Début Localisation statique xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0, 9] , yhat=[0, 5] , thetahat=[0.2, 1.3] , vhat =[0, 0.01] xhat=[0.51930306652424, 0.8121882274633] , yhat=[0.29102763546339, 0.49644312025512] , thetahat=[1.0543354188019, 1.141662325027] , vhat =[0, 0.0224841] Localisation dynamique i=22 xhat=[0.51867886652424, 0.81350546284433] , yhat=[0.29040343546339, 0.49834352125665] , thetahat=[1.0536743910019, 1.144746497227] , vhat =[0, 0.0287261] dt=0.06242 dalpha=0.15708 i=23 xhat=[0.51743045652424, 0.81652681754576] , yhat=[0.28915502546339, 0.5028575397072] , thetahat=[1.0505970603519, 1.149159626577] , vhat =[0, 0.0412102] dt=0.124841 dalpha=0.314159 i=24 xhat=[0.51618204652424, 0.82033242762151] , yhat=[0.28790661546339, 0.50880009921064] , thetahat=[1.0486134617029, 1.154666487928] , vhat =[0, 0.0536943] dt=0.124841 dalpha=0.314159 i=25 xhat=[0.51493362652424, 0.82492427647675] , yhat=[0.28665819546339, 0.51617976438443] , thetahat=[1.0504207993369, 1.163964345562] , vhat =[0, 0.0661785] dt=0.124842 dalpha=0.31416 i=26 xhat=[0.51368522652424, 0.8188853242633] , yhat=[0.28540979546339, 0.52501555832219] , thetahat=[1.0485621814169, 1.169596127642] , vhat =[0, 0.0786625] dt=0.12484 dalpha=0.314159 i=27 xhat=[0.51306101652424, 0.8219588250488] , yhat=[0.28478558546339, 0.53016005638571] , thetahat=[1.0482576917789, 1.173036898004] , vhat =[0, 0.0849046] dt=0.062421 dalpha=0.157079 i=28 xhat=[0.51181260652424, 0.82849728809479] , yhat=[0.28353717546339, 0.54118054544954] , thetahat=[1.0471766935599, 1.179446359785] , vhat =[0, 0.0973887] dt=0.124841 dalpha=0.31416 i=29 xhat=[0.51056419652424, 0.83579941254005] , yhat=[0.28228876546339, 0.55366784449293] , thetahat=[1.048300632556, 1.185635227519] , vhat =[0, 0.1098728] dt=0.124841 dalpha=0.314159 i=30 xhat=[0.50931578652424, 0.84389303003399] , yhat=[0.28104035546339, 0.56762797583412] , thetahat=[1.04818253297, 1.193007587933] , vhat =[0, 0.1223569] dt=0.124841 dalpha=0.314159 i=31 xhat=[0.50806737652424, 0.85276598520417] , yhat=[0.27979194546339, 0.58307437866589] , thetahat=[1.049858897918, 1.202174412881] , vhat =[0, 0.134841] dt=0.124841 dalpha=0.31416 i=32 xhat=[0.50681896652424, 0.86239240990859] , yhat=[0.27854353546339, 0.60002566772666] , thetahat=[1.050493589562, 1.210299564525] , vhat =[0, 0.1473251] dt=0.124841 dalpha=0.314159 i=33 xhat=[0.50619475652424, 0.86758843494979] , yhat=[0.27791932546339, 0.60925494307979] , thetahat=[1.0502612586, 1.213812493563] , vhat =[0, 0.1535672] dt=0.062421 dalpha=0.157079 i=34 xhat=[0.50494634652424, 0.87837167474277] , yhat=[0.27667091546339, 0.62846617134939] , thetahat=[1.04810899976, 1.219150694723] , vhat =[0, 0.1660513] dt=0.124841 dalpha=0.31416 i=35 xhat=[0.50369793652424, 0.88996872263456] , yhat=[0.27542250546339, 0.649176063435] , thetahat=[1.042613748622, 1.221145903585] , vhat =[0, 0.1785354] dt=0.124841 dalpha=0.314159 i=36 xhat=[0.50244952652424, 0.90244976275735] , yhat=[0.27417409546339, 0.6713643881486] , thetahat=[1.03658243023, 1.222605045193] , vhat =[0, 0.1910195] dt=0.124841 dalpha=0.314159 i=37 xhat=[0.50182532652424, 0.90914495514527] , yhat=[0.27354989546339, 0.68319651634531] , thetahat=[1.03320488403, 1.222972698993] , vhat =[0, 0.1972615] dt=0.06242 dalpha=0.15708 i=38 xhat=[0.50057691652424, 0.92300373337149] , yhat=[0.27230148546339, 0.70759654528068] , thetahat=[1.026712402984, 1.223970677947] , vhat =[0, 0.2097456] dt=0.124841 dalpha=0.314159 i=39 xhat=[0.49932850652424, 0.9378063256384] , yhat=[0.27105307546339, 0.73347066694264] , thetahat=[1.015359861808, 1.220108596771] , vhat =[0, 0.2222297] dt=0.124841 dalpha=0.314159 i=40 xhat=[0.49808009652424, 0.95361328197035] , yhat=[0.26980466546339, 0.76077390054007] , thetahat=[1.0090071300009, 1.218240101524] , vhat =[0, 0.2347138] dt=0.124841 dalpha=-5.969026 i=41 xhat=[0.49683167652424, 0.97047098878142] , yhat=[0.26855624546339, 0.78952217755787] , thetahat=[0.99645863637086, 1.213182127894] , vhat =[0, 0.247198] dt=0.124842 dalpha=0.31416 i=42 xhat=[0.49620747652424, 0.97947803556071] , yhat=[0.26793204546339, 0.80460028556242] , thetahat=[0.98823336571086, 1.208702057234] , vhat =[0, 0.25344] dt=0.06242 dalpha=0.157079 i=43 xhat=[0.49495906652424, 0.99813353302318] , yhat=[0.26668363546339, 0.83542556214657] , thetahat=[0.96808652513086, 1.195045585925] , vhat =[0, 0.2659241] dt=0.124841 dalpha=0.314159 i=44 xhat=[0.49371065652424, 1.0182012528337] , yhat=[0.26543522546339, 0.86755364017465] , thetahat=[0.95200375846486, 1.1862562359346] , vhat =[0, 0.2784082] dt=0.124841 dalpha=0.31416 i=45 xhat=[0.49246224652424, 1.0396103910838] , yhat=[0.26418681546339, 0.90102055899035] , thetahat=[0.93472201883486, 1.1764649563046] , vhat =[0, 0.2908923] dt=0.124841 dalpha=0.314159 i=46 xhat=[0.49121383652424, 1.0624316084131] , yhat=[0.26293840546339, 0.9357971890713] , thetahat=[0.91728897191286, 1.1665223693826] , vhat =[0, 0.3033764] dt=0.124841 dalpha=0.314159 i=47 xhat=[0.49058962652424, 1.0745690731173] , yhat=[0.26231419546339, 0.95383190753704] , thetahat=[0.90828018592986, 1.1612588433996] , vhat =[0, 0.3096185] dt=0.062421 dalpha=0.15708 i=48 xhat=[0.48934121652424, 1.0995930966433] , yhat=[0.26106578546339, 0.99053698739091] , thetahat=[0.89175323498586, 1.1522223524556] , vhat =[0, 0.3221026] dt=0.124841 dalpha=0.314159 i=49 xhat=[0.49755586447509, 1.097324961116] , yhat=[0.25981737546339, 1.0285255191619] , thetahat=[0.87373867868586, 1.1416982561556] , vhat =[0, 0.3345867] dt=0.124841 dalpha=0.314159 i=50 xhat=[0.49688108192609, 1.1198833508795] , yhat=[0.25856896546339, 1.0677572437846] , thetahat=[0.86162473225086, 1.1370747697206] , vhat =[0, 0.3470708] dt=0.124841 dalpha=0.31416 i=51 xhat=[0.49619931224853, 1.1493476183601] , yhat=[0.25732055546339, 1.108322433884] , thetahat=[0.84786625532286, 1.1308067527926] , vhat =[0, 0.3595549] dt=0.124841 dalpha=0.314159 i=52 xhat=[0.49495090224853, 1.1802927078832] , yhat=[0.47094480113449, 1.1501828059879] , thetahat=[0.83548901921886, 1.1259199766886] , vhat =[0, 0.372039] dt=0.124841 dalpha=0.314159 i=53 xhat=[0.49543904985758, 1.196495287954] , yhat=[0.47032059113449, 1.1717696212799] , thetahat=[0.83056443926586, 1.1247406567356] , vhat =[0, 0.3782811] dt=0.062421000000001 dalpha=0.15708 i=54 xhat=[0.49419063985758, 1.2295950244097] , yhat=[0.48432114332984, 1.215622327855] , thetahat=[0.82267348933786, 1.1243401668076] , vhat =[0, 0.3907652] dt=0.124841 dalpha=0.314159 i=55 xhat=[0.49375824084609, 1.2640288328742] , yhat=[0.50301637547052, 1.2608722743946] , thetahat=[0.81491443365787, 1.1240715111276] , vhat =[0, 0.4] dt=0.12484 dalpha=0.314159 i=56 xhat=[0.49304513455592, 1.2995304350446] , yhat=[0.50199082452463, 1.189284818702] , thetahat=[0.80949479275387, 1.1261423902236] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=57 xhat=[0.49242093455592, 1.3173791658901] , yhat=[0.50158243829105, 1.1888023950949] , thetahat=[0.80616924241387, 1.1265620398836] , vhat =[0, 0.4] dt=0.062419999999999 dalpha=0.157079 i=58 xhat=[0.49117252455592, 1.3531969444328] , yhat=[0.50043929093144, 1.2143472999793] , thetahat=[0.80130805871487, 1.1291913161846] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=59 xhat=[0.48992411455592, 1.3891894920871] , yhat=[0.49919088093144, 1.2607415543673] , thetahat=[0.79900873717687, 1.1343824546466] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=60 xhat=[0.48867570455592, 1.4252644191051] , yhat=[0.49794247093144, 1.3072459911662] , thetahat=[0.79606685901187, 1.1389310364816] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=61 xhat=[0.48742729455592, 1.4614444782484] , yhat=[0.49669406093144, 1.353845969688] , thetahat=[0.79477063490887, 1.1451252723786] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=62 xhat=[0.48617888455592, 1.4976707638754] , yhat=[0.49544565093144, 1.4005745471434] , thetahat=[0.79475602851187, 1.1526011259816] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=63 xhat=[0.48430626455592, 1.5520111182547] , yhat=[0.49357303093144, 1.4620217601864] , thetahat=[0.78981287349787, 1.1588936909676] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=64 xhat=[0.48180944455592, 1.6248162151491] , yhat=[0.49107621093144, 1.556038094587] , thetahat=[0.78654528516387, 1.1706070226336] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628319 i=65 xhat=[0.48083509439542, 1.6613344637031] , yhat=[0.48982780093144, 1.6032772927467] , thetahat=[0.78978041483787, 1.1813326123076] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=66 xhat=[0.4847457970479, 1.6977381633076] , yhat=[0.48857939093144, 1.6507225063908] , thetahat=[0.78751979400987, 1.1865624514796] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=67 xhat=[0.49847397598594, 1.7159802004771] , yhat=[0.48795518093144, 1.6744945676213] , thetahat=[0.78813095802087, 1.1909188754906] , vhat =[0, 0.4] dt=0.062421 dalpha=0.15708 i=68 xhat=[0.80463827844441, 1.6104883811697] , yhat=[0.48858076378485, 1.722119415881] , thetahat=[0.78818713647087, 1.1984655139406] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=69 xhat=[0.80338986844441, 1.646948541374] , yhat=[0.48746118461507, 1.7698826814262] , thetahat=[0.78992330025787, 1.2076921377276] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=70 xhat=[0.80214145844441, 1.6702350267783] , yhat=[0.48633475044709, 1.8178115777465] , thetahat=[0.79087708549787, 1.2161363829676] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=71 xhat=[0.80089304844441, 1.5432030963213] , yhat=[0.48508634044709, 1.8658885776584] , thetahat=[0.79269564434487, 1.2254454018146] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=72 xhat=[0.81165122228327, 1.5835326797623] , yhat=[0.51147619271493, 1.6053123998691] , thetahat=[0.79967115384488, 1.2436566313146] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=73 xhat=[0.80977861228327, 1.6376093549123] , yhat=[0.51072695712031, 1.6781168800375] , thetahat=[0.80013350125388, 1.2553546387236] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=74 xhat=[0.80790599228327, 1.6916614776914] , yhat=[0.50996152787659, 1.7511984555535] , thetahat=[0.80377087834188, 1.2702277358116] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=75 xhat=[0.80603338228327, 1.7455174940918] , yhat=[0.50808891787659, 1.8246173743073] , thetahat=[0.80694626311888, 1.2846387805886] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=76 xhat=[0.80416076228327, 1.7992022883667] , yhat=[0.50621629787659, 1.8909553506748] , thetahat=[0.81216544232088, 1.3010936797906] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471238 i=77 xhat=[0.80228815228327, 1.8526037635727] , yhat=[0.50434368787659, 1.9650245791349] , thetahat=[0.81410097201688, 1.3142648694866] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=78 xhat=[0.80103974228327, 1.8881346288439] , yhat=[0.50309527787659, 2.0145752632906] , thetahat=[0.81393855387588, 1.3215929113456] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=79 xhat=[0.80041553228327, 1.9059031522171] , yhat=[0.50247106787659, 2.0393965792514] , thetahat=[0.81338974844388, 1.3247893659136] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=80 xhat=[0.79916712228327, 1.9414598327676] , yhat=[0.63165013670679, 1.9633361840096] , thetahat=[0.80943453588189, 1.3283246133516] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=81 xhat=[0.79791871228327, 1.9771597586816] , yhat=[0.63040172670679, 2.0041580103645] , thetahat=[0.80566883195789, 1.3320493694276] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=82 xhat=[0.79667030228327, 2.0129955657524] , yhat=[0.62915331670679, 2.0435078420124] , thetahat=[0.79840208702989, 1.3322730844996] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=83 xhat=[0.79604610228327, 2.0310437367855] , yhat=[0.62852911670679, 2.0683931466171] , thetahat=[0.79421932282989, 1.3318355202996] , vhat =[0, 0.4] dt=0.062419999999999 dalpha=0.157079 i=84 xhat=[0.79479768228327, 2.067289956061] , yhat=[0.62728069670679, 2.118159385946] , thetahat=[0.78498675756189, 1.3300934750316] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=85 xhat=[0.80243347748014, 2.0738264817532] , yhat=[0.62603228670679, 2.1679045627534] , thetahat=[0.77621792572189, 1.3288151031916] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=86 xhat=[0.81812227307433, 2.103035202414] , yhat=[0.62478387670679, 2.2176344820682] , thetahat=[0.76396440704889, 1.3240520445186] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=87 xhat=[0.84238459051079, 2.1403426447535] , yhat=[0.75037163855771, 2.2673068564693] , thetahat=[0.75299849844989, 1.3205765959196] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=88 xhat=[0.84899082902441, 1.9443191354056] , yhat=[0.74974743855771, 2.292121503913] , thetahat=[0.74509980922989, 1.3164231066996] , vhat =[0, 0.4] dt=0.062420000000001 dalpha=0.15708 i=89 xhat=[0.9092607077043, 1.9822718096627] , yhat=[0.74849902855771, 2.341699420882] , thetahat=[0.73397298058189, 1.3127867380516] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=90 xhat=[0.96641976813063, 2.0205992558617] , yhat=[0.83510183376746, 2.3912317207937] , thetahat=[0.72038130719989, 1.3066855846696] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=91 xhat=[0.96517136813063, 2.0593772687084] , yhat=[0.89842934711818, 2.4406845911993] , thetahat=[0.70797433347989, 1.3017690109496] , vhat =[0, 0.4] dt=0.12484 dalpha=0.314159 i=92 xhat=[0.96454715813063, 2.0789694907235] , yhat=[0.95229362981822, 2.2861685122849] , thetahat=[0.69919101214889, 1.287820883349] , vhat =[0, 0.4] dt=0.062420999999999 dalpha=0.15708 i=93 xhat=[0.96329874813063, 2.1184373786918] , yhat=[1.1308468391798, 2.3353672969609] , thetahat=[0.68226581841489, 1.278386149615] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=94 xhat=[0.97592252846275, 2.1584437254644] , yhat=[1.1295984291798, 2.1852489942035] , thetahat=[0.6643833438929, 1.267994135093] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=95 xhat=[0.97467411846275, 2.1990069208041] , yhat=[1.1283500191798, 2.150188492592] , thetahat=[0.6489618600039, 1.1785556688633] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=96 xhat=[0.97342570846275, 2.2400402418272] , yhat=[1.1271016091798, 2.1017629757414] , thetahat=[0.6328868334799, 1.161225603488] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=97 xhat=[0.97280149846275, 2.2607970565307] , yhat=[1.1264773991798, 2.1252904956189] , thetahat=[0.6229771876249, 1.155061217633] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.157079 i=98 xhat=[0.97155308846275, 2.29900956514] , yhat=[1.1252289891798, 2.1722217073196] , thetahat=[0.6044500341789, 1.144024524187] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=99 xhat=[1.0878430526129, 2.341346382767] , yhat=[1.1239805791798, 2.2189275594249] , thetahat=[0.5867414631699, 1.133806413178] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=100 xhat=[1.0865946426129, 2.3841792892832] , yhat=[1.1659227550363, 2.2654198297907] , thetahat=[0.5704336081809, 1.124989018189] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=101 xhat=[1.0853462326129, 2.4274575146255] , yhat=[1.1646743450363, 2.3117239988202] , thetahat=[0.5543894173839, 1.116435287392] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=102 xhat=[1.0840978226129, 2.4711629517169] , yhat=[1.1634259350363, 2.3578423437664] , thetahat=[0.5343787783349, 1.103915108343] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=103 xhat=[1.0834736226129, 2.4932742426798] , yhat=[1.1628017350363, 2.3807623786026] , thetahat=[0.5246716568749, 1.097953186883] , vhat =[0, 0.4] dt=0.062420000000001 dalpha=0.15708 i=104 xhat=[1.0822252126129, 2.5377420308545] , yhat=[1.2097809467975, 2.4264680203505] , thetahat=[0.5067458625259, 1.087517852534] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=105 xhat=[1.1215822660243, 2.233867572514] , yhat=[1.3463753897045, 2.2103692245738] , thetahat=[0.49133773662391, 1.059245739486] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=106 xhat=[1.2508984095683, 2.2791453937076] , yhat=[1.3451269697045, 2.2539989129512] , thetahat=[0.47460466399591, 1.0042762708627] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=107 xhat=[1.2496499995683, 2.3248109059198] , yhat=[1.3438785597045, 2.2955620662857] , thetahat=[0.45645939916891, 0.92894461798908] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=108 xhat=[1.2490257995683, 2.347846850143] , yhat=[1.3432543597045, 2.3161853484355] , thetahat=[0.44612857706891, 0.92235899588907] , vhat =[0, 0.4] dt=0.062419999999999 dalpha=0.15708 i=109 xhat=[1.5252228373768, 2.3941440993277] , yhat=[1.3420059497045, 2.3572344940341] , thetahat=[0.42993407770791, 0.91365495652807] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=110 xhat=[1.5239744273768, 2.4407843587973] , yhat=[1.3560866851391, 2.3714796896155] , thetahat=[0.41143201730291, 0.90264335612307] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=111 xhat=[1.5227260173768, 2.4878019296366] , yhat=[1.3548382751391, 2.4109208359887] , thetahat=[0.39653474077292, 0.86336684877559] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=112 xhat=[1.5868931490781, 2.4909195457724] , yhat=[1.3542140651391, 2.4026344208811] , thetahat=[0.38945201716592, 0.86002938516859] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=113 xhat=[1.6112680916425, 2.5346122876431] , yhat=[1.6176852424989, 2.4246427861498] , thetahat=[0.40597980586806, 0.84401779739645] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=114 xhat=[1.6100196816425, 2.58173806202] , yhat=[1.6164368324989, 2.438378714692] , thetahat=[0.39359869969306, 0.79854725266711] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=115 xhat=[1.6087712716425, 2.6287871941686] , yhat=[1.6151884224989, 2.4371750436117] , thetahat=[0.40015335995211, 0.79634231092511] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=116 xhat=[1.6075228616425, 2.6755450546211] , yhat=[1.6139400124989, 2.3779767694349] , thetahat=[0.41624516388201, 0.79582921441511] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=117 xhat=[1.6104254872978, 2.6350791369681] , yhat=[1.6133158024989, 2.3569153023144] , thetahat=[0.41557497121097, 0.77179301479012] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=118 xhat=[1.61037930393, 2.6820135776557] , yhat=[1.6177920622708, 2.2597002972257] , thetahat=[0.41161314207597, 0.77532164565512] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=119 xhat=[1.60913089393, 2.7290275305598] , yhat=[1.6165436522708, 2.2007405822272] , thetahat=[0.41027110132597, 0.77613558607648] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=120 xhat=[1.60788249393, 2.7693003702113] , yhat=[1.6152952522708, 2.2278350371136] , thetahat=[0.41308324716597, 0.72403640489308] , vhat =[0, 0.4] dt=0.12484 dalpha=0.314159 i=121 xhat=[1.6487141262991, 2.767441192004] , yhat=[1.6140468322708, 2.2593966518791] , thetahat=[0.41587596270597, 0.73431964043307] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=122 xhat=[1.6798374904365, 2.7728543890016] , yhat=[1.6127984222708, 2.2908440711509] , thetahat=[0.42526837534097, 0.75120251306807] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=123 xhat=[1.6785890804365, 2.8195912661488] , yhat=[1.6115500122708, 2.3228466136824] , thetahat=[0.43784048824597, 0.77126508597307] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=124 xhat=[1.7404162593451, 2.8428282190823] , yhat=[1.7582366601067, 2.3377928744598] , thetahat=[0.44551153172598, 0.78268132945307] , vhat =[0, 0.4] dt=0.062419999999999 dalpha=0.15708 i=125 xhat=[1.7391678493451, 2.7533837829804] , yhat=[1.7569882501067, 2.3681456017117] , thetahat=[0.46429223724298, 0.80895249497007] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=126 xhat=[1.7625098951799, 2.7992822616913] , yhat=[1.8081195058861, 2.4048215094877] , thetahat=[0.48396156099798, 0.81588064960084] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=127 xhat=[1.7612614851799, 2.8447323056527] , yhat=[1.8068710958861, 2.4424400640454] , thetahat=[0.50601859371898, 0.84542814232184] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=128 xhat=[1.7600130651799, 2.8896595066638] , yhat=[1.8056226758861, 2.4810539550691] , thetahat=[0.53067076893298, 0.87757083753584] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=129 xhat=[1.7593888651799, 2.9118178022043] , yhat=[1.8439346304527, 2.5008529554352] , thetahat=[0.54506532029298, 0.89381322507814] , vhat =[0, 0.4] dt=0.062419999999999 dalpha=0.157079 i=130 xhat=[1.7581404551799, 2.9557664995491] , yhat=[2.0085539918729, 2.5401332726271] , thetahat=[0.57513502291698, 0.90334932325139] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=131 xhat=[1.9088408124128, 2.851437508354] , yhat=[2.0073055818729, 2.5802936041696] , thetahat=[0.60690868034998, 0.93269979035557] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=132 xhat=[1.9075924024128, 2.8937044271131] , yhat=[2.0060571718729, 2.5863537996526] , thetahat=[0.63624531662198, 0.956346192706] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=133 xhat=[2.0314569249606, 2.9351183005032] , yhat=[2.0048087618729, 2.6284047713537] , thetahat=[0.66903730209198, 0.996628638176] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=134 xhat=[2.0295843049606, 2.9957476781386] , yhat=[2.0029361418729, 2.6931708060516] , thetahat=[0.72388783998798, 1.062714896072] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=135 xhat=[2.0270874849606, 3.0678862594382] , yhat=[2.0004393218729, 2.7819939138352] , thetahat=[0.79549913440798, 1.1304731715438] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628319 i=136 xhat=[2.0258390749606, 2.9854712951879] , yhat=[1.9991909118729, 2.8284154889569] , thetahat=[0.83277840478198, 1.1752429019178] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=137 xhat=[2.0239664549606, 3.037741578884] , yhat=[1.9973182918729, 2.8598808960924] , thetahat=[0.89103074416998, 1.2447309613058] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=138 xhat=[2.0214696449606, 3.0530728204446] , yhat=[1.9948214818729, 2.9569878301479] , thetahat=[0.96826232077098, 1.3369433979068] , vhat =[0, 0.4] dt=0.249681 dalpha=0.628318 i=139 xhat=[2.0195970249606, 3.0973963923326] , yhat=[1.9929488618729, 3.0308147994228] , thetahat=[1.028482409255, 1.3606471675247] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=140 xhat=[2.0183486149606, 3.1244179411787] , yhat=[2.0660448608982, 3.0809009991408] , thetahat=[1.070576297635, 1.4102315159047] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=141 xhat=[2.0158517949606, 3.1748156157653] , yhat=[2.0770091487193, 3.1819859694218] , thetahat=[1.155124864885, 1.5097610031547] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628319 i=142 xhat=[2.0139791749606, 3.2069351164855] , yhat=[2.0826844576957, 3.2388355114075] , thetahat=[1.214452462677, 1.5803243209467] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=143 xhat=[2.0122549784324, 3.2256038456408] , yhat=[2.0814360476957, 3.2900203214075] , thetahat=[1.256900649815, 1.6302629680847] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=144 xhat=[2.1871545011971, 3.2589380201876] , yhat=[2.0789392276957, 3.3923899414075] , thetahat=[1.342726839859, 1.7310700781287] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628319 i=145 xhat=[2.1733280136964, 3.2777463220877] , yhat=[2.0770666176957, 3.4691669514075] , thetahat=[1.402918704872, 1.8024976031417] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471238 i=146 xhat=[2.1542547296901, 3.2921347990592] , yhat=[2.0751939976957, 3.4880310027691] , thetahat=[1.46483669791, 1.8756513161797] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=147 xhat=[2.1298990703733, 3.0784176734161] , yhat=[2.1098908200537, 3.5176582237873] , thetahat=[1.528206907758, 1.9502572460277] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=148 xhat=[2.1480554245451, 3.083479453974] , yhat=[2.1080182100537, 3.4529318874018] , thetahat=[1.587635684196, 2.0209216824657] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=149 xhat=[2.1135933434961, 3.085352073974] , yhat=[2.1061455900537, 3.5296986875019] , thetahat=[1.64543353871, 2.0899552569797] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=150 xhat=[2.3069076333217, 3.087848893974] , yhat=[2.1036487700537, 3.6317902552443] , thetahat=[1.708706952422, 2.1682095906917] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628319 i=151 xhat=[2.2629008742672, 3.089721503974] , yhat=[2.1374806547417, 3.5097463167284] , thetahat=[1.7827660577849, 2.2205737586437] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471238 i=152 xhat=[2.2314402304567, 3.090969923974] , yhat=[2.32199158, 3.415373605783] , thetahat=[1.8052246342169, 2.2505228550757] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=153 xhat=[2.166165330242, 3.093466743974] , yhat=[2.4942186661052, 3.4498811065182] , thetahat=[1.8491561821169, 2.3094353229757] , vhat =[0, 0.4] dt=0.249682 dalpha=-5.654867 i=154 xhat=[2.1312956295464, 3.094715153974] , yhat=[2.4929702561052, 3.4991437350819] , thetahat=[1.8680627273619, 2.3358323282207] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=155 xhat=[2.0775470058982, 3.096587763974] , yhat=[2.5548579502314, 3.5718234180286] , thetahat=[1.892003484429, 2.3710087452877] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=156 xhat=[2.1951172663037, 3.099084593974] , yhat=[2.5523611202314, 3.6640272123011] , thetahat=[1.920817401995, 2.4148036428537] , vhat =[0, 0.4] dt=0.249683 dalpha=0.628319 i=157 xhat=[2.156551100845, 3.100332993974] , yhat=[2.5511127202314, 3.7121837672099] , thetahat=[1.933529234995, 2.4350058758537] , vhat =[0, 0.4] dt=0.12484 dalpha=0.314159 i=158 xhat=[2.0977072152015, 3.102205613974] , yhat=[2.5492401002314, 3.7840871765719] , thetahat=[1.948596148253, 2.4613085091117] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=159 xhat=[2.0175698777909, 3.104702433974] , yhat=[2.5467432802314, 3.8794136147538] , thetahat=[1.970395633991, 2.4980889148497] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628318 i=160 xhat=[1.9763724265891, 3.105950843974] , yhat=[2.5454948702314, 3.9266642832146] , thetahat=[1.98063996161, 2.5158237024687] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=161 xhat=[1.9137884947795, 3.107823463974] , yhat=[2.5436222502314, 3.9972383228966] , thetahat=[1.996938871566, 2.5433583324247] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=162 xhat=[1.82876365361, 3.110320283974] , yhat=[2.5411254302314, 4.0503498322332] , thetahat=[2.010834673594, 2.5722350544527] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628318 i=163 xhat=[1.7854564374728, 3.111568693974] , yhat=[2.5398770202314, 4.0967774675233] , thetahat=[2.020356671187, 2.5892475120457] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=164 xhat=[1.7198179811586, 3.113441303974] , yhat=[2.5380044102314, 4.0259875712964] , thetahat=[2.034245070513, 2.6143715713717] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=165 xhat=[1.653211990852, 3.115313923974] , yhat=[2.5361317902314, 4.0948637415057] , thetahat=[2.042153893821, 2.6335161146797] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=166 xhat=[1.5858964041753, 3.117186543974] , yhat=[2.6141025184516, 4.1634729910632] , thetahat=[2.047006975813, 2.6496049166717] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=167 xhat=[1.5180033829219, 3.119059153974] , yhat=[2.71138239, 4.2240660736019] , thetahat=[2.050211386045, 2.6640449869037] , vhat =[0, 0.4] dt=0.187261 dalpha=-5.811946 i=168 xhat=[1.4496059605723, 3.120931773974] , yhat=[2.7156318968286, 4.2923990923205] , thetahat=[2.059877101437, 2.6849464222957] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471238 i=169 xhat=[1.4954280716695, 3.122804383974] , yhat=[2.7145642649661, 4.3603946922542] , thetahat=[2.067554802437, 2.7038597832957] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=170 xhat=[1.83661539895, 3.124677003974] , yhat=[2.71812701133, 4.4281185202468] , thetahat=[2.076680454221, 2.7242211550797] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=171 xhat=[1.7662683636328, 3.126549613974] , yhat=[2.79805239, 4.4955134833675] , thetahat=[2.092029676608, 2.7508060374667] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=172 xhat=[1.6951380381223, 3.128422233974] , yhat=[2.809572037526, 4.1421907352034] , thetahat=[2.1101034558, 2.7801155366587] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=173 xhat=[1.6475869642272, 3.129670643974] , yhat=[2.8254379603398, 4.1862878075567] , thetahat=[2.124252685058, 2.7793903675863] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=174 xhat=[1.5290711002217, 3.132791673974] , yhat=[2.939953740151, 4.2956128492371] , thetahat=[2.16657197924, 2.8111255686889] , vhat =[0, 0.4] dt=0.312103 dalpha=0.785399 i=175 xhat=[1.4824432231231, 3.134040083974] , yhat=[2.938705330151, 4.3381942911479] , thetahat=[2.186297980809, 2.7382805179444] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=176 xhat=[1.4116760824262, 3.135912693974] , yhat=[2.936832720151, 4.4012251385797] , thetahat=[2.217169642008, 2.7803878391434] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=177 xhat=[1.3157510824857, 3.138409513974] , yhat=[2.9669308642166, 4.4834477560751] , thetahat=[2.270526685408, 2.8487258025434] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628318 i=178 xhat=[1.2666925565888, 3.139657923974] , yhat=[3.0856132148123, 4.5228983044274] , thetahat=[2.296205854903, 2.8818954320384] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=179 xhat=[1.192610823882, 3.141530543974] , yhat=[3.1553297265432, 4.5491026856014] , thetahat=[2.333784656753, 2.921311905204] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=180 xhat=[1.0926545159138, 3.144027363974] , yhat=[3.1528329065432, 4.5809844685373] , thetahat=[2.389315181963, 2.991823350414] , vhat =[0, 0.4] dt=0.249682 dalpha=-5.654866 i=181 xhat=[1.0420757539952, 3.145275773974] , yhat=[3.1889194256489, 4.6163545900133] , thetahat=[2.417384806926, 3.0211974399171] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=182 xhat=[1.1076376011897, 3.147148393974] , yhat=[3.1883450221795, 4.6678548091118] , thetahat=[2.457426853124, 3.0724752061151] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=183 xhat=[1.0728717251882, 3.149645213974] , yhat=[3.1858482021795, 4.7334739124513] , thetahat=[2.512370375952, 3.1423996489431] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628318 i=184 xhat=[1.0216869151882, 3.150893623974] , yhat=[3.1886512915616, 4.7641107007621] , thetahat=[2.539776221318, 3.1772959543091] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=185 xhat=[0.95492751709039, 3.152766233974] , yhat=[3.1841049153808, 4.5853919786168] , thetahat=[2.584307448901, 3.2330628418921] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471238 i=186 xhat=[0.85255748709039, 3.155263063974] , yhat=[3.1724853986744, 4.6178017963945] , thetahat=[2.640627943845, 3.3043643168361] , vhat =[0, 0.4] dt=0.249683 dalpha=0.628319 i=187 xhat=[1.067936175735, 3.157135673974] , yhat=[3.1611634965558, 4.6556488869854] , thetahat=[2.681451216367, 3.3201399667256] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=188 xhat=[1.016751365735, 2.6412682951967] , yhat=[3.1510463735156, 4.6790727957108] , thetahat=[2.706270106531, 3.3524493168896] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=189 xhat=[0.91438174573495, 2.6437651151967] , yhat=[3.3078076609302, 4.6841648236245] , thetahat=[2.7772550449347, 3.3682331750716] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628319 i=190 xhat=[0.86319693573495, 2.6450135251967] , yhat=[3.4494147487271, 4.6316552994481] , thetahat=[2.7975084997287, 3.3904916019271] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=191 xhat=[0.78641951573495, 2.6468861451967] , yhat=[3.5720112178741, 4.6405317193097] , thetahat=[2.8317469220227, 3.3910774729613] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=192 xhat=[0.68404989573495, 2.6493829651967] , yhat=[3.5920410826121, 4.5430498886016] , thetahat=[2.8784476929847, 3.4527591639233] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628318 i=193 xhat=[0.73938199418244, 2.6506313751967] , yhat=[3.5755372265052, 4.5572876817594] , thetahat=[2.9029010487007, 3.4839973487305] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=194 xhat=[0.90509469011779, 2.6525039851967] , yhat=[3.5520280965502, 4.5768700536155] , thetahat=[2.9431990541177, 3.5172706387562] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=195 xhat=[0.80272466011779, 2.6550008151967] , yhat=[3.5172767519093, 4.5972361851296] , thetahat=[3.0152918560907, 3.5832537119514] , vhat =[0, 0.4] dt=0.249683 dalpha=0.628319 i=196 xhat=[0.75153985011779, 2.6562492251967] , yhat=[3.4946834410987, 4.6047748475274] , thetahat=[3.0427351537567, 3.6181874696174] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=197 xhat=[0.67476284011779, 2.6581218351967] , yhat=[3.4584479789398, 4.6140402640847] , thetahat=[3.0857272831807, 3.6724152590414] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=198 xhat=[0.57239322011779, 2.6606186551967] , yhat=[3.4053912610509, 4.6221136133255] , thetahat=[3.1473845053067, 3.7490534011674] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628318 i=199 xhat=[0.76056059378108, 2.6624912751967] , yhat=[3.3607641555493, 4.6239862333255] , thetahat=[3.1908319109747, 3.8037365268354] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=200 xhat=[0.70943630706381, 2.6637396851967] , yhat=[3.3288143931629, 4.6252346433255] , thetahat=[3.2277250481357, 3.8481201239964] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=201 xhat=[0.60743692571983, 2.4255765616614] , yhat=[3.261480509726, 4.6277314633255] , thetahat=[3.2972814596957, 3.9326574555564] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628318 i=202 xhat=[0.53156548238852, 2.4274491816614] , yhat=[3.3388399779838, 4.6296040833255] , thetahat=[3.3536888938597, 4.0003006097204] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=203 xhat=[0.4564669463507, 2.4293217916614] , yhat=[3.3545716093022, 4.6003946317988] , thetahat=[3.4125098210917, 4.0703571969524] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=204 xhat=[0.38242161498938, 2.4311944116614] , yhat=[3.2927091782979, 4.5364885092646] , thetahat=[3.4727113706377, 4.1417944664984] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=205 xhat=[0.30971346898878, 2.4330670216614] , yhat=[3.2277985227728, 4.5383611192646] , thetahat=[3.5312259388737, 4.2115446947344] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=206 xhat=[0.50795069835766, 2.4349396416614] , yhat=[3.1602210992893, 4.5402337392646] , thetahat=[3.5824786119637, 4.2740330878244] , vhat =[0, 0.4] dt=0.187262 dalpha=-5.811947 i=207 xhat=[0.43833650074014, 2.4368122516614] , yhat=[3.0905262456039, 4.5421063492646] , thetahat=[3.6304988864987, 4.3332890223594] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=208 xhat=[0.37033439634492, 2.4386848716614] , yhat=[3.0632928092679, 4.5439789692646] , thetahat=[3.6811225465307, 4.3951484023914] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=209 xhat=[0.32624303770624, 2.4399332816614] , yhat=[3.0145998343698, 4.5452273792646] , thetahat=[3.7162001210287, 4.4377164368894] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=210 xhat=[0.21832959150481, 2.4430543116614] , yhat=[2.8913173933737, 4.5483484092646] , thetahat=[3.8084799271417, 4.5487224230024] , vhat =[0, 0.4] dt=0.312103 dalpha=0.785399 i=211 xhat=[0.21568429290084, 2.3644660563055] , yhat=[2.8491865796647, 4.5252544856833] , thetahat=[3.8450912981657, 4.5928242540264] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=212 xhat=[0.21625311945555, 2.3663386763055] , yhat=[2.8841124638426, 4.5271271056833] , thetahat=[3.8996040154137, 4.6585726912744] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=213 xhat=[0.15998459020881, 2.3682112863055] , yhat=[2.8074438964648, 4.5289997156833] , thetahat=[3.9556175257337, 4.7258218615944] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=214 xhat=[0.10668400544818, 2.3701508698013] , yhat=[2.7951468004367, 4.5101054639767] , thetahat=[4.0069937917437, 4.7758949478846] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=215 xhat=[0.059546321473296, 2.3767771594179] , yhat=[2.7183697904367, 4.4902276163496] , thetahat=[4.0605993128647, 4.8407361290056] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471238 i=216 xhat=[0.20985169162637, 2.3882372239266] , yhat=[2.6415923704367, 4.4921002363496] , thetahat=[4.1128405420527, 4.9042130781936] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=217 xhat=[0.22735758026775, 2.4043903466677] , yhat=[2.5648153604367, 4.4939728463496] , thetahat=[4.1673186994337, 4.9699268955746] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=218 xhat=[0.26789870855075, 2.425341252262] , yhat=[2.4880379404367, 4.4958454663496] , thetahat=[4.2184612624677, 5.0323051786086] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=219 xhat=[0.32116467414814, 1.9164351158715] , yhat=[2.4112609304367, 4.4712154204698] , thetahat=[4.2658534636087, 5.0863236624244] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=220 xhat=[0.35534461123592, 1.9456690387383] , yhat=[2.6008903718054, 4.4730880404698] , thetahat=[4.3078288026947, 5.1395347215104] , vhat =[0, 0.4] dt=0.187262 dalpha=-5.811946 i=221 xhat=[0.43125392140111, 1.9676048350841] , yhat=[2.5497055618054, 4.4366084812562] , thetahat=[4.3356958107147, 5.1748921895304] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=222 xhat=[0.38936380709245, 2.0226967213913] , yhat=[2.6138092170518, 4.4320700918773] , thetahat=[4.4093386982857, 5.2341254536841] , vhat =[0, 0.4] dt=0.312103 dalpha=0.785398 i=223 xhat=[0.37932446155877, 2.0465037593767] , yhat=[2.5626244070518, 4.4276305538133] , thetahat=[4.4381822126077, 5.2174457287431] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=224 xhat=[0.38628259525192, 2.0719142512779] , yhat=[2.5114395970518, 4.4238206651145] , thetahat=[4.4705931833457, 5.2573471594811] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=225 xhat=[0.37967989334043, 2.0589121416532] , yhat=[2.5905123507217, 4.4244448651145] , thetahat=[4.4854804781857, 5.2187081595391] , vhat =[0, 0.4] dt=0.062420000000003 dalpha=0.157079 i=226 xhat=[0.36719747363136, 2.0779162262863] , yhat=[2.647217573731, 4.4256932751145] , thetahat=[4.5164221951947, 5.2474466580918] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=227 xhat=[0.47200332518516, 2.0912715901641] , yhat=[2.7548269517184, 4.36744921] , thetahat=[4.5321431113077, 5.2669128342048] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=228 xhat=[0.46180274361268, 2.1175402549653] , yhat=[2.809396937753, 4.3495751897234] , thetahat=[4.5663137159407, 5.2788529246751] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=229 xhat=[0.45328577467041, 2.1455871175437] , yhat=[2.7694006895793, 4.3174727406277] , thetahat=[4.5980262012837, 5.3180558700181] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=230 xhat=[0.44633893963763, 2.1752648427912] , yhat=[2.7224403065713, 4.1927056575308] , thetahat=[4.6334372260927, 5.3609573548271] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=231 xhat=[0.44115205789697, 1.9937709890076] , yhat=[2.6781989654256, 4.1939540675308] , thetahat=[4.6655375924227, 5.4005481811571] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=232 xhat=[0.47658457653561, 1.6424327211961] , yhat=[2.6270141554256, 4.187945584401] , thetahat=[4.6999246713497, 5.4424257200841] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=233 xhat=[0.5157981328296, 1.676983567148] , yhat=[2.7738724720618, 4.189193994401] , thetahat=[4.7339254922227, 5.4839170009571] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=234 xhat=[0.55183700381945, 1.6950165298302] , yhat=[2.7482856522763, 4.189818204401] , thetahat=[4.7499354175657, 5.5036721863001] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.157079 i=235 xhat=[0.60327875821877, 1.7271560912999] , yhat=[2.6971360366855, 4.191066614401] , thetahat=[4.7808279472207, 5.5420551759551] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=236 xhat=[0.65036611957277, 1.6924090997823] , yhat=[2.6460681294016, 4.192315024401] , thetahat=[4.8107110125497, 5.5794287012841] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=237 xhat=[0.67236959812397, 1.7179276151818] , yhat=[2.5951244981462, 4.193563434401] , thetahat=[4.8462998109427, 5.6225079596771] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=238 xhat=[0.67112118812397, 1.6204433217977] , yhat=[2.5443867520027, 4.1947144109257] , thetahat=[4.8800015127797, 5.6637001215141] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=239 xhat=[0.66987277812397, 1.6623488238116] , yhat=[2.4939017569549, 4.1380216084837] , thetahat=[4.9129939928957, 5.7041830616301] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=240 xhat=[0.66924857812397, 1.6062671422165] , yhat=[2.5517631505592, 4.1386458084837] , thetahat=[4.9286178437357, 5.7235521124701] , vhat =[0, 0.4] dt=0.062419999999996 dalpha=0.15708 i=241 xhat=[0.66800016812397, 1.6493129603903] , yhat=[2.5017411854483, 4.1398942184837] , thetahat=[4.9604400643177, 5.7435027179412] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=242 xhat=[0.66675175812397, 1.6934004012644] , yhat=[2.4520847912842, 4.1411426284837] , thetahat=[4.9931140750427, 5.7836671886662] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=243 xhat=[0.66550333812397, 1.7377560471363] , yhat=[2.4051162413157, 4.1423910484837] , thetahat=[5.0267538755207, 5.7951640135174] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=244 xhat=[0.66425492812397, 1.7831113997072] , yhat=[2.4471668703439, 4.1436394584837] , thetahat=[5.0683124655664, 5.8322767459974] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=245 xhat=[0.66363072812397, 1.8062080865068] , yhat=[2.446545002086, 4.1442636584837] , thetahat=[5.0849686183664, 5.8526780987974] , vhat =[0, 0.4] dt=0.062419999999996 dalpha=0.15708 i=246 xhat=[0.66238231812397, 1.8528364093601] , yhat=[2.4316443032915, 4.1455120684837] , thetahat=[5.1153142196004, 5.8905141600314] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=247 xhat=[0.66113390812397, 1.900220571054] , yhat=[2.5579806033122, 4.1467604784837] , thetahat=[5.1452583321784, 5.9279487326094] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=248 xhat=[0.65988549812397, 1.9482875635459] , yhat=[2.5317368606134, 4.070115682894] , thetahat=[5.1835183226158, 5.9697522408234] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=249 xhat=[0.65863708812397, 1.9970395057616] , yhat=[2.4903352083724, 3.7978767234885] , thetahat=[5.3817238242371, 6.0099204567784] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=250 xhat=[0.66852466997538, 1.7746085543604] , yhat=[2.7905064338912, 3.7167167815411] , thetahat=[5.4153610281855, 6.0256881394366] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.157079 i=251 xhat=[0.70098247612372, 1.8237124448015] , yhat=[2.7529225133745, 3.6796613870032] , thetahat=[5.498903072901, 6.0315590072408] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=252 xhat=[0.69973406612372, 1.8340454308186] , yhat=[2.716403162151, 3.6809097970032] , thetahat=[5.528785139502, 6.0689315338418] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=253 xhat=[0.69848565612372, 1.8227307994983] , yhat=[2.6809557234899, 3.6821582070032] , thetahat=[5.557939258232, 6.1055761125718] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=254 xhat=[0.69723724612372, 1.7397483719224] , yhat=[2.6465835211117, 3.6834066170032] , thetahat=[5.589451748293, 6.1445790626328] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=255 xhat=[0.75554089326513, 1.6561934055959] , yhat=[2.6299942107518, 3.6840308270032] , thetahat=[5.605360614037, 6.1474738182526] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=256 xhat=[0.7655445322672, 1.7033261568399] , yhat=[2.5974309412381, 3.6515736588882] , thetahat=[5.635769266077, 6.1853728702926] , vhat =[0, 0.4] dt=0.12484 dalpha=0.314159 i=257 xhat=[0.77075872171933, 1.7346692111302] , yhat=[2.5660642718937, 3.6528220788882] , thetahat=[5.669559626007, 6.2266537502226] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=258 xhat=[0.76951031171933, 1.7742006886317] , yhat=[2.5379031216007, 3.4000166308898] , thetahat=[5.7437836473717, 6.2639211607016] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=259 xhat=[0.84353399710774, 1.8252419556085] , yhat=[2.5110062431006, 3.4012650408898] , thetahat=[5.7736908070137, 6.2447423697602] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=260 xhat=[0.84228558710774, 1.8761869866707] , yhat=[2.4854020524947, 3.4025134508898] , thetahat=[5.8057288776847, 6.2246777819609] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=261 xhat=[0.84166138710774, 1.8294956485601] , yhat=[2.7048694147234, 3.4031376508898] , thetahat=[5.8188268408047, 6.2342901271903] , vhat =[0, 0.4] dt=0.062419999999996 dalpha=0.15708 i=262 xhat=[0.84041297710774, 1.8806207780114] , yhat=[2.68343428221, 3.2315516666504] , thetahat=[5.8929086214192, 6.2676611252183] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=263 xhat=[0.83916456710774, 1.930189333647] , yhat=[2.6631878529814, 3.2328000766504] , thetahat=[5.9185824227512, 6.3008253865503] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=264 xhat=[0.83791615710774, 1.8470214317554] , yhat=[2.6501878871626, 3.2349293230263] , thetahat=[6.0674387172772, 6.3301278163883] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=265 xhat=[0.83666773710774, 1.8982066517554] , yhat=[2.6400247561277, 3.2385210408839] , thetahat=[6.1239250140309, 6.3578399938643] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=266 xhat=[0.83604353710774, 1.9237988517554] , yhat=[2.6354409333329, 3.2410074881583] , thetahat=[6.1341693220109, 6.3718295018443] , vhat =[0, 0.4] dt=0.062419999999996 dalpha=0.157079 i=267 xhat=[0.83479512710774, 1.9749836617554] , yhat=[2.6267787109691, 3.2466766752168] , thetahat=[6.1521033558659, 6.3972539956993] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=268 xhat=[0.83354671710774, 2.0261684717554] , yhat=[2.6190032695158, 3.2536089201106] , thetahat=[6.1709632105769, 6.4236043104103] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=269 xhat=[0.83229830710774, 2.0773532817554] , yhat=[2.6121626471465, 3.2618463290856] , thetahat=[6.1866392452649, 6.4467708050983] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=270 xhat=[0.83167409710774, 2.1029458917554] , yhat=[2.6091315796345, 3.2665368147163] , thetahat=[6.1941485539859, 6.4580253738193] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=271 xhat=[0.8494878309947, 2.0630267442588] , yhat=[2.603442866925, 3.2764716936925] , thetahat=[6.2111416612239, 6.4825089410573] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=272 xhat=[0.90226636949609, 2.1028634604706] , yhat=[2.5985999678919, 3.287607830564] , thetahat=[6.2215435381849, 6.5004012780183] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=273 xhat=[0.90257835381516, 2.1460423035195] , yhat=[2.5942753388448, 3.2996181267053] , thetahat=[6.2347349872909, 6.5210831871243] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=274 xhat=[0.94963509919702, 2.0784538913186] , yhat=[2.5906084407566, 3.3126345603995] , thetahat=[6.2484314182419, 6.5422700780753] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=275 xhat=[1.0018055548501, 2.0976920065645] , yhat=[2.5891166564281, 3.3196555740094] , thetahat=[6.2535931355739, 6.5511770554073] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=276 xhat=[1.0219630168185, 2.0153112355744] , yhat=[2.5863907355738, 3.3341269132969] , thetahat=[6.2670685979549, 6.5721429777883] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=277 xhat=[1.2717962760216, 2.0664956355744] , yhat=[2.5843375664226, 3.3496047394976] , thetahat=[6.2786803408749, 6.5912451207083] , vhat =[0, 0.4] dt=0.12484 dalpha=0.314159 i=278 xhat=[1.2705478660216, 2.1176804455744] , yhat=[2.5828641953842, 3.2741094278588] , thetahat=[6.2887649968549, 6.6088202366883] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=279 xhat=[1.2692994460216, 2.1688648882368] , yhat=[2.5816157753842, 3.1202370801472] , thetahat=[6.3000675673249, 6.6276133271583] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=280 xhat=[1.2680510360216, 2.109266859787] , yhat=[2.5803673653842, 3.1383469323563] , thetahat=[6.3114232295259, 6.6464594493593] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=281 xhat=[1.2674268360216, 2.1348491059532] , yhat=[2.5797431653842, 3.1477085126636] , thetahat=[6.3166111429859, 6.6496288252087] , vhat =[0, 0.4] dt=0.062420000000003 dalpha=0.157079 i=282 xhat=[1.2661784260216, 2.1860060219178] , yhat=[2.5784947553842, 3.1668490022826] , thetahat=[6.3269710733709, 6.6674792155937] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=283 xhat=[1.2649300160216, 2.2371429706988] , yhat=[2.5772463453842, 3.1868188002779] , thetahat=[6.3376676999329, 6.6856663021557] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=284 xhat=[1.2636816060216, 2.2882536851448] , yhat=[2.5759979353842, 3.2076274124705] , thetahat=[6.3452531639339, 6.7007422261567] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=285 xhat=[1.2624331960216, 2.3391357549744] , yhat=[2.5747495253842, 3.0727863950967] , thetahat=[6.4022395361144, 6.7171174952857] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=286 xhat=[1.2618089860216, 2.2319626001994] , yhat=[2.5741253153842, 3.083908364003] , thetahat=[6.4060010879954, 6.7246243071667] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=287 xhat=[1.2605605760216, 2.2827712701171] , yhat=[2.5728769053842, 3.1064916495402] , thetahat=[6.4118900876474, 6.7380037668187] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=288 xhat=[1.2593121660216, 2.333543054486] , yhat=[2.5716284953842, 3.1296770819055] , thetahat=[6.4172216722344, 6.7508258114057] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=289 xhat=[1.2580637560216, 2.3842799632939] , yhat=[2.5703800853842, 3.1534358909633] , thetahat=[6.4228239121094, 6.7639185112807] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=290 xhat=[1.2574395560216, 2.4096291338138] , yhat=[2.5697558853842, 3.1656060282144] , thetahat=[6.4242079507694, 6.7690477499407] , vhat =[0, 0.4] dt=0.062420000000003 dalpha=0.157079 i=291 xhat=[1.2561911360216, 2.4603186199935] , yhat=[2.5685074653842, 3.1901734940104] , thetahat=[6.4212893944934, 6.7736197136647] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=292 xhat=[1.2549427260216, 2.5110279744411] , yhat=[2.5672590553842, 3.2149424045729] , thetahat=[6.4196939265134, 6.7795147056847] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=293 xhat=[1.2536943160216, 2.5617482340081] , yhat=[2.5660106453842, 3.239970581198] , thetahat=[6.4132985717654, 6.7806098109367] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=294 xhat=[1.2524459060216, 2.6125109418257] , yhat=[2.5647622353842, 3.2650468306069] , thetahat=[6.4073059540834, 6.7821076532547] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=295 xhat=[1.2620915668726, 2.6379110609222] , yhat=[2.5641380353842, 3.2776177075146] , thetahat=[6.4011234403434, 6.7796703395147] , vhat =[0, 0.4] dt=0.062420000000003 dalpha=0.15708 i=296 xhat=[1.5410120481827, 2.6887489805262] , yhat=[2.5628896253842, 3.3026527178726] , thetahat=[6.3888112464004, 6.7748486055717] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=297 xhat=[1.5397636281827, 2.6199580919025] , yhat=[2.5616412053842, 3.327475942572] , thetahat=[6.3731419524544, 6.7666698316257] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=298 xhat=[1.5385152281827, 2.6702998670306] , yhat=[2.5603928053842, 3.3519379471433] , thetahat=[6.3550450212144, 6.7560633003857] , vhat =[0, 0.4] dt=0.12484 dalpha=0.314159 i=299 xhat=[1.5372668181827, 2.7213558012494] , yhat=[2.5591443953842, 3.3759299071881] , thetahat=[6.3347875715084, 6.7432963106797] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=300 xhat=[1.5360184081827, 2.767724458931] , yhat=[2.5578959853842, 3.1971828267865] , thetahat=[6.3140011704854, 6.7300003696567] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=301 xhat=[1.5353941981827, 2.6707867686062] , yhat=[2.5572717753842, 3.208595769197] , thetahat=[6.3006822144524, 6.7204266736237] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=302 xhat=[1.5341457881827, 2.7219639349924] , yhat=[2.5560233653842, 3.2303241005487] , thetahat=[6.2710298552914, 6.6836091501327] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=303 xhat=[1.5328973781827, 2.7731487449924] , yhat=[2.5541679708242, 3.2510381533424] , thetahat=[6.2431272675864, 6.6631970224277] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=304 xhat=[1.5316489681827, 2.8243335549924] , yhat=[2.5509197414699, 3.2705426804861] , thetahat=[6.2128829124034, 6.6346951903263] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=305 xhat=[1.7227181311888, 2.8499261649924] , yhat=[2.5485416387374, 3.2797639040852] , thetahat=[6.1960796785714, 6.6216372164943] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.157079 i=306 xhat=[1.7214697211888, 2.9011109749924] , yhat=[2.5429489856699, 3.2975925583234] , thetahat=[6.1623457677564, 6.5953937656793] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=307 xhat=[1.7202213111888, 2.9522957849924] , yhat=[2.5356809590247, 3.2675998373281] , thetahat=[6.1259954392634, 6.5665338971863] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=308 xhat=[1.7189729011888, 3.0034805949924] , yhat=[2.5266153380739, 3.2809225705681] , thetahat=[6.0889642279564, 6.4978588699903] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=309 xhat=[1.7177244911888, 3.0546654049924] , yhat=[2.515729087129, 3.2928088567313] , thetahat=[6.0485586892604, 6.4649437912943] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=310 xhat=[1.7647024009467, 3.0802576049924] , yhat=[2.5093003302376, 3.2979462566624] , thetahat=[6.0294575450604, 6.4495878470943] , vhat =[0, 0.4] dt=0.062419999999996 dalpha=0.15708 i=311 xhat=[1.7634539909467, 3.1314424149924] , yhat=[2.4955171793886, 3.3074659152394] , thetahat=[5.9863364649324, 6.4139572269663] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=312 xhat=[1.7622055809467, 3.1826272249924] , yhat=[2.4796619564966, 3.3151478248843] , thetahat=[5.9449856301844, 6.378517891624] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=313 xhat=[1.7609571609467, 3.2338124449924] , yhat=[2.4650180887631, 3.3182615609065] , thetahat=[5.8986231814864, 6.2816756057339] , vhat =[0, 0.4] dt=0.124842 dalpha=0.31416 i=314 xhat=[1.832271857501, 3.284997198085] , yhat=[2.5959615237871, 3.3075609962934] , thetahat=[5.8535327345834, 6.2440756188309] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=315 xhat=[1.831023447501, 3.3361438223998] , yhat=[2.5752894360551, 3.3088094062934] , thetahat=[5.8052333746164, 6.2032667188639] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=316 xhat=[2.0207371383823, 3.3871692458472] , yhat=[2.5546558690497, 3.3100578162934] , thetahat=[5.7704868019755, 6.1608031762829] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=317 xhat=[2.0201129383823, 3.4125421965037] , yhat=[2.6236455816618, 3.2021318930191] , thetahat=[5.7510730807995, 6.1277713554904] , vhat =[0, 0.4] dt=0.062419999999996 dalpha=0.15708 i=318 xhat=[2.0530637386748, 3.2916564055432] , yhat=[2.5970617066185, 3.2033803030191] , thetahat=[5.6963512755875, 6.0805400102784] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=319 xhat=[2.1239715534203, 3.2886417164025] , yhat=[2.5681621383346, 3.2046287130191] , thetahat=[5.6389919545685, 6.0306711492594] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=320 xhat=[2.2704906342244, 3.3307987808968] , yhat=[2.5369242409843, 3.2058771230191] , thetahat=[5.5786325794785, 5.9778022341694] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=321 xhat=[2.2692422242244, 3.3796002924848] , yhat=[2.5647899219484, 3.2071255330191] , thetahat=[5.5175159188825, 5.9193616760201] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=322 xhat=[2.2686180142244, 3.3682727361836] , yhat=[2.5499800714474, 3.2077497430191] , thetahat=[5.4874389218215, 5.8930299389591] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=323 xhat=[2.2673696042244, 3.4157048246998] , yhat=[2.5130577919857, 3.2089981530191] , thetahat=[5.4278178564055, 5.8408993335431] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=324 xhat=[2.2661211942244, 3.4620845352563] , yhat=[2.4741167883691, 3.2102465630191] , thetahat=[5.3684507175835, 5.7890226547211] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=325 xhat=[2.2648727842244, 3.507295262362] , yhat=[2.4332987393446, 3.2114949730191] , thetahat=[5.3091616043865, 5.7372240015241] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=326 xhat=[2.2636243742244, 3.551220744862] , yhat=[2.3907452549659, 3.2127433830191] , thetahat=[5.2476734169745, 5.6832262741121] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=327 xhat=[2.2630001742244, 3.5724525020293] , yhat=[2.3686454894946, 3.2133675830191] , thetahat=[5.2192381108145, 5.6585361679521] , vhat =[0, 0.4] dt=0.062420000000003 dalpha=0.157079 i=328 xhat=[2.2617517542244, 3.6142080740525] , yhat=[2.3237384061046, 3.2146160030191] , thetahat=[5.1638574505625, 5.6106460277001] , vhat =[0, 0.4] dt=0.12484199999999 dalpha=-5.969026 i=329 xhat=[2.2605033442244, 3.6545188476225] , yhat=[2.277556853965, 3.2158644130191] , thetahat=[5.1065394519145, 5.5608184890521] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=330 xhat=[2.2592549342244, 3.6932316912319] , yhat=[2.2302010104778, 3.2134679302318] , thetahat=[5.0501577607665, 5.5119272579041] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=331 xhat=[2.2580065242244, 3.6366403760508] , yhat=[2.1818377867901, 3.2147163402318] , thetahat=[4.9910365587145, 5.4602965158521] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=332 xhat=[2.3073634929176, 3.6392193562906] , yhat=[2.1572086447795, 3.2153405402318] , thetahat=[4.9614127757545, 5.4344179328921] , vhat =[0, 0.4] dt=0.062420000000003 dalpha=0.15708 i=333 xhat=[2.3061150829176, 3.6734711670887] , yhat=[2.1075641990962, 3.2165889502318] , thetahat=[4.9050501852795, 5.3855458024171] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=334 xhat=[2.3048666729176, 3.7058527889164] , yhat=[2.0573033040689, 2.9433330778785] , thetahat=[4.8497668452495, 5.3377529223871] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=335 xhat=[2.3435209210154, 3.7084852914514] , yhat=[2.0065885640027, 2.9445814978785] , thetahat=[4.7949016576155, 5.2903782547531] , vhat =[0, 0.4] dt=0.12484199999999 dalpha=0.31416 i=336 xhat=[2.3422725110154, 3.7370160008281] , yhat=[1.9555736496199, 2.9458299078785] , thetahat=[4.7418884263295, 5.2448554834671] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=337 xhat=[2.3410241010154, 3.7420310642861] , yhat=[1.9044105658042, 2.9470783178785] , thetahat=[4.6920405385985, 5.2024980557361] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=338 xhat=[2.3387596513472, 3.7667854443769] , yhat=[1.8650200144228, 2.9483267178785] , thetahat=[4.6461820626785, 5.1641299798161] , vhat =[0, 0.4] dt=0.12484000000001 dalpha=0.314159 i=339 xhat=[2.3319314376253, 3.8013564478784] , yhat=[1.977998081215, 2.9501993378785] , thetahat=[4.5778083994525, 5.1069920365901] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=340 xhat=[2.3160342150198, 3.8038755237483] , yhat=[1.875628461215, 2.9526961578785] , thetahat=[4.4902671437505, 5.0344317008881] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628319 i=341 xhat=[2.2976600806708, 3.829455881901] , yhat=[1.798851041215, 2.9545687778785] , thetahat=[4.4288972665865, 4.9842975437241] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=342 xhat=[2.2824439758265, 3.8441157292043] , yhat=[1.747666231215, 2.9558171878785] , thetahat=[4.3920556887585, 4.9549464258961] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=343 xhat=[2.2484989173979, 3.8277501398411] , yhat=[1.645296611215, 2.9583140078785] , thetahat=[4.3244757599105, 4.9023474170481] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628318 i=344 xhat=[2.2182931557575, 3.8437660547908] , yhat=[1.7196086861517, 2.9601866178785] , thetahat=[4.2810383238285, 4.8701456409661] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=345 xhat=[2.19616643068, 3.8528596291174] , yhat=[1.8134352067171, 2.9614350278785] , thetahat=[4.2539293503605, 4.8505271274981] , vhat =[0, 0.4] dt=0.124841 dalpha=-5.969026 i=346 xhat=[2.1494689853711, 3.8691089225877] , yhat=[1.7110651767171, 2.9639318578785] , thetahat=[4.2041982394695, 4.8157769966071] , vhat =[0, 0.4] dt=0.249683 dalpha=0.628319 i=347 xhat=[2.1111480869994, 3.8787119608528] , yhat=[1.6342881667171, 2.9658044678785] , thetahat=[4.1724222949015, 4.7952367120391] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=348 xhat=[2.0842270033702, 3.884092757256] , yhat=[1.5831033567171, 2.9670528778785] , thetahat=[4.1552526624895, 4.7855575396271] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=349 xhat=[2.018898945324, 3.4868874704531] , yhat=[1.4551411267171, 2.9701739078785] , thetahat=[4.1544447454168, 4.7679639814141] , vhat =[0, 0.4] dt=0.312103 dalpha=0.785398 i=350 xhat=[2.3652191236661, 3.4909096675756] , yhat=[1.4039563167171, 2.8990769887828] , thetahat=[4.2224799705235, 4.7662172061421] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=351 xhat=[2.3281005776282, 3.49681230172] , yhat=[1.3271793067171, 2.9009495987828] , thetahat=[4.2175209247215, 4.7724938203401] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=352 xhat=[2.290654504069, 3.5031843524925] , yhat=[1.3264954239275, 2.9028222187828] , thetahat=[4.2090849588835, 4.7752935745021] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=353 xhat=[2.252653616057, 3.5097657216891] , yhat=[1.2518255315706, 2.8639740890163] , thetahat=[4.2146320338475, 4.7920763694661] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=354 xhat=[2.2150174606191, 3.5176009525577] , yhat=[1.288702184809, 2.8658466990163] , thetahat=[4.2319092954905, 4.8205892911091] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=355 xhat=[2.1785234974623, 3.5275624903672] , yhat=[1.211924764809, 2.8677193190163] , thetahat=[4.2472996102225, 4.8472153258411] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=356 xhat=[2.1430560632711, 3.5395036175685] , yhat=[1.1627420253182, 2.8695919290163] , thetahat=[4.2773454504115, 4.8884968260301] , vhat =[0, 0.4] dt=0.187261 dalpha=0.471239 i=357 xhat=[2.1096148245246, 3.5544994802931] , yhat=[1.2886968025873, 2.8275158153567] , thetahat=[4.3085447977075, 4.9309318933261] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=358 xhat=[2.0783080674147, 3.5726119203317] , yhat=[1.2119197925873, 2.6915369351122] , thetahat=[4.3520062031975, 4.9856289588161] , vhat =[0, 0.4] dt=0.187261 dalpha=-5.811947 i=359 xhat=[2.0500215844677, 3.5946977974722] , yhat=[1.1351423725873, 2.6512902200561] , thetahat=[4.4006681065175, 5.0455265821361] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=360 xhat=[2.0334578289045, 3.6122758962838] , yhat=[1.4667754183837, 2.4381820863113] , thetahat=[4.4345545730345, 5.0869035086531] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=361 xhat=[2.0035685217679, 3.6513082589638] , yhat=[1.3644057983837, 2.4406789063113] , thetahat=[4.5006873450105, 5.1680172006291] , vhat =[0, 0.4] dt=0.249682 dalpha=0.628319 i=362 xhat=[2.4020006023889, 3.6861409783988] , yhat=[1.2876283783837, 2.4425515263113] , thetahat=[4.5514199915265, 5.2299855671451] , vhat =[0, 0.4] dt=0.187262 dalpha=0.471239 i=363 xhat=[2.3973745884731, 3.6991193773572] , yhat=[1.2620357683837, 2.4431757363113] , thetahat=[4.5690459965595, 5.2513568321781] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.15708 i=364 xhat=[2.38993598343, 3.7259974511029] , yhat=[1.2108513683837, 2.4444241363113] , thetahat=[4.6157686789464, 5.2865094042181] , vhat =[0, 0.4] dt=0.12484 dalpha=0.314159 i=365 xhat=[2.3879680996771, 3.7401637324301] , yhat=[1.1852587583837, 2.4450483463113] , thetahat=[4.6706644145481, 5.3015042678606] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.157079 i=366 xhat=[2.3846367195779, 3.767757310151] , yhat=[1.2108314272795, 2.4462967563113] , thetahat=[4.6916687879571, 5.2966265764429] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=367 xhat=[2.3823536917959, 3.7951620074648] , yhat=[1.3730058567081, 2.4475451663113] , thetahat=[4.7146093204351, 5.2941163816999] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=368 xhat=[2.3811052817959, 3.8199230939293] , yhat=[1.8617698521724, 2.4487935763113] , thetahat=[4.7480107281745, 5.2300413863885] , vhat =[0, 0.4] dt=0.124841 dalpha=0.314159 i=369 xhat=[2.5624068370828, 3.8448425029058] , yhat=[1.810616721194, 2.4500419863113] , thetahat=[4.7636444417635, 5.2293672008663] , vhat =[0, 0.4] dt=0.124841 dalpha=0.31416 i=370 xhat=[2.5617826270828, 3.5403807686569] , yhat=[1.7852222128524, 2.4506661963113] , thetahat=[4.8449142293384, 5.2395852688823] , vhat =[0, 0.4] dt=0.062421000000001 dalpha=0.157079