207s/0.987448s *
 iteration(524) loop(326) hyp(0.21) time=0.848661s/0.860528s *
 iteration(525) loop(327) hyp(0.29) time=0.805846s/0.821572s *
 iteration(526) loop(328) hyp(0.36) time=0.858742s/0.872902s *
 iteration(527) loop(329) hyp(0.39) time=0.861684s/0.879846s *
 iteration(528) loop(330) hyp(0.40) time=0.854854s/0.871562s *
 iteration(529) loop(331) hyp(0.45) time=0.815974s/0.833377s *
 iteration(530) loop(333) hyp(0.51) time=0.811900s/0.824538s *
 iteration(531) loop(333) hyp(0.62) time=0.825216s/0.842693s *
 iteration(532) loop(333) hyp(0.73) time=0.825183s/0.837609s *
 iteration(533) loop(334) hyp(0.75) time=0.253403s/0.269276s *
 iteration(534) loop(334) hyp(0.77) time=0.880107s/0.892913s *
 iteration(535) loop(423) hyp(0.77) time=0.234791s/0.250052s *
 iteration(536) loop(423) hyp(0.71) time=0.866384s/0.883520s *
 iteration(537) loop(423) hyp(0.66) time=0.238007s/0.253305s *
 iteration(538) loop(419) hyp(0.61) time=0.240747s/0.255441s *
 iteration(539) loop(419) hyp(0.51) time=0.894964s/0.908375s *
 iteration(540) loop(417) hyp(0.47) time=0.273211s/0.287356s *
 iteration(541) loop(417) hyp(0.55) time=0.975287s/1.003082s *
 iteration(542) loop(415) hyp(0.62) time=0.340317s/0.357166s *
 iteration(543) loop(415) hyp(0.74) time=1.101378s/1.114892s *
 iteration(544) loop(415) hyp(0.85) time=0.258550s/0.273272s *
 iteration(545) loop(415) hyp(0.92) time=0.942323s/0.956140s *
 iteration(546) loop(412) hyp(0.91) time=0.312853s/0.325921s *
 iteration(547) loop(412) hyp(0.92) time=0.953883s/0.967325s *
 iteration(548) loop(412) hyp(0.92) time=0.256647s/0.271647s *
 iteration(549) loop(412) hyp(0.93) time=0.883429s/0.899890s *
 iteration(550) loop(406) hyp(0.94) time=0.285391s/0.309439s *
 iteration(551) loop(406) hyp(0.95) time=1.183974s/1.198744s *
 iteration(552) loop(406) hyp(0.95) time=0.297573s/0.313023s *
 iteration(553) loop(406) hyp(0.96) time=0.929206s/0.945859s *
 iteration(554) loop(406) hyp(0.92) time=0.304891s/0.320361s *
 iteration(555) loop(403) hyp(0.91) time=0.983749s/0.996912s *
 iteration(556) loop(403) hyp(0.83) time=0.954455s/0.969650s *
 iteration(557) loop(400) hyp(0.57) time=0.990588s/1.010550s *
 iteration(558) loop(398) hyp(0.37) time=1.147959s/1.164096s *
 iteration(559) loop(398) hyp(0.24) time=1.138585s/1.153498s *
 iteration(560) loop(397) hyp(0.26) time=1.061347s/1.073920s *
 iteration(561) loop(397) hyp(0.29) time=1.033803s/1.045939s *
 iteration(562) loop(395) hyp(0.26) time=0.976194s/0.990534s *
 iteration(563) loop(394) hyp(0.20) time=1.009306s/1.022004s *
 iteration(564) loop(393) hyp(0.23) time=0.950113s/0.967938s *
 iteration(565) loop(392) hyp(0.20) time=0.941529s/0.958407s *
 iteration(566) loop(392) hyp(0.23) time=1.013752s/1.028330s *
 iteration(567) loop(390) hyp(0.17) time=0.922924s/0.935014s *
 iteration(568) loop(390) hyp(0.25) time=0.993291s/1.008754s *
 iteration(569) loop(390) hyp(0.30) time=1.047067s/1.062925s *
 iteration(570) loop(387) hyp(0.34) time=1.034723s/1.048297s *
 iteration(571) loop(386) hyp(0.35) time=1.027529s/1.042662s *
 iteration(572) loop(386) hyp(0.30) time=1.045430s/1.059522s *
 iteration(573) loop(385) hyp(0.32) time=0.936758s/0.950826s *
 iteration(574) loop(385) hyp(0.38) time=1.053954s/1.070846s *
 iteration(575) loop(382) hyp(0.42) time=0.902042s/0.915243s *
 iteration(576) loop(381) hyp(0.55) time=0.925133s/0.942428s *
 iteration(577) loop(381) hyp(0.76) time=0.989003s/1.002429s *
 iteration(578) loop(381) hyp(0.81) time=0.955707s/0.973480s *
 iteration(579) loop(383) hyp(0.79) time=1.005846s/1.019158s *
 iteration(580) loop(381) hyp(0.71) time=0.914028s/0.931532s *
 iteration(581) loop(383) hyp(0.55) time=0.884392s/0.899900s *
 iteration(582) loop(387) hyp(0.37) time=0.919469s/0.932291s *
 iteration(583) loop(383) hyp(0.20) time=0.909724s/0.925680s *
 iteration(584) high(383) hyp(0.11) time=0.894689s/0.909230s
 iteration(585) high(381) hyp(0.07) time=0.248130s/0.262891s
 iteration(586) high(380) hyp(0.05) time=0.870805s/0.886094s
 iteration(587) high(380) hyp(0.05) time=0.242121s/0.258023s
 iteration(588) high(380) hyp(0.05) time=0.929470s/0.943475s
 iteration(589) high(380) hyp(0.04) time=0.239381s/0.255072s
 iteration(590) high(380) hyp(0.04) time=0.884708s/0.900198s
 iteration(591) high(368) hyp(0.03) time=0.236518s/0.251555s
 iteration(592) high(368) hyp(0.03) time=0.879141s/0.894347s
 iteration(593) high(392) hyp(0.03) time=0.240351s/0.256286s
 iteration(594) high(392) hyp(0.03) time=0.907821s/0.921998s
 iteration(595) high(385) hyp(0.03) time=0.252925s/0.267885s
 iteration(596) high(385) hyp(0.03) time=0.962890s/0.978465s
 iteration(597) high(394) hyp(0.04) time=0.241795s/0.254423s
 iteration(598) high(394) hyp(0.04) time=1.055846s/1.069177s
 iteration(599) high(375) hyp(0.04) time=0.325434s/0.341508s
 count = 600, loop closures = 297, max time (at 551) = 1.183974s
 WM(439)=[1,0;2,0;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,0;77,0;78,0;79,0;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;193,0;194,0;195,0;196,0;197,0;199,1;201,0;203,0;205,0;207,0;209,1;210,0;213,2;217,0;223,0;228,0;233,0;236,0;238,0;240,0;242,0;244,0;246,0;248,0;250,0;252,0;253,0;255,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;269,0;271,0;273,0;274,0;276,0;278,0;280,0;282,0;285,0;289,0;292,0;295,0;298,0;301,0;304,0;308,0;311,0;313,0;315,0;316,0;317,0;318,0;319,0;320,0;321,1;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;333,0;334,0;335,0;336,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;390,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;400,0;403,0;406,0;409,2;412,0;415,0;417,0;419,0;421,1;423,0;424,0;425,0;426,0;427,0;429,1;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,1;443,0;445,1;447,2;449,2;450,1;451,0;452,0;453,0;454,1;455,1;456,0;457,0;458,0;459,0;460,0;461,0;462,0;463,0;464,0;465,0;466,0;467,1;468,0;470,2;472,2;473,0;474,2;475,0;476,1;477,0;479,3;481,3;483,4;485,4;487,1;490,7;492,8;495,2;497,7;500,4;503,8;506,5;509,6;511,3;512,0;513,2;514,0;515,0;516,1;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,1;532,1;534,1;537,3;539,3;541,2;543,3;545,1;547,3;549,1;551,3;553,1;554,0;555,2;556,0;557,1;558,0;559,0;560,0;561,0]
 iteration(600) high(375) hyp(0.04) time=0.901438s/0.916711s
 iteration(601) high(261) hyp(0.03) time=0.245407s/0.262586s
 iteration(602) high(387) hyp(0.03) time=0.908262s/0.921661s
 iteration(603) high(392) hyp(0.03) time=0.922916s/0.935767s
 iteration(604) high(560) hyp(0.04) time=0.937560s/0.950395s
 iteration(605) high(462) hyp(0.03) time=0.943890s/0.958880s
 iteration(606) high(387) hyp(0.04) time=0.947941s/0.961015s
 iteration(607) high(382) hyp(0.04) time=0.925818s/0.942884s
 iteration(608) high(383) hyp(0.04) time=0.954332s/0.967661s
 iteration(609) high(388) hyp(0.04) time=0.960881s/0.974419s
 iteration(610) high(265) hyp(0.03) time=0.974654s/0.987745s
 iteration(611) high(352) hyp(0.03) time=0.946461s/0.965095s
 iteration(612) high(464) hyp(0.03) time=0.980645s/0.993468s
 iteration(613) high(355) hyp(0.03) time=0.963306s/0.981997s
 iteration(614) high(375) hyp(0.03) time=0.942040s/0.957701s
 iteration(615) high(566) hyp(0.03) time=0.949310s/0.962568s
 iteration(616) high(381) hyp(0.04) time=0.955132s/0.968522s
 iteration(617) high(380) hyp(0.04) time=0.966342s/0.980223s
 iteration(618) high(192) hyp(0.04) time=0.991034s/1.005851s
 iteration(619) high(464) hyp(0.04) time=0.973974s/0.991374s
 iteration(620) high(374) hyp(0.03) time=0.970122s/0.987358s
 iteration(621) high(365) hyp(0.03) time=0.991685s/1.009176s
 iteration(622) high(570) hyp(0.04) time=0.986252s/1.003376s
 iteration(623) high(373) hyp(0.03) time=0.970144s/0.984982s
 iteration(624) high(371) hyp(0.04) time=1.029507s/1.044236s
 iteration(625) high(374) hyp(0.03) time=0.958803s/0.977952s
 iteration(626) high(352) hyp(0.04) time=0.996014s/1.009237s
 iteration(627) high(366) hyp(0.03) time=1.005061s/1.022360s
 iteration(628) high(151) hyp(0.03) time=0.958282s/0.971984s
 iteration(629) high(372) hyp(0.03) time=0.974009s/0.992845s
 iteration(630) high(354) hyp(0.04) time=0.967467s/0.981212s
 iteration(631) high(186) hyp(0.04) time=0.973358s/0.995245s
 iteration(632) high(355) hyp(0.03) time=1.010650s/1.024546s
 iteration(633) high(355) hyp(0.03) time=0.998163s/1.011569s
 iteration(634) high(435) hyp(0.03) time=1.016584s/1.034331s
 iteration(635) high(354) hyp(0.03) time=0.994719s/1.008322s
 iteration(636) high(39) hyp(0.04) time=1.011432s/1.029391s
 iteration(637) high(187) hyp(0.03) time=1.023935s/1.041901s
 iteration(638) high(384) hyp(0.03) time=1.026257s/1.040878s
 iteration(639) high(452) hyp(0.03) time=1.024141s/1.038795s
 iteration(640) high(357) hyp(0.04) time=1.033492s/1.046267s
 iteration(641) high(343) hyp(0.03) time=1.080931s/1.093452s
 iteration(642) high(24) hyp(0.03) time=1.037252s/1.050793s
 iteration(643) high(611) hyp(0.03) time=1.050412s/1.065682s
 iteration(644) high(382) hyp(0.04) time=1.047255s/1.061315s
 iteration(645) high(321) hyp(0.03) time=1.053313s/1.072422s
 iteration(646) high(373) hyp(0.04) time=1.085513s/1.103503s
 iteration(647) high(438) hyp(0.03) time=1.047247s/1.066957s
 iteration(648) high(436) hyp(0.03) time=1.087004s/1.105037s
 iteration(649) high(350) hyp(0.03) time=1.031358s/1.048666s
 iteration(650) high(196) hyp(0.04) time=1.092644s/1.106765s
 iteration(651) high(373) hyp(0.03) time=1.043457s/1.061888s
 iteration(652) high(598) hyp(0.03) time=1.047341s/1.060485s
 iteration(653) high(383) hyp(0.03) time=1.048207s/1.063267s
 iteration(654) high(196) hyp(0.03) time=1.069307s/1.082127s
 iteration(655) high(207) hyp(0.04) time=1.053108s/1.068252s
 iteration(656) high(347) hyp(0.03) time=1.054144s/1.066823s
 iteration(657) high(555) hyp(0.03) time=1.011556s/1.025952s
 iteration(658) high(452) hyp(0.05) time=1.103402s/1.120407s
 iteration(659) high(452) hyp(0.05) time=1.177262s/1.191382s
 iteration(660) high(424) hyp(0.04) time=0.276677s/0.290659s
 iteration(661) high(356) hyp(0.03) time=1.084170s/1.100863s
 iteration(662) high(356) hyp(0.03) time=1.072151s/1.085469s
 iteration(663) high(113) hyp(0.03) time=0.257709s/0.272694s
 iteration(664) high(348) hyp(0.02) time=1.142287s/1.158222s
 iteration(665) high(315) hyp(0.03) time=1.054127s/1.066616s
 iteration(666) high(315) hyp(0.03) time=1.087883s/1.103497s
 iteration(667) high(365) hyp(0.03) time=0.266982s/0.279621s
 iteration(668) high(475) hyp(0.03) time=1.036174s/1.054142s
 iteration(669) high(447) hyp(0.03) time=1.074161s/1.090530s
 iteration(670) high(397) hyp(0.03) time=1.060840s/1.078366s
 iteration(671) high(369) hyp(0.03) time=1.093220s/1.106539s
 iteration(672) high(614) hyp(0.03) time=1.066889s/1.080342s
 iteration(673) high(571) hyp(0.04) time=1.061256s/1.077188s
 iteration(674) high(136) hyp(0.03) time=1.065652s/1.083544s
 iteration(675) high(266) hyp(0.03) time=1.089628s/1.103490s
 iteration(676) high(625) hyp(0.03) time=1.066420s/1.084090s
 iteration(677) high(352) hyp(0.03) time=1.062458s/1.079627s
 iteration(678) high(563) hyp(0.04) time=1.115591s/1.134387s
 iteration(679) high(575) hyp(0.03) time=1.076522s/1.090046s
 iteration(680) high(107) hyp(0.03) time=1.102801s/1.115949s
 iteration(681) high(555) hyp(0.03) time=1.087835s/1.115870s
 iteration(682) high(637) hyp(0.03) time=1.088375s/1.107572s
 iteration(683) high(573) hyp(0.03) time=1.080536s/1.099242s
 iteration(684) high(604) hyp(0.03) time=1.081344s/1.097729s
 iteration(685) high(636) hyp(0.03) time=1.119264s/1.132156s
 iteration(686) high(649) hyp(0.03) time=1.084584s/1.097423s
 iteration(687) high(372) hyp(0.03) time=1.146452s/1.164313s
 iteration(688) high(634) hyp(0.03) time=1.088174s/1.104513s
 iteration(689) high(622) hyp(0.03) time=1.097594s/1.113908s
 iteration(690) high(629) hyp(0.04) time=1.148874s/1.164642s
 iteration(691) high(526) hyp(0.03) time=1.134217s/1.148240s
 iteration(692) high(632) hyp(0.03) time=1.127588s/1.145285s
 iteration(693) high(376) hyp(0.03) time=1.086049s/1.103257s
 iteration(694) high(635) hyp(0.03) time=1.128508s/1.147047s
 iteration(695) high(650) hyp(0.03) time=1.102743s/1.115838s
 iteration(696) high(83) hyp(0.03) time=1.098748s/1.114612s
 iteration(697) high(613) hyp(0.03) time=1.066871s/1.079121s
 iteration(698) high(582) hyp(0.04) time=1.105966s/1.121286s
 iteration(699) high(668) hyp(0.03) time=1.137347s/1.150471s
 count = 700, loop closures = 297, max time (at 659) = 1.177262s
 WM(536)=[1,0;2,0;3,0;4,0;5,0;6,0;7,0;8,0;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;18,0;19,0;20,0;21,0;22,0;23,0;24,0;25,0;26,0;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,0;77,0;78,0;79,0;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;193,0;194,0;195,0;196,0;197,0;199,1;201,0;203,0;205,0;207,0;209,1;210,0;213,2;217,0;223,0;228,0;233,0;236,0;238,0;240,0;242,0;244,0;246,0;248,0;250,0;252,0;253,0;255,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;269,0;271,0;273,0;274,0;276,0;278,0;280,0;282,0;285,0;289,0;292,0;295,0;298,0;301,0;304,0;308,0;311,0;313,0;315,0;316,0;317,0;318,0;319,0;320,0;321,1;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;333,0;334,0;335,0;336,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;390,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;400,0;403,0;406,0;409,2;412,0;415,0;417,0;419,0;421,1;423,0;424,0;425,0;426,0;427,0;429,1;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,1;443,0;445,1;447,2;449,2;450,1;451,0;452,0;453,0;454,1;455,1;456,0;457,0;458,0;459,0;460,0;461,0;462,0;463,0;464,0;465,0;466,0;467,1;468,0;470,2;472,2;473,0;474,2;475,0;476,1;477,0;479,3;481,3;483,4;485,4;487,1;490,7;492,8;495,2;497,7;500,4;503,8;506,5;509,6;511,3;512,0;513,2;514,0;515,0;516,1;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,1;532,1;534,1;537,3;539,3;541,2;543,3;545,1;547,3;549,1;551,3;553,1;554,0;555,2;556,0;557,1;558,0;559,0;560,0;561,0;562,0;563,0;564,0;565,1;566,0;567,1;568,0;569,0;570,0;571,0;572,0;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;584,1;586,1;588,1;590,1;592,1;594,1;596,1;598,1;600,1;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;614,0;615,0;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;659,1;660,0;662,1;663,0;664,0;666,1;667,0;668,0;669,0;670,0]
 iteration(700) high(403) hyp(0.03) time=1.113248s/1.134650s
 iteration(701) high(35) hyp(0.03) time=1.226396s/1.245432s
 iteration(702) high(352) hyp(0.03) time=1.304203s/1.320574s
 iteration(703) high(356) hyp(0.03) time=1.219486s/1.238449s
 iteration(704) high(641) hyp(0.03) time=1.197133s/1.209674s
 iteration(705) high(187) hyp(0.03) time=1.194585s/1.212304s
 iteration(706) high(562) hyp(0.04) time=1.163582s/1.181573s
 iteration(707) high(621) hyp(0.03) time=1.143131s/1.155629s
 iteration(708) high(386) hyp(0.04) time=1.122723s/1.139226s
 iteration(709) high(620) hyp(0.03) time=1.137905s/1.150380s
 iteration(710) high(617) hyp(0.03) time=1.130066s/1.145541s
 iteration(711) high(648) hyp(0.03) time=1.172402s/1.190684s
 iteration(712) high(642) hyp(0.03) time=1.138557s/1.152250s
 iteration(713) high(627) hyp(0.04) time=1.146835s/1.163532s
 iteration(714) high(596) hyp(0.04) time=1.363446s/1.376184s
 iteration(715) high(573) hyp(0.03) time=1.137124s/1.152980s
 iteration(716) high(621) hyp(0.03) time=1.142108s/1.160753s
 iteration(717) high(633) hyp(0.03) time=1.164776s/1.178306s
 iteration(718) high(618) hyp(0.03) time=1.200675s/1.216814s
 iteration(719) high(374) hyp(0.02) time=1.158752s/1.177061s
 iteration(720) high(635) hyp(0.03) time=1.213789s/1.231401s
 iteration(721) high(604) hyp(0.03) time=1.200470s/1.213494s
 iteration(722) high(521) hyp(0.03) time=1.207595s/1.220711s
 iteration(723) high(435) hyp(0.04) time=1.176542s/1.193275s
 iteration(724) high(626) hyp(0.03) time=1.242493s/1.261764s
 iteration(725) high(647) hyp(0.03) time=1.251584s/1.266326s
 iteration(726) high(654) hyp(0.03) time=1.184658s/1.197747s
 iteration(727) high(672) hyp(0.03) time=1.177713s/1.195099s
 iteration(728) high(186) hyp(0.03) time=1.204072s/1.220491s
 iteration(729) high(274) hyp(0.03) time=1.273219s/1.287942s
 iteration(730) high(576) hyp(0.03) time=1.230946s/1.243327s
 iteration(731) high(671) hyp(0.03) time=1.240635s/1.253695s
 iteration(732) high(681) hyp(0.03) time=1.198371s/1.211899s
 iteration(733) high(626) hyp(0.03) time=1.203731s/1.223703s
 iteration(734) high(650) hyp(0.03) time=1.209280s/1.225980s
 iteration(735) high(686) hyp(0.03) time=1.243097s/1.256608s
 iteration(736) high(373) hyp(0.03) time=1.317997s/1.335491s
 iteration(737) high(264) hyp(0.03) time=1.224552s/1.240588s
 iteration(738) high(460) hyp(0.03) time=1.205637s/1.223282s
 iteration(739) high(460) hyp(0.03) time=1.178903s/1.194725s
 iteration(740) high(460) hyp(0.03) time=0.263200s/0.279631s
 iteration(741) high(612) hyp(0.03) time=0.287120s/0.300527s
 iteration(742) high(612) hyp(0.03) time=1.215359s/1.232648s
 iteration(743) high(612) hyp(0.03) time=0.268400s/0.282449s
 iteration(744) high(612) hyp(0.03) time=0.283217s/0.299661s
 iteration(745) high(654) hyp(0.03) time=0.261601s/0.277793s
 iteration(746) high(605) hyp(0.03) time=1.220871s/1.234231s
 iteration(747) high(592) hyp(0.03) time=0.274095s/0.287485s
 iteration(748) high(688) hyp(0.02) time=1.185596s/1.198354s
 iteration(749) high(619) hyp(0.04) time=1.265923s/1.284197s
 iteration(750) high(582) hyp(0.04) time=1.292474s/1.306597s
 iteration(751) high(684) hyp(0.03) time=1.242849s/1.260490s
 iteration(752) high(678) hyp(0.03) time=1.271666s/1.287911s
 iteration(753) high(671) hyp(0.03) time=1.221069s/1.239647s
 iteration(754) high(592) hyp(0.03) time=1.222534s/1.235771s
 iteration(755) high(468) hyp(0.04) time=1.409379s/1.429383s
 iteration(756) high(359) hyp(0.04) time=1.241364s/1.256833s
 iteration(757) high(359) hyp(0.04) time=1.270373s/1.286648s
 iteration(758) high(359) hyp(0.04) time=0.251983s/0.267206s
 iteration(759) high(594) hyp(0.04) time=0.261685s/0.277611s
 iteration(760) high(594) hyp(0.04) time=1.259686s/1.279416s
 iteration(761) high(56) hyp(0.03) time=0.270347s/0.287496s
 iteration(762) high(707) hyp(0.02) time=1.251954s/1.269446s
 iteration(763) high(373) hyp(0.02) time=1.205485s/1.217443s
 iteration(764) high(356) hyp(0.03) time=1.300344s/1.316873s
 iteration(765) high(370) hyp(0.03) time=1.282435s/1.294264s
 iteration(766) high(356) hyp(0.03) time=1.267154s/1.281003s
 iteration(767) high(607) hyp(0.03) time=1.307173s/1.322364s
 iteration(768) high(356) hyp(0.03) time=1.321225s/1.333497s
 iteration(769) high(369) hyp(0.03) time=1.482214s/1.501324s
 iteration(770) high(720) hyp(0.03) time=1.273784s/1.287165s
 iteration(771) high(660) hyp(0.03) time=1.324039s/1.343192s
 iteration(772) high(724) hyp(0.03) time=1.274594s/1.287609s
 iteration(773) high(359) hyp(0.03) time=1.330614s/1.343622s
 iteration(774) high(353) hyp(0.02) time=1.243414s/1.257041s
 iteration(775) high(53) hyp(0.03) time=1.271498s/1.286028s
 iteration(776) high(58) hyp(0.03) time=1.314324s/1.327800s
 iteration(777) high(686) hyp(0.03) time=1.309005s/1.325042s
 iteration(778) high(371) hyp(0.04) time=1.316935s/1.335204s
 iteration(779) high(370) hyp(0.06) time=1.355516s/1.372084s
 iteration(780) loop(371) hyp(0.13) time=1.321253s/1.338435s *
 iteration(781) loop(372) hyp(0.18) time=1.335349s/1.352699s *
 iteration(782) loop(373) hyp(0.24) time=1.339004s/1.355018s *
 iteration(783) loop(374) hyp(0.37) time=1.317185s/1.335974s *
 iteration(784) loop(375) hyp(0.44) time=1.361469s/1.379380s *
 iteration(785) loop(376) hyp(0.51) time=1.328777s/1.344884s *
 iteration(786) loop(377) hyp(0.80) time=1.343046s/1.359253s *
 iteration(787) loop(378) hyp(0.68) time=1.407934s/1.424352s *
 iteration(788) loop(378) hyp(0.85) time=1.378038s/1.395303s *
 iteration(789) loop(378) hyp(0.54) time=1.397403s/1.412980s *
 iteration(790) loop(578) hyp(0.46) time=1.353508s/1.371973s *
 iteration(791) loop(578) hyp(0.38) time=1.373031s/1.388207s *
 iteration(792) loop(579) hyp(0.29) time=1.484468s/1.499914s *
 iteration(793) loop(579) hyp(0.21) time=1.513906s/1.529358s *
 iteration(794) loop(580) hyp(0.19) time=1.594658s/1.615491s *
 iteration(795) loop(581) hyp(0.17) time=1.735380s/1.753534s *
 iteration(796) loop(582) hyp(0.17) time=1.621965s/1.640872s *
 iteration(797) loop(584) hyp(0.17) time=1.297625s/1.312541s *
 iteration(798) loop(586) hyp(0.17) time=1.376590s/1.394608s *
 iteration(799) loop(586) hyp(0.19) time=1.345152s/1.359698s *
 count = 800, loop closures = 318, max time (at 795) = 1.735380s
 WM(596)=[31,0;32,0;33,0;34,0;35,0;36,0;37,0;38,0;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;63,0;64,0;65,0;66,0;67,0;68,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,0;77,0;78,0;79,0;80,0;81,0;82,0;83,0;84,0;85,0;86,0;87,0;88,0;89,0;90,0;91,0;92,0;93,0;94,0;95,0;96,0;97,0;98,0;99,0;100,0;101,0;102,0;103,0;104,0;105,0;106,0;107,0;108,0;109,0;110,0;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;193,0;194,0;195,0;196,0;197,0;199,1;201,0;203,0;205,0;207,0;209,1;210,0;213,2;217,0;223,0;228,0;233,0;236,0;238,0;240,0;242,0;244,0;246,0;248,0;250,0;252,0;253,0;255,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;269,0;271,0;273,0;274,0;276,0;278,0;280,0;282,0;285,0;289,0;292,0;295,0;298,0;301,0;304,0;308,0;311,0;313,0;315,0;316,0;317,0;318,0;319,0;320,0;321,1;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;333,0;334,0;335,0;336,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;390,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;400,0;403,0;406,0;409,2;412,0;415,0;417,0;419,0;421,1;423,0;424,0;425,0;426,0;427,0;429,1;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,1;443,0;445,1;447,2;449,2;450,1;451,0;452,0;453,0;454,1;455,1;456,0;457,0;458,0;459,0;460,0;461,0;462,0;463,0;464,0;465,0;466,0;467,1;468,0;470,2;472,2;473,0;474,2;475,0;476,1;477,0;479,3;481,3;483,4;485,4;487,1;490,7;492,8;495,2;497,7;500,4;503,8;506,5;509,6;511,3;512,0;513,2;514,0;515,0;516,1;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,1;532,1;534,1;537,3;539,3;541,2;543,3;545,1;547,3;549,1;551,3;553,1;554,0;555,2;556,0;557,1;558,0;559,0;560,0;561,0;562,0;563,0;564,0;565,1;566,0;567,1;568,0;569,0;570,0;571,0;572,0;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;584,0;586,0;588,0;590,1;592,1;594,1;596,1;598,1;600,1;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;614,0;615,0;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;659,1;660,0;662,1;663,0;664,0;666,1;667,0;668,0;669,0;670,0;671,0;672,0;673,0;674,0;675,0;676,0;677,0;678,0;679,0;680,0;681,0;682,0;683,0;684,0;685,0;686,0;687,0;688,0;689,0;690,0;691,0;692,0;693,0;694,0;695,0;696,0;697,0;698,0;699,0;700,0;701,0;702,0;703,0;704,0;705,0;706,0;707,0;708,0;709,0;710,0;711,0;712,0;713,0;714,0;715,0;716,0;717,0;718,0;719,0;720,0;721,0;722,0;723,0;724,0;725,0;726,0;727,0;728,0;729,0;730,0;731,0;732,0;733,0;734,0;735,0;736,0;737,0;740,2;744,3;746,1;747,0;748,0;749,0;750,0;751,0;752,0;753,0;754,0;755,0;758,2;760,1;761,0;762,0;763,0;764,0;765,0;766,0;767,0;768,0;769,0]
 iteration(800) loop(588) hyp(0.22) time=0.299727s/0.315122s *
 iteration(801) loop(588) hyp(0.32) time=1.365106s/1.383870s *
 iteration(802) loop(590) hyp(0.50) time=0.320337s/0.333512s *
 iteration(803) loop(590) hyp(0.76) time=1.365389s/1.383061s *
 iteration(804) loop(592) hyp(0.91) time=0.312877s/0.329711s *
 iteration(805) loop(592) hyp(0.97) time=1.393257s/1.408056s *
 iteration(806) loop(594) hyp(0.98) time=0.291505s/0.308040s *
 iteration(807) loop(594) hyp(0.99) time=1.671452s/1.696182s *
 iteration(808) loop(596) hyp(0.98) time=1.776498s/1.793629s *
 iteration(809) loop(596) hyp(0.99) time=1.377570s/1.393555s *
 iteration(810) loop(598) hyp(0.98) time=0.292737s/0.307256s *
 iteration(811) loop(598) hyp(0.98) time=1.363999s/1.379942s *
 iteration(812) loop(600) hyp(0.98) time=0.274670s/0.291350s *
 iteration(813) loop(600) hyp(0.98) time=1.365364s/1.381177s *
 iteration(814) loop(601) hyp(0.98) time=0.277443s/0.291768s *
 iteration(815) loop(601) hyp(0.98) time=1.390106s/1.409340s *
 iteration(816) loop(603) hyp(0.98) time=1.421475s/1.442222s *
 iteration(817) loop(603) hyp(0.97) time=1.568456s/1.584425s *
 iteration(818) loop(605) hyp(0.97) time=1.391299s/1.407182s *
 iteration(819) loop(605) hyp(0.97) time=1.391221s/1.407697s *
 iteration(820) loop(607) hyp(0.97) time=1.440662s/1.456822s *
 iteration(821) loop(608) hyp(0.97) time=1.381142s/1.399938s *
 iteration(822) loop(609) hyp(0.97) time=1.471948s/1.489325s *
 iteration(823) loop(610) hyp(0.97) time=1.458303s/1.477607s *
 iteration(824) loop(611) hyp(0.97) time=1.368067s/1.384457s *
 iteration(825) loop(612) hyp(0.98) time=1.467484s/1.482781s *
 iteration(826) loop(613) hyp(0.98) time=1.332754s/1.348188s *
 iteration(827) loop(614) hyp(0.98) time=1.386027s/1.403477s *
 iteration(828) loop(615) hyp(0.98) time=1.473536s/1.490092s *
 iteration(829) loop(616) hyp(0.98) time=1.451542s/1.468098s *
 iteration(830) loop(617) hyp(0.98) time=1.409179s/1.425636s *
 iteration(831) loop(618) hyp(0.98) time=1.358191s/1.374212s *
 iteration(832) loop(619) hyp(0.97) time=1.345541s/1.362997s *
 iteration(833) loop(620) hyp(0.97) time=1.374053s/1.391582s *
 iteration(834) loop(621) hyp(0.97) time=1.419751s/1.439444s *
 iteration(835) loop(622) hyp(0.97) time=1.379068s/1.397986s *
 iteration(836) loop(623) hyp(0.97) time=1.418948s/1.436951s *
 iteration(837) loop(624) hyp(0.97) time=1.436341s/1.453057s *
 iteration(838) loop(625) hyp(0.97) time=1.451961s/1.471979s *
 iteration(839) loop(626) hyp(0.98) time=1.622754s/1.643972s *
 iteration(840) loop(627) hyp(0.98) time=1.367786s/1.382726s *
 iteration(841) loop(628) hyp(0.98) time=1.385956s/1.403432s *
 iteration(842) loop(629) hyp(0.98) time=1.385616s/1.402636s *
 iteration(843) loop(630) hyp(0.98) time=1.389118s/1.407503s *
 iteration(844) loop(631) hyp(0.97) time=1.396392s/1.410701s *
 iteration(845) loop(632) hyp(0.98) time=1.385201s/1.401940s *
 iteration(846) loop(633) hyp(0.97) time=1.444065s/1.463220s *
 iteration(847) loop(634) hyp(0.97) time=1.387167s/1.404714s *
 iteration(848) loop(635) hyp(0.95) time=1.388562s/1.405154s *
 iteration(849) loop(636) hyp(0.95) time=1.396130s/1.410754s *
 iteration(850) loop(637) hyp(0.96) time=1.413648s/1.430367s *
 iteration(851) loop(638) hyp(0.96) time=1.403240s/1.418470s *
 iteration(852) loop(639) hyp(0.98) time=1.382341s/1.399906s *
 iteration(853) loop(640) hyp(0.97) time=1.376145s/1.394186s *
 iteration(854) loop(641) hyp(0.97) time=1.363144s/1.380914s *
 iteration(855) loop(642) hyp(0.97) time=1.383526s/1.398131s *
 iteration(856) loop(643) hyp(0.97) time=1.377970s/1.392979s *
 iteration(857) loop(644) hyp(0.96) time=1.441464s/1.459380s *
 iteration(858) loop(645) hyp(0.96) time=1.437577s/1.452336s *
 iteration(859) loop(646) hyp(0.96) time=1.610354s/1.625859s *
 iteration(860) loop(647) hyp(0.97) time=1.396406s/1.413695s *
 iteration(861) loop(648) hyp(0.98) time=1.406886s/1.422609s *
 iteration(862) loop(649) hyp(0.98) time=1.489308s/1.504559s *
 iteration(863) loop(650) hyp(0.98) time=1.390444s/1.406870s *
 iteration(864) loop(651) hyp(0.98) time=1.435865s/1.460490s *
 iteration(865) loop(652) hyp(0.98) time=1.520673s/1.538598s *
 iteration(866) loop(653) hyp(0.93) time=1.440595s/1.456792s *
 iteration(867) loop(654) hyp(0.58) time=1.432582s/1.451835s *
 iteration(868) loop(653) hyp(0.27) time=1.431144s/1.449985s *
 iteration(869) high(653) hyp(0.09) time=1.425137s/1.441482s
 iteration(870) high(653) hyp(0.05) time=1.465246s/1.487403s
 iteration(871) high(653) hyp(0.03) time=1.495015s/1.516978s
 iteration(872) high(653) hyp(0.04) time=1.456803s/1.473817s
 iteration(873) high(695) hyp(0.03) time=1.427422s/1.443547s
 iteration(874) high(835) hyp(0.03) time=1.523094s/1.540225s
 iteration(875) high(689) hyp(0.03) time=1.380904s/1.399840s
 iteration(876) high(426) hyp(0.03) time=1.407270s/1.422736s
 iteration(877) high(650) hyp(0.03) time=1.447616s/1.466787s
 iteration(878) high(648) hyp(0.03) time=1.386889s/1.403399s
 iteration(879) high(683) hyp(0.03) time=1.411723s/1.427392s
 iteration(880) high(320) hyp(0.03) time=1.371757s/1.389013s
 iteration(881) high(588) hyp(0.03) time=1.434172s/1.448920s
 iteration(882) high(679) hyp(0.03) time=1.443180s/1.464004s
 iteration(883) high(752) hyp(0.03) time=1.488426s/1.507706s
 iteration(884) high(687) hyp(0.03) time=1.406249s/1.423607s
 iteration(885) high(385) hyp(0.03) time=1.470016s/1.485056s
 iteration(886) high(809) hyp(0.03) time=1.426734s/1.441405s
 iteration(887) high(633) hyp(0.04) time=1.465319s/1.479045s
 iteration(888) high(440) hyp(0.03) time=1.339332s/1.357453s
 iteration(889) high(260) hyp(0.04) time=1.407801s/1.421120s
 iteration(890) high(813) hyp(0.04) time=1.402957s/1.418458s
 iteration(891) high(699) hyp(0.03) time=1.425413s/1.443443s
 iteration(892) high(553) hyp(0.04) time=1.501563s/1.518306s
 iteration(893) high(570) hyp(0.03) time=1.428589s/1.441975s
 iteration(894) high(747) hyp(0.03) time=1.454403s/1.470321s
 iteration(895) high(355) hyp(0.02) time=1.494738s/1.514421s
 iteration(896) high(747) hyp(0.02) time=1.395803s/1.410658s
 iteration(897) high(828) hyp(0.03) time=1.430887s/1.448787s
 iteration(898) high(720) hyp(0.03) time=1.474900s/1.489763s
 iteration(899) high(799) hyp(0.04) time=1.390549s/1.405952s
 count = 900, loop closures = 386, max time (at 808) = 1.776498s
 WM(566)=[154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;184,0;185,0;186,0;187,0;188,0;189,0;190,0;191,0;192,0;193,0;194,0;195,0;196,0;197,0;199,1;201,0;203,0;205,0;207,0;209,1;210,0;213,2;217,0;223,0;228,0;233,0;236,0;238,0;240,0;242,0;244,0;246,0;248,0;250,0;252,0;253,0;255,0;257,0;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;269,0;271,0;273,0;274,0;276,0;278,0;280,0;282,0;285,0;289,0;292,0;295,0;298,0;301,0;304,0;308,0;311,0;313,0;315,0;316,0;317,0;318,0;319,0;320,0;321,1;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;333,0;334,0;335,0;336,0;338,0;339,0;340,0;341,0;342,0;343,0;344,0;345,0;346,0;347,0;348,0;349,0;350,0;351,0;352,0;353,0;354,0;355,0;356,0;357,0;358,0;359,0;360,0;361,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;390,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;400,0;403,0;406,0;409,2;412,0;415,0;417,0;419,0;421,1;423,0;424,0;425,0;426,0;427,0;429,1;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,1;443,0;445,1;447,2;449,2;450,1;451,0;452,0;453,0;454,1;455,1;456,0;457,0;458,0;459,0;460,0;461,0;462,0;463,0;464,0;465,0;466,0;467,1;468,0;470,2;472,2;473,0;474,2;475,0;476,1;477,0;479,3;481,3;483,4;485,4;487,1;490,7;492,8;495,2;497,7;500,4;503,8;506,5;509,6;511,3;512,0;513,2;514,0;515,0;516,1;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,1;532,1;534,1;537,3;539,3;541,2;543,3;545,1;547,3;549,1;551,3;553,1;554,0;555,2;556,0;557,1;558,0;559,0;560,0;561,0;562,0;563,0;564,0;565,1;566,0;567,1;568,0;569,0;570,0;571,0;572,0;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;584,0;586,0;588,0;590,0;592,0;594,0;596,0;598,0;600,0;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;614,0;615,0;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;659,1;660,0;662,1;663,0;664,0;666,1;667,0;668,0;669,0;670,0;671,0;672,0;673,0;674,0;675,0;676,0;677,0;678,0;679,0;680,0;681,0;682,0;683,0;684,0;685,0;686,0;687,0;688,0;689,0;690,0;691,0;692,0;693,0;694,0;695,0;696,0;697,0;698,0;699,0;700,0;701,0;702,0;703,0;704,0;705,0;706,0;707,0;708,0;709,0;710,0;711,0;712,0;713,0;714,0;715,0;716,0;717,0;718,0;719,0;720,0;721,0;722,0;723,0;724,0;725,0;726,0;727,0;728,0;729,0;730,0;731,0;732,0;733,0;734,0;735,0;736,0;737,0;740,2;744,3;746,1;747,0;748,0;749,0;750,0;751,0;752,0;753,0;754,0;755,0;758,2;760,1;761,0;762,0;763,0;764,0;765,0;766,0;767,0;768,0;769,0;770,0;771,0;772,0;773,0;774,0;775,0;776,0;777,0;778,0;779,0;780,0;781,0;782,0;783,0;784,0;785,0;786,0;787,0;788,0;789,0;790,0;791,0;792,0;793,0;794,0;795,0;796,0;797,1;799,2;801,2;803,2;805,2;807,2;809,2;811,2;813,2;814,0;815,0;816,0;817,0;818,0;819,0;820,0;821,0;822,0;823,0;824,0;825,0;826,0;827,0;828,0;829,0;830,0;831,0;832,0;833,0;834,0;835,0;836,0;837,0;838,0;839,0;840,0;841,0;842,0;843,0;844,0;845,0;846,0;847,0;848,0;849,0;850,0;851,0;852,0;853,0;854,0;855,0;856,0;857,0;858,0;859,0;860,0;861,0;862,0;863,0;864,0;865,0;866,0;867,0;868,0;869,0;870,0]
 iteration(900) high(705) hyp(0.03) time=1.527649s/1.543534s
 iteration(901) high(845) hyp(0.04) time=1.402228s/1.419593s
 iteration(902) high(667) hyp(0.03) time=1.443708s/1.461675s
 iteration(903) high(348) hyp(0.03) time=1.447293s/1.467639s
 iteration(904) high(707) hyp(0.03) time=1.354454s/1.369957s
 iteration(905) high(728) hyp(0.03) time=1.387478s/1.406544s
 iteration(906) high(459) hyp(0.03) time=1.379299s/1.397233s
 iteration(907) high(383) hyp(0.03) time=1.404422s/1.422963s
 iteration(908) high(675) hyp(0.03) time=1.475260s/1.495706s
 iteration(909) high(853) hyp(0.02) time=1.470240s/1.486615s
 iteration(910) high(685) hyp(0.02) time=1.426913s/1.448756s
 iteration(911) high(710) hyp(0.03) time=1.424322s/1.441387s
 iteration(912) high(708) hyp(0.03) time=1.396524s/1.415532s
 iteration(913) high(871) hyp(0.03) time=1.390368s/1.404485s
 iteration(914) high(850) hyp(0.03) time=1.773078s/1.792022s
 iteration(915) high(614) hyp(0.03) time=1.454613s/1.473045s
 iteration(916) high(649) hyp(0.03) time=1.493826s/1.510256s
 iteration(917) high(685) hyp(0.03) time=1.377304s/1.396463s
 iteration(918) high(619) hyp(0.03) time=1.418526s/1.433430s
 iteration(919) high(831) hyp(0.03) time=1.433854s/1.450982s
 iteration(920) high(640) hyp(0.03) time=1.375045s/1.392064s
 iteration(921) high(195) hyp(0.03) time=1.516110s/1.532019s
 iteration(922) high(831) hyp(0.03) time=1.415128s/1.431636s
 iteration(923) high(734) hyp(0.04) time=1.359931s/1.380212s
 iteration(924) high(649) hyp(0.04) time=1.414194s/1.431690s
 iteration(925) high(736) hyp(0.04) time=1.403126s/1.424444s
 iteration(926) high(748) hyp(0.03) time=1.350901s/1.367234s
 iteration(927) high(889) hyp(0.03) time=1.339244s/1.355680s
 iteration(928) high(837) hyp(0.03) time=1.321402s/1.339213s
 iteration(929) high(884) hyp(0.03) time=1.361989s/1.375801s
 iteration(930) high(875) hyp(0.03) time=1.390610s/1.406712s
 iteration(931) high(735) hyp(0.03) time=1.386908s/1.406283s
 iteration(932) high(877) hyp(0.03) time=1.358252s/1.377543s
 iteration(933) high(876) hyp(0.03) time=1.359858s/1.375873s
 iteration(934) high(769) hyp(0.03) time=1.351186s/1.366564s
 iteration(935) high(732) hyp(0.04) time=1.377195s/1.394877s
 iteration(936) high(640) hyp(0.04) time=1.356821s/1.375933s
 iteration(937) high(751) hyp(0.03) time=1.366683s/1.384193s
 iteration(938) high(862) hyp(0.03) time=1.459432s/1.474019s
 iteration(939) high(643) hyp(0.03) time=1.356247s/1.370912s
 iteration(940) high(883) hyp(0.03) time=1.381956s/1.400441s
 iteration(941) high(886) hyp(0.02) time=1.424612s/1.440351s
 iteration(942) high(734) hyp(0.03) time=1.647041s/1.669182s
 iteration(943) high(372) hyp(0.03) time=1.371986s/1.386364s
 iteration(944) high(737) hyp(0.03) time=1.404185s/1.419185s
 iteration(945) high(749) hyp(0.03) time=1.444806s/1.465176s
 iteration(946) high(266) hyp(0.03) time=1.500149s/1.515812s
 iteration(947) high(506) hyp(0.03) time=1.382847s/1.401010s
 iteration(948) high(431) hyp(0.04) time=1.457062s/1.471861s
 iteration(949) high(529) hyp(0.04) time=1.322074s/1.335277s
 iteration(950) high(295) hyp(0.04) time=1.459391s/1.472395s
 iteration(951) high(679) hyp(0.03) time=1.477564s/1.491200s
 iteration(952) high(403) hyp(0.04) time=1.353388s/1.370605s
 iteration(953) high(403) hyp(0.03) time=1.400333s/1.418448s
 iteration(954) high(790) hyp(0.03) time=1.365896s/1.382072s
 iteration(955) high(403) hyp(0.04) time=1.382034s/1.397108s
 iteration(956) high(403) hyp(0.04) time=1.406883s/1.421299s
 iteration(957) high(564) hyp(0.05) time=1.355437s/1.370836s
 iteration(958) high(560) hyp(0.06) time=1.424303s/1.438190s
 iteration(959) high(562) hyp(0.06) time=1.439349s/1.453559s
 iteration(960) high(562) hyp(0.07) time=1.466879s/1.483309s
 iteration(961) high(561) hyp(0.06) time=1.435181s/1.448477s
 iteration(962) high(562) hyp(0.08) time=1.357804s/1.373562s
 iteration(963) high(560) hyp(0.06) time=1.378745s/1.393506s
 iteration(964) high(403) hyp(0.08) time=1.356750s/1.371145s
 iteration(965) loop(400) hyp(0.12) time=1.350343s/1.368516s *
 iteration(966) loop(400) hyp(0.16) time=1.415727s/1.429129s *
 iteration(967) loop(403) hyp(0.20) time=1.460434s/1.473260s *
 iteration(968) loop(403) hyp(0.25) time=1.423146s/1.442827s *
 iteration(969) loop(406) hyp(0.34) time=1.398603s/1.413137s *
 iteration(970) loop(406) hyp(0.45) time=1.504683s/1.522478s *
 iteration(971) loop(406) hyp(0.52) time=1.481838s/1.496436s *
 iteration(972) loop(406) hyp(0.60) time=1.759960s/1.779412s *
 iteration(973) loop(409) hyp(0.68) time=1.501144s/1.517028s *
 iteration(974) loop(409) hyp(0.77) time=1.755801s/1.773527s *
 iteration(975) loop(412) hyp(0.83) time=1.520357s/1.537799s *
 iteration(976) loop(412) hyp(0.85) time=1.470911s/1.487868s *
 iteration(977) loop(412) hyp(0.84) time=1.493467s/1.509320s *
 iteration(978) loop(415) hyp(0.83) time=1.516915s/1.531370s *
 iteration(979) loop(415) hyp(0.74) time=1.504544s/1.522083s *
 iteration(980) loop(415) hyp(0.52) time=1.558508s/1.577406s *
 iteration(981) loop(417) hyp(0.31) time=1.515264s/1.531546s *
 iteration(982) loop(417) hyp(0.24) time=1.516596s/1.535254s *
 iteration(983) loop(419) hyp(0.23) time=1.637948s/1.653744s *
 iteration(984) loop(419) hyp(0.19) time=1.539293s/1.553990s *
 iteration(985) loop(421) hyp(0.17) time=1.550205s/1.566267s *
 iteration(986) loop(421) hyp(0.17) time=1.490490s/1.509102s *
 iteration(987) loop(423) hyp(0.17) time=1.633557s/1.650576s *
 iteration(988) loop(423) hyp(0.17) time=1.608018s/1.623301s *
 iteration(989) loop(424) hyp(0.15) time=1.595921s/1.614951s *
 iteration(990) loop(426) hyp(0.15) time=1.581203s/1.598277s *
 iteration(991) loop(427) hyp(0.15) time=1.489457s/1.506936s *
 iteration(992) loop(429) hyp(0.15) time=1.577426s/1.594251s *
 iteration(993) loop(429) hyp(0.15) time=1.515643s/1.530231s *
 iteration(994) loop(430) hyp(0.14) time=1.525021s/1.543740s *
 iteration(995) loop(430) hyp(0.15) time=1.605580s/1.623924s *
 iteration(996) loop(431) hyp(0.16) time=1.490646s/1.505212s *
 iteration(997) loop(432) hyp(0.16) time=1.542878s/1.559861s *
 iteration(998) loop(433) hyp(0.18) time=1.575010s/1.589462s *
 iteration(999) loop(434) hyp(0.19) time=1.540962s/1.557283s *
 count = 1000, loop closures = 422, max time (at 914) = 1.773078s
 WM(558)=[88,0;179,0;199,1;207,0;209,1;210,0;213,2;233,0;236,0;238,0;240,0;242,0;244,0;246,0;248,0;250,0;252,0;253,0;311,0;313,0;315,0;316,0;317,0;318,0;319,0;320,0;321,1;322,0;323,0;324,0;325,0;326,0;327,0;328,0;329,0;330,0;331,0;333,0;334,0;335,0;336,0;338,0;339,0;340,0;341,0;342,0;362,0;363,0;364,0;365,0;366,0;367,0;368,0;369,0;370,0;371,0;372,0;373,0;374,0;375,0;376,0;377,0;378,0;379,0;380,0;381,0;382,0;383,0;384,0;385,0;386,0;387,0;388,0;390,0;392,0;393,0;394,0;395,0;396,0;397,0;398,0;400,0;403,0;406,0;409,0;412,0;415,0;417,0;419,0;421,0;423,0;424,0;425,0;426,0;427,0;429,0;430,0;431,0;432,0;433,0;434,0;435,0;436,0;437,0;438,0;439,0;440,0;441,0;442,1;443,0;445,1;447,2;449,2;450,1;451,0;452,0;453,0;454,1;455,1;456,0;457,0;458,0;459,0;460,0;461,0;462,0;463,0;464,0;465,0;466,0;467,1;468,0;470,2;472,2;473,0;474,2;475,0;476,1;477,0;479,3;481,3;483,4;485,4;487,1;490,7;492,8;495,2;497,7;500,4;503,8;506,5;509,6;511,3;512,0;513,2;514,0;515,0;516,1;517,0;518,0;519,0;520,0;521,0;522,0;523,0;524,0;525,0;526,0;527,0;528,0;529,0;530,1;532,1;534,1;537,3;539,3;541,2;543,3;545,1;547,3;549,1;551,3;553,1;554,0;555,2;556,0;557,1;558,0;559,0;560,0;561,0;562,0;563,0;564,0;565,1;566,0;567,1;568,0;569,0;570,0;571,0;572,0;573,0;574,0;575,0;576,0;577,0;578,0;579,0;580,0;581,0;582,0;584,0;586,0;588,0;590,0;592,0;594,0;596,0;598,0;600,0;601,0;602,0;603,0;604,0;605,0;606,0;607,0;608,0;609,0;610,0;611,0;612,0;613,0;614,0;615,0;616,0;617,0;618,0;619,0;620,0;621,0;622,0;623,0;624,0;625,0;626,0;627,0;628,0;629,0;630,0;631,0;632,0;633,0;634,0;635,0;636,0;637,0;638,0;639,0;640,0;641,0;642,0;643,0;644,0;645,0;646,0;647,0;648,0;649,0;650,0;651,0;652,0;653,0;654,0;655,0;656,0;657,0;659,1;660,0;662,1;663,0;664,0;666,1;667,0;668,0;669,0;670,0;671,0;672,0;673,0;674,0;675,0;676,0;677,0;678,0;679,0;680,0;681,0;682,0;683,0;684,0;685,0;686,0;687,0;688,0;689,0;690,0;691,0;692,0;693,0;694,0;695,0;696,0;697,0;698,0;699,0;700,0;701,0;702,0;703,0;704,0;705,0;706,0;707,0;708,0;709,0;710,0;711,0;712,0;713,0;714,0;715,0;716,0;717,0;718,0;719,0;720,0;721,0;722,0;723,0;724,0;725,0;726,0;727,0;728,0;729,0;730,0;731,0;732,0;733,0;734,0;735,0;736,0;737,0;740,2;744,3;746,1;747,0;748,0;749,0;750,0;751,0;752,0;753,0;754,0;755,0;758,2;760,1;761,0;762,0;763,0;764,0;765,0;766,0;767,0;768,0;769,0;770,0;771,0;772,0;773,0;774,0;775,0;776,0;777,0;778,0;779,0;780,0;781,0;782,0;783,0;784,0;785,0;786,0;787,0;788,0;789,0;790,0;791,0;792,0;793,0;794,0;795,0;796,0;797,1;799,2;801,2;803,2;805,2;807,2;809,2;811,2;813,2;814,0;815,0;816,0;817,0;818,0;819,0;820,0;821,0;822,0;823,0;824,0;825,0;826,0;827,0;828,0;829,0;830,0;831,0;832,0;833,0;834,0;835,0;836,0;837,0;838,0;839,0;840,0;841,0;842,0;843,0;844,0;845,0;846,0;847,0;848,0;849,0;850,0;851,0;852,0;853,0;854,0;855,0;856,0;857,0;858,0;859,0;860,0;861,0;862,0;863,0;864,0;865,0;866,0;867,0;868,0;869,0;870,0;871,0;872,0;873,0;874,0;875,0;876,0;877,0;878,0;879,0;880,0;881,0;882,0;883,0;884,0;885,0;886,0;887,0;888,0;889,0;890,0;891,0;892,0;893,0;894,0;895,0;896,0;897,0;898,0;899,0;900,0;901,0;902,0;903,0;904,0;905,0;906,0;907,0;908,0;909,0;910,0;911,0;912,0;913,0;914,0;915,0;916,0;917,0;918,0;919,0;920,0;921,0;922,0;923,0;924,0;925,0;926,0;927,0;928,0;929,0;930,0;931,0;932,0;933,0;934,0;935,0;936,0;937,0;938,0;939,0;940,0;941,0;942,0;943,0;944,0;945,0;946,0;947,0;948,0;949,0;950,0;951,0;952,0;953,0;954,0;956,1;957,0;958,0]
 iteration(1000) loop(435) hyp(0.17) time=1.534119s/1.555296s *
 iteration(1001) loop(436) hyp(0.17) time=1.434513s/1.451811s *
 iteration(1002) loop(437) hyp(0.16) time=1.546293s/1.562682s *
 iteration(1003) loop(438) hyp(0.17) time=1.582053s/1.600373s *
 iteration(1004) loop(439) hyp(0.17) time=1.586837s/1.600824s *
 iteration(1005) loop(440) hyp(0.21) time=1.562036s/1.579151s *
 iteration(1006) loop(441) hyp(0.29) time=1.586475s/1.600615s *
 iteration(1007) loop(442) hyp(0.40) time=1.522150s/1.541303s *
 iteration(1008) loop(443) hyp(0.34) time=1.606835s/1.621816s *
 iteration(1009) loop(445) hyp(0.28) time=1.712653s/1.731442s *
 iteration(1010) loop(445) hyp(0.23) time=1.449908s/1.464741s *
 iteration(1011) loop(447) hyp(0.20) time=1.528527s/1.541674s *
 iteration(1012) loop(447) hyp(0.22) time=1.433086s/1.448872s *
 iteration(1013) loop(449) hyp(0.25) time=1.497204s/1.511484s *
 iteration(1014) loop(450) hyp(0.23) time=1.399140s/1.414882s *
 iteration(1015) loop(450) hyp(0.24) time=1.425203s/1.438746s *
 iteration(1016) loop(451) hyp(0.24) time=1.439605s/1.456709s *
 iteration(1017) loop(452) hyp(0.22) time=1.473414s/1.489477s *
 iteration(1018) loop(453) hyp(0.24) time=1.363551s/1.377978s *
 iteration(1019) loop(454) hyp(0.26) time=1.481292s/1.495250s *
 iteration(1020) loop(257) hyp(0.24) time=1.509433s/1.522656s *
 iteration(1021) loop(456) hyp(0.24) time=1.525306s/1.546032s *
 iteration(1022) loop(457) hyp(0.23) time=1.556265s/1.575743s *
 iteration(1023) loop(259) hyp(0.26) time=1.455804s/1.471677s *
 iteration(1024) loop(260) hyp(0.26) time=1.524871s/1.541679s *
 iteration(1025) loop(261) hyp(0.27) time=1.395662s/1.409673s *
 iteration(1026) loop(262) hyp(0.31) time=1.443180s/1.457781s *
 iteration(1027) loop(263) hyp(0.39) time=1.546817s/1.560548s *
 iteration(1028) loop(264) hyp(0.50) time=1.500975s/1.515241s *
 iteration(1029) loop(464) hyp(0.53) time=1.553427s/1.574718s *
 iteration(1030) loop(466) hyp(0.54) time=1.499493s/1.514778s *
 iteration(1031) loop(467) hyp(0.51) time=1.470047s/1.488707s *
 iteration(1032) loop(468) hyp(0.45) time=1.468615s/1.483862s *
 iteration(1033) loop(470) hyp(0.41) time=1.486814s/1.505143s *
 iteration(1034) loop(470) hyp(0.36) time=1.538316s/1.551952s *
 iteration(1035) loop(472) hyp(0.38) time=1.453854s/1.468228s *
 iteration(1036) loop(472) hyp(0.42) time=1.365491s/1.383021s *
 iteration(1037) loop(473) hyp(0.44) time=1.597121s/1.613033s *
 iteration(1038) loop(274) hyp(0.47) time=1.472689s/1.492050s *
 iteration(1039) loop(276) hyp(0.45) time=1.554225s/1.573378s *
 iteration(1040) loop(475) hyp(0.26) time=1.516463s/1.532249s *
 iteration(1041) loop(199) hyp(0.14) time=1.423085s/1.439729s *
 iteration(1042) loop(196) hyp(0.14) time=1.448002s/1.462328s *
 iteration(1043) loop(196) hyp(0.20) time=1.451924s/1.464689s *
 iteration(1044) high(194) hyp(0.08) time=1.732005s/1.765667s
 iteration(1045) high(192) hyp(0.04) time=1.980394s/1.995813s
 iteration(1046) high(924) hyp(0.04) time=1.509735s/1.523722s
 iteration(1047) high(191) hyp(0.06) time=1.548737s/1.563238s
 iteration(1048) high(191) hyp(0.04) time=1.637638s/1.657842s
 iteration(1049) high(88) hyp(0.04) time=1.645870s/1.659461s
 iteration(1050) high(183) hyp(0.04) time=1.490355s/1.507631s
 iteration(1051) high(324) hyp(0.04) time=1.539463s/1.556603s
 iteration(1052) high(193) hyp(0.06) time=1.569725s/1.588882s
 iteration(1053) high(91) hyp(0.07) time=1.502791s/1.519353s
 iteration(1054) high(91) hyp(0.09) time=1.496499s/1.515593s
 iteration(1055) high(93) hyp(0.10) time=1.590422s/1.608122s
 iteration(1056) high(93) hyp(0.09) time=1.527120s/1.546561s
 iteration(1057) high(95) hyp(0.06) time=1.644342s/1.662473s
 iteration(1058) high(96) hyp(0.08) time=1.535304s/1.548782s
 iteration(1059) high(97) hyp(0.06) time=1.605240s/1.621104s
 iteration(1060) high(97) hyp(0.04) time=2.126252s/2.143203s
 iteration(1061) high(99) hyp(0.06) time=1.763676s/1.781957s
 iteration(1062) loop(100) hyp(0.12) time=1.549298s/1.566171s *
 iteration(1063) loop(100) hyp(0.14) time=1.463146s/1.479077s *
 iteration(1064) loop(102) hyp(0.17) time=1.407457s/1.421279s *
 iteration(1065) loop(103) hyp(0.25) time=1.520604s/1.537015s *
 iteration(1066) loop(103) hyp(0.22) time=1.535573s/1.552377s *
 iteration(1067) loop(104) hyp(0.18) time=1.495140s/1.509215s *
 iteration(1068) loop(106) hyp(0.18) time=1.747731s/1.761968s *
 iteration(1069) loop(106) hyp(0.20) time=1.650593s/1.663458s *
 iteration(1070) loop(107) hyp(0.13) time=1.712830s/1.733757s *
 iteration(1071) loop(108) hyp(0.14) time=1.531118s/1.545352s *
 iteration(1072) loop(109) hyp(0.15) time=1.558139s/1.571621s *
 iteration(1073) loop(16) hyp(0.17) time=1.579630s/1.580151s *
Processing images completed. Loop closures found = 477
 Total time = 906.442927s
 Cleanup time = 9.530950s
Database ("rtabmapconsole.db") and log files saved to current directory.