From 5a9998950ba4b9484710a513ada1773d3bdf220a Mon Sep 17 00:00:00 2001
From: coldKnight <vatsalbits@gmail.com>
Date: Thu, 27 Apr 2017 14:11:34 +0530
Subject: [PATCH] Particle Filter implemented

---
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diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..1ca13bf
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+reviewer
+submission_instructions.*
+build
+cmake-build-debug/
+.idea/
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..940c6ae
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 2.8.11)
+project(PARTICLE_FILTER)
+
+
+# Build the particle filter project and solution.
+# Use C++11
+set(SRCS src/main.cpp src/particle_filter.cpp)
+set_source_files_properties(${SRCS} PROPERTIES COMPILE_FLAGS -std=c++0x)
+
+# Create the executable
+add_executable(particle_filter ${SRCS})
+
+# Use C++11
+#if [ ! -f ./src/particle_filter_sol.cpp]; then
+#	echo "No solution file."
+#else
+#	echo "Solution file exists"
+#fi
+
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/src/particle_filter_sol.cpp")
+	set(SRCS src/main.cpp src/particle_filter_sol.cpp)
+	set_source_files_properties(${SRCS} PROPERTIES COMPILE_FLAGS -std=c++0x)
+
+	# Create the executable
+	add_executable(particle_filter_solution ${SRCS})
+endif()
+
+
+
+
+
+
+
+
+
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..daf8128
--- /dev/null
+++ b/README.md
@@ -0,0 +1,43 @@
+## Project Introduction
+Your robot has been kidnapped and transported to a new location! Luckily it has a map of this location, a (noisy) GPS estimate of its initial location, and lots of (noisy) sensor and control data.
+
+In this project we implement a 2 dimensional particle filter in C++. The particle filter will be given a map and some initial localization information (analogous to what a GPS would provide). At each time step the filter will also get observation and control data. 
+
+## Running the Code
+Once you have this repository on your machine, `cd` into the repository's root directory and run the following commands from the command line:
+
+```
+> ./clean.sh
+> ./build.sh
+> ./run.sh
+```
+
+## Inputs to the Particle Filter
+You can find the inputs to the particle filter in the `data` directory. 
+
+#### The Map*
+`map_data.txt` includes the position of landmarks (in meters) on an arbitrary Cartesian coordinate system. Each row has three columns
+1. x position
+2. y position
+3. landmark id
+
+> * Map data provided by 3D Mapping Solutions GmbH.
+
+
+#### Control Data
+`control_data.txt` contains rows of control data. Each row corresponds to the control data for the corresponding time step. The two columns represent
+1. vehicle speed (in meters per second)
+2. vehicle yaw rate (in radians per second)
+
+#### Observation Data
+The `observation` directory includes around 2000 files. Each file is numbered according to the timestep in which that observation takes place. 
+
+These files contain observation data for all "observable" landmarks. Here observable means the landmark is sufficiently close to the vehicle. Each row in these files corresponds to a single landmark. The two columns represent:
+1. x distance to the landmark in meters (right is positive) RELATIVE TO THE VEHICLE. 
+2. y distance to the landmark in meters (forward is positive) RELATIVE TO THE VEHICLE.
+
+> **NOTE**
+> The vehicle's coordinate system is NOT the map coordinate system. 
+> The code will handle this transformation.
+
+
diff --git a/build.sh b/build.sh
new file mode 100755
index 0000000..199b3df
--- /dev/null
+++ b/build.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+# Script to build all components from scratch, using the maximum available CPU power
+#
+# Given parameters are passed over to CMake.
+# Examples:
+#    * ./build_all.sh -DCMAKE_BUILD_TYPE=Debug
+#    * ./build_all.sh VERBOSE=1
+#
+# Written by Tiffany Huang, 12/14/2016
+#
+
+# Go into the directory where this bash script is contained.
+cd `dirname $0`
+
+# Compile code.
+mkdir -p build
+cd build
+cmake ..
+make -j `nproc` $*
diff --git a/clean.sh b/clean.sh
new file mode 100755
index 0000000..2fe5345
--- /dev/null
+++ b/clean.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+# Script to clean the tree from all compiled files.
+# You can rebuild them afterwards using "build.sh".
+#
+# Written by Tiffany Huang, 12/14/2016
+#
+
+# Remove the dedicated output directories
+cd `dirname $0`
+
+rm -rf build
+
+# We're done!
+echo Cleaned up the project!
diff --git a/data/control_data.txt b/data/control_data.txt
new file mode 100644
index 0000000..dbf1563
--- /dev/null
+++ b/data/control_data.txt
@@ -0,0 +1,2444 @@
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diff --git a/data/gt_data.txt b/data/gt_data.txt
new file mode 100644
index 0000000..cd8bacb
--- /dev/null
+++ b/data/gt_data.txt
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new file mode 100644
index 0000000..c88641e
--- /dev/null
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new file mode 100644
index 0000000..28a86e8
--- /dev/null
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new file mode 100644
index 0000000..cd04139
--- /dev/null
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index 0000000..1763058
--- /dev/null
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index 0000000..496e37e
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index 0000000..06d46a5
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index 0000000..f40cefa
--- /dev/null
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index 0000000..8045c4a
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index 0000000..af69adb
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index 0000000..fd230ef
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index 0000000..35743aa
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index 0000000..54bd6e0
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index 0000000..67759ac
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index 0000000..27fceef
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new file mode 100644
index 0000000..35c3781
--- /dev/null
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diff --git a/data/observation/observations_000053.txt b/data/observation/observations_000053.txt
new file mode 100644
index 0000000..481f4ce
--- /dev/null
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diff --git a/data/observation/observations_000054.txt b/data/observation/observations_000054.txt
new file mode 100644
index 0000000..e63d08b
--- /dev/null
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diff --git a/data/observation/observations_000055.txt b/data/observation/observations_000055.txt
new file mode 100644
index 0000000..1de5f8a
--- /dev/null
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new file mode 100644
index 0000000..e194892
--- /dev/null
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new file mode 100644
index 0000000..a6a93df
--- /dev/null
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new file mode 100644
index 0000000..34c17fd
--- /dev/null
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new file mode 100644
index 0000000..80aa9e9
--- /dev/null
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new file mode 100644
index 0000000..1fa15a9
--- /dev/null
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new file mode 100644
index 0000000..bff0a17
--- /dev/null
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new file mode 100644
index 0000000..5957dc4
--- /dev/null
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diff --git a/data/observation/observations_000063.txt b/data/observation/observations_000063.txt
new file mode 100644
index 0000000..a24f27d
--- /dev/null
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diff --git a/data/observation/observations_000064.txt b/data/observation/observations_000064.txt
new file mode 100644
index 0000000..9556eeb
--- /dev/null
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diff --git a/data/observation/observations_000065.txt b/data/observation/observations_000065.txt
new file mode 100644
index 0000000..0f480a7
--- /dev/null
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new file mode 100644
index 0000000..517445c
--- /dev/null
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new file mode 100644
index 0000000..b96a21e
--- /dev/null
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new file mode 100644
index 0000000..23423a4
--- /dev/null
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new file mode 100644
index 0000000..3b13861
--- /dev/null
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new file mode 100644
index 0000000..e17b73f
--- /dev/null
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new file mode 100644
index 0000000..c007d83
--- /dev/null
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new file mode 100644
index 0000000..a84dae1
--- /dev/null
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new file mode 100644
index 0000000..b0829a3
--- /dev/null
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new file mode 100644
index 0000000..7296e64
--- /dev/null
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new file mode 100644
index 0000000..aee1040
--- /dev/null
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new file mode 100644
index 0000000..5274128
--- /dev/null
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new file mode 100644
index 0000000..14f5fcb
--- /dev/null
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new file mode 100644
index 0000000..e1db38d
--- /dev/null
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new file mode 100644
index 0000000..cb50837
--- /dev/null
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new file mode 100644
index 0000000..e37eadb
--- /dev/null
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new file mode 100644
index 0000000..9f33729
--- /dev/null
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new file mode 100644
index 0000000..52602bf
--- /dev/null
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new file mode 100644
index 0000000..c1b60b0
--- /dev/null
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new file mode 100644
index 0000000..aa33409
--- /dev/null
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new file mode 100644
index 0000000..ae1b7ba
--- /dev/null
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new file mode 100644
index 0000000..3d568ac
--- /dev/null
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new file mode 100644
index 0000000..6aeb2a7
--- /dev/null
+++ b/data/observation/observations_000087.txt
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new file mode 100644
index 0000000..ec898ea
--- /dev/null
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new file mode 100644
index 0000000..d800219
--- /dev/null
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new file mode 100644
index 0000000..310243b
--- /dev/null
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new file mode 100644
index 0000000..6d081c9
--- /dev/null
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new file mode 100644
index 0000000..2b4ee9b
--- /dev/null
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new file mode 100644
index 0000000..cf69544
--- /dev/null
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new file mode 100644
index 0000000..90cba13
--- /dev/null
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new file mode 100644
index 0000000..8ebf11d
--- /dev/null
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new file mode 100644
index 0000000..a4acd7c
--- /dev/null
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new file mode 100644
index 0000000..d5bd4a0
--- /dev/null
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new file mode 100644
index 0000000..a7d6700
--- /dev/null
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new file mode 100644
index 0000000..bce4b05
--- /dev/null
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new file mode 100644
index 0000000..83d4dbd
--- /dev/null
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diff --git a/data/observation/observations_000101.txt b/data/observation/observations_000101.txt
new file mode 100644
index 0000000..58e6ced
--- /dev/null
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new file mode 100644
index 0000000..370bae7
--- /dev/null
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new file mode 100644
index 0000000..3bd1b93
--- /dev/null
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diff --git a/data/observation/observations_000104.txt b/data/observation/observations_000104.txt
new file mode 100644
index 0000000..7e4dec3
--- /dev/null
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diff --git a/data/observation/observations_000105.txt b/data/observation/observations_000105.txt
new file mode 100644
index 0000000..f698a99
--- /dev/null
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new file mode 100644
index 0000000..c82221e
--- /dev/null
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diff --git a/data/observation/observations_000107.txt b/data/observation/observations_000107.txt
new file mode 100644
index 0000000..2ab7996
--- /dev/null
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new file mode 100644
index 0000000..cb74156
--- /dev/null
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new file mode 100644
index 0000000..dde076d
--- /dev/null
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diff --git a/data/observation/observations_000110.txt b/data/observation/observations_000110.txt
new file mode 100644
index 0000000..f54ec4b
--- /dev/null
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new file mode 100644
index 0000000..360b3b3
--- /dev/null
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new file mode 100644
index 0000000..70f03fd
--- /dev/null
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new file mode 100644
index 0000000..05a7ef3
--- /dev/null
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new file mode 100644
index 0000000..0a37762
--- /dev/null
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diff --git a/data/observation/observations_000115.txt b/data/observation/observations_000115.txt
new file mode 100644
index 0000000..43552a7
--- /dev/null
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new file mode 100644
index 0000000..e04c406
--- /dev/null
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diff --git a/data/observation/observations_000117.txt b/data/observation/observations_000117.txt
new file mode 100644
index 0000000..bd9ef70
--- /dev/null
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diff --git a/data/observation/observations_000118.txt b/data/observation/observations_000118.txt
new file mode 100644
index 0000000..81203ca
--- /dev/null
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diff --git a/data/observation/observations_000119.txt b/data/observation/observations_000119.txt
new file mode 100644
index 0000000..c9f71b6
--- /dev/null
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new file mode 100644
index 0000000..5fd805c
--- /dev/null
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new file mode 100644
index 0000000..25e9557
--- /dev/null
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new file mode 100644
index 0000000..fea42eb
--- /dev/null
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new file mode 100644
index 0000000..c77e970
--- /dev/null
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diff --git a/data/observation/observations_000124.txt b/data/observation/observations_000124.txt
new file mode 100644
index 0000000..2b4e6da
--- /dev/null
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new file mode 100644
index 0000000..65c8c0d
--- /dev/null
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new file mode 100644
index 0000000..203f894
--- /dev/null
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new file mode 100644
index 0000000..1bfc477
--- /dev/null
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new file mode 100644
index 0000000..f02c5f4
--- /dev/null
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new file mode 100644
index 0000000..3e2ba9f
--- /dev/null
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new file mode 100644
index 0000000..d859079
--- /dev/null
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new file mode 100644
index 0000000..e96d12f
--- /dev/null
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new file mode 100644
index 0000000..45aea88
--- /dev/null
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new file mode 100644
index 0000000..0e99383
--- /dev/null
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new file mode 100644
index 0000000..1f0a39e
--- /dev/null
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new file mode 100644
index 0000000..fdcd9c0
--- /dev/null
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new file mode 100644
index 0000000..08fe90b
--- /dev/null
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new file mode 100644
index 0000000..99b0d56
--- /dev/null
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new file mode 100644
index 0000000..59ca5f9
--- /dev/null
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new file mode 100644
index 0000000..efc2338
--- /dev/null
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new file mode 100644
index 0000000..5e80335
--- /dev/null
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new file mode 100644
index 0000000..315c78e
--- /dev/null
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new file mode 100644
index 0000000..fa80f27
--- /dev/null
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new file mode 100644
index 0000000..f60d147
--- /dev/null
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new file mode 100644
index 0000000..ebd8f86
--- /dev/null
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new file mode 100644
index 0000000..ee42c82
--- /dev/null
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new file mode 100644
index 0000000..9769098
--- /dev/null
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new file mode 100644
index 0000000..654a604
--- /dev/null
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new file mode 100644
index 0000000..1720230
--- /dev/null
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new file mode 100644
index 0000000..262b544
--- /dev/null
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new file mode 100644
index 0000000..4855420
--- /dev/null
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new file mode 100644
index 0000000..f8571b1
--- /dev/null
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new file mode 100644
index 0000000..9df6da3
--- /dev/null
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new file mode 100644
index 0000000..9754483
--- /dev/null
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new file mode 100644
index 0000000..35d088e
--- /dev/null
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new file mode 100644
index 0000000..51b78d5
--- /dev/null
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new file mode 100644
index 0000000..30bdaae
--- /dev/null
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new file mode 100644
index 0000000..ae255fa
--- /dev/null
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new file mode 100644
index 0000000..4ce9cec
--- /dev/null
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new file mode 100644
index 0000000..2ce158c
--- /dev/null
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diff --git a/data/observation/observations_000160.txt b/data/observation/observations_000160.txt
new file mode 100644
index 0000000..b4f00a6
--- /dev/null
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new file mode 100644
index 0000000..fd343a1
--- /dev/null
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new file mode 100644
index 0000000..93c425e
--- /dev/null
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new file mode 100644
index 0000000..4ad103f
--- /dev/null
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new file mode 100644
index 0000000..bf93075
--- /dev/null
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index 0000000..c28f14c
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index 0000000..69fa3f8
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index 0000000..c8176a9
--- /dev/null
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index 0000000..4c5be34
--- /dev/null
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index 0000000..e270e9c
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index 0000000..a5f5338
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index 0000000..bfd75a6
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index 0000000..3ec5227
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index 0000000..af21725
--- /dev/null
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index 0000000..a5e338d
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index 0000000..a6e17c3
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index 0000000..55479ad
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index 0000000..33585de
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new file mode 100644
index 0000000..7d8dfaf
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new file mode 100644
index 0000000..fa0ef22
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index 0000000..ac7dd73
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index 0000000..5fc1786
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new file mode 100644
index 0000000..8d41881
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index 0000000..7577534
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index 0000000..8228408
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index 0000000..4fb3f17
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index 0000000..f03bea8
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index 0000000..9fd96ea
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--- /dev/null
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index 0000000..fda0e25
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index 0000000..23aa33a
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index 0000000..acb7adb
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new file mode 100644
index 0000000..d30da95
--- /dev/null
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new file mode 100644
index 0000000..d497e05
--- /dev/null
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new file mode 100644
index 0000000..aedaf4c
--- /dev/null
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new file mode 100644
index 0000000..6fb25fb
--- /dev/null
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index 0000000..73f0e96
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new file mode 100644
index 0000000..a4722ea
--- /dev/null
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index 0000000..dfab0b3
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index 0000000..733527f
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index 0000000..aaaa6a8
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index 0000000..e0cd0fd
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index 0000000..af887c5
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index 0000000..86006e2
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index 0000000..c2cafed
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index 0000000..c8b8357
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index 0000000..2de4cfa
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new file mode 100644
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new file mode 100644
index 0000000..7f2b794
--- /dev/null
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new file mode 100644
index 0000000..a2f48e9
--- /dev/null
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new file mode 100644
index 0000000..cca4c2e
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index 0000000..65e6743
--- /dev/null
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index 0000000..3c11787
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index 0000000..381b0f8
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index 0000000..fd20c9b
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new file mode 100644
index 0000000..b1f142c
--- /dev/null
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new file mode 100644
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new file mode 100644
index 0000000..3acb058
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new file mode 100644
index 0000000..a79bb1f
--- /dev/null
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new file mode 100644
index 0000000..49aea20
--- /dev/null
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new file mode 100644
index 0000000..405102f
--- /dev/null
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new file mode 100644
index 0000000..02e7941
--- /dev/null
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new file mode 100644
index 0000000..7e66a1a
--- /dev/null
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new file mode 100644
index 0000000..7e1598f
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new file mode 100644
index 0000000..dca4515
--- /dev/null
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index 0000000..60e1c53
--- /dev/null
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index 0000000..7e7c540
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new file mode 100644
index 0000000..5564833
--- /dev/null
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new file mode 100644
index 0000000..5004fdd
--- /dev/null
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new file mode 100644
index 0000000..ebceb8b
--- /dev/null
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new file mode 100644
index 0000000..45fc124
--- /dev/null
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new file mode 100644
index 0000000..d6b1243
--- /dev/null
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new file mode 100644
index 0000000..1fe9c07
--- /dev/null
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new file mode 100644
index 0000000..b725458
--- /dev/null
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new file mode 100644
index 0000000..8e19b29
--- /dev/null
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new file mode 100644
index 0000000..e458795
--- /dev/null
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new file mode 100644
index 0000000..93fc6d8
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new file mode 100644
index 0000000..99186bc
--- /dev/null
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new file mode 100644
index 0000000..2a5c92a
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new file mode 100644
index 0000000..5de78eb
--- /dev/null
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new file mode 100644
index 0000000..89e64e3
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new file mode 100644
index 0000000..80fe708
--- /dev/null
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new file mode 100644
index 0000000..6df3716
--- /dev/null
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index 0000000..1880c02
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new file mode 100644
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index 0000000..6b13339
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index 0000000..02e3da6
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index 0000000..589a218
--- /dev/null
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index 0000000..17fec91
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new file mode 100644
index 0000000..02af681
--- /dev/null
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index 0000000..ba9ad39
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new file mode 100644
index 0000000..5fd003a
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new file mode 100644
index 0000000..c6b0376
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index 0000000..e14676a
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index 0000000..aafc9f3
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index 0000000..0e142eb
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new file mode 100644
index 0000000..5b559b2
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new file mode 100644
index 0000000..99ee444
--- /dev/null
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new file mode 100644
index 0000000..3195f50
--- /dev/null
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new file mode 100644
index 0000000..2b2fe7f
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new file mode 100644
index 0000000..2a7b54b
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new file mode 100644
index 0000000..345522e
--- /dev/null
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new file mode 100644
index 0000000..d9f8542
--- /dev/null
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new file mode 100644
index 0000000..ecb0506
--- /dev/null
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new file mode 100644
index 0000000..2e52bfe
--- /dev/null
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new file mode 100644
index 0000000..ed11132
--- /dev/null
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index 0000000..cf0393e
--- /dev/null
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index 0000000..d5bc9d7
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index 0000000..cac801d
--- /dev/null
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new file mode 100644
index 0000000..532ed9f
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index 0000000..bb2a4ba
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new file mode 100644
index 0000000..528add5
--- /dev/null
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index 0000000..b0f98f8
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index 0000000..a9449d1
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index 0000000..d577fc9
--- /dev/null
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index 0000000..4860965
--- /dev/null
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new file mode 100644
index 0000000..7c1d3f0
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new file mode 100644
index 0000000..987de10
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new file mode 100644
index 0000000..874976d
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new file mode 100644
index 0000000..0fbd328
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index 0000000..ea5fe46
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index 0000000..bb0a4ee
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new file mode 100644
index 0000000..4301005
--- /dev/null
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index 0000000..7c1ab87
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index 0000000..dab8b30
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new file mode 100644
index 0000000..c540d3f
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new file mode 100644
index 0000000..0260edd
--- /dev/null
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new file mode 100644
index 0000000..a9d7156
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index 0000000..9f22d85
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new file mode 100644
index 0000000..54a1a8c
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new file mode 100644
index 0000000..0698392
--- /dev/null
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new file mode 100644
index 0000000..0174d01
--- /dev/null
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new file mode 100644
index 0000000..56ca943
--- /dev/null
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new file mode 100644
index 0000000..ee28611
--- /dev/null
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new file mode 100644
index 0000000..2b2f9fe
--- /dev/null
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new file mode 100644
index 0000000..e44c40a
--- /dev/null
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new file mode 100644
index 0000000..7b7d2ca
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new file mode 100644
index 0000000..52ba51a
--- /dev/null
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new file mode 100644
index 0000000..7f077a9
--- /dev/null
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new file mode 100644
index 0000000..b1102ee
--- /dev/null
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new file mode 100644
index 0000000..9483f15
--- /dev/null
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new file mode 100644
index 0000000..3039050
--- /dev/null
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index 0000000..2956e24
--- /dev/null
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new file mode 100644
index 0000000..3884ea0
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index 0000000..a2ecdfc
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index 0000000..1bd3c6d
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index 0000000..078676f
--- /dev/null
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index 0000000..e9d8b3a
--- /dev/null
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index 0000000..1cd5cb5
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index 0000000..0a9ed02
--- /dev/null
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index 0000000..3baad6a
--- /dev/null
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new file mode 100644
index 0000000..fa5a2a2
--- /dev/null
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index 0000000..169614a
--- /dev/null
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new file mode 100644
index 0000000..1cd4239
--- /dev/null
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new file mode 100644
index 0000000..66aac31
--- /dev/null
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new file mode 100644
index 0000000..ec34a49
--- /dev/null
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new file mode 100644
index 0000000..243d82a
--- /dev/null
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new file mode 100644
index 0000000..52b8f54
--- /dev/null
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index 0000000..69ef37b
--- /dev/null
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index 0000000..aab2183
--- /dev/null
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index 0000000..457f48e
--- /dev/null
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index 0000000..00940d5
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index 0000000..52276f0
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index 0000000..b3454f4
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new file mode 100644
index 0000000..f2eb660
--- /dev/null
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new file mode 100644
index 0000000..64f651e
--- /dev/null
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new file mode 100644
index 0000000..ecf181b
--- /dev/null
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index 0000000..7966bc7
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index 0000000..b740b3c
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index 0000000..ca6f615
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index 0000000..464b264
--- /dev/null
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index 0000000..b26a80f
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index 0000000..4990886
--- /dev/null
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index 0000000..040d878
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index 0000000..d979bb1
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index 0000000..dde2864
--- /dev/null
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index 0000000..8e666e7
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index 0000000..fc46744
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000..d17ecd4
--- /dev/null
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index 0000000..2614f0d
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index 0000000..8c47cd2
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index 0000000..eeb5ef1
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index 0000000..dd0ae8c
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index 0000000..f137600
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index 0000000..a2ab498
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index 0000000..37380a1
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index 0000000..7ca00ae
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index 0000000..c672037
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index 0000000..0260505
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new file mode 100644
index 0000000..fb1a280
--- /dev/null
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new file mode 100644
index 0000000..37a64e4
--- /dev/null
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new file mode 100644
index 0000000..8bf9ebb
--- /dev/null
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new file mode 100644
index 0000000..8cd7ab0
--- /dev/null
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new file mode 100644
index 0000000..3f1b60b
--- /dev/null
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index 0000000..32c39a5
--- /dev/null
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index 0000000..506c97d
--- /dev/null
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index 0000000..1931c8d
--- /dev/null
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index 0000000..5d5ab29
--- /dev/null
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index 0000000..db5a104
--- /dev/null
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new file mode 100644
index 0000000..b73feb1
--- /dev/null
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new file mode 100644
index 0000000..fc1e3c7
--- /dev/null
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new file mode 100644
index 0000000..798047c
--- /dev/null
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new file mode 100644
index 0000000..1853c12
--- /dev/null
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new file mode 100644
index 0000000..9e99313
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new file mode 100644
index 0000000..3191ab4
--- /dev/null
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new file mode 100644
index 0000000..c1f68b5
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new file mode 100644
index 0000000..2e6ee7b
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new file mode 100644
index 0000000..5c7a26d
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new file mode 100644
index 0000000..c70ac08
--- /dev/null
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new file mode 100644
index 0000000..da16566
--- /dev/null
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new file mode 100644
index 0000000..4e2cdea
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new file mode 100644
index 0000000..46cba05
--- /dev/null
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new file mode 100644
index 0000000..54085d4
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index 0000000..953dc72
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index 0000000..b0cc713
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index 0000000..1ae9802
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index 0000000..ded75f3
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new file mode 100644
index 0000000..690d1e6
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index 0000000..4ad7cf3
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new file mode 100644
index 0000000..538462b
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index 0000000..434da93
--- /dev/null
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index 0000000..4bb6d71
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index 0000000..3836dfa
--- /dev/null
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new file mode 100644
index 0000000..cd1a1cd
--- /dev/null
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index 0000000..9cdbc68
--- /dev/null
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new file mode 100644
index 0000000..0cf0cd5
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new file mode 100644
index 0000000..b045b9b
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new file mode 100644
index 0000000..fe4340d
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new file mode 100644
index 0000000..c4d4574
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new file mode 100644
index 0000000..6437143
--- /dev/null
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new file mode 100644
index 0000000..b95d45b
--- /dev/null
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new file mode 100644
index 0000000..4a3e1f3
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new file mode 100644
index 0000000..b4aa0bc
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new file mode 100644
index 0000000..7dc268c
--- /dev/null
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new file mode 100644
index 0000000..f6c350d
--- /dev/null
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new file mode 100644
index 0000000..8187d3e
--- /dev/null
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new file mode 100644
index 0000000..3367b8d
--- /dev/null
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new file mode 100644
index 0000000..20af6ad
--- /dev/null
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new file mode 100644
index 0000000..7103eca
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index 0000000..f6d8989
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new file mode 100644
index 0000000..c42e457
--- /dev/null
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new file mode 100644
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new file mode 100644
index 0000000..572d3f7
--- /dev/null
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new file mode 100644
index 0000000..afec967
--- /dev/null
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new file mode 100644
index 0000000..880553f
--- /dev/null
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new file mode 100644
index 0000000..83cbd44
--- /dev/null
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new file mode 100644
index 0000000..71c0031
--- /dev/null
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new file mode 100644
index 0000000..03dfc70
--- /dev/null
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new file mode 100644
index 0000000..0aa5e55
--- /dev/null
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new file mode 100644
index 0000000..85c0f1d
--- /dev/null
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new file mode 100644
index 0000000..8e21200
--- /dev/null
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new file mode 100644
index 0000000..1f7541e
--- /dev/null
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new file mode 100644
index 0000000..0f4dcf7
--- /dev/null
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new file mode 100644
index 0000000..4a61841
--- /dev/null
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new file mode 100644
index 0000000..1dcc2f1
--- /dev/null
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new file mode 100644
index 0000000..5834802
--- /dev/null
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new file mode 100644
index 0000000..14dd004
--- /dev/null
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new file mode 100644
index 0000000..18266d3
--- /dev/null
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new file mode 100644
index 0000000..7c07df0
--- /dev/null
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new file mode 100644
index 0000000..d2d887f
--- /dev/null
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new file mode 100644
index 0000000..9e9e1c7
--- /dev/null
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new file mode 100644
index 0000000..a435912
--- /dev/null
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new file mode 100644
index 0000000..99c73f3
--- /dev/null
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new file mode 100644
index 0000000..2ef2dfa
--- /dev/null
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index 0000000..2243de7
--- /dev/null
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index 0000000..fbcb456
--- /dev/null
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new file mode 100644
index 0000000..795d487
--- /dev/null
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new file mode 100644
index 0000000..5136cce
--- /dev/null
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index 0000000..fbd398f
--- /dev/null
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new file mode 100644
index 0000000..5d04b06
--- /dev/null
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new file mode 100644
index 0000000..1ed6852
--- /dev/null
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new file mode 100644
index 0000000..c646ee8
--- /dev/null
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new file mode 100644
index 0000000..80a42b3
--- /dev/null
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new file mode 100644
index 0000000..cd5f234
--- /dev/null
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index 0000000..fde8369
--- /dev/null
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index 0000000..c33ebc5
--- /dev/null
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new file mode 100644
index 0000000..848f08c
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index 0000000..04c9856
--- /dev/null
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new file mode 100644
index 0000000..98d420e
--- /dev/null
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index 0000000..eb5c188
--- /dev/null
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new file mode 100644
index 0000000..6488695
--- /dev/null
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new file mode 100644
index 0000000..269dd05
--- /dev/null
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new file mode 100644
index 0000000..9eded63
--- /dev/null
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new file mode 100644
index 0000000..54768f5
--- /dev/null
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new file mode 100644
index 0000000..05bc0ea
--- /dev/null
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new file mode 100644
index 0000000..554785b
--- /dev/null
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new file mode 100644
index 0000000..302f6bd
--- /dev/null
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new file mode 100644
index 0000000..d1256e4
--- /dev/null
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new file mode 100644
index 0000000..30aaaba
--- /dev/null
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new file mode 100644
index 0000000..ca185a2
--- /dev/null
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new file mode 100644
index 0000000..31c08d3
--- /dev/null
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new file mode 100644
index 0000000..81f75cb
--- /dev/null
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new file mode 100644
index 0000000..9cd919d
--- /dev/null
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new file mode 100644
index 0000000..107ca58
--- /dev/null
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new file mode 100644
index 0000000..b8bf83d
--- /dev/null
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new file mode 100644
index 0000000..9681a5c
--- /dev/null
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new file mode 100644
index 0000000..c24584a
--- /dev/null
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new file mode 100644
index 0000000..2283f3f
--- /dev/null
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new file mode 100644
index 0000000..e1d50d2
--- /dev/null
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new file mode 100644
index 0000000..9f7efe8
--- /dev/null
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new file mode 100644
index 0000000..f29329e
--- /dev/null
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new file mode 100644
index 0000000..9dca66f
--- /dev/null
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new file mode 100644
index 0000000..01c4452
--- /dev/null
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new file mode 100644
index 0000000..10f5a64
--- /dev/null
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new file mode 100644
index 0000000..db77fa9
--- /dev/null
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index 0000000..188d271
--- /dev/null
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new file mode 100644
index 0000000..e209a30
--- /dev/null
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index 0000000..4970332
--- /dev/null
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index 0000000..bd32b64
--- /dev/null
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new file mode 100644
index 0000000..fd976b6
--- /dev/null
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new file mode 100644
index 0000000..6be80d2
--- /dev/null
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new file mode 100644
index 0000000..c30b4dd
--- /dev/null
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new file mode 100644
index 0000000..7c543dd
--- /dev/null
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new file mode 100644
index 0000000..ae0cbc9
--- /dev/null
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index 0000000..40ef1ef
--- /dev/null
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index 0000000..0eaa197
--- /dev/null
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new file mode 100644
index 0000000..2129630
--- /dev/null
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new file mode 100644
index 0000000..7fb4f76
--- /dev/null
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new file mode 100644
index 0000000..f440529
--- /dev/null
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new file mode 100644
index 0000000..48e0fa3
--- /dev/null
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new file mode 100644
index 0000000..0b5ea6f
--- /dev/null
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new file mode 100644
index 0000000..7a7c84f
--- /dev/null
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new file mode 100644
index 0000000..35f8359
--- /dev/null
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new file mode 100644
index 0000000..164ef43
--- /dev/null
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new file mode 100644
index 0000000..2733f3a
--- /dev/null
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new file mode 100644
index 0000000..ab5debc
--- /dev/null
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new file mode 100644
index 0000000..ea5f22d
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new file mode 100644
index 0000000..e1d2840
--- /dev/null
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new file mode 100644
index 0000000..4023450
--- /dev/null
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new file mode 100644
index 0000000..bfa7860
--- /dev/null
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new file mode 100644
index 0000000..9aa2557
--- /dev/null
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new file mode 100644
index 0000000..d77b24d
--- /dev/null
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new file mode 100644
index 0000000..badcaf7
--- /dev/null
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new file mode 100644
index 0000000..42e8752
--- /dev/null
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new file mode 100644
index 0000000..bac34a9
--- /dev/null
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new file mode 100644
index 0000000..2ab90b7
--- /dev/null
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new file mode 100644
index 0000000..fb08abd
--- /dev/null
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new file mode 100644
index 0000000..5141550
--- /dev/null
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new file mode 100644
index 0000000..17d6abd
--- /dev/null
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new file mode 100644
index 0000000..0b2df24
--- /dev/null
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new file mode 100644
index 0000000..622f674
--- /dev/null
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new file mode 100644
index 0000000..f5167c4
--- /dev/null
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new file mode 100644
index 0000000..594b75c
--- /dev/null
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new file mode 100644
index 0000000..f8b0152
--- /dev/null
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new file mode 100644
index 0000000..f4244f5
--- /dev/null
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new file mode 100644
index 0000000..71da937
--- /dev/null
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new file mode 100644
index 0000000..077249c
--- /dev/null
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new file mode 100644
index 0000000..e4eac22
--- /dev/null
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new file mode 100644
index 0000000..a3effb2
--- /dev/null
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new file mode 100644
index 0000000..9c93958
--- /dev/null
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new file mode 100644
index 0000000..13b5a63
--- /dev/null
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new file mode 100644
index 0000000..0f9f137
--- /dev/null
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new file mode 100644
index 0000000..b261986
--- /dev/null
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new file mode 100644
index 0000000..9627448
--- /dev/null
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index 0000000..a52c448
--- /dev/null
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index 0000000..9ccd183
--- /dev/null
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index 0000000..e551b31
--- /dev/null
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index 0000000..2061581
--- /dev/null
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index 0000000..4084662
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index 0000000..00311b7
--- /dev/null
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index 0000000..a1d8f14
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index 0000000..347308e
--- /dev/null
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index 0000000..641c92c
--- /dev/null
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index 0000000..70a5ed9
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index 0000000..88b064e
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index 0000000..f16c1d3
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index 0000000..1a587b1
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index 0000000..4e45a74
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index 0000000..e86feef
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index 0000000..a8198a3
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index 0000000..14ae2ce
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index 0000000..820386f
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index 0000000..cd20812
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index 0000000..1da7088
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index 0000000..db53ee1
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index 0000000..70d8ab4
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index 0000000..5b22cfd
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index 0000000..de4e787
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index 0000000..f4f3810
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index 0000000..702673c
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index 0000000..b24c3dc
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index 0000000..df9b6bc
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new file mode 100644
index 0000000..4e5a197
--- /dev/null
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new file mode 100644
index 0000000..f1c531c
--- /dev/null
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new file mode 100644
index 0000000..833eede
--- /dev/null
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new file mode 100644
index 0000000..024be92
--- /dev/null
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new file mode 100644
index 0000000..eb29056
--- /dev/null
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index 0000000..6e76f87
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index 0000000..63ecef2
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index 0000000..52e30ef
--- /dev/null
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new file mode 100644
index 0000000..fd252c7
--- /dev/null
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index 0000000..da354b7
--- /dev/null
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index 0000000..f975a62
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index 0000000..eb9e55c
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index 0000000..d7dccf0
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index 0000000..c2a5a89
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new file mode 100644
index 0000000..cdc841c
--- /dev/null
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index 0000000..60bcd49
--- /dev/null
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index 0000000..acd54b6
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index 0000000..536e762
--- /dev/null
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new file mode 100644
index 0000000..f86fcf2
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index 0000000..6b06dbb
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new file mode 100644
index 0000000..191dbdb
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index 0000000..1c474d0
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index 0000000..424e2bb
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new file mode 100644
index 0000000..45f4327
--- /dev/null
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new file mode 100644
index 0000000..42fdb21
--- /dev/null
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index 0000000..398c96f
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new file mode 100644
index 0000000..58daabe
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new file mode 100644
index 0000000..755d74f
--- /dev/null
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new file mode 100644
index 0000000..0e5661e
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new file mode 100644
index 0000000..23bbf4c
--- /dev/null
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new file mode 100644
index 0000000..1bc9f92
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new file mode 100644
index 0000000..6d0fbea
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new file mode 100644
index 0000000..51aad82
--- /dev/null
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new file mode 100644
index 0000000..f5dbb9b
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new file mode 100644
index 0000000..80486c7
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new file mode 100644
index 0000000..95f4bc2
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index 0000000..ad44966
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index 0000000..33728f0
--- /dev/null
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new file mode 100644
index 0000000..63543ca
--- /dev/null
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index 0000000..37f924c
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new file mode 100644
index 0000000..07e577f
--- /dev/null
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new file mode 100644
index 0000000..ab9f4b3
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new file mode 100644
index 0000000..dc877cf
--- /dev/null
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new file mode 100644
index 0000000..97468cc
--- /dev/null
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new file mode 100644
index 0000000..5a2072a
--- /dev/null
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new file mode 100644
index 0000000..4822ca7
--- /dev/null
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new file mode 100644
index 0000000..6bfb4a7
--- /dev/null
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new file mode 100644
index 0000000..8b91362
--- /dev/null
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new file mode 100644
index 0000000..ef0ef1d
--- /dev/null
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new file mode 100644
index 0000000..65ee45f
--- /dev/null
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index 0000000..2a79756
--- /dev/null
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new file mode 100644
index 0000000..671de4f
--- /dev/null
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index 0000000..185a333
--- /dev/null
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new file mode 100644
index 0000000..02177cc
--- /dev/null
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index 0000000..9e916a6
--- /dev/null
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new file mode 100644
index 0000000..77f516a
--- /dev/null
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new file mode 100644
index 0000000..a00d55b
--- /dev/null
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new file mode 100644
index 0000000..7350786
--- /dev/null
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new file mode 100644
index 0000000..ee43b2b
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index 0000000..a5f6906
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index 0000000..4f1d658
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new file mode 100644
index 0000000..e75f835
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index 0000000..36d8132
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new file mode 100644
index 0000000..4eb81a4
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new file mode 100644
index 0000000..4acccd8
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new file mode 100644
index 0000000..bf42f7d
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new file mode 100644
index 0000000..ff0b5d4
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new file mode 100644
index 0000000..2f8e17c
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new file mode 100644
index 0000000..361957f
--- /dev/null
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new file mode 100644
index 0000000..aed95f0
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index 0000000..f491958
--- /dev/null
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new file mode 100644
index 0000000..4a3412b
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new file mode 100644
index 0000000..803ae93
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new file mode 100644
index 0000000..fafdf26
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new file mode 100644
index 0000000..777c615
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new file mode 100644
index 0000000..9080ad4
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new file mode 100644
index 0000000..681ca6a
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new file mode 100644
index 0000000..297d2f8
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new file mode 100644
index 0000000..964dbc7
--- /dev/null
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new file mode 100644
index 0000000..50f0904
--- /dev/null
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index 0000000..0f1c99b
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new file mode 100644
index 0000000..b24ead0
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new file mode 100644
index 0000000..1bd7578
--- /dev/null
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new file mode 100644
index 0000000..d287e3a
--- /dev/null
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new file mode 100644
index 0000000..2de652b
--- /dev/null
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new file mode 100644
index 0000000..f6fdaff
--- /dev/null
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new file mode 100644
index 0000000..9f5a0d9
--- /dev/null
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new file mode 100644
index 0000000..718d0b8
--- /dev/null
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new file mode 100644
index 0000000..19591fe
--- /dev/null
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new file mode 100644
index 0000000..346682a
--- /dev/null
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new file mode 100644
index 0000000..f45bcb3
--- /dev/null
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new file mode 100644
index 0000000..892fb91
--- /dev/null
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new file mode 100644
index 0000000..cc5d60b
--- /dev/null
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new file mode 100644
index 0000000..cc032c9
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new file mode 100644
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new file mode 100644
index 0000000..ab4394a
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index 0000000..41d2639
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new file mode 100644
index 0000000..0bbf1c9
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new file mode 100644
index 0000000..0b941ab
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new file mode 100644
index 0000000..953124b
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new file mode 100644
index 0000000..ffbbb9f
--- /dev/null
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index 0000000..a474597
--- /dev/null
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new file mode 100644
index 0000000..a39ffa9
--- /dev/null
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new file mode 100644
index 0000000..c4c93f7
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new file mode 100644
index 0000000..1e3f3f3
--- /dev/null
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new file mode 100644
index 0000000..8c726cd
--- /dev/null
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new file mode 100644
index 0000000..692fbf0
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new file mode 100644
index 0000000..fa7a244
--- /dev/null
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new file mode 100644
index 0000000..fdafa14
--- /dev/null
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index 0000000..457133c
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index 0000000..ddd3aa0
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new file mode 100644
index 0000000..299a505
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index 0000000..af12a48
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index 0000000..cd3d467
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index 0000000..ff50615
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index 0000000..68ab09a
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index 0000000..c17215b
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new file mode 100644
index 0000000..a628cfc
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new file mode 100644
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index 0000000..e02e206
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new file mode 100644
index 0000000..dcfc55f
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new file mode 100644
index 0000000..90c4e15
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index 0000000..b6a9907
--- /dev/null
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new file mode 100644
index 0000000..10ba319
--- /dev/null
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new file mode 100644
index 0000000..2ad1b3f
--- /dev/null
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new file mode 100644
index 0000000..66063d5
--- /dev/null
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new file mode 100644
index 0000000..f475bb0
--- /dev/null
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new file mode 100644
index 0000000..1b7738d
--- /dev/null
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new file mode 100644
index 0000000..5749751
--- /dev/null
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index 0000000..ffc2652
--- /dev/null
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index 0000000..02c3fd3
--- /dev/null
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index 0000000..3716022
--- /dev/null
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new file mode 100644
index 0000000..d368680
--- /dev/null
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new file mode 100644
index 0000000..f30606c
--- /dev/null
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index 0000000..8b7eaa6
--- /dev/null
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new file mode 100644
index 0000000..562674e
--- /dev/null
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new file mode 100644
index 0000000..a42d5c1
--- /dev/null
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new file mode 100644
index 0000000..d598f81
--- /dev/null
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index 0000000..0374063
--- /dev/null
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index 0000000..d7bf842
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index 0000000..93ead73
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index 0000000..6d7c280
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index 0000000..c58d38f
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index 0000000..b33a623
--- /dev/null
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index 0000000..42f6a6b
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index 0000000..05dc371
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index 0000000..c8c0a3b
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index 0000000..00332ce
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index 0000000..6540ba3
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index 0000000..6e5ae51
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index 0000000..798c393
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index 0000000..dd0955b
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index 0000000..586702a
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index 0000000..366bb79
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index 0000000..3868fae
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index 0000000..07058ff
--- /dev/null
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index 0000000..568c495
--- /dev/null
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index 0000000..87b438f
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index 0000000..139dbc6
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index 0000000..df724eb
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index 0000000..e66033c
--- /dev/null
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index 0000000..fa376b8
--- /dev/null
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index 0000000..f179071
--- /dev/null
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new file mode 100644
index 0000000..e418487
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index 0000000..cbd3d31
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index 0000000..8483ffa
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index 0000000..e540760
--- /dev/null
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new file mode 100644
index 0000000..d344510
--- /dev/null
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new file mode 100644
index 0000000..c4e8a73
--- /dev/null
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new file mode 100644
index 0000000..74df5b0
--- /dev/null
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new file mode 100644
index 0000000..55f0df2
--- /dev/null
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new file mode 100644
index 0000000..abf507c
--- /dev/null
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new file mode 100644
index 0000000..69ffaf7
--- /dev/null
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index 0000000..a58b3ff
--- /dev/null
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index 0000000..e1dcee8
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index 0000000..818057f
--- /dev/null
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index 0000000..ab9fd86
--- /dev/null
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index 0000000..0509778
--- /dev/null
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index 0000000..6e8027c
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index 0000000..319a2d0
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index 0000000..8012825
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index 0000000..bcce975
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index 0000000..1a815df
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index 0000000..28fd3d7
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index 0000000..1d91481
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index 0000000..9faf655
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index 0000000..be26c4c
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index 0000000..c6576e3
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index 0000000..d1c2abb
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index 0000000..a898277
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index 0000000..599caa4
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index 0000000..871a318
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index 0000000..de56121
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index 0000000..6bae41c
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index 0000000..606e859
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index 0000000..05a9772
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index 0000000..4b4697f
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index 0000000..bf474af
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index 0000000..2375507
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index 0000000..1e5aea3
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index 0000000..ade150e
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index 0000000..5663f26
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index 0000000..eeadadd
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index 0000000..33f82ab
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index 0000000..da96389
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index 0000000..2f03ee4
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index 0000000..37b54e7
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index 0000000..d872867
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index 0000000..fe3342a
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index 0000000..cf450bc
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index 0000000..25fdfa0
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new file mode 100644
index 0000000..701ffe6
--- /dev/null
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new file mode 100644
index 0000000..d34fa62
--- /dev/null
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new file mode 100644
index 0000000..2b0e789
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new file mode 100644
index 0000000..e9d6775
--- /dev/null
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new file mode 100644
index 0000000..9f9eb73
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new file mode 100644
index 0000000..c16fba2
--- /dev/null
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new file mode 100644
index 0000000..0930830
--- /dev/null
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index 0000000..0902057
--- /dev/null
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index 0000000..4e848ec
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index 0000000..8eebad5
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new file mode 100644
index 0000000..4c89bd1
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new file mode 100644
index 0000000..be32eda
--- /dev/null
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index 0000000..f2e80cb
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index 0000000..14cf628
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new file mode 100644
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new file mode 100644
index 0000000..7018c1f
--- /dev/null
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new file mode 100644
index 0000000..db4513b
--- /dev/null
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new file mode 100644
index 0000000..1fe05af
--- /dev/null
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new file mode 100644
index 0000000..5bab5ca
--- /dev/null
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new file mode 100644
index 0000000..79a4b9f
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new file mode 100644
index 0000000..0777ac7
--- /dev/null
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index 0000000..459f08c
--- /dev/null
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index 0000000..b565c87
--- /dev/null
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index 0000000..2dd7632
--- /dev/null
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index 0000000..61e9ca5
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index 0000000..6f77c90
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new file mode 100644
index 0000000..207370c
--- /dev/null
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index 0000000..9931e92
--- /dev/null
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new file mode 100644
index 0000000..6c962aa
--- /dev/null
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index 0000000..4660e21
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index 0000000..5ff7d13
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index 0000000..2385491
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index 0000000..81714b7
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index 0000000..31888bf
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index 0000000..9d05e66
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index 0000000..f76e3cc
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index 0000000..1123aad
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index 0000000..d518618
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index 0000000..18d44e3
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index 0000000..b86e7a3
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index 0000000..a3e6037
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index 0000000..7de92f1
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index 0000000..1fd97dc
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index 0000000..40cea22
--- /dev/null
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index 0000000..999cddc
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index 0000000..36e5d2a
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index 0000000..8efd0ac
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index 0000000..093c686
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index 0000000..0354bbd
--- /dev/null
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index 0000000..05805eb
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index 0000000..f504930
--- /dev/null
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--- /dev/null
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index 0000000..4e8705c
--- /dev/null
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index 0000000..e88be97
--- /dev/null
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index 0000000..096e2e8
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index 0000000..748e1b7
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index 0000000..85c89a3
--- /dev/null
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index 0000000..6a36c8d
--- /dev/null
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new file mode 100644
index 0000000..7aa0396
--- /dev/null
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new file mode 100644
index 0000000..6c44979
--- /dev/null
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new file mode 100644
index 0000000..1e4af16
--- /dev/null
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new file mode 100644
index 0000000..70f75ac
--- /dev/null
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index 0000000..2e9d86e
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index 0000000..fc28bc6
--- /dev/null
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index 0000000..0086f01
--- /dev/null
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index 0000000..24d984f
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index 0000000..ffba123
--- /dev/null
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index 0000000..2104cdc
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index 0000000..6ab86ae
--- /dev/null
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index 0000000..6801816
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index 0000000..e7eaac2
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index 0000000..60b9498
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index 0000000..a7ae9ae
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index 0000000..3ea7bec
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new file mode 100644
index 0000000..bc1c348
--- /dev/null
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new file mode 100644
index 0000000..7731044
--- /dev/null
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index 0000000..a935066
--- /dev/null
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index 0000000..bad1be7
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index 0000000..c2cd323
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index 0000000..e158928
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index 0000000..9db8912
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index 0000000..76462eb
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index 0000000..8820134
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new file mode 100644
index 0000000..6c52b54
--- /dev/null
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new file mode 100644
index 0000000..e23c7ed
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index 0000000..fef0855
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index 0000000..614dbb2
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--- /dev/null
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index 0000000..aaad392
--- /dev/null
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index 0000000..c46a000
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index 0000000..722ad2b
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index 0000000..fd600c2
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index 0000000..c0652aa
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new file mode 100644
index 0000000..bab7b54
--- /dev/null
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new file mode 100644
index 0000000..ba91860
--- /dev/null
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index 0000000..b1e1987
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new file mode 100644
index 0000000..39e3245
--- /dev/null
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index 0000000..ae075c7
--- /dev/null
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index 0000000..d3efabb
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index 0000000..248a84c
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index 0000000..689b42f
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index 0000000..bac6b40
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index 0000000..5ec9961
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index 0000000..7162fe5
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new file mode 100644
index 0000000..9ac9d2c
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new file mode 100644
index 0000000..47962f8
--- /dev/null
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new file mode 100644
index 0000000..090f372
--- /dev/null
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new file mode 100644
index 0000000..bd37fb1
--- /dev/null
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diff --git a/data/observation/observations_001698.txt b/data/observation/observations_001698.txt
new file mode 100644
index 0000000..911f945
--- /dev/null
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new file mode 100644
index 0000000..a10c775
--- /dev/null
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new file mode 100644
index 0000000..529f9a8
--- /dev/null
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new file mode 100644
index 0000000..65636f4
--- /dev/null
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diff --git a/data/observation/observations_001702.txt b/data/observation/observations_001702.txt
new file mode 100644
index 0000000..f669249
--- /dev/null
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new file mode 100644
index 0000000..8903f83
--- /dev/null
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new file mode 100644
index 0000000..71dda0c
--- /dev/null
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new file mode 100644
index 0000000..766de03
--- /dev/null
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new file mode 100644
index 0000000..93fa205
--- /dev/null
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new file mode 100644
index 0000000..3d294d0
--- /dev/null
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new file mode 100644
index 0000000..38d0d07
--- /dev/null
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new file mode 100644
index 0000000..1283162
--- /dev/null
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new file mode 100644
index 0000000..c71ac01
--- /dev/null
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new file mode 100644
index 0000000..b9231ca
--- /dev/null
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new file mode 100644
index 0000000..868300f
--- /dev/null
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new file mode 100644
index 0000000..c0c9827
--- /dev/null
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new file mode 100644
index 0000000..68ea1ef
--- /dev/null
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new file mode 100644
index 0000000..cc1804d
--- /dev/null
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new file mode 100644
index 0000000..b81d885
--- /dev/null
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new file mode 100644
index 0000000..0dfadbe
--- /dev/null
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new file mode 100644
index 0000000..9eae055
--- /dev/null
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new file mode 100644
index 0000000..6a5a1df
--- /dev/null
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new file mode 100644
index 0000000..2e7f544
--- /dev/null
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diff --git a/data/observation/observations_001721.txt b/data/observation/observations_001721.txt
new file mode 100644
index 0000000..d189107
--- /dev/null
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new file mode 100644
index 0000000..0a46c4a
--- /dev/null
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new file mode 100644
index 0000000..2d5df7d
--- /dev/null
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new file mode 100644
index 0000000..5c679a5
--- /dev/null
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new file mode 100644
index 0000000..1826393
--- /dev/null
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new file mode 100644
index 0000000..ceb06e5
--- /dev/null
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new file mode 100644
index 0000000..58eff90
--- /dev/null
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new file mode 100644
index 0000000..fd737da
--- /dev/null
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new file mode 100644
index 0000000..b6b55bd
--- /dev/null
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new file mode 100644
index 0000000..31a43d6
--- /dev/null
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index 0000000..24c6842
--- /dev/null
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index 0000000..46a2e33
--- /dev/null
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new file mode 100644
index 0000000..045d8a5
--- /dev/null
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new file mode 100644
index 0000000..2386191
--- /dev/null
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new file mode 100644
index 0000000..670984d
--- /dev/null
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index 0000000..8342b3c
--- /dev/null
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index 0000000..cef17ab
--- /dev/null
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new file mode 100644
index 0000000..937a457
--- /dev/null
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new file mode 100644
index 0000000..e50533e
--- /dev/null
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new file mode 100644
index 0000000..75a2747
--- /dev/null
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new file mode 100644
index 0000000..09bfdf2
--- /dev/null
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new file mode 100644
index 0000000..0eecfbe
--- /dev/null
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new file mode 100644
index 0000000..ecb8867
--- /dev/null
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new file mode 100644
index 0000000..5758437
--- /dev/null
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new file mode 100644
index 0000000..28d2a1e
--- /dev/null
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new file mode 100644
index 0000000..5bc97f3
--- /dev/null
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diff --git a/data/observation/observations_001747.txt b/data/observation/observations_001747.txt
new file mode 100644
index 0000000..8c9547b
--- /dev/null
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new file mode 100644
index 0000000..5cdd0c2
--- /dev/null
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new file mode 100644
index 0000000..69f62d7
--- /dev/null
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new file mode 100644
index 0000000..3fe27fa
--- /dev/null
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diff --git a/data/observation/observations_001751.txt b/data/observation/observations_001751.txt
new file mode 100644
index 0000000..b8b77ff
--- /dev/null
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@@ -0,0 +1,6 @@
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diff --git a/data/observation/observations_001752.txt b/data/observation/observations_001752.txt
new file mode 100644
index 0000000..ce7c917
--- /dev/null
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new file mode 100644
index 0000000..99dbfd6
--- /dev/null
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diff --git a/data/observation/observations_001754.txt b/data/observation/observations_001754.txt
new file mode 100644
index 0000000..269c627
--- /dev/null
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new file mode 100644
index 0000000..f6a1097
--- /dev/null
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new file mode 100644
index 0000000..d482662
--- /dev/null
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new file mode 100644
index 0000000..afb2707
--- /dev/null
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new file mode 100644
index 0000000..f0205a8
--- /dev/null
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new file mode 100644
index 0000000..9bcbf8c
--- /dev/null
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new file mode 100644
index 0000000..b43eed0
--- /dev/null
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new file mode 100644
index 0000000..e06f0e7
--- /dev/null
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new file mode 100644
index 0000000..a90ba87
--- /dev/null
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new file mode 100644
index 0000000..71d755c
--- /dev/null
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new file mode 100644
index 0000000..2237433
--- /dev/null
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new file mode 100644
index 0000000..5d85887
--- /dev/null
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new file mode 100644
index 0000000..a0edb45
--- /dev/null
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new file mode 100644
index 0000000..b09ef2b
--- /dev/null
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new file mode 100644
index 0000000..9aa2dab
--- /dev/null
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new file mode 100644
index 0000000..df549d2
--- /dev/null
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new file mode 100644
index 0000000..7a760cf
--- /dev/null
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new file mode 100644
index 0000000..74de646
--- /dev/null
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new file mode 100644
index 0000000..7b41a2d
--- /dev/null
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new file mode 100644
index 0000000..b74f902
--- /dev/null
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new file mode 100644
index 0000000..ae5cf7a
--- /dev/null
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new file mode 100644
index 0000000..bbaf8c8
--- /dev/null
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new file mode 100644
index 0000000..f05d96d
--- /dev/null
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new file mode 100644
index 0000000..aadb744
--- /dev/null
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new file mode 100644
index 0000000..a733e9d
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new file mode 100644
index 0000000..333d295
--- /dev/null
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new file mode 100644
index 0000000..dcf400d
--- /dev/null
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new file mode 100644
index 0000000..1085e98
--- /dev/null
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new file mode 100644
index 0000000..246c5cf
--- /dev/null
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new file mode 100644
index 0000000..f7914f3
--- /dev/null
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new file mode 100644
index 0000000..15bff52
--- /dev/null
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new file mode 100644
index 0000000..79ff8a5
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index 0000000..7a18e09
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index 0000000..1a9fc72
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new file mode 100644
index 0000000..afad898
--- /dev/null
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new file mode 100644
index 0000000..6be4637
--- /dev/null
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new file mode 100644
index 0000000..4977597
--- /dev/null
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new file mode 100644
index 0000000..f80107a
--- /dev/null
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new file mode 100644
index 0000000..c9fb564
--- /dev/null
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new file mode 100644
index 0000000..55ef541
--- /dev/null
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new file mode 100644
index 0000000..85db02e
--- /dev/null
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new file mode 100644
index 0000000..cf0e24c
--- /dev/null
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new file mode 100644
index 0000000..c0c4859
--- /dev/null
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new file mode 100644
index 0000000..c3ec257
--- /dev/null
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new file mode 100644
index 0000000..4f51741
--- /dev/null
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new file mode 100644
index 0000000..5c6c269
--- /dev/null
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new file mode 100644
index 0000000..699eca3
--- /dev/null
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new file mode 100644
index 0000000..1b9614b
--- /dev/null
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new file mode 100644
index 0000000..9372311
--- /dev/null
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new file mode 100644
index 0000000..7112881
--- /dev/null
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new file mode 100644
index 0000000..a4ef13a
--- /dev/null
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diff --git a/data/observation/observations_001805.txt b/data/observation/observations_001805.txt
new file mode 100644
index 0000000..e49061f
--- /dev/null
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diff --git a/data/observation/observations_001806.txt b/data/observation/observations_001806.txt
new file mode 100644
index 0000000..8ae2d8e
--- /dev/null
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new file mode 100644
index 0000000..5a1051c
--- /dev/null
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new file mode 100644
index 0000000..fda3cd4
--- /dev/null
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diff --git a/data/observation/observations_001809.txt b/data/observation/observations_001809.txt
new file mode 100644
index 0000000..52e1ffb
--- /dev/null
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new file mode 100644
index 0000000..68aee5b
--- /dev/null
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new file mode 100644
index 0000000..b49bf1e
--- /dev/null
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new file mode 100644
index 0000000..72598ae
--- /dev/null
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new file mode 100644
index 0000000..e592f39
--- /dev/null
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new file mode 100644
index 0000000..9c124dd
--- /dev/null
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new file mode 100644
index 0000000..0410d10
--- /dev/null
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new file mode 100644
index 0000000..3d1a43d
--- /dev/null
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new file mode 100644
index 0000000..a71b373
--- /dev/null
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new file mode 100644
index 0000000..21ac303
--- /dev/null
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new file mode 100644
index 0000000..ffda089
--- /dev/null
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new file mode 100644
index 0000000..7c6af20
--- /dev/null
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diff --git a/data/observation/observations_001821.txt b/data/observation/observations_001821.txt
new file mode 100644
index 0000000..59713d5
--- /dev/null
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new file mode 100644
index 0000000..001c3ec
--- /dev/null
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new file mode 100644
index 0000000..f7c863a
--- /dev/null
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new file mode 100644
index 0000000..2f21a05
--- /dev/null
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new file mode 100644
index 0000000..579594f
--- /dev/null
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new file mode 100644
index 0000000..4752600
--- /dev/null
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new file mode 100644
index 0000000..1cebd36
--- /dev/null
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new file mode 100644
index 0000000..48fd510
--- /dev/null
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new file mode 100644
index 0000000..152f340
--- /dev/null
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new file mode 100644
index 0000000..4b6c1b7
--- /dev/null
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new file mode 100644
index 0000000..a4304ae
--- /dev/null
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new file mode 100644
index 0000000..4bb6164
--- /dev/null
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new file mode 100644
index 0000000..2d0ee2a
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new file mode 100644
index 0000000..7889fbc
--- /dev/null
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new file mode 100644
index 0000000..3d68aa5
--- /dev/null
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new file mode 100644
index 0000000..b59d258
--- /dev/null
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new file mode 100644
index 0000000..73e6f2a
--- /dev/null
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new file mode 100644
index 0000000..14b7c3c
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index 0000000..92831f6
--- /dev/null
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index 0000000..3b5cff3
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index 0000000..5bb60f0
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new file mode 100644
index 0000000..0adce89
--- /dev/null
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new file mode 100644
index 0000000..ccbbe6f
--- /dev/null
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new file mode 100644
index 0000000..fcff539
--- /dev/null
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new file mode 100644
index 0000000..3bdeca2
--- /dev/null
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new file mode 100644
index 0000000..d772c93
--- /dev/null
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new file mode 100644
index 0000000..b0c4ee6
--- /dev/null
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new file mode 100644
index 0000000..5766cc5
--- /dev/null
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new file mode 100644
index 0000000..600bdb4
--- /dev/null
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new file mode 100644
index 0000000..c2640d8
--- /dev/null
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diff --git a/data/observation/observations_001851.txt b/data/observation/observations_001851.txt
new file mode 100644
index 0000000..3ffde63
--- /dev/null
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@@ -0,0 +1,10 @@
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new file mode 100644
index 0000000..911cd43
--- /dev/null
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index 0000000..3d82e26
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index 0000000..dd9fc68
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new file mode 100644
index 0000000..0e607bd
--- /dev/null
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new file mode 100644
index 0000000..d96c5df
--- /dev/null
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new file mode 100644
index 0000000..dac01c3
--- /dev/null
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index 0000000..b360e7d
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index 0000000..0ae02c2
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index 0000000..702b919
--- /dev/null
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index 0000000..965ba9b
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index 0000000..ecdfba4
--- /dev/null
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index 0000000..df0ae8b
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index 0000000..bc00b19
--- /dev/null
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index 0000000..ba2102a
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index 0000000..1486d14
--- /dev/null
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index 0000000..2bcca41
--- /dev/null
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index 0000000..ebb4d1c
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index 0000000..8c2fcd4
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index 0000000..bf9a845
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index 0000000..8db6037
--- /dev/null
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index 0000000..946cdd1
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index 0000000..a978bcc
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index 0000000..826b406
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index 0000000..da2ed2f
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index 0000000..6989b65
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index 0000000..984eada
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index 0000000..c885ada
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index 0000000..7c6446f
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index 0000000..c62da94
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--- /dev/null
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index 0000000..fab09de
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index 0000000..cdc74dd
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new file mode 100644
index 0000000..02637c2
--- /dev/null
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new file mode 100644
index 0000000..6ab52c4
--- /dev/null
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new file mode 100644
index 0000000..dde0678
--- /dev/null
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new file mode 100644
index 0000000..df67e60
--- /dev/null
+++ b/data/observation/observations_001944.txt
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diff --git a/data/observation/observations_001945.txt b/data/observation/observations_001945.txt
new file mode 100644
index 0000000..9886068
--- /dev/null
+++ b/data/observation/observations_001945.txt
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diff --git a/data/observation/observations_001946.txt b/data/observation/observations_001946.txt
new file mode 100644
index 0000000..136a0ca
--- /dev/null
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diff --git a/data/observation/observations_001947.txt b/data/observation/observations_001947.txt
new file mode 100644
index 0000000..2f3adfd
--- /dev/null
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new file mode 100644
index 0000000..11ad44d
--- /dev/null
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new file mode 100644
index 0000000..d88dea4
--- /dev/null
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new file mode 100644
index 0000000..245a4a2
--- /dev/null
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new file mode 100644
index 0000000..e619140
--- /dev/null
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new file mode 100644
index 0000000..6785eb8
--- /dev/null
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new file mode 100644
index 0000000..769a3e7
--- /dev/null
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new file mode 100644
index 0000000..ea8de6e
--- /dev/null
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new file mode 100644
index 0000000..f2978ec
--- /dev/null
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new file mode 100644
index 0000000..3204685
--- /dev/null
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new file mode 100644
index 0000000..9eff978
--- /dev/null
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diff --git a/data/observation/observations_001958.txt b/data/observation/observations_001958.txt
new file mode 100644
index 0000000..fdc830f
--- /dev/null
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new file mode 100644
index 0000000..696af19
--- /dev/null
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new file mode 100644
index 0000000..f7fb3cd
--- /dev/null
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new file mode 100644
index 0000000..6211642
--- /dev/null
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diff --git a/data/observation/observations_001962.txt b/data/observation/observations_001962.txt
new file mode 100644
index 0000000..1ae771f
--- /dev/null
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new file mode 100644
index 0000000..667a5a6
--- /dev/null
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new file mode 100644
index 0000000..d0bfce1
--- /dev/null
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new file mode 100644
index 0000000..974353c
--- /dev/null
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new file mode 100644
index 0000000..7292dda
--- /dev/null
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new file mode 100644
index 0000000..344be24
--- /dev/null
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new file mode 100644
index 0000000..64e31d9
--- /dev/null
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new file mode 100644
index 0000000..853045d
--- /dev/null
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new file mode 100644
index 0000000..d3d37ce
--- /dev/null
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new file mode 100644
index 0000000..912eed7
--- /dev/null
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index 0000000..d833251
--- /dev/null
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index 0000000..5965554
--- /dev/null
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index 0000000..2c6a915
--- /dev/null
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new file mode 100644
index 0000000..c98312d
--- /dev/null
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index 0000000..932384b
--- /dev/null
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new file mode 100644
index 0000000..820eb02
--- /dev/null
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new file mode 100644
index 0000000..437aeb1
--- /dev/null
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new file mode 100644
index 0000000..0495bc5
--- /dev/null
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new file mode 100644
index 0000000..ed70215
--- /dev/null
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new file mode 100644
index 0000000..b59cd25
--- /dev/null
+++ b/data/observation/observations_001981.txt
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new file mode 100644
index 0000000..d64e586
--- /dev/null
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diff --git a/data/observation/observations_001983.txt b/data/observation/observations_001983.txt
new file mode 100644
index 0000000..e7172e1
--- /dev/null
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new file mode 100644
index 0000000..fe3a553
--- /dev/null
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diff --git a/data/observation/observations_001985.txt b/data/observation/observations_001985.txt
new file mode 100644
index 0000000..b7d48fc
--- /dev/null
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diff --git a/data/observation/observations_001986.txt b/data/observation/observations_001986.txt
new file mode 100644
index 0000000..aa42e2e
--- /dev/null
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diff --git a/data/observation/observations_001987.txt b/data/observation/observations_001987.txt
new file mode 100644
index 0000000..6f39736
--- /dev/null
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diff --git a/data/observation/observations_001988.txt b/data/observation/observations_001988.txt
new file mode 100644
index 0000000..5978dd8
--- /dev/null
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new file mode 100644
index 0000000..6b92e14
--- /dev/null
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new file mode 100644
index 0000000..9cd6f65
--- /dev/null
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diff --git a/data/observation/observations_001991.txt b/data/observation/observations_001991.txt
new file mode 100644
index 0000000..ed68094
--- /dev/null
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diff --git a/data/observation/observations_001992.txt b/data/observation/observations_001992.txt
new file mode 100644
index 0000000..32f4563
--- /dev/null
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diff --git a/data/observation/observations_001993.txt b/data/observation/observations_001993.txt
new file mode 100644
index 0000000..cb0132e
--- /dev/null
+++ b/data/observation/observations_001993.txt
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diff --git a/data/observation/observations_001994.txt b/data/observation/observations_001994.txt
new file mode 100644
index 0000000..653ef82
--- /dev/null
+++ b/data/observation/observations_001994.txt
@@ -0,0 +1,8 @@
+-5.0989 0.050524
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+-31.627 -27.163
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diff --git a/data/observation/observations_001995.txt b/data/observation/observations_001995.txt
new file mode 100644
index 0000000..f104f88
--- /dev/null
+++ b/data/observation/observations_001995.txt
@@ -0,0 +1,8 @@
+-5.8587 -0.085022
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diff --git a/data/observation/observations_001996.txt b/data/observation/observations_001996.txt
new file mode 100644
index 0000000..f0659e7
--- /dev/null
+++ b/data/observation/observations_001996.txt
@@ -0,0 +1,7 @@
+-6.6159 -0.23739
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+-37.294 -22.452
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diff --git a/data/observation/observations_001997.txt b/data/observation/observations_001997.txt
new file mode 100644
index 0000000..42e4006
--- /dev/null
+++ b/data/observation/observations_001997.txt
@@ -0,0 +1,7 @@
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+-37.321 -23.607
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diff --git a/data/observation/observations_001998.txt b/data/observation/observations_001998.txt
new file mode 100644
index 0000000..03ce914
--- /dev/null
+++ b/data/observation/observations_001998.txt
@@ -0,0 +1,7 @@
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diff --git a/data/observation/observations_001999.txt b/data/observation/observations_001999.txt
new file mode 100644
index 0000000..8958b30
--- /dev/null
+++ b/data/observation/observations_001999.txt
@@ -0,0 +1,7 @@
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diff --git a/data/observation/observations_002000.txt b/data/observation/observations_002000.txt
new file mode 100644
index 0000000..3274a9e
--- /dev/null
+++ b/data/observation/observations_002000.txt
@@ -0,0 +1,7 @@
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diff --git a/data/observation/observations_002001.txt b/data/observation/observations_002001.txt
new file mode 100644
index 0000000..e2e82e0
--- /dev/null
+++ b/data/observation/observations_002001.txt
@@ -0,0 +1,7 @@
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diff --git a/data/observation/observations_002002.txt b/data/observation/observations_002002.txt
new file mode 100644
index 0000000..743568c
--- /dev/null
+++ b/data/observation/observations_002002.txt
@@ -0,0 +1,7 @@
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diff --git a/data/observation/observations_002003.txt b/data/observation/observations_002003.txt
new file mode 100644
index 0000000..0f666b6
--- /dev/null
+++ b/data/observation/observations_002003.txt
@@ -0,0 +1,7 @@
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diff --git a/data/observation/observations_002004.txt b/data/observation/observations_002004.txt
new file mode 100644
index 0000000..8e38b0f
--- /dev/null
+++ b/data/observation/observations_002004.txt
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diff --git a/data/observation/observations_002005.txt b/data/observation/observations_002005.txt
new file mode 100644
index 0000000..fd024d0
--- /dev/null
+++ b/data/observation/observations_002005.txt
@@ -0,0 +1,7 @@
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diff --git a/data/observation/observations_002006.txt b/data/observation/observations_002006.txt
new file mode 100644
index 0000000..d1d106e
--- /dev/null
+++ b/data/observation/observations_002006.txt
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diff --git a/data/observation/observations_002007.txt b/data/observation/observations_002007.txt
new file mode 100644
index 0000000..ef091af
--- /dev/null
+++ b/data/observation/observations_002007.txt
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diff --git a/data/observation/observations_002008.txt b/data/observation/observations_002008.txt
new file mode 100644
index 0000000..cf545e1
--- /dev/null
+++ b/data/observation/observations_002008.txt
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diff --git a/data/observation/observations_002009.txt b/data/observation/observations_002009.txt
new file mode 100644
index 0000000..1502f62
--- /dev/null
+++ b/data/observation/observations_002009.txt
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diff --git a/data/observation/observations_002010.txt b/data/observation/observations_002010.txt
new file mode 100644
index 0000000..ed15ece
--- /dev/null
+++ b/data/observation/observations_002010.txt
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diff --git a/data/observation/observations_002011.txt b/data/observation/observations_002011.txt
new file mode 100644
index 0000000..9d9f608
--- /dev/null
+++ b/data/observation/observations_002011.txt
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diff --git a/data/observation/observations_002012.txt b/data/observation/observations_002012.txt
new file mode 100644
index 0000000..175aa10
--- /dev/null
+++ b/data/observation/observations_002012.txt
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diff --git a/data/observation/observations_002013.txt b/data/observation/observations_002013.txt
new file mode 100644
index 0000000..e9cb699
--- /dev/null
+++ b/data/observation/observations_002013.txt
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diff --git a/data/observation/observations_002014.txt b/data/observation/observations_002014.txt
new file mode 100644
index 0000000..bbd55a4
--- /dev/null
+++ b/data/observation/observations_002014.txt
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diff --git a/data/observation/observations_002015.txt b/data/observation/observations_002015.txt
new file mode 100644
index 0000000..81f96ab
--- /dev/null
+++ b/data/observation/observations_002015.txt
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diff --git a/data/observation/observations_002016.txt b/data/observation/observations_002016.txt
new file mode 100644
index 0000000..ac20e64
--- /dev/null
+++ b/data/observation/observations_002016.txt
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diff --git a/data/observation/observations_002017.txt b/data/observation/observations_002017.txt
new file mode 100644
index 0000000..7375c6e
--- /dev/null
+++ b/data/observation/observations_002017.txt
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diff --git a/data/observation/observations_002018.txt b/data/observation/observations_002018.txt
new file mode 100644
index 0000000..ec3bb60
--- /dev/null
+++ b/data/observation/observations_002018.txt
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diff --git a/data/observation/observations_002019.txt b/data/observation/observations_002019.txt
new file mode 100644
index 0000000..a692f14
--- /dev/null
+++ b/data/observation/observations_002019.txt
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new file mode 100644
index 0000000..beeada5
--- /dev/null
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diff --git a/data/observation/observations_002021.txt b/data/observation/observations_002021.txt
new file mode 100644
index 0000000..db2c872
--- /dev/null
+++ b/data/observation/observations_002021.txt
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new file mode 100644
index 0000000..8027cce
--- /dev/null
+++ b/data/observation/observations_002022.txt
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new file mode 100644
index 0000000..bbc2229
--- /dev/null
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new file mode 100644
index 0000000..cb59c61
--- /dev/null
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new file mode 100644
index 0000000..7507b6d
--- /dev/null
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new file mode 100644
index 0000000..cd3f969
--- /dev/null
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index 0000000..2001384
--- /dev/null
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index 0000000..c80e12c
--- /dev/null
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index 0000000..2cc693c
--- /dev/null
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new file mode 100644
index 0000000..eb6a083
--- /dev/null
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index 0000000..2986ad0
--- /dev/null
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index 0000000..41f2e21
--- /dev/null
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index 0000000..040e17e
--- /dev/null
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diff --git a/data/observation/observations_002034.txt b/data/observation/observations_002034.txt
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index 0000000..f9b82f5
--- /dev/null
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diff --git a/data/observation/observations_002035.txt b/data/observation/observations_002035.txt
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index 0000000..1ac0d59
--- /dev/null
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index 0000000..a8948f9
--- /dev/null
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index 0000000..898926c
--- /dev/null
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diff --git a/data/observation/observations_002038.txt b/data/observation/observations_002038.txt
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index 0000000..d6ea3db
--- /dev/null
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index 0000000..ead747e
--- /dev/null
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index 0000000..131d15f
--- /dev/null
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index 0000000..5334fd9
--- /dev/null
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index 0000000..3466b80
--- /dev/null
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index 0000000..9ed079b
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index 0000000..a1f9c59
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index 0000000..f75ccf6
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index 0000000..ba8afe0
--- /dev/null
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new file mode 100644
index 0000000..524328a
--- /dev/null
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new file mode 100644
index 0000000..5623ae5
--- /dev/null
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new file mode 100644
index 0000000..ac6e2f8
--- /dev/null
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new file mode 100644
index 0000000..ae04d42
--- /dev/null
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new file mode 100644
index 0000000..3e39f02
--- /dev/null
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diff --git a/data/observation/observations_002052.txt b/data/observation/observations_002052.txt
new file mode 100644
index 0000000..5e8ed91
--- /dev/null
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new file mode 100644
index 0000000..df9fe0e
--- /dev/null
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new file mode 100644
index 0000000..cb7dec7
--- /dev/null
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new file mode 100644
index 0000000..b5c3f49
--- /dev/null
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new file mode 100644
index 0000000..351501a
--- /dev/null
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new file mode 100644
index 0000000..bd8313c
--- /dev/null
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new file mode 100644
index 0000000..12af918
--- /dev/null
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new file mode 100644
index 0000000..36496ed
--- /dev/null
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diff --git a/data/observation/observations_002060.txt b/data/observation/observations_002060.txt
new file mode 100644
index 0000000..5b96b3c
--- /dev/null
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diff --git a/data/observation/observations_002061.txt b/data/observation/observations_002061.txt
new file mode 100644
index 0000000..7d43fb1
--- /dev/null
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new file mode 100644
index 0000000..2d50201
--- /dev/null
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new file mode 100644
index 0000000..645f918
--- /dev/null
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new file mode 100644
index 0000000..190fdbb
--- /dev/null
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index 0000000..35a382b
--- /dev/null
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new file mode 100644
index 0000000..e792ef5
--- /dev/null
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new file mode 100644
index 0000000..9b68c22
--- /dev/null
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new file mode 100644
index 0000000..cc321db
--- /dev/null
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new file mode 100644
index 0000000..0ac0b69
--- /dev/null
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new file mode 100644
index 0000000..a711a5e
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new file mode 100644
index 0000000..36b074e
--- /dev/null
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index 0000000..ea8a47b
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index 0000000..06be223
--- /dev/null
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new file mode 100644
index 0000000..afe5c3b
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index 0000000..45d26a6
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index 0000000..2ef3fdd
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new file mode 100644
index 0000000..db9b6e4
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new file mode 100644
index 0000000..5125007
--- /dev/null
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index 0000000..5eaea1f
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new file mode 100644
index 0000000..18b4f10
--- /dev/null
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new file mode 100644
index 0000000..abccbb5
--- /dev/null
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new file mode 100644
index 0000000..7e58a8d
--- /dev/null
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new file mode 100644
index 0000000..4a4f86c
--- /dev/null
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new file mode 100644
index 0000000..bf33354
--- /dev/null
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new file mode 100644
index 0000000..f9cdf9d
--- /dev/null
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new file mode 100644
index 0000000..de97377
--- /dev/null
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new file mode 100644
index 0000000..1949492
--- /dev/null
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new file mode 100644
index 0000000..a21636d
--- /dev/null
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new file mode 100644
index 0000000..be7105a
--- /dev/null
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new file mode 100644
index 0000000..a0135cb
--- /dev/null
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new file mode 100644
index 0000000..cf02f39
--- /dev/null
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new file mode 100644
index 0000000..6bf9cd5
--- /dev/null
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new file mode 100644
index 0000000..448b1e6
--- /dev/null
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new file mode 100644
index 0000000..566ff3c
--- /dev/null
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new file mode 100644
index 0000000..bec84de
--- /dev/null
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new file mode 100644
index 0000000..851532d
--- /dev/null
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new file mode 100644
index 0000000..2c1b5ad
--- /dev/null
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new file mode 100644
index 0000000..c439b4d
--- /dev/null
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diff --git a/data/observation/observations_002099.txt b/data/observation/observations_002099.txt
new file mode 100644
index 0000000..75675d4
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index 0000000..b1afbab
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index 0000000..a050da4
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new file mode 100644
index 0000000..61dfc06
--- /dev/null
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index 0000000..da86af0
--- /dev/null
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index 0000000..081db5c
--- /dev/null
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index 0000000..58d1861
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index 0000000..8de018b
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index 0000000..cd81327
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new file mode 100644
index 0000000..18e6bdb
--- /dev/null
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new file mode 100644
index 0000000..f9dcf2b
--- /dev/null
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index 0000000..ceed1af
--- /dev/null
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index 0000000..64cca21
--- /dev/null
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index 0000000..319f6cd
--- /dev/null
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index 0000000..88661ac
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index 0000000..b0ec7e1
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index 0000000..25ff5b0
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index 0000000..2a66cb2
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index 0000000..e8d1fbd
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index 0000000..8081eae
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index 0000000..581a13d
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index 0000000..5e8b3ea
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--- /dev/null
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index 0000000..85b9cfd
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index 0000000..c9661a1
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index 0000000..297dc12
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index 0000000..2a06744
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index 0000000..38321ee
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index 0000000..6a112de
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index 0000000..0d0e4f2
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index 0000000..9d6e0ba
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index 0000000..d1d4b8d
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index 0000000..c32ae87
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index 0000000..32758b4
--- /dev/null
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--- /dev/null
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index 0000000..4c53989
--- /dev/null
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index 0000000..913858d
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+40.271 -21.695
+23.075 -40.317
diff --git a/data/observation/observations_002417.txt b/data/observation/observations_002417.txt
new file mode 100644
index 0000000..cd87cad
--- /dev/null
+++ b/data/observation/observations_002417.txt
@@ -0,0 +1,5 @@
+6.3597 0.54385
+-1.287 -25.114
+-31.888 7.2041
+39.916 -20.972
+23.051 -39.893
diff --git a/data/observation/observations_002418.txt b/data/observation/observations_002418.txt
new file mode 100644
index 0000000..57231a9
--- /dev/null
+++ b/data/observation/observations_002418.txt
@@ -0,0 +1,5 @@
+5.618 0.66238
+-1.6015 -25.119
+-32.735 6.6863
+39.527 -20.293
+22.978 -39.491
diff --git a/data/observation/observations_002419.txt b/data/observation/observations_002419.txt
new file mode 100644
index 0000000..cceabe8
--- /dev/null
+++ b/data/observation/observations_002419.txt
@@ -0,0 +1,5 @@
+4.8708 0.77412
+-1.8907 -25.132
+-33.583 6.1176
+39.146 -19.577
+22.94 -39.066
diff --git a/data/observation/observations_002420.txt b/data/observation/observations_002420.txt
new file mode 100644
index 0000000..29dd1a3
--- /dev/null
+++ b/data/observation/observations_002420.txt
@@ -0,0 +1,5 @@
+4.1211 0.86589
+-2.2056 -25.149
+-34.417 5.5645
+38.733 -18.908
+22.855 -38.666
diff --git a/data/observation/observations_002421.txt b/data/observation/observations_002421.txt
new file mode 100644
index 0000000..01ee4d4
--- /dev/null
+++ b/data/observation/observations_002421.txt
@@ -0,0 +1,5 @@
+3.3701 0.93337
+-2.5925 -25.168
+-35.23 5.0931
+38.254 -18.355
+22.655 -38.333
diff --git a/data/observation/observations_002422.txt b/data/observation/observations_002422.txt
new file mode 100644
index 0000000..39ee09f
--- /dev/null
+++ b/data/observation/observations_002422.txt
@@ -0,0 +1,5 @@
+2.6169 0.98922
+-2.9918 -25.19
+-36.036 4.626
+37.759 -17.825
+22.431 -38.012
diff --git a/data/observation/observations_002423.txt b/data/observation/observations_002423.txt
new file mode 100644
index 0000000..57480db
--- /dev/null
+++ b/data/observation/observations_002423.txt
@@ -0,0 +1,5 @@
+1.8608 1.0364
+-3.3827 -25.219
+-36.839 4.1343
+37.262 -17.287
+22.216 -37.685
diff --git a/data/observation/observations_002424.txt b/data/observation/observations_002424.txt
new file mode 100644
index 0000000..4e7872f
--- /dev/null
+++ b/data/observation/observations_002424.txt
@@ -0,0 +1,6 @@
+1.1008 1.0733
+-3.7612 -25.255
+-37.64 3.6095
+36.764 -16.734
+22.016 -37.349
+48.879 -8.6165
diff --git a/data/observation/observations_002425.txt b/data/observation/observations_002425.txt
new file mode 100644
index 0000000..8374122
--- /dev/null
+++ b/data/observation/observations_002425.txt
@@ -0,0 +1,6 @@
+0.3393 1.0979
+-4.1651 -25.294
+-38.432 3.1083
+36.241 -16.224
+21.774 -37.037
+48.245 -7.943
diff --git a/data/observation/observations_002426.txt b/data/observation/observations_002426.txt
new file mode 100644
index 0000000..ab14a6a
--- /dev/null
+++ b/data/observation/observations_002426.txt
@@ -0,0 +1,6 @@
+-0.4239 1.1114
+-4.5855 -25.337
+35.699 -15.743
+-39.218 2.6186
+21.504 -36.742
+47.595 -7.307
diff --git a/data/observation/observations_002427.txt b/data/observation/observations_002427.txt
new file mode 100644
index 0000000..ac23106
--- /dev/null
+++ b/data/observation/observations_002427.txt
@@ -0,0 +1,6 @@
+-1.1889 1.1163
+-5.0237 -25.381
+35.139 -15.291
+-39.999 2.1445
+21.204 -36.464
+46.93 -6.7088
diff --git a/data/observation/observations_002428.txt b/data/observation/observations_002428.txt
new file mode 100644
index 0000000..c799f11
--- /dev/null
+++ b/data/observation/observations_002428.txt
@@ -0,0 +1,6 @@
+-1.9576 1.1091
+-5.4338 -25.438
+34.589 -14.806
+-40.778 1.6125
+20.942 -36.165
+46.263 -6.0647
diff --git a/data/observation/observations_002429.txt b/data/observation/observations_002429.txt
new file mode 100644
index 0000000..7fa6cfd
--- /dev/null
+++ b/data/observation/observations_002429.txt
@@ -0,0 +1,6 @@
+-2.7268 1.0935
+-5.8852 -25.493
+34.008 -14.383
+20.617 -35.904
+-41.55 1.1325
+45.576 -5.5029
diff --git a/data/observation/observations_002430.txt b/data/observation/observations_002430.txt
new file mode 100644
index 0000000..d6bca30
--- /dev/null
+++ b/data/observation/observations_002430.txt
@@ -0,0 +1,6 @@
+-3.4968 1.0716
+-6.3764 -25.547
+33.398 -14.019
+20.233 -35.679
+-42.319 0.70373
+44.872 -5.0184
diff --git a/data/observation/observations_002431.txt b/data/observation/observations_002431.txt
new file mode 100644
index 0000000..0efb73e
--- /dev/null
+++ b/data/observation/observations_002431.txt
@@ -0,0 +1,6 @@
+-4.2676 1.0473
+-6.9137 -25.595
+32.758 -13.72
+19.784 -35.494
+-43.085 0.33911
+44.153 -4.6182
diff --git a/data/observation/observations_002432.txt b/data/observation/observations_002432.txt
new file mode 100644
index 0000000..33a446b
--- /dev/null
+++ b/data/observation/observations_002432.txt
@@ -0,0 +1,6 @@
+-5.0408 1.0166
+-7.4595 -25.647
+32.11 -13.434
+19.321 -35.318
+43.427 -4.2357
+-43.851 -0.022829
diff --git a/data/observation/observations_002433.txt b/data/observation/observations_002433.txt
new file mode 100644
index 0000000..7a5fce9
--- /dev/null
+++ b/data/observation/observations_002433.txt
@@ -0,0 +1,6 @@
+-5.8152 0.98493
+-8.0365 -25.696
+31.441 -13.19
+18.815 -35.168
+42.69 -3.9083
+-44.616 -0.34178
diff --git a/data/observation/observations_002434.txt b/data/observation/observations_002434.txt
new file mode 100644
index 0000000..0daee4c
--- /dev/null
+++ b/data/observation/observations_002434.txt
@@ -0,0 +1,6 @@
+-6.5905 0.94736
+-8.6124 -25.75
+30.771 -12.949
+18.309 -35.021
+41.95 -3.5835
+-45.38 -0.66915
diff --git a/data/observation/observations_002435.txt b/data/observation/observations_002435.txt
new file mode 100644
index 0000000..46253f7
--- /dev/null
+++ b/data/observation/observations_002435.txt
@@ -0,0 +1,6 @@
+-7.3664 0.90283
+-9.1836 -25.809
+30.1 -12.707
+17.808 -34.874
+41.207 -3.2557
+-46.143 -1.011
diff --git a/data/observation/observations_002436.txt b/data/observation/observations_002436.txt
new file mode 100644
index 0000000..30b424e
--- /dev/null
+++ b/data/observation/observations_002436.txt
@@ -0,0 +1,6 @@
+-8.1426 0.85072
+-9.7504 -25.874
+29.429 -12.465
+17.312 -34.727
+40.462 -2.9271
+-46.903 -1.3669
diff --git a/data/observation/observations_002437.txt b/data/observation/observations_002437.txt
new file mode 100644
index 0000000..88b84f3
--- /dev/null
+++ b/data/observation/observations_002437.txt
@@ -0,0 +1,6 @@
+-8.9189 0.79654
+-10.331 -25.94
+28.75 -12.243
+16.795 -34.594
+39.712 -2.6251
+-47.662 -1.7049
diff --git a/data/observation/observations_002438.txt b/data/observation/observations_002438.txt
new file mode 100644
index 0000000..0ea6367
--- /dev/null
+++ b/data/observation/observations_002438.txt
@@ -0,0 +1,6 @@
+-9.6953 0.73847
+-10.917 -26.007
+28.065 -12.033
+16.271 -34.468
+38.959 -2.3364
+-48.419 -2.0391
diff --git a/data/observation/observations_002439.txt b/data/observation/observations_002439.txt
new file mode 100644
index 0000000..a64906f
--- /dev/null
+++ b/data/observation/observations_002439.txt
@@ -0,0 +1,6 @@
+-10.471 0.67429
+-11.501 -26.079
+27.38 -11.825
+15.747 -34.345
+38.204 -2.0513
+-49.174 -2.3813
diff --git a/data/observation/observations_002440.txt b/data/observation/observations_002440.txt
new file mode 100644
index 0000000..15127e4
--- /dev/null
+++ b/data/observation/observations_002440.txt
@@ -0,0 +1,5 @@
+-11.246 0.60659
+-12.086 -26.154
+26.693 -11.626
+15.218 -34.227
+37.447 -1.7757
diff --git a/data/observation/observations_002441.txt b/data/observation/observations_002441.txt
new file mode 100644
index 0000000..189fd4c
--- /dev/null
+++ b/data/observation/observations_002441.txt
@@ -0,0 +1,5 @@
+-12.019 0.52328
+26.016 -11.405
+-12.646 -26.243
+36.691 -1.4697
+14.723 -34.097
diff --git a/data/observation/observations_002442.txt b/data/observation/observations_002442.txt
new file mode 100644
index 0000000..e7a0043
--- /dev/null
+++ b/data/observation/observations_002442.txt
@@ -0,0 +1,5 @@
+-12.791 0.42547
+25.345 -11.176
+-13.188 -26.345
+35.935 -1.1488
+14.247 -33.964
diff --git a/data/observation/observations_002443.txt b/data/observation/observations_002443.txt
new file mode 100644
index 0000000..c02def9
--- /dev/null
+++ b/data/observation/observations_002443.txt
@@ -0,0 +1,5 @@
+-13.559 0.339
+24.66 -10.989
+-13.764 -26.434
+35.177 -0.88683
+13.725 -33.856
diff --git a/data/observation/observations_002444.txt b/data/observation/observations_002444.txt
new file mode 100644
index 0000000..e0784a2
--- /dev/null
+++ b/data/observation/observations_002444.txt
@@ -0,0 +1,5 @@
+-13.579 0.25524
+24.712 -10.823
+-13.609 -26.518
+35.164 -0.65157
+13.928 -33.761
diff --git a/run.sh b/run.sh
new file mode 100755
index 0000000..bc257d4
--- /dev/null
+++ b/run.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+# Script to run particle filter!
+#
+# Written by Tiffany Huang, 12/14/2016
+#
+
+# Run particle filter
+./build/particle_filter
diff --git a/src/helper_functions.h b/src/helper_functions.h
new file mode 100644
index 0000000..ff7b6d0
--- /dev/null
+++ b/src/helper_functions.h
@@ -0,0 +1,237 @@
+/*
+ * helper_functions.h
+ * Some helper functions for the 2D particle filter.
+ */
+
+#ifndef HELPER_FUNCTIONS_H_
+#define HELPER_FUNCTIONS_H_
+
+#include <sstream>
+#include <fstream>
+#include <math.h>
+#include <vector>
+#include "map.h"
+
+/*
+ * Struct representing one position/control measurement.
+ */
+struct control_s {
+	
+	double velocity;	// Velocity [m/s]
+	double yawrate;		// Yaw rate [rad/s]
+};
+
+/*
+ * Struct representing one ground truth position.
+ */
+struct ground_truth {
+	
+	double x;		// Global vehicle x position [m]
+	double y;		// Global vehicle y position
+	double theta;	// Global vehicle yaw [rad]
+};
+
+/*
+ * Struct representing one landmark observation measurement.
+ */
+struct LandmarkObs {
+	
+	int id;				// Id of matching landmark in the map.
+	double x;			// Local (vehicle coordinates) x position of landmark observation [m]
+	double y;			// Local (vehicle coordinates) y position of landmark observation [m]
+};
+
+/*
+ * Computes the Euclidean distance between two 2D points.
+ * @param (x1,y1) x and y coordinates of first point
+ * @param (x2,y2) x and y coordinates of second point
+ * @output Euclidean distance between two 2D points
+ */
+inline double dist(double x1, double y1, double x2, double y2) {
+	return sqrt((x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1));
+}
+
+inline double * getError(double gt_x, double gt_y, double gt_theta, double pf_x, double pf_y, double pf_theta) {
+	static double error[3];
+	error[0] = fabs(pf_x - gt_x);
+	error[1] = fabs(pf_y - gt_y);
+	error[2] = fabs(pf_theta - gt_theta);
+	error[2] = fmod(error[2], 2.0 * M_PI);
+	if (error[2] > M_PI) {
+		error[2] = 2.0 * M_PI - error[2];
+	}
+	return error;
+}
+
+/* Reads map data from a file.
+ * @param filename Name of file containing map data.
+ * @output True if opening and reading file was successful
+ */
+inline bool read_map_data(std::string filename, Map& map) {
+
+	// Get file of map:
+	std::ifstream in_file_map(filename.c_str(),std::ifstream::in);
+	// Return if we can't open the file.
+	if (!in_file_map) {
+		return false;
+	}
+	
+	// Declare single line of map file:
+	std::string line_map;
+
+	// Run over each single line:
+	while(getline(in_file_map, line_map)){
+
+		std::istringstream iss_map(line_map);
+
+		// Declare landmark values and ID:
+		float landmark_x_f, landmark_y_f;
+		int id_i;
+
+		// Read data from current line to values::
+		iss_map >> landmark_x_f;
+		iss_map >> landmark_y_f;
+		iss_map >> id_i;
+
+		// Declare single_landmark:
+		Map::single_landmark_s single_landmark_temp;
+
+		// Set values
+		single_landmark_temp.id_i = id_i;
+		single_landmark_temp.x_f  = landmark_x_f;
+		single_landmark_temp.y_f  = landmark_y_f;
+
+		// Add to landmark list of map:
+		map.landmark_list.push_back(single_landmark_temp);
+	}
+	return true;
+}
+
+/* Reads control data from a file.
+ * @param filename Name of file containing control measurements.
+ * @output True if opening and reading file was successful
+ */
+inline bool read_control_data(std::string filename, std::vector<control_s>& position_meas) {
+
+	// Get file of position measurements:
+	std::ifstream in_file_pos(filename.c_str(),std::ifstream::in);
+	// Return if we can't open the file.
+	if (!in_file_pos) {
+		return false;
+	}
+
+	// Declare single line of position measurement file:
+	std::string line_pos;
+
+	// Run over each single line:
+	while(getline(in_file_pos, line_pos)){
+
+		std::istringstream iss_pos(line_pos);
+
+		// Declare position values:
+		double velocity, yawrate;
+
+		// Declare single control measurement:
+		control_s meas;
+
+		//read data from line to values:
+
+		iss_pos >> velocity;
+		iss_pos >> yawrate;
+
+		
+		// Set values
+		meas.velocity = velocity;
+		meas.yawrate = yawrate;
+
+		// Add to list of control measurements:
+		position_meas.push_back(meas);
+	}
+	return true;
+}
+
+/* Reads ground truth data from a file.
+ * @param filename Name of file containing ground truth.
+ * @output True if opening and reading file was successful
+ */
+inline bool read_gt_data(std::string filename, std::vector<ground_truth>& gt) {
+
+	// Get file of position measurements:
+	std::ifstream in_file_pos(filename.c_str(),std::ifstream::in);
+	// Return if we can't open the file.
+	if (!in_file_pos) {
+		return false;
+	}
+
+	// Declare single line of position measurement file:
+	std::string line_pos;
+
+	// Run over each single line:
+	while(getline(in_file_pos, line_pos)){
+
+		std::istringstream iss_pos(line_pos);
+
+		// Declare position values:
+		double x, y, azimuth;
+
+		// Declare single ground truth:
+		ground_truth single_gt; 
+
+		//read data from line to values:
+		iss_pos >> x;
+		iss_pos >> y;
+		iss_pos >> azimuth;
+
+		// Set values
+		single_gt.x = x;
+		single_gt.y = y;
+		single_gt.theta = azimuth;
+
+		// Add to list of control measurements and ground truth:
+		gt.push_back(single_gt);
+	}
+	return true;
+}
+
+/* Reads landmark observation data from a file.
+ * @param filename Name of file containing landmark observation measurements.
+ * @output True if opening and reading file was successful
+ */
+inline bool read_landmark_data(std::string filename, std::vector<LandmarkObs>& observations) {
+
+	// Get file of landmark measurements:
+	std::ifstream in_file_obs(filename.c_str(),std::ifstream::in);
+	// Return if we can't open the file.
+	if (!in_file_obs) {
+		return false;
+	}
+
+	// Declare single line of landmark measurement file:
+	std::string line_obs;
+
+	// Run over each single line:
+	while(getline(in_file_obs, line_obs)){
+
+		std::istringstream iss_obs(line_obs);
+
+		// Declare position values:
+		double local_x, local_y;
+
+		//read data from line to values:
+		iss_obs >> local_x;
+		iss_obs >> local_y;
+
+		// Declare single landmark measurement:
+		LandmarkObs meas;
+
+		// Set values
+		meas.x = local_x;
+		meas.y = local_y;
+
+		// Add to list of control measurements:
+		observations.push_back(meas);
+	}
+	return true;
+}
+
+#endif /* HELPER_FUNCTIONS_H_ */
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..97b0d9c
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,174 @@
+/*
+ * main.cpp
+ * Reads in data and runs 2D particle filter.
+ */
+
+#include <iostream>
+#include <ctime>
+#include <iomanip>
+#include <random>
+
+#include "particle_filter.h"
+#include "helper_functions.h"
+
+using namespace std;
+
+
+
+int main() {
+	
+	// parameters related to grading.
+	int time_steps_before_lock_required = 100; // number of time steps before accuracy is checked by grader.
+	double max_runtime = 45; // Max allowable runtime to pass [sec]
+	double max_translation_error = 1; // Max allowable translation error to pass [m]
+	double max_yaw_error = 0.05; // Max allowable yaw error [rad]
+
+
+
+	// Start timer.
+	int start = clock();
+	
+	//Set up parameters here
+	double delta_t = 0.1; // Time elapsed between measurements [sec]
+	double sensor_range = 50; // Sensor range [m]
+	
+	/*
+	 * Sigmas - just an estimate, usually comes from uncertainty of sensor, but
+	 * if you used fused data from multiple sensors, it's difficult to find
+	 * these uncertainties directly.
+	 */
+	double sigma_pos [3] = {0.3, 0.3, 0.01}; // GPS measurement uncertainty [x [m], y [m], theta [rad]]
+	double sigma_landmark [2] = {0.3, 0.3}; // Landmark measurement uncertainty [x [m], y [m]]
+
+	// noise generation
+	default_random_engine gen;
+	normal_distribution<double> N_x_init(0, sigma_pos[0]);
+	normal_distribution<double> N_y_init(0, sigma_pos[1]);
+	normal_distribution<double> N_theta_init(0, sigma_pos[2]);
+	normal_distribution<double> N_obs_x(0, sigma_landmark[0]);
+	normal_distribution<double> N_obs_y(0, sigma_landmark[1]);
+	double n_x, n_y, n_theta, n_range, n_heading;
+	// Read map data
+	Map map;
+	if (!read_map_data("data/map_data.txt", map)) {
+		cout << "Error: Could not open map file" << endl;
+		return -1;
+	}
+
+	// Read position data
+	vector<control_s> position_meas;
+	if (!read_control_data("data/control_data.txt", position_meas)) {
+		cout << "Error: Could not open position/control measurement file" << endl;
+		return -1;
+	}
+	
+	// Read ground truth data
+	vector<ground_truth> gt;
+	if (!read_gt_data("data/gt_data.txt", gt)) {
+		cout << "Error: Could not open ground truth data file" << endl;
+		return -1;
+	}
+	
+	// Run particle filter!
+	int num_time_steps = position_meas.size();
+	ParticleFilter pf;
+	double total_error[3] = {0,0,0};
+	double cum_mean_error[3] = {0,0,0};
+	
+	for (int i = 0; i < num_time_steps; ++i) {
+		cout << "Time step: " << i << endl;
+		// Read in landmark observations for current time step.
+		ostringstream file;
+		file << "data/observation/observations_" << setfill('0') << setw(6) << i+1 << ".txt";
+		vector<LandmarkObs> observations;
+		if (!read_landmark_data(file.str(), observations)) {
+			cout << "Error: Could not open observation file " << i+1 << endl;
+			return -1;
+		}
+		
+		// Initialize particle filter if this is the first time step.
+		if (!pf.initialized()) {
+			n_x = N_x_init(gen);
+			n_y = N_y_init(gen);
+			n_theta = N_theta_init(gen);
+			pf.init(gt[i].x + n_x, gt[i].y + n_y, gt[i].theta + n_theta, sigma_pos);
+		}
+		else {
+			// Predict the vehicle's next state (noiseless).
+			pf.prediction(delta_t, sigma_pos, position_meas[i-1].velocity, position_meas[i-1].yawrate);
+		}
+		// simulate the addition of noise to noiseless observation data.
+		vector<LandmarkObs> noisy_observations;
+		LandmarkObs obs;
+		for (int j = 0; j < observations.size(); ++j) {
+			n_x = N_obs_x(gen);
+			n_y = N_obs_y(gen);
+			obs = observations[j];
+			obs.x = obs.x + n_x;
+			obs.y = obs.y + n_y;
+			noisy_observations.push_back(obs);
+		}
+
+		// Update the weights and resample
+		pf.updateWeights(sensor_range, sigma_landmark, noisy_observations, map);
+		pf.resample();
+		
+		// Calculate and output the average weighted error of the particle filter over all time steps so far.
+		vector<Particle> particles = pf.particles;
+		int num_particles = particles.size();
+		double highest_weight = 0.0;
+		Particle best_particle;
+		for (int i = 0; i < num_particles; ++i) {
+			if (particles[i].weight > highest_weight) {
+				highest_weight = particles[i].weight;
+				best_particle = particles[i];
+			}
+		}
+		double *avg_error = getError(gt[i].x, gt[i].y, gt[i].theta, best_particle.x, best_particle.y, best_particle.theta);
+
+		for (int j = 0; j < 3; ++j) {
+			total_error[j] += avg_error[j];
+			cum_mean_error[j] = total_error[j] / (double)(i + 1);
+		}
+		
+		// Print the cumulative weighted error
+		cout << "Cumulative mean weighted error: x " << cum_mean_error[0] << " y " << cum_mean_error[1] << " yaw " << cum_mean_error[2] << endl;
+		
+		// If the error is too high, say so and then exit.
+		if (i >= time_steps_before_lock_required) {
+			if (cum_mean_error[0] > max_translation_error || cum_mean_error[1] > max_translation_error || cum_mean_error[2] > max_yaw_error) {
+				if (cum_mean_error[0] > max_translation_error) {
+					cout << "Your x error, " << cum_mean_error[0] << " is larger than the maximum allowable error, " << max_translation_error << endl;
+				}
+				else if (cum_mean_error[1] > max_translation_error) {
+					cout << "Your y error, " << cum_mean_error[1] << " is larger than the maximum allowable error, " << max_translation_error << endl;
+				}
+				else {
+					cout << "Your yaw error, " << cum_mean_error[2] << " is larger than the maximum allowable error, " << max_yaw_error << endl;
+				}
+				return -1;
+			}
+		}
+	}
+	
+	// Output the runtime for the filter.
+	int stop = clock();
+	double runtime = (stop - start) / double(CLOCKS_PER_SEC);
+	cout << "Runtime (sec): " << runtime << endl;
+	
+	// Print success if accuracy and runtime are sufficient (and this isn't just the starter code).
+	if (runtime < max_runtime && pf.initialized()) {
+		cout << "Success! Your particle filter passed!" << endl;
+	}
+	else if (!pf.initialized()) {
+		cout << "This is the starter code. You haven't initialized your filter." << endl;
+	}
+	else {
+		cout << "Your runtime " << runtime << " is larger than the maximum allowable runtime, " << max_runtime << endl;
+		return -1;
+	}
+	
+	return 0;
+}
+
+
diff --git a/src/map.h b/src/map.h
new file mode 100644
index 0000000..2221d5f
--- /dev/null
+++ b/src/map.h
@@ -0,0 +1,24 @@
+/*
+ * map.h
+ */
+
+#ifndef MAP_H_
+#define MAP_H_
+
+class Map {
+public:
+	
+	struct single_landmark_s{
+
+		int id_i ; // Landmark ID
+		float x_f; // Landmark x-position in the map (global coordinates)
+		float y_f; // Landmark y-position in the map (global coordinates)
+	};
+
+	std::vector<single_landmark_s> landmark_list ; // List of landmarks in the map
+
+};
+
+
+
+#endif /* MAP_H_ */
diff --git a/src/particle_filter.cpp b/src/particle_filter.cpp
new file mode 100644
index 0000000..33bca6a
--- /dev/null
+++ b/src/particle_filter.cpp
@@ -0,0 +1,194 @@
+/*
+ * particle_filter.cpp
+ */
+
+#include <random>
+#include <algorithm>
+#include <iostream>
+#include <numeric>
+
+#include "particle_filter.h"
+
+using namespace std;
+
+void ParticleFilter::init(double x, double y, double theta, double std[]) {
+	// Set the number of particles. Initialize all particles to first position (based on estimates of
+	//   x, y, theta and their uncertainties from GPS) and all weights to 1. 
+	// Add random Gaussian noise to each particle.
+	// NOTE: Consult particle_filter.h for more information about this method (and others in this file).
+
+    num_particles = 729; //set to number of files in observation directory
+
+    weights.resize(num_particles);
+    particles.resize(num_particles);
+
+    double std_x, std_y, std_theta; // Standard deviations for x, y, and theta
+    std_x = std[0];
+    std_y = std[1];
+    std_theta = std[2];
+
+    // Normal distribution for x, y and theta
+    normal_distribution<double> dist_x(x, std_x); // mean is centered around the new measurement
+    normal_distribution<double> dist_y(y, std_y);
+    normal_distribution<double> dist_theta(theta, std_theta);
+
+    default_random_engine gen; //http://www.cplusplus.com/reference/random/default_random_engine/
+
+    // create particles and set their values
+    for(int i=0; i<num_particles; ++i){
+        Particle p;
+        p.id = i;
+        p.x = dist_x(gen); // take a random value from the Gaussian Normal distribution and update the attribute
+        p.y = dist_y(gen);
+        p.theta = dist_theta(gen);
+        p.weight = 1;
+
+        particles[i] = p;
+        weights[i] = p.weight;
+    }
+    is_initialized = true;
+}
+
+void ParticleFilter::prediction(double delta_t, double std_pos[], double velocity, double yaw_rate) {
+	// Add measurements to each particle and add random Gaussian noise.
+	// NOTE: When adding noise you may find std::normal_distribution and std::default_random_engine useful.
+	//  http://en.cppreference.com/w/cpp/numeric/random/normal_distribution
+	//  http://www.cplusplus.com/reference/random/default_random_engine/
+
+    double std_x, std_y, std_theta; // Standard deviations for x, y, and theta
+    std_x = std_pos[0];
+    std_y = std_pos[1];
+    std_theta = std_pos[2];
+
+    default_random_engine gen;
+
+    for(int i=0; i<num_particles; ++i){
+        Particle *p = &particles[i]; // get address of particle to update
+
+        // use the prediction equations from the Lesson 14
+        double new_x = p->x + (velocity/yaw_rate) * (sin(p->theta + yaw_rate*delta_t) - sin(p->theta));
+        double new_y = p->y + (velocity/yaw_rate) * (cos(p->theta) - cos(p->theta + yaw_rate*delta_t));
+        double new_theta = p->theta + (yaw_rate*delta_t);
+
+        // add Gaussian Noise to each measurement
+        // Normal distribution for x, y and theta
+        normal_distribution<double> dist_x(new_x, std_x);
+        normal_distribution<double> dist_y(new_y, std_y);
+        normal_distribution<double> dist_theta(new_theta, std_theta);
+
+        // update the particle attributes
+        p->x = dist_x(gen);
+        p->y = dist_y(gen);
+        p->theta = dist_theta(gen);
+    }
+}
+
+void ParticleFilter::dataAssociation(std::vector<LandmarkObs> predicted, std::vector<LandmarkObs>& observations) {
+	// Find the predicted measurement that is closest to each observed measurement and assign the
+	//   observed measurement to this particular landmark.
+	// NOTE: this method will NOT be called by the grading code. But you will probably find it useful to 
+	//   implement this method and use it as a helper during the updateWeights phase.
+
+    for(auto pred : predicted){
+      double dist_min = std::numeric_limits<double>::max();
+      for(auto observation : observations){
+        double distance = dist(observation.x, observation.y, pred.x, pred.y); // distance b/w obs and landmark
+        if(distance < dist_min){
+          observation.id = pred.id;
+        }
+        dist_min = distance;
+      }
+    }
+}
+
+void ParticleFilter::updateWeights(double sensor_range, double std_landmark[], 
+		std::vector<LandmarkObs> observations, Map map_landmarks) {
+	// Update the weights of each particle using a multi-variate Gaussian distribution. You can read
+	//   more about this distribution here: https://en.wikipedia.org/wiki/Multivariate_normal_distribution
+	// NOTE: The observations are given in the VEHICLE'S coordinate system. Your particles are located
+	//   according to the MAP'S coordinate system. You will need to transform between the two systems.
+	//   Keep in mind that this transformation requires both rotation AND translation (but no scaling).
+	//   The following is a good resource for the theory:
+	//   https://www.willamette.edu/~gorr/classes/GeneralGraphics/Transforms/transforms2d.htm
+	//   and the following is a good resource for the actual equation to implement (look at equation 
+	//   3.33. Note that you'll need to switch the minus sign in that equation to a plus to account 
+	//   for the fact that the map's y-axis actually points downwards.)
+	//   http://planning.cs.uiuc.edu/node99.html
+
+    double std_x = std_landmark[0];
+    double std_y = std_landmark[1];
+    double weights_sum = 0;
+
+    for(int i=0; i<num_particles; ++i){
+        Particle *p = &particles[i];
+        double wt = 1.0;
+
+        // convert observation from vehicle's to map's coordinate system
+        for(int j=0; j<observations.size(); ++j){
+            LandmarkObs current_obs = observations[j];
+            LandmarkObs transformed_obs;
+
+            transformed_obs.x = (current_obs.x * cos(p->theta)) - (current_obs.y * sin(p->theta)) + p->x;
+            transformed_obs.y = (current_obs.x * sin(p->theta)) + (current_obs.y * cos(p->theta)) + p->y;
+            transformed_obs.id = current_obs.id;
+
+            // find the predicted measurement that is closest to each observed measurement and assign
+            // the observed measurement to this particular landmark
+            Map::single_landmark_s landmark;
+            double distance_min = std::numeric_limits<double>::max();
+
+            for(int k=0; k<map_landmarks.landmark_list.size(); ++k){
+                Map::single_landmark_s cur_l = map_landmarks.landmark_list[k];
+                double distance = dist(transformed_obs.x, transformed_obs.y, cur_l.x_f, cur_l.y_f);
+                if(distance < distance_min){
+                    distance_min = distance;
+                    landmark = cur_l;
+                }
+            }
+
+            // update weights using Multivariate Gaussian Distribution
+            // equation given in Transformations and Associations Quiz
+            double num = exp(-0.5 * (pow((transformed_obs.x - landmark.x_f), 2) / pow(std_x, 2) + pow((transformed_obs.y - landmark.y_f), 2) / pow(std_y, 2)));
+            double denom = 2 * M_PI * std_x * std_y;
+            wt *= num/denom;
+        }
+        weights_sum += wt;
+        p->weight = wt;
+    }
+    // normalize weights to bring them in (0, 1]
+    for (int i = 0; i < num_particles; i++) {
+        Particle *p = &particles[i];
+        p->weight /= weights_sum;
+        weights[i] = p->weight;
+    }
+}
+
+void ParticleFilter::resample() {
+	// Resample particles with replacement with probability proportional to their weight.
+	// NOTE: You may find std::discrete_distribution helpful here.
+	//   http://en.cppreference.com/w/cpp/numeric/random/discrete_distribution
+
+    default_random_engine gen;
+
+    // Random integers on the [0, n) range
+    // the probability of each individual integer is its weight of the divided by the sum of all weights.
+    discrete_distribution<int> distribution(weights.begin(), weights.end());
+    vector<Particle> resampled_particles;
+
+    for (int i = 0; i < num_particles; i++){
+        resampled_particles.push_back(particles[distribution(gen)]);
+    }
+
+    particles = resampled_particles;
+
+}
+
+void ParticleFilter::write(std::string filename) {
+	// You don't need to modify this file.
+	std::ofstream dataFile;
+	dataFile.open(filename, std::ios::app);
+	for (int i = 0; i < num_particles; ++i) {
+		dataFile << particles[i].x << " " << particles[i].y << " " << particles[i].theta << "\n";
+	}
+	dataFile.close();
+}
diff --git a/src/particle_filter.h b/src/particle_filter.h
new file mode 100644
index 0000000..2735232
--- /dev/null
+++ b/src/particle_filter.h
@@ -0,0 +1,112 @@
+/*
+ * particle_filter.h
+ *
+ * 2D particle filter class.
+ */
+
+#ifndef PARTICLE_FILTER_H_
+#define PARTICLE_FILTER_H_
+
+#include "helper_functions.h"
+
+struct Particle {
+
+	int id;
+	double x;
+	double y;
+	double theta;
+	double weight;
+};
+
+
+
+class ParticleFilter {
+	
+	// Number of particles to draw
+	int num_particles; 
+	
+	
+	
+	// Flag, if filter is initialized
+	bool is_initialized;
+	
+	// Vector of weights of all particles
+	std::vector<double> weights;
+	
+public:
+	
+	// Set of current particles
+	std::vector<Particle> particles;
+
+	// Constructor
+	// @param M Number of particles
+	ParticleFilter() : num_particles(0), is_initialized(false) {}
+
+	// Destructor
+	~ParticleFilter() {}
+
+	/**
+	 * init Initializes particle filter by initializing particles to Gaussian
+	 *   distribution around first position and all the weights to 1.
+	 * @param x Initial x position [m] (simulated estimate from GPS)
+	 * @param y Initial y position [m]
+	 * @param theta Initial orientation [rad]
+	 * @param std[] Array of dimension 3 [standard deviation of x [m], standard deviation of y [m]
+	 *   standard deviation of yaw [rad]]
+	 */
+	void init(double x, double y, double theta, double std[]);
+
+	/**
+	 * prediction Predicts the state for the next time step
+	 *   using the process model.
+	 * @param delta_t Time between time step t and t+1 in measurements [s]
+	 * @param std_pos[] Array of dimension 3 [standard deviation of x [m], standard deviation of y [m]
+	 *   standard deviation of yaw [rad]]
+	 * @param velocity Velocity of car from t to t+1 [m/s]
+	 * @param yaw_rate Yaw rate of car from t to t+1 [rad/s]
+	 */
+	void prediction(double delta_t, double std_pos[], double velocity, double yaw_rate);
+	
+	/**
+	 * dataAssociation Finds which observations correspond to which landmarks (likely by using
+	 *   a nearest-neighbors data association).
+	 * @param predicted Vector of predicted landmark observations
+	 * @param observations Vector of landmark observations
+	 */
+	void dataAssociation(std::vector<LandmarkObs> predicted, std::vector<LandmarkObs>& observations);
+	
+	/**
+	 * updateWeights Updates the weights for each particle based on the likelihood of the 
+	 *   observed measurements. 
+	 * @param sensor_range Range [m] of sensor
+	 * @param std_landmark[] Array of dimension 2 [standard deviation of range [m],
+	 *   standard deviation of bearing [rad]]
+	 * @param observations Vector of landmark observations
+	 * @param map Map class containing map landmarks
+	 */
+	void updateWeights(double sensor_range, double std_landmark[], std::vector<LandmarkObs> observations,
+			Map map_landmarks);
+	
+	/**
+	 * resample Resamples from the updated set of particles to form
+	 *   the new set of particles.
+	 */
+	void resample();
+	
+	/*
+	 * write Writes particle positions to a file.
+	 * @param filename File to write particle positions to.
+	 */
+	void write(std::string filename);
+	
+	/**
+	 * initialized Returns whether particle filter is initialized yet or not.
+	 */
+	const bool initialized() const {
+		return is_initialized;
+	}
+};
+
+
+
+#endif /* PARTICLE_FILTER_H_ */