Abstract:
A high velocity seek deceleration technique is disclosed for seek operations of disk drives wherein measured time per track is compared to a predetermined time per track in a memory as indexed by number of tracks to end of seek determines an error value which adjusts a deceleration amplifier. The gain of digital output to the amplifier is adjusted depending on the number of tracks to end of seek, the higher the number, the higher the gain. Further, a variable bandwidth filter is employed to increase bandwidth as velocity decreases.

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The invention relates generally to disk drive servo systems and more particularly to methods and means for controlling the deceleration curves during high velocity seeks. 
     2. Brief Description of the Prior Art 
     Disk drive servo seek systems typically drive the head to a high velocity and control the velocity on deceleration so that the head can settled over a track in as short a time as possible. The servo systems obtain input from the servo tracks or other information on the disk which provides position information. Most prior systems differentiated this servo position signal to obtain velocity and adjusted the deceleration amplifier depending on how the the measured velocity varied from a desired velocity. Some systems used the time per track from servo position outputs to compute velocity of the head. See e.g., U.S. Pat. No. 4,329,721. Other systems have employed the time per track measured directly to compare to a desired time per track, and depending upon the difference, either turn on the deceleration amplifier or turned it off. 
     An advantage of systems employing velocity in the feedback loop is that it uses a measure of velocity to control velocity, a linear relationship. Correspondingly, systems employing time per track to control velocity have the disadvantage in that time per track is inversely proportional to velocity and a loop controlling velocity is non linear. This non linear relationship degrades velocity control accuracy. 
     However, computing velocity (differentiating or dividing distance by time per track) has the disadvantage in high speed systems in that if analog circuits are employed, a time lag is introduced into the feedback loop, and if digital techniques are employed, processor time to calculate velocity is high (division takes a lot of processor time). Therefore, velocity systems are inherently slower and therefore less accuracy is available. Seek speeds are thereby limited. 
     SUMMARY OF THE INVENTION 
     The invention employs a time per track technique further including a variable gain on the output to linearize the relationship between time per track and velocity to decrease instability. Gain is made proportional to distance from destination. A variable bandwidth filter is employed with a narrow bandpass at high velocities to control noise instability introduced by the high gain. 
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENT 
     FIG. 1 shows the apparatus employed in the preferred embodiment. A disk drive 10 includes a disk 12 on which are recorded servo track which are read by head 14 during seek operations. The servo data read by head 14 is provided on line 13 to a servo demodulator 18 which provides a position signal output on line 26. The signal looks like the sawtooth pattern 25, with each null representing a track center. One branch of the signal 28 is provided to a sample and hold 30, the output of which is converted to an analog to digital converter 32, which provides a digital representation of the signal to a microprocessor 34. This digital value is differentiated to yield velocity as is conventional, but is only used when seek velocities are low (e.g., within 3 tracks of the desired track). 
     Another branch of the position signal 29 is provided to a track crossing detect circuit 38, which preferably detects track crossing by the presence of the servo nulls. This circuit 38 outputs on line 40 a track crossing pulse which is input to a track crossing timer (which may be of conventional design employing counters clocked by a reference oscillator which are set or reset by the track crossing pulse) and a track crossing counter. The outputs of these two devices are input to microprocessor 34, which in the preferred embodiment is a Texas Instruments TM32010. 
     The micro 34 uses the track crossing counter to determine the number of tracks left in a seek. This number indexes a memory to recall a predetermined desired time per track which a compared to the measured time per track from timer 42 to yield a time error value. The number is also used to adjust the gain of a variable gain value. The time error value and gain value are multiplied together and provided to a variable bandwidth digital filter (in the preferred embodiment a conventional low pass IIR digital filter) the output of which is provided by the micro 34 to a digital to analog converter (DAC) 36 whose analog current output is provided on line 24 to a power amplifier 22 to control the current in a coil 20 mounted on a carriage 16. Current in the coil causes acceleration or deceleration depending upon the direction of the current. The number (from counter 44) is also used to vary the bandwidth of the digital filter. 
     FIGS. 2 and 3 show the preferred algorithms for computing the output to the DAC 36 from the inputs from devices 42 and 44 during high velocity seek. FIG. 2 shows overall routine, and FIG. 3 shows two of the subroutines. 
    
    
     The FIG. 2 routing is structured as a series of loops that are used for various phases of the seek operation. These are determined by the distance remaining to reach the destination track. Each loop monitors the progress of the move, computes the forward gain variable (HVGAIN) needed by the control loop, and reads the Desired Time per Track (DTIME) from a velocity lookup table residing in the micro&#39;s memory. Velocity control feedback computations are handled by a HIVEL subroutine (FIG. 3). After each track is crossed, the high velocity control loop checks the distance remaining (number of tracks) to the destination and determines if it should remain in the present control loop or branch to the next succeeding loop. 
     FIG. 3 shows the High Velocity subroutine (HIVEL) and the High Velocity Filter subroutine (HVFILT). Immediately after track crossings, HIVEL is entered to read the time per track counter 42 (TTIME), compute the time per track error (TERR) by subtracting DTIME from the lookup table, and multiply the error by the high velocity gain variable (HVGAIN from FIG. 2) to obtain an error variable HVERR. This value of HVERR is used until the next track is crossed. 
     HVERR is provided to the HVFILT subroutine to perform a filter computation. The filter computation is a recursive function that must be executed repeatedly at a constant rate. A and H in the formula shown are filter coefficients. These are changed to vary the bandwidth of the filter. The filter coefficients in the preferred embodiment have three phases, that before 64 tracks until destination where the bandwidth is very narrow, between 64 and 3, the bandwidth is widened, and at 3 the bandwidth is widened again (here the low speed routine, not part of the present invention takes over from the high velocity routine). X0 and X1 are state variables used to pass information from one execution to the next. And CURNT1 is the filter output provided to the DAC 36. 
     Referring to FIG. 2, HVGAIN is made porportional to velocity by relating it to the distance from destination. Thus 
     
         HVGAIN=DIST*HVGAIN1+HVGAIN2 
    
     where DIST is the number of tracks from destination, and HVGAIN1 and HVGAIN2 are constants which are dependent upon the current to deceleration profile of each particular apparatus and must be determined experimentally. 
     Once the constants HVGAIN1 and HVGAIN2 are determined, HVGAIN is calculable, and DTIME is determinable. The desired velocity profile (from the prior art) is converted into a time per track profile at each track. Thus DTIME is a function of distance to destination and rate of deceleration. Do to the non linearity of the feedback loop, a strict conversion of velocity profile to time per track profile will result in an inherent error. This error is 
     
         Time Error=Deceleration Current/(HVGAIN*KFWD), 
    
     where Deceleration Current is the desired current to produce the required deceleration, and KFWD is a forward gain factor related to coil current and is a constant determined by the DAC 36 and power amplifier 2 circuits. 
     Table 1 is an example of time per track and DTIME information related to tracks. Tracks 8 to 225 represent high velocity values and tracks 1 to 7 represent low velocity values. In the table N is the number of tracks to destination; VEL is the velocity in inches per second; TIME is time to reach track zero in milliseconds; TIME/TRACK is time difference between tracks from previous track in microseconds; DVEL is the desired velocity in inches per second used in the low velocity system (not part of the present invention) and represents the a difference from actual velocity sufficient to maintain desired deceleration current; LOWVEL is a hex value of DVEL scaled according to a low velocity sense gain (not used by the present invention); LOWTAB is a value input to the microprocessor for LOWVEL (not used in the present invention), DTIME is the desired time used by the present invention and represents the actual TIME/T plus the time error that is required to maintain desired deceleration current; HITAB is the high velocity table entry for DTIME (tracks 0-7 HITAB=LOWTAB) scaled by the cylinder time clock period of track crossing timer 42 and converted to four-digit hex, and HVGAIN is the value computed from the formula given above for the given track. Also, in this example, track are space 1042 microinches apart, the acceleration constant for the coil is 238.7 ((meters/second)/second)/amp, the friction of the carriage is 0.001 amps/(m/s) and the power amp gain is 1 amp/B where B is the maximum value input to the DAC 36. 
     
                                           TABLE 1__________________________________________________________________________   VEL TIME      TIME/T           DVEL               LOWVEL                     LOWTAB                           DTIME                                HITAB                                     HVGAINN  (IPS)  (MS)      (US) (IPS)               (HEX) (HEX) (US) (HEX)                                     (AMPS/IPS)__________________________________________________________________________1   1.979  1.05      385.4           1.44               10F1  10F1  312.6                                10F1 -.73072   3.428  1.44      265.4           2.34               1BA1  1BA7  920.7                                1BA7 .05413   4.425  1.70      207.9           3.34               2765  2768  308.7                                2768 .21114   5.598  1.91      171.4           3.97               2ED2  2ED5  253.3                                2ED5 .24365   6.564  2.08      149.2           4.94               3A37  3A37  205.4                                3A37 .25836   7.405  2.23      133.9           5.78               4423  4426  176.6                                4426 .26677   8.160  2.37      122.5           6.53               4D0A  4D16  157.0                                4D16 .27228   8.851  2.49      112.3           7.22               5530  5535  141.2                                0311 .27609   9.713  2.60      103.1           7.50               5869  5872  137.0                                02C2 .266310 10.504  2.70      95.8 8.29               61BE  61C6  125.6                                02AD .259411 11.240  2.80      89.9 9.02               6A6C  6A76  116.4                                0274 .254212 11.931  2.89      85.0 9.71               7291  6A70  108.9                                0246 .250213 12.583  2.97      80.8 10.37               7A43  6A70  102.6                                0221 .247014 13.204  3.06      77.2 10.99               7FFF  6A70  97.2 0201 .244415 13.796  3.13      74.0 11.58               7FFF  6A70  92.5 01E6 .242216 13.365  3.21      71.2 12.15               7FFF  6A70  88.3 01CE .240417 14.911  3.28      68.7 12.69               7FFF  6A70  84.7 01BA .238818 14.438  3.35      66.4 13.22               7FFF  6A70  81.4 01A7 .237519 15.948  3.41      64.3 13.73               7FFF  6A70  78.5 0197 .236320 16.442  3.48      62.5 14.23               7FFF  6A70  75.8 0189 .235221 16.922  3.54      60.7 14.71               7FFF  6A70  73.4 017B .234322 17.388  3.60      59.2 15.17               7FFF  6A70  71.2 016F .233523 17.842  3.66      57.7 15.63               7FFF  6A70  69.2 0164 .232724 18.285  3.72      56.3 16.07               7FFF  6A70  67.3 015A .232125 18.718  3.77      55.0 16.50               7FFF  6A70  65.5 0150 .231426 19.140  3.83      53.9 16.92               7FFF  6A70  63.9 0148 .230927 19.554  3.88      52.7 17.34               7FFF  6A70  62.4 0140 .230428 19.959  3.94      51.7 17.74               7FFF  6A70  61.0 0138 .229929 20.356  3.99      50.7 18.14               7FFF  6A70  59.7 0131 .229530 20.745  4.04      49.8 18.53               7FFF  6A70  58.4 012A .229131 21.127  4.09      48.9 18.91               7FFF  6A70  57.2 0124 .228732 21.502  4.14      48.0 19.29               7FFF  6A70  56.1 011E .228333 21.871  4.18      47.3 19.65               7FFF  6A70  55.1 0119 .228034 22.234  4.23      46.5 20.02               7FFF  6A70  54.1 0113 .227735 22.591  4.28      45.8 20.37               7FFF  6A70  53.1 010E .227436 22.942  4.32      45.1 20.73               7FFF  6A70  52.2 010A .227237 23.591  4.37      44.4 21.07               7FFF  6A70  51.3 0105 .226938 23.630  4.41      43.8 21.41               7FFF  6A70  50.5 0101 .226739 23.966  4.46      43.2 21.75               7FFF  6A70  49.7 00FD .226440 24.297  4.50      42.6 22.08               7FFF  6A70  49.0 00F9 .226241 24.624  4.54      42.0 22.41               7FFF  6A70  48.3 00F5 .226042 24.947  4.59      41.5 22.73               7FFF  6A70  47.6 00F1 .225843 25.266  4.63      41.0 23.05               7FFF  6A70  46.9 00EE .225744 25.580  4.67      40.5 23.36               7FFF  6A70  46.3 00EA .225545 25.891  4.71      40.0 23.67               7FFF  6A70  45.6 00E7 .225346 26.199  4.75      39.5 23.98               7FFF  6A70  45.1 00E4 .225247 26.502  4.79      39.1 24.29               7FFF  6A70  44.5 00E1 .225048 26.802  4.83      38.7 24.59               7FFF  6A70  43.9 00DE .224949 27.099  4.87      38.2 24.88               7FFF  6A70  43.4 00DC .224750 27.393  4.90      37.8 25.18               7FFF  6A70  42.9 00D9 .224651 27.683  4.94      37.4 25.47               7FFF  6A70  42.4 00D6 .224552 27.971  4.98      37.1 25.75               7FFF  6A70  41.9 00D4 .224453 28.255  5.02      36.7 26.04               7FFF  6A70  41.5 00D2 .224254 28.537  5.05      36.3 26.32               7FFF  6A70  41.0 00CF .224155 28.816  5.09      36.0 26.60               7FFF  6A70  40.6 00CD .224056 29.092  5.12      35.6 26.88               7FFF  6A70  40.1 00CB .223957 29.366  5.16      35.3 27.15               7FFF  6A70  39.7 00C9 .223858 29.637  5.20      35.0 27.42               7FFF  6A70  39.3 00C7 .223759 29.906  5.23      34.7 27.69               7FFF  6A70  38.9 00C5 .223660 30.172  5.27      34.4 27.96               7FFF  6A70  38.6 00C3 .223661 30.436  5.30      34.1 28.22               7FFF  6A70  38.2 00C1 .223562 30.698  5.33      33.8 28.48               7FFF  6A70  37.8 00BF .223463 30.958  5.37      33.5 28.74               7FFF  6A70  37.5 00BD .223364 31.215  5.40      33.2 29.00               7FFF  6A70  37.2 00BB .223265 31.470  5.43      33.0 29.25               7FFF  6A70  36.8 00BA .223266 31.723  5.47      32.7 29.51               7FFF  6A70  36.5 00B8 .223167 31.975  5.50      32.5 29.76               7FFF  6A70  36.2 00B7 .223068 32.224  5.53      32.2 30.01               7FFF  6A70  35.9 00B5 .222969 32.471  5.57      32.0 30.25               7FFF  6A70  35.6 00B3 .222970 32.717  5.60      31.7 30.50               7FFF  6A70  35.3 00B2 .222871 32.960  5.63      31.5 30.74               7FFF  6A70  35.0 00B1 .222872 33.202  5.66      31.3 30.99               7FFF  6A70  34.7 00AF .222773 33.442  5.69      31.0 31.23               7FFF  6A70  34.5 00AE .222674 33.681  5.72      30.8 31.46               7FFF  6A70  34.2 00AC .222675 33.917  5.75      30.6 31.70               7FFF  6A70  33.9 00AB .222576 34.152  5.78      30.4 31.94               7FFF  6A70  33.7 00AA .222577 34.386  5.81      30.2 32.17               7FFF  6A70  33.4 00A8 .222478 34.618  5.84      30.0 32.40               7FFF  6A70  33.2 00A7 .222479 34.848  5.87      29.8 32.63               7FFF  6A70  33.0 00A6 .222380 35.077  5.90      29.6 32.86               7FFF  6A70  32.7 00A5 .222381 35.304  5.93      29.4 33.09               7FFF  6A70  32.5 00A4 .222282 35.530  5.96      29.2 33.31               7FFF  6A70  32.3 00A2 .222283 35.755  5.99      29.1 33.54               7FFF  6A70  32.1 00A1 .222184 35.978  6.02      28.9 33.76               7FFF  6A70  31.8 00A0 .222185 36.199  6.05      28.7 33.98               7FFF  6A70  31.6 009F .222086 36.420  6.08      28.5 34.20               7FFF  6A70  31.4 009E .222087 36.639  6.11      28.4 34.42               7FFF  6A70  31.2 009D .222088 36.856  6.14      28.2 34.64               7FFF  6A70  31.0 009C .221989 37.073  6.16      28.0 34.86               7FFF  6A70  30.8 009B .221990 37.288  6.19      27.9 35.07               7FFF  6A70  30.6 009A .221891 37.502  6.22      27.7 35.29               7FFF  6A70  30.4 0099 .221892 37.715  6.25      27.6 35.50               7FFF  6A70  30.3 0098 .221893 37.926  6.28      27.4 35.71               7FFF  6A70  30.1 0097 .221794 38.137  6.30      27.2 35.92               7FFF  6A70  29.9 0096 .221795 38.346  6.33      27.1 36.13               7FFF  6A70  29.7 0095 .221796 38.554  6.36      27.0 36.34               7FFF  6A70  29.5 0095 .221697 38.761  6.38      26.8 36.54               7FFF  6A70  29.4 0094 .221698 38.967  6.41      26.7 36.75               7FFF  6A70  29.2 0093 .221699 39.171  6.44      26.5 36.95               7FFF  6A70  29.0 0092 .2215100   39.375  6.46      26.4 37.16               7FFF  6A70  28.9 0091 .2215101   39.578  6.49      26.3 37.36               7FFF  6A70  28.7 0090 .2215102   39.779  6.52      26.1 37.56               7FFF  6A70  28.6 0090 .2215103   39.980  6.54      26.0 37.76               7FFF  6A70  28.4 008F .2214104   40.180  6.57      25.9 37.96               7FFF  6A70  28.3 008E .2214105   40.378  6.59      25.7 38.16               7FFF  6A70  28.1 008D .2214106   40.576  6.62      25.6 38.36               7FFF  6A70  28.0 008D .2213107   40.773  6.65      25.5 38.56               7FFF  6A70  27.8 008C .2213108   40.968  6.67      25.4 38.75               7FFF  6A70  27.7 008B .2213109   41.163  6.70      25.3 38.95               7FFF  6A70  27.5 008A .2213110   41.357  6.72      25.1 39.14               7FFF  6A70  27.4 008A .2212111   41.550  6.75      25.0 39.33               7FFF  6A70  27.2 0089 .2212112   41.742  6.77      24.9 39.53               7FFF  6A70  27.1 0088 .2212113   41.933  6.80      24.8 39.72               7FFF  6A70  27.0 0088 .2212114   42.124  6.82      24.7 39.91               7FFF  6A70  26.9 0087 .2211115   42.313  6.85      24.6 40.10               7FFF  6A70  26.7 0086 .2211116   42.502  6.87      24.5 40.29               7FFF  6A70  26.6 0086 .2211117   42.690  6.90      24.4 40.47               7FFF  6A70  26.5 0085 .2211118   42.877  6.92      24.2 40.66               7FFF  6A70  26.3 0084 .2211119   43.063  6.94      24.1 40.85               7FFF  6A70  26.2 0084 .2210120   43.248  6.97      24.0 41.03               7FFF  6A70  26.1 0083 .2210121   43.433  6.99      23.9 41.22               7FFF  6A70  26.0 0083 .2210122   43.617  7.02      23.8 41.40               7FFF  6A70  25.9 0082 .2210123   43.800  7.04      23.7 41.58               7FFF  6A70  25.7 0081 .2210124   43.982  7.06      23.6 41.77               7FFF  6A70  25.6 0081 .2209125   44.163  7.09      23.5 41.95               7FFF  6A70  25.5 0080 .2209126   44.344  7.11      23.5 42.13               7FFF  6A70  25.4 0080 .2209127   44.524  7.13      23.4 42.31               7FFF  6A70  25.3 007F .2209128   44.704  7.16      23.3 42.49               7FFF  6A70  25.2 007F .2209129   44.882  7.18      23.2 42.67               7FFF  6A70  25.1 007E .2208130   45.060  7.20      23.1 42.84               7FFF  6A70  25.0 007D .2208131   45.237  7.23      23.0 43.02               7FFF  6A70  24.9 007D .2208132   45.414  7.25      22.9 43.20               7FFF  6A70  24.8 007C .2208133   45.590  7.27      22.8 43.37               7FFF  6A70  24.7 007C .2208134   45.765  7.30      22.7 43.55               7FFF  6A70  24.6 007B .2208135   45.939  7.32      22.6 43.72               7FFF  6A70  24.5 007B .2207136   46.113  7.34      22.6 43.90               7FFF  6A70  24.4 007A .2207137   46.286  7.36      22.5 44.07               7FFF  6A70  24.3 007A .2207138   46.459  7.39      22.4 44.24               7FFF  6A70  24.2 0079 .2207139   46.631  7.41      22.3 44.41               7FFF  6A70  24.1 0079 .2207140   46.802  7.43      22.2 44.59               7FFF  6A70  24.0 0078 .2207141   46.973  7.45      22.1 44.76               7FFF  6A70  23.9 0079 .2206142   47.143  7.48      22.1 44.93               7FFF  6A70  23.8 0077 .2206143   47.312  7.50      22.0 45.10               7FFF  6A70  23.7 0077 .2206144   47.381  7.52      21.9 45.26               7FFF  6A70  23.6 0077 .2206145   47.649  7.54      21.8 45.43               7FFF  6A70  23.5 0076 .2206146   47.817  7.56      21.8 45.60               7FFF  6A70  23.4 0076 .2206147   47.984  7.59      21.7 45.77               7FFF  6A70  23.4 0075 .2206148   48.150  7.61      21.6 45.93               7FFF  6A70  23.3 0075 .2206149   48.316  7.63      21.5 46.10               7FFF  6A70  23.2 0074 .2205150   48.481  7.65      21.5 46.26               7FFF  6A70  23.1 0074 .2205151   48.646  7.67      21.4 46.43               7FFF  6A70  23.0 0073 .2205152   48.810  7.69      21.3 46.59               7FFF  6A70  22.9 0073 .2205153   48.974  7.71      21.2 46.76               7FFF  6A70  22.9 0073 .2205154   48.137  7.74      21.2 46.92               7FFF  6A70  22.8 0072 .2205155   49.299  7.76      21.1 47.08               7FFF  6A70  22.7 0072 .2205156   49.461  7.78      21.0 47.24               7FFF  6A70  22.6 0071 .2204157   49.623  7.80      21.0 47.41               7FFF  6A70  22.5 0071 .2204158   49.784  7.82      20.9 47.57               7FFF  6A70  22.5 0071 .2204159   49.944  7.84      20.8 47.73               7FFF  6A70  22.4 0070 .2204160   50.104  7.86      20.8 47.89               7FFF  6A70  22.3 0070 .2204161   50.264  7.88      20.7 48.05               7FFF  6A70  22.2 0070 .2204162   50.423  7.90      20.6 48.21               7FFF  6A70  22.2 006F .2204163   50.581  7.92      20.6 48.36               7FFF  6A70  22.1 006F .2204164   50.739  7.94      20.5 48.52               7FFF  6A70  22.0 006E .2204165   50.896  7.96      20.4 48.68               7FFF  6A70  21.9 006E .2203166   50.053  7.99      20.4 48.84               7FFF  6A70  21.9 006E .2203167   50.210  8.01      20.3 48.99               7FFF  6A70  21.8 006D .2203168   51.366  8.03      20.3 49.15               7FFF  6A70  21.7 006D .2203169   51.521  8.05      20.2 49.30               7FFF  6A70  21.7 006D .2203170   51.676  8.07      20.1 49.46               7FFF  6A70  21.6 006C .2203171   51.831  8.09      20.1 49.61               7FFF  6A70  21.5 006C .2203172   51.985  8.11      20.0 49.77               7FFF  6A70  21.4 006C .2203173   52.139  8.13      20.0 49.92               7FFF  6A70  21.4 006B .2203174   52.292  8.15      19.9 50.08               7FFF  6A70  21.3 006B .2203175   52.445  8.17      19.8 50.23               7FFF  6A70  21.2 006B .2202176   52.597  8.19      19.8 50.38               7FFF  6A70  21.2 006A .2202177   52.749  8.21      19.7 50.53               7FFF  6A70  21.1 006A .2202178   52.900  8.23      19.7 50.68               7FFF  6A70  21.1 006A .2202179   53.051  8.25      19.6 50.83               7FFF  6A70  21.0 0069 .2202180   53.202  8.27      19.6 50.99               7FFF  6A70  20.9 0069 .2202181   53.352  8.28      19.5 51.14               7FFF  6A70  20.9 0069 .2202182   53.502  8.30      19.4 51.29               7FFF  6A70  20.8 0068 .2202183   53.651  8.32      19.4 51.43               7FFF  6A70  20.7 0068 .2202184   53.800  8.34      19.3 51.58               7FFF  6A70  20.7 0068 .2202185   53.949  8.36      19.3 51.73               7FFF  6A70  20.6 0067 .2202186   54.097  8.38      19.2 51.88               7FFF  6A70  20.6 0067 .2201187   54.244  8.40      19.2 52.03               7FFF  6A70  20.5 0067 .2201188   54.392  8.42      19.1 52.17               7FFF  6A70  20.4 0066 .2201189   54.539  8.44      19.1 52.32               7FFF  6A70  20.4 0066 .2201190   54.685  8.46      19.0 52.47               7FFF  6A70  20.3 0066 .2201191   54.831  8.48      19.0 52.61               7FFF  6A70  20.3 0066 .2201192   54.977  8.50      18.9 52.76               7FFF  6A70  20.2 0065 .2201193   54.122  8.52      18.9 52.91               7FFF  6A70  20.2 0065 .2201194   54.267  8.53      18.8 53.05               7FFF  6A70  20.1 0065 .2201195   54.412  8.55      18.8 53.19               7FFF  6A70  20.0 0064 .2201196   54.556  8.57      18.7 53.34               7FFF  6A70  20.0 0064 .2201197   55.700  8.59      18.7 53.48               7FFF  6A70  19.9 0064 .2201198   55.843  8.61      18.6 53.63               7FFF  6A70  19.9 0064 .2201199   55.986  8.63      18.6 53.77               7FFF  6A70  19.8 0063 .2200200   56.129  8.65      18.5 53.91               7FFF  6A70  19.8 0063 .2200201   56.271  8.66      18.5 54.05               7FFF  6A70  19.7 0063 .2200202   56.413  8.68      18.4 54.20               7FFF  6A70  19.7 0063 .2200203   56.555  8.70      18.4 54.34               7FFF  6A70  19.6 0062 .2200204   56.696  8.72      18.4 54.48               7FFF  6A70  19.6 0062 .2200205   56.837  8.74      18.3 54.62               7FFF  6A70  19.5 0062 .2200206   56.978  8.76      18.3 54.73               7FFF  6A70  19.5 0062 .2200207   57.118  8.78      18.2 54.90               7FFF  6A70  19.4 0061 .2200208   57.258  8.79      18.2 55.04               7FFF  6A70  19.4 0061 .2200209   57.397  8.81      18.1 55.18               7FFF  6A70  19.3 0061 .2200210   57.537  8.83      18.1 55.32               7FFF  6A70  19.3 0061 .2200211   57.676  8.85      18.0 55.46               7FFF  6A70  19.2 0060 .2200212   57.814  8.87      18.0 55.60               7FFF  6A70  19.2 0060 .2200213   57.952  8.88      18.0 55.74               7FFF  6A70  19.1 0060 .2200214   58.090  8.90      17.9 55.87               7FFF  6A70  19.1 0060 .2199215   58.228  8.92      17.9 56.01               7FFF  6A70  19.0 005F .2199216   58.365  8.94      17.8 56.15               7FFF  6A70  19.0 005F .2199217   58.502  8.96      17.8 56.29               7FFF  6A70  18.9 005F .2199218   58.639  8.97      17.7 56.42               7FFF  6A70  18.9 005F .2199219   58.775  8.99      17.7 56.56               7FFF  6A70  18.8 005E .2199220   58.911  9.01      17.7 56.69               7FFF  6A70  18.8 005E .2199221   59.046  9.03      17.6 56.83               7FFF  6A70  18.7 005E .2199222   59.182  9.04      17.6 56.96               7FFF  6A70  18.7 005E .2199223   59.317  9.06      17.5 57.10               7FFF  6A70  18.6 005D .2199224   59.451  9.08      17.5 57.23               7FFF  6A70  18.6 005D .2199225   59.586  9.10      17.5 57.37               7FFF  6A70  18.6 005D .2199226   59.720  9.11      17.4 57.50               7FFF  6A70  18.5 005D .2199227   59.854  9.13      17.4 57.64               7FFF  6A70  18.5 005D .2199228   59.987  9.15      17.4 57.77               7FFF  6A70  18.4 005C .2199229   60.121  9.17      17.3 57.90               7FFF  6A70  18.4 005C .2199230   60.253  9.18      17.3 58.04               7FFF  6A70  18.3 005C .2199231   60.386  9.20      17.2 58.17               7FFF  6A70  18.3 005C .2198232   60.518  9.22      17.2 58.30               7FFF  6A70  18.3 005B .2198233   60.651  9.24      17.2 58.43               7FFF  6A70  18.2 005B .2198234   60.782  9.25      17.1 58.57               7FFF  6A70  18.2 005B .2198235   60.914  9.27      17.1 58.70               7FFF  6A70  18.1 005B .2198236   61.045  9.29      17.1 58.83               7FFF  6A70  18.1 005B .2198237   61.176  9.30      17.0 58.96               7FFF  6A70  18.0 0058 .2198238   61.307  9.32      17.0 59.09               7FFF  6A70  18.0 005A .2198239   61.437  9.34      16.9 59.22               7FFF  6A70  18.0 005A .2198240   61.567  9.35      16.9 59.35               7FFF  6A70  17.9 005A .2198241   61.697  9.37      16.9 59.48               7FFF  6A70  17.9 005A .2198242   61.826  9.39      16.8 59.61               7FFF  6A70  17.8 0059 .2198243   61.956  9.41      16.8 59.74               7FFF  6A70  17.8 0059 .2198244   62.085  9.42      16.8 59.87               7FFF  6A70  17.8 0059 .2198245   62.213  9.44      16.7 60.00               7FFF  6A70  17.7 0059 .2198246   62.342  9.46      16.7 60.13               7FFF  6A70  17.7 0059 .2198247   62.470  9.47      16.7 60.25               7FFF  6A70  17.7 0059 .2198248   62.598  9.49      16.6 60.38               7FFF  6A70  17.6 0058 .2198249   62.726  9.51      16.6 60.51               7FFF  6A70  17.6 0058 .2198250   62.853  9.52      16.6 60.64               7FFF  6A70  17.5 0058 .2197251   62.980  9.54      16.5 60.76               7FFF  6A70  17.5 0058 .2197252   63.107  9.56      16.5 60.89               7FFF  6A70  17.5 0058 .2197253   63.234  9.57      16.5 61.02               7FFF  6A70  17.4 0057 .2197254   63.360  9.59      16.4 61.14               7FFF  6A70  17.4 0057 .2197255   63.486  9.60      16.4 61.27               7FFF  6A70  17.4 0057 .2197__________________________________________________________________________