[18:02:31.993] init depth filter
[18:02:38.331] init depth filter
[18:02:41.647] DepthFilter: RESET.
[18:02:56.319] add key frame
[18:02:56.319] init seeds
[18:02:56.319] update seed
[18:02:56.319] init seeds
[18:02:56.322] DepthFilter: Initialized 109 new seeds
[18:02:56.322] add key frame
[18:02:56.322] update seed
[18:02:56.322] init seeds
[18:02:56.327] DepthFilter: Initialized 114 new seeds
[18:02:56.331] DepthFilter: Initialized 112 new seeds
[18:03:05.736] add new frame
[18:03:05.736] add key frame
[18:03:05.736] update seed
[18:03:05.737] init seeds
[18:03:05.739] DepthFilter: Initialized 26 new seeds
[18:03:05.901] add new frame
[18:03:05.901] add key frame
[18:03:05.902] update seed
[18:03:05.902] init seeds
[18:03:05.904] DepthFilter: Initialized 17 new seeds
[18:03:06.054] add new frame
[18:03:06.054] add key frame
[18:03:06.054] update seed
[18:03:06.054] init seeds
[18:03:06.054] update seed
[18:03:06.054] init seeds
[18:03:06.056] DepthFilter: Initialized 20 new seeds
[18:03:06.059] DepthFilter: Initialized 110 new seeds
[18:03:06.234] add new frame
[18:03:06.234] add key frame
[18:03:06.234] update seed
[18:03:06.234] init seeds
[18:03:06.237] DepthFilter: Initialized 24 new seeds
[18:03:06.406] add new frame
[18:03:06.406] add key frame
[18:03:06.406] update seed
[18:03:06.406] init seeds
[18:03:06.408] DepthFilter: Initialized 21 new seeds
[18:03:06.576] add new frame
[18:03:06.576] add key frame
[18:03:06.576] update seed
[18:03:06.576] init seeds
[18:03:06.579] DepthFilter: Initialized 42 new seeds
[18:03:06.758] add new frame
[18:03:06.758] add key frame
[18:03:06.758] update seed
[18:03:06.758] init seeds
[18:03:06.761] DepthFilter: Initialized 24 new seeds
[18:03:06.939] add new frame
[18:03:06.939] add key frame
[18:03:06.939] update seed
[18:03:06.939] init seeds
[18:03:06.941] DepthFilter: Initialized 20 new seeds
[18:03:07.125] add new frame
[18:03:07.125] add key frame
[18:03:07.125] update seed
[18:03:07.125] init seeds
[18:03:07.128] DepthFilter: Initialized 38 new seeds
[18:03:07.340] add new frame
[18:03:07.340] add key frame
[18:03:07.340] update seed
[18:03:07.340] init seeds
[18:03:07.342] DepthFilter: Initialized 24 new seeds
[18:03:07.555] add new frame
[18:03:07.555] add key frame
[18:03:07.555] update seed
[18:03:07.555] init seeds
[18:03:07.558] DepthFilter: Initialized 20 new seeds
[18:03:07.766] add new frame
[18:03:07.766] add key frame
[18:03:07.766] update seed
[18:03:07.766] init seeds
[18:03:07.769] DepthFilter: Initialized 12 new seeds
[18:03:07.992] add new frame
[18:03:07.992] update seed
[18:03:07.992]  If point is visible? -1.324802, -1.191725, -2.110570 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.992]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.992]  If point is visible? -1.289437, -1.178512, -2.157383 mu:0.439455 unit_bearing:0.561608 -0.439274 0.701167 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.992]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.992]  If point is visible? -1.290358, -1.170300, -2.163383 mu:0.439455 unit_bearing:0.561903 -0.435371 0.703361 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.992]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.992]  If point is visible? -1.289899, -1.174409, -2.160389 mu:0.439455 unit_bearing:0.561756 -0.437323 0.702267 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.992]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.992]  If point is visible? -0.952457, -1.142569, -2.444504 mu:0.439455 unit_bearing:0.407511 -0.408219 0.816879 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.992]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.992]  If point is visible? -0.958451, -1.141930, -2.441293 mu:0.439455 unit_bearing:0.410214 -0.408113 0.815579 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.992]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.992]  If point is visible? -0.900405, -1.113160, -2.494201 mu:0.439455 unit_bearing:0.383655 -0.392730 0.835806 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.992]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.906468, -1.112576, -2.491178 mu:0.439455 unit_bearing:0.386384 -0.392637 0.834592 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.721424, -1.007659, -2.643053 mu:0.439455 unit_bearing:0.302121 -0.338741 0.891054 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.727492, -1.011765, -2.638291 mu:0.439455 unit_bearing:0.304878 -0.340787 0.889333 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.666294, -0.974855, -2.682219 mu:0.439455 unit_bearing:0.277155 -0.322335 0.905144 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.789015, -0.866084, -2.683566 mu:0.439455 unit_bearing:0.331280 -0.274819 0.902623 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.789169, -0.861461, -2.685573 mu:0.439455 unit_bearing:0.331316 -0.272695 0.903254 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? 0.986123, -0.774609, -2.693533 mu:0.439455 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.260370, -0.781370, -2.873259 mu:0.439455 unit_bearing:0.095327 -0.227709 0.969052 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.266886, -0.781229, -2.872290 mu:0.439455 unit_bearing:0.098209 -0.227700 0.968766 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.273400, -0.781084, -2.871303 mu:0.439455 unit_bearing:0.101090 -0.227690 0.968472 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.273549, -0.771607, -2.874763 mu:0.439455 unit_bearing:0.101105 -0.223370 0.969476 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.565741, -0.690864, -2.835031 mu:0.439455 unit_bearing:0.230437 -0.190280 0.954302 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.565987, -0.676577, -2.839662 mu:0.439455 unit_bearing:0.230481 -0.183800 0.955560 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.476225, -0.660998, -2.869859 mu:0.439455 unit_bearing:0.190465 -0.175388 0.965900 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.482606, -0.665548, -2.866772 mu:0.439455 unit_bearing:0.193321 -0.177538 0.964939 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.801841, -0.607324, -2.774815 mu:0.439455 unit_bearing:0.335605 -0.157067 0.928816 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.797254, -0.492684, -2.807833 mu:0.439455 unit_bearing:0.333177 -0.105295 0.936966 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.791124, -0.478576, -2.813752 mu:0.439455 unit_bearing:0.330395 -0.098824 0.938655 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.822701, -0.462329, -2.804006 mu:0.439455 unit_bearing:0.344511 -0.092259 0.934238 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.810545, -0.419534, -2.818452 mu:0.439455 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.348762, -0.422968, -2.958184 mu:0.439455 unit_bearing:0.133226 -0.066834 0.988830 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.276945, -0.429422, -2.969325 mu:0.439455 unit_bearing:0.101444 -0.069052 0.992442 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.283481, -0.429292, -2.968322 mu:0.439455 unit_bearing:0.104335 -0.069049 0.992142 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.276967, -0.424534, -2.970267 mu:0.439455 unit_bearing:0.101446 -0.066870 0.992591 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.283503, -0.424404, -2.969264 mu:0.439455 unit_bearing:0.104337 -0.066867 0.992292 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.741183, -0.418341, -2.846920 mu:0.439455 unit_bearing:0.307911 -0.070774 0.948779 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.747513, -0.418022, -2.844520 mu:0.439455 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.747548, -0.413169, -2.845474 mu:0.439455 unit_bearing:0.310750 -0.068596 0.948013 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.993]  If point is visible? -0.316387, -0.360042, -2.975222 mu:0.439455 unit_bearing:0.118812 -0.038474 0.992171 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.993]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -1.194421, 0.009077, -2.655137 mu:0.439455 unit_bearing:0.512191 0.105385 0.852382 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 0.839727, 0.134828, -2.897422 mu:0.439455 unit_bearing:-0.385568 0.173211 0.906275 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -1.563855, 0.274217, -2.324285 mu:0.439455 unit_bearing:0.682302 0.203315 0.702230 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -1.569221, 0.269881, -2.319424 mu:0.439455 unit_bearing:0.684752 0.201163 0.700463 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.505665, 0.541097, -2.896083 mu:0.439455 unit_bearing:0.206047 0.350345 0.913675 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  calculated Z=  0.736064
[18:03:07.994]  update seeds 305
[18:03:07.994]  If point is visible? -0.511887, 0.546214, -2.893099 mu:0.439455 unit_bearing:0.208857 0.352418 0.912239 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.866674, 0.604656, -2.746394 mu:0.439455 unit_bearing:0.367945 0.370052 0.853040 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.872788, 0.604832, -2.743452 mu:0.439455 unit_bearing:0.370694 0.369971 0.851885 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 0.091398, 0.594441, -2.957705 mu:0.439455 unit_bearing:-0.057211 0.376913 0.924480 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 0.098085, 0.604422, -2.954895 mu:0.439455 unit_bearing:-0.060058 0.381116 0.922574 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -1.325787, -1.183608, -2.116685 mu:0.439455 unit_bearing:0.578441 -0.443677 0.684513 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.900139, -1.117544, -2.491526 mu:0.439455 unit_bearing:0.383585 -0.394785 0.834869 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -1.324802, -1.191725, -2.110570 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.859167, -0.970338, -2.599400 mu:0.439455 unit_bearing:0.363634 -0.324800 0.873084 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.871469, -0.969328, -2.593684 mu:0.439455 unit_bearing:0.369161 -0.324666 0.870811 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 1.172717, -0.831028, -2.568272 mu:0.439455 unit_bearing:-0.527101 -0.265703 0.807196 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 1.159548, -0.877364, -2.554324 mu:0.439455 unit_bearing:-0.521140 -0.286661 0.803889 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.836390, -0.926810, -2.632895 mu:0.439455 unit_bearing:0.353020 -0.304020 0.884844 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.859566, -0.961276, -2.603955 mu:0.439455 unit_bearing:0.363734 -0.320604 0.874592 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 0.870265, -0.938929, -2.672186 mu:0.439455 unit_bearing:-0.396924 -0.307202 0.864915 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 1.036172, -0.816552, -2.651350 mu:0.439455 unit_bearing:-0.468954 -0.254940 0.845629 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 0.986123, -0.774609, -2.693533 mu:0.439455 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 0.935969, -0.666361, -2.756087 mu:0.439455 unit_bearing:-0.426867 -0.183820 0.885435 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  calculated Z=  0.758612
[18:03:07.994]  update seeds 305
[18:03:07.994]  If point is visible? -0.565573, -0.700376, -2.831889 mu:0.439455 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.553079, -0.681884, -2.841818 mu:0.439455 unit_bearing:0.224754 -0.185999 0.956499 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? -0.565906, -0.681342, -2.838129 mu:0.439455 unit_bearing:0.230467 -0.185961 0.955146 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.994]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.994]  If point is visible? 1.250401, -0.547723, -2.626225 mu:0.439455 unit_bearing:-0.561705 -0.139028 0.815573 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.810545, -0.419534, -2.818452 mu:0.439455 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.296399, -0.458316, -2.960382 mu:0.439455 unit_bearing:0.110100 -0.082134 0.990521 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.948367, -0.275535, -2.778984 mu:0.439455 unit_bearing:0.400717 -0.012124 0.916122 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.296852, -0.212554, -2.997481 mu:0.439455 unit_bearing:0.110147 0.027049 0.993547 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? 1.274502, 0.114513, -2.686713 mu:0.439455 unit_bearing:-0.571826 0.153065 0.805969 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? 1.200840, 0.110547, -2.731214 mu:0.439455 unit_bearing:-0.540482 0.153719 0.827194 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? 1.188467, 0.109911, -2.738319 mu:0.439455 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? 1.200744, 0.120295, -2.730697 mu:0.439455 unit_bearing:-0.540403 0.157943 0.826450 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.437469, 0.129149, -2.976447 mu:0.439455 unit_bearing:0.173245 0.174966 0.969213 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -1.569466, 0.265131, -2.319982 mu:0.439455 unit_bearing:0.684834 0.199121 0.700966 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -1.764801, 0.366433, -2.060529 mu:0.439455 unit_bearing:0.776527 0.229412 0.586836 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -1.562221, 0.388466, -2.301605 mu:0.439455 unit_bearing:0.682389 0.251933 0.686203 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? 0.311399, 0.354386, -2.995775 mu:0.439455 unit_bearing:-0.155250 0.274245 0.949045 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -1.793884, 0.433476, -1.997004 mu:0.439455 unit_bearing:0.790864 0.255252 0.556219 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -1.064837, 0.507946, -2.668877 mu:0.439455 unit_bearing:0.456358 0.323717 0.828821 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -1.491796, 0.507993, -2.339248 mu:0.439455 unit_bearing:0.650976 0.306084 0.694653 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.505973, 0.531120, -2.898504 mu:0.439455 unit_bearing:0.206102 0.346123 0.915271 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.866435, 0.609579, -2.745000 mu:0.439455 unit_bearing:0.367885 0.372125 0.852164 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.313013, 0.537746, -2.939485 mu:0.439455 unit_bearing:0.120531 0.351208 0.928507 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.506277, 0.521139, -2.900879 mu:0.439455 unit_bearing:0.206156 0.341897 0.916846 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.064891, 0.605173, -2.950932 mu:0.439455 unit_bearing:0.011561 0.381231 0.924407 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -1.149250, 0.667029, -2.565102 mu:0.439455 unit_bearing:0.496110 0.387548 0.776969 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -1.160757, 0.667390, -2.557155 mu:0.439455 unit_bearing:0.501336 0.387280 0.773742 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? -0.866910, 0.599732, -2.747776 mu:0.439455 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? 0.248849, 0.654232, -2.933187 mu:0.439455 unit_bearing:-0.125618 0.401680 0.907124 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.995]  If point is visible? 0.235811, 0.654220, -2.934242 mu:0.439455 unit_bearing:-0.119919 0.401731 0.907872 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.995]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? 0.276971, 0.822763, -2.872499 mu:0.439455 unit_bearing:-0.136177 0.471939 0.871051 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? 1.010555, -0.855231, -2.647200 mu:0.439455 unit_bearing:-0.457724 -0.272033 0.846455 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? 1.010767, -0.836966, -2.655271 mu:0.439455 unit_bearing:-0.457945 -0.263634 0.848990 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -0.293867, -0.718863, -2.889934 mu:0.439455 unit_bearing:0.109832 -0.199552 0.973712 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -0.296223, -0.487545, -2.954116 mu:0.439455 unit_bearing:0.110082 -0.095219 0.989351 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -0.270313, -0.449087, -2.966435 mu:0.439455 unit_bearing:0.098543 -0.077785 0.992088 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -0.323023, -0.291047, -2.984190 mu:0.439455 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -1.561587, 0.397935, -2.299857 mu:0.439455 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -1.570419, 0.246131, -2.322095 mu:0.439455 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -1.802319, 0.434134, -1.983972 mu:0.439455 unit_bearing:0.794854 0.254841 0.550694 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  calculated Z=  0.888481
[18:03:07.996]  update seeds 305
[18:03:07.996]  If point is visible? -1.719075, 0.371891, -2.121229 mu:0.439455 unit_bearing:0.755142 0.235043 0.611977 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? 0.288064, 0.664248, -2.926501 mu:0.439455 unit_bearing:-0.142656 0.405690 0.902809 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -1.300608, 0.440316, -2.525849 mu:0.439455 unit_bearing:0.562791 0.286559 0.775339 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? 0.314320, 0.684192, -2.917433 mu:0.439455 unit_bearing:-0.153927 0.413904 0.897212 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -0.866910, 0.599732, -2.747776 mu:0.439455 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -1.053477, 0.703005, -2.612847 mu:0.439455 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? 0.418740, 0.743958, -2.882861 mu:0.439455 unit_bearing:-0.198838 0.438121 0.876649 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -0.796423, 0.518509, -2.801795 mu:0.439455 unit_bearing:0.335666 0.335443 0.880231 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  calculated Z=  0.744212
[18:03:07.996]  update seeds 305
[18:03:07.996]  If point is visible? -0.821192, 0.519257, -2.790943 mu:0.439455 unit_bearing:0.346777 0.335188 0.876010 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? 0.289440, 0.783280, -2.886196 mu:0.439455 unit_bearing:-0.142056 0.455451 0.878854 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:07.996]  If point is visible? -1.775918, -1.577963, -2.547866 mu:0.331889 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.996]  If point is visible? -1.729702, -1.555034, -2.613831 mu:0.331889 unit_bearing:0.561756 -0.437323 0.702267 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.996]  If point is visible? -1.221647, -1.478964, -3.048286 mu:0.331889 unit_bearing:0.386313 -0.394692 0.833655 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.996]  If point is visible? -1.213973, -1.473935, -3.055832 mu:0.331889 unit_bearing:0.383655 -0.392730 0.835806 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.996]  If point is visible? -1.222002, -1.473162, -3.051828 mu:0.331889 unit_bearing:0.386384 -0.392637 0.834592 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.996]  If point is visible? -1.214323, -1.468125, -3.059358 mu:0.331889 unit_bearing:0.383724 -0.390674 0.836738 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.996]  If point is visible? -1.072965, -1.392683, -3.177743 mu:0.331889 unit_bearing:0.335062 -0.361034 0.870281 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.996]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.237591, -1.337447, -3.125094 mu:0.331889 unit_bearing:0.390614 -0.344968 0.853474 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.245647, -1.336708, -3.121049 mu:0.331889 unit_bearing:0.393353 -0.344888 0.852248 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.245951, -1.330780, -3.124228 mu:0.331889 unit_bearing:0.393413 -0.342806 0.853059 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.976985, -1.334241, -3.252926 mu:0.331889 unit_bearing:0.302121 -0.338741 0.891054 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.985020, -1.339677, -3.246621 mu:0.331889 unit_bearing:0.304878 -0.340787 0.889333 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.903988, -1.290806, -3.304786 mu:0.331889 unit_bearing:0.277155 -0.322335 0.905144 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.066482, -1.146782, -3.306569 mu:0.331889 unit_bearing:0.331280 -0.274819 0.902623 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.066686, -1.140661, -3.309227 mu:0.331889 unit_bearing:0.331316 -0.272695 0.903254 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? 1.283978, -1.025660, -3.319766 mu:0.331889 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.366503, -1.034612, -3.557741 mu:0.331889 unit_bearing:0.095327 -0.227709 0.969052 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.375131, -1.034425, -3.556459 mu:0.331889 unit_bearing:0.098209 -0.227700 0.968766 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.383756, -1.034234, -3.555152 mu:0.331889 unit_bearing:0.101090 -0.227690 0.968472 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.383954, -1.021684, -3.559733 mu:0.331889 unit_bearing:0.101105 -0.223370 0.969476 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.771171, -0.895856, -3.513256 mu:0.331889 unit_bearing:0.230481 -0.183800 0.955560 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.652316, -0.875228, -3.553241 mu:0.331889 unit_bearing:0.190465 -0.175388 0.965900 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.660766, -0.881252, -3.549153 mu:0.331889 unit_bearing:0.193321 -0.177538 0.964939 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.083465, -0.804158, -3.427392 mu:0.331889 unit_bearing:0.335605 -0.157067 0.928816 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.077391, -0.652363, -3.471111 mu:0.331889 unit_bearing:0.333177 -0.105295 0.936966 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.069205, -0.640067, -3.477481 mu:0.331889 unit_bearing:0.330383 -0.100987 0.938429 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.069275, -0.633682, -3.478948 mu:0.331889 unit_bearing:0.330395 -0.098824 0.938655 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.111085, -0.612170, -3.466044 mu:0.331889 unit_bearing:0.344511 -0.092259 0.934238 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.095041, -0.549091, -3.486450 mu:0.331889 unit_bearing:0.338983 -0.070655 0.938136 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.094990, -0.555505, -3.485172 mu:0.331889 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.388450, -0.568598, -3.684943 mu:0.331889 unit_bearing:0.101444 -0.069052 0.992442 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.397105, -0.568426, -3.683615 mu:0.331889 unit_bearing:0.104335 -0.069049 0.992142 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.388479, -0.562125, -3.686190 mu:0.331889 unit_bearing:0.101446 -0.066870 0.992591 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.397134, -0.561954, -3.684862 mu:0.331889 unit_bearing:0.104337 -0.066867 0.992292 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.440675, -0.476732, -3.692752 mu:0.331889 unit_bearing:0.118812 -0.038474 0.992171 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -1.185809, -0.077882, -3.500400 mu:0.331889 unit_bearing:0.369797 0.085133 0.925204 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  calculated Z=  0.829881
[18:03:07.997]  update seeds 305
[18:03:07.997]  If point is visible? 1.090135, 0.178525, -3.589736 mu:0.331889 unit_bearing:-0.385568 0.173211 0.906275 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -2.099552, 0.357349, -2.824409 mu:0.331889 unit_bearing:0.684752 0.201163 0.700463 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.997]  If point is visible? -0.606431, 0.721440, -3.608122 mu:0.331889 unit_bearing:0.177592 0.352799 0.918691 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.997]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.691093, 0.723071, -3.586336 mu:0.331889 unit_bearing:0.206019 0.352455 0.912870 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.699537, 0.723242, -3.584012 mu:0.331889 unit_bearing:0.208857 0.352418 0.912239 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 0.108022, 0.793697, -3.667654 mu:0.331889 unit_bearing:-0.060066 0.379010 0.923441 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 0.108127, 0.800315, -3.665837 mu:0.331889 unit_bearing:-0.060058 0.381116 0.922574 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.177722, 0.794339, -3.387696 mu:0.331889 unit_bearing:0.370755 0.367898 0.852755 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.185812, 0.794575, -3.383775 mu:0.331889 unit_bearing:0.373502 0.367817 0.851591 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.169310, 0.800625, -3.389760 mu:0.331889 unit_bearing:0.367945 0.370052 0.853040 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.177406, 0.800858, -3.385865 mu:0.331889 unit_bearing:0.370694 0.369971 0.851885 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 0.099272, 0.787099, -3.669557 mu:0.331889 unit_bearing:-0.057211 0.376913 0.924480 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.775918, -1.577963, -2.547866 mu:0.331889 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.213621, -1.479739, -3.052290 mu:0.331889 unit_bearing:0.383585 -0.394785 0.834869 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.159899, -1.272825, -3.201156 mu:0.331889 unit_bearing:0.363734 -0.320604 0.874592 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.237591, -1.337447, -3.125094 mu:0.331889 unit_bearing:0.390614 -0.344968 0.853474 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.130570, -1.243235, -3.291501 mu:0.331889 unit_bearing:-0.396924 -0.307202 0.864915 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.513609, -1.161718, -3.135440 mu:0.331889 unit_bearing:-0.521140 -0.286661 0.803889 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.350247, -1.081196, -3.263912 mu:0.331889 unit_bearing:-0.468954 -0.254940 0.845629 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.283978, -1.025660, -3.319766 mu:0.331889 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.770622, -0.927368, -3.502965 mu:0.331889 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.754289, -0.890258, -3.520154 mu:0.331889 unit_bearing:0.224783 -0.181678 0.957322 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.770846, -0.914773, -3.507125 mu:0.331889 unit_bearing:0.230437 -0.190280 0.954302 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.217568, -0.882328, -3.402595 mu:0.331889 unit_bearing:-0.426867 -0.183820 0.885435 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  calculated Z=  0.760188
[18:03:07.998]  update seeds 305
[18:03:07.998]  If point is visible? -0.754079, -0.902882, -3.516111 mu:0.331889 unit_bearing:0.224754 -0.185999 0.956499 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.771064, -0.902164, -3.511227 mu:0.331889 unit_bearing:0.230467 -0.185961 0.955146 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.633907, -0.725240, -3.230644 mu:0.331889 unit_bearing:-0.561705 -0.139028 0.815573 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.994279, -0.612088, -3.513996 mu:0.331889 unit_bearing:0.305000 -0.090293 0.948062 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.011043, -0.611231, -3.507665 mu:0.331889 unit_bearing:0.310663 -0.090267 0.946224 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.414209, -0.606856, -3.673101 mu:0.331889 unit_bearing:0.110100 -0.082134 0.990521 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -1.094990, -0.555505, -3.485172 mu:0.331889 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? -0.414809, -0.281442, -3.722224 mu:0.331889 unit_bearing:0.110147 0.027049 0.993547 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.746182, 0.143451, -3.259024 mu:0.331889 unit_bearing:-0.597624 0.148281 0.787946 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.665966, 0.138776, -3.311377 mu:0.331889 unit_bearing:-0.571911 0.148858 0.806696 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.665820, 0.151626, -3.310736 mu:0.331889 unit_bearing:-0.571826 0.153065 0.805969 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.998]  If point is visible? 1.568284, 0.146376, -3.369660 mu:0.331889 unit_bearing:-0.540482 0.153719 0.827194 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.998]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? 1.551901, 0.145533, -3.379068 mu:0.331889 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? 1.568158, 0.159283, -3.368976 mu:0.331889 unit_bearing:-0.540403 0.157943 0.826450 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.601000, 0.171006, -3.694373 mu:0.331889 unit_bearing:0.173245 0.174966 0.969213 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -2.100515, 0.338482, -2.826579 mu:0.331889 unit_bearing:0.684997 0.195036 0.701955 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -2.099877, 0.351060, -2.825148 mu:0.331889 unit_bearing:0.684834 0.199121 0.700966 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -2.358520, 0.485194, -2.481606 mu:0.331889 unit_bearing:0.776527 0.229412 0.586836 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? 0.390576, 0.469242, -3.719965 mu:0.331889 unit_bearing:-0.155250 0.274245 0.949045 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -2.397029, 0.573966, -2.397493 mu:0.331889 unit_bearing:0.790864 0.255252 0.556219 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -2.089445, 0.526906, -2.798500 mu:0.331889 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -2.090284, 0.514367, -2.800815 mu:0.331889 unit_bearing:0.682389 0.251933 0.686203 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.691707, 0.703255, -3.591169 mu:0.331889 unit_bearing:0.206102 0.346123 0.915271 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -1.997034, 0.672633, -2.850658 mu:0.331889 unit_bearing:0.650976 0.306084 0.694653 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -1.431698, 0.672572, -3.287119 mu:0.331889 unit_bearing:0.456358 0.323717 0.828821 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -1.542573, 0.896001, -3.145549 mu:0.331889 unit_bearing:0.495908 0.391592 0.775068 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.692109, 0.690040, -3.594313 mu:0.331889 unit_bearing:0.206156 0.341897 0.916846 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  calculated Z=  0.876770
[18:03:07.999]  update seeds 305
[18:03:07.999]  If point is visible? -1.543469, 0.883213, -3.149712 mu:0.331889 unit_bearing:0.496110 0.387548 0.776969 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -1.558706, 0.883691, -3.139188 mu:0.331889 unit_bearing:0.501336 0.387280 0.773742 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.436208, 0.712029, -3.645431 mu:0.331889 unit_bearing:0.120531 0.351208 0.928507 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -1.169623, 0.794105, -3.391590 mu:0.331889 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? 0.307753, 0.866269, -3.637093 mu:0.331889 unit_bearing:-0.125618 0.401680 0.907124 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? 0.290490, 0.866253, -3.638490 mu:0.331889 unit_bearing:-0.119919 0.401731 0.907872 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.107670, 0.801309, -3.660589 mu:0.331889 unit_bearing:0.011561 0.381231 0.924407 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? 0.344990, 1.089420, -3.556736 mu:0.331889 unit_bearing:-0.136177 0.471939 0.871051 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? 1.316609, -1.108226, -3.269104 mu:0.331889 unit_bearing:-0.457945 -0.263634 0.848990 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.993893, -0.650476, -3.505328 mu:0.331889 unit_bearing:0.304937 -0.103289 0.946755 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? 1.316328, -1.132412, -3.258417 mu:0.331889 unit_bearing:-0.457724 -0.272033 0.846455 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.410856, -0.951846, -3.579822 mu:0.331889 unit_bearing:0.109832 -0.199552 0.973712 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.379529, -0.620470, -3.675757 mu:0.331889 unit_bearing:0.098533 -0.086511 0.991366 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.379668, -0.594636, -3.681116 mu:0.331889 unit_bearing:0.098543 -0.077785 0.992088 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:07.999]  If point is visible? -0.449462, -0.385375, -3.704626 mu:0.331889 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:07.999]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -2.297974, 0.492420, -2.561979 mu:0.331889 unit_bearing:0.755142 0.235043 0.611977 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -2.408197, 0.574837, -2.380238 mu:0.331889 unit_bearing:0.794854 0.254841 0.550694 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -2.091108, 0.501825, -2.803066 mu:0.331889 unit_bearing:0.682600 0.247892 0.687464 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -2.101140, 0.325902, -2.827946 mu:0.331889 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.076291, 0.686558, -3.463116 mu:0.331889 unit_bearing:0.335666 0.335443 0.880231 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.109088, 0.687548, -3.448747 mu:0.331889 unit_bearing:0.346777 0.335188 0.876010 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -2.089445, 0.526906, -2.798500 mu:0.331889 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? 0.359678, 0.879530, -3.628240 mu:0.331889 unit_bearing:-0.142656 0.405690 0.902809 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.416657, 0.930849, -3.212931 mu:0.331889 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.743883, 0.583023, -3.097736 mu:0.331889 unit_bearing:0.562791 0.286559 0.775339 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? 0.532706, 0.985075, -3.570456 mu:0.331889 unit_bearing:-0.198838 0.438121 0.876649 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? 0.361499, 1.037141, -3.574872 mu:0.331889 unit_bearing:-0.142056 0.455451 0.878854 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.097990, -1.772185, -3.588101 mu:0.331889 unit_bearing:0.387379 -0.497267 0.776314 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.223622, -1.670926, -3.597335 mu:0.331889 unit_bearing:0.429075 -0.463537 0.775260 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.215921, -1.666307, -3.605528 mu:0.331889 unit_bearing:0.426518 -0.461685 0.777772 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.223935, -1.665391, -3.601441 mu:0.331889 unit_bearing:0.429178 -0.461548 0.776389 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.129950, -1.619896, -3.688802 mu:0.331889 unit_bearing:0.397986 -0.443028 0.803327 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.138075, -1.619079, -3.685024 mu:0.331889 unit_bearing:0.400682 -0.442911 0.802049 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.186673, -1.614039, -3.661780 mu:0.331889 unit_bearing:0.416812 -0.442192 0.794188 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -0.825664, -1.616984, -3.828776 mu:0.331889 unit_bearing:0.296996 -0.436407 0.849319 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -0.817473, -1.611805, -3.835347 mu:0.331889 unit_bearing:0.294278 -0.434435 0.851274 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -0.994152, -1.541176, -3.809680 mu:0.331889 unit_bearing:0.352916 -0.412207 0.839962 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.002222, -1.546271, -3.802689 mu:0.331889 unit_bearing:0.355594 -0.414168 0.837865 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.000]  If point is visible? -1.046154, -1.467457, -3.832550 mu:0.331889 unit_bearing:0.370175 -0.386998 0.844514 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.000]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.200076, -1.192782, -4.202826 mu:0.331889 unit_bearing:0.089370 -0.281539 0.955379 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.191359, -1.205269, -4.198224 mu:0.331889 unit_bearing:0.086477 -0.285839 0.954368 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.200050, -1.198963, -4.200144 mu:0.331889 unit_bearing:0.089362 -0.283683 0.954745 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.615021, -1.094914, -4.171462 mu:0.331889 unit_bearing:0.227086 -0.250568 0.941088 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.174985, -0.885949, -4.318544 mu:0.331889 unit_bearing:0.081043 -0.175783 0.981087 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.093018, -0.858474, -4.093060 mu:0.331889 unit_bearing:0.385728 -0.175852 0.905698 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.941625, -0.848588, -4.157676 mu:0.331889 unit_bearing:0.335483 -0.169982 0.926584 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.068535, -0.803575, -4.120819 mu:0.331889 unit_bearing:0.377603 -0.156645 0.912622 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.093975, -0.776848, -4.117767 mu:0.331889 unit_bearing:0.386046 -0.147964 0.910536 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.119491, -0.737451, -4.117701 mu:0.331889 unit_bearing:0.394515 -0.134989 0.908920 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.227494, -0.744938, -4.353455 mu:0.331889 unit_bearing:0.098470 -0.127920 0.986884 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.968110, -0.727187, -4.182858 mu:0.331889 unit_bearing:0.344273 -0.128973 0.929969 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.993778, -0.687742, -4.183206 mu:0.331889 unit_bearing:0.352792 -0.115964 0.928488 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.002231, -0.687289, -4.180019 mu:0.331889 unit_bearing:0.355597 -0.115944 0.927420 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.993685, -0.700449, -4.180015 mu:0.331889 unit_bearing:0.352761 -0.120279 0.927951 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.210184, -0.680967, -4.370823 mu:0.331889 unit_bearing:0.092725 -0.106144 0.990018 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.210175, -0.687399, -4.369317 mu:0.331889 unit_bearing:0.092722 -0.108324 0.989782 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.279857, -0.667097, -4.366526 mu:0.331889 unit_bearing:0.115849 -0.101749 0.988042 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.245128, -0.603140, -4.384343 mu:0.331889 unit_bearing:0.104323 -0.079960 0.991324 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.245143, -0.590215, -4.386968 mu:0.331889 unit_bearing:0.104328 -0.075596 0.991666 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.171492, -0.447941, -4.158026 mu:0.331889 unit_bearing:0.411773 -0.037989 0.910494 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.227821, -0.460722, -4.411826 mu:0.331889 unit_bearing:0.098578 -0.031934 0.994617 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.179954, -0.396079, -4.162214 mu:0.331889 unit_bearing:0.414581 -0.020735 0.909776 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.188345, -0.337664, -4.166233 mu:0.331889 unit_bearing:0.417366 -0.001330 0.908737 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.020377, -0.339869, -4.237568 mu:0.331889 unit_bearing:0.361620 0.000829 0.932325 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.028771, -0.268174, -4.242089 mu:0.331889 unit_bearing:0.364405 0.024629 0.930915 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -0.401855, -0.255521, -4.414070 mu:0.331889 unit_bearing:0.156338 0.035754 0.987056 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.212926, -0.155226, -4.171288 mu:0.331889 unit_bearing:0.425524 0.058973 0.903023 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.001]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.001]  If point is visible? -1.053039, -0.019448, -4.245248 mu:0.331889 unit_bearing:0.372460 0.106691 0.921895 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.228655, -0.017914, -4.168199 mu:0.331889 unit_bearing:0.430745 0.104080 0.896452 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.943906, 0.087652, -3.689191 mu:0.331889 unit_bearing:0.668129 0.119481 0.734390 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.236135, 0.067172, -4.163845 mu:0.331889 unit_bearing:0.433227 0.131933 0.891576 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.218893, 0.125111, -4.170021 mu:0.331889 unit_bearing:0.427505 0.151269 0.891267 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.110536, 0.126953, -4.218640 mu:0.331889 unit_bearing:0.391542 0.153842 0.907208 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.118902, 0.127299, -4.215045 mu:0.331889 unit_bearing:0.394319 0.153811 0.906010 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.127262, 0.127647, -4.211423 mu:0.331889 unit_bearing:0.397094 0.153779 0.904803 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.218972, 0.118583, -4.170276 mu:0.331889 unit_bearing:0.427531 0.149129 0.891615 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.102093, 0.133159, -4.221930 mu:0.331889 unit_bearing:0.388740 0.156019 0.908041 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.085191, 0.145587, -4.228386 mu:0.331889 unit_bearing:0.383131 0.160374 0.909665 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.093573, 0.145922, -4.224872 mu:0.331889 unit_bearing:0.385912 0.160343 0.908494 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.085119, 0.152141, -4.228065 mu:0.331889 unit_bearing:0.383107 0.162520 0.909294 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.093499, 0.152474, -4.224551 mu:0.331889 unit_bearing:0.385888 0.162488 0.908123 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? 1.862545, 0.416590, -3.834190 mu:0.331889 unit_bearing:-0.595192 0.233703 0.768850 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? 1.000348, 0.407973, -4.285430 mu:0.331889 unit_bearing:-0.309038 0.249116 0.917844 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? 0.991867, 0.407746, -4.288233 mu:0.331889 unit_bearing:-0.306223 0.249154 0.918776 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? 1.854462, 0.428975, -3.838055 mu:0.331889 unit_bearing:-0.592509 0.237939 0.769622 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  calculated Z=  0.781191
[18:03:08.002]  update seeds 305
[18:03:08.002]  If point is visible? 1.862321, 0.422988, -3.833231 mu:0.331889 unit_bearing:-0.595118 0.235772 0.768275 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -0.606266, 0.421932, -4.354948 mu:0.331889 unit_bearing:0.224181 0.256526 0.940180 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -0.536742, 0.506836, -4.356708 mu:0.331889 unit_bearing:0.201106 0.284566 0.937325 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -0.596899, 0.501237, -4.344495 mu:0.331889 unit_bearing:0.221072 0.282227 0.933528 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -0.605260, 0.521251, -4.339020 mu:0.331889 unit_bearing:0.223847 0.288599 0.930915 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -0.269202, 0.523382, -4.396945 mu:0.331889 unit_bearing:0.112312 0.291644 0.949910 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -0.277853, 0.523461, -4.395925 mu:0.331889 unit_bearing:0.115184 0.291628 0.949571 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -0.596760, 0.514479, -4.342203 mu:0.331889 unit_bearing:0.221025 0.286497 0.932238 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.264244, 0.915025, -3.991327 mu:0.331889 unit_bearing:0.442556 0.404251 0.800453 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.145655, -1.629508, -3.673313 mu:0.331889 unit_bearing:0.403198 -0.446821 0.798613 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.002]  If point is visible? -1.146194, -1.618256, -3.681219 mu:0.331889 unit_bearing:0.403377 -0.442794 0.800762 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.002]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  calculated Z=  0.768707
[18:03:08.003]  update seeds 305
[18:03:08.003]  If point is visible? -1.193017, -1.646762, -3.633882 mu:0.331889 unit_bearing:0.418917 -0.454099 0.786322 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.767499, -1.603554, -3.858836 mu:0.331889 unit_bearing:0.277692 -0.430767 0.858677 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? 1.363617, -1.632095, -3.626036 mu:0.331889 unit_bearing:-0.429603 -0.449585 0.783144 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -1.018538, -1.550659, -3.792295 mu:0.331889 unit_bearing:0.361009 -0.416034 0.834619 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? 1.435247, -1.477862, -3.691450 mu:0.331889 unit_bearing:-0.453376 -0.396133 0.798454 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.684649, -1.550361, -3.920206 mu:0.331889 unit_bearing:0.250195 -0.410762 0.876742 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.640223, -1.143408, -4.144947 mu:0.331889 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.657350, -1.142697, -4.140684 mu:0.331889 unit_bearing:0.241135 -0.267554 0.932882 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.208795, -1.180277, -4.207345 mu:0.331889 unit_bearing:0.092264 -0.277237 0.956361 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.985321, -0.688191, -4.186366 mu:0.331889 unit_bearing:0.349985 -0.115984 0.929547 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -1.002137, -0.699994, -4.176827 mu:0.331889 unit_bearing:0.355566 -0.120258 0.926882 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -1.287103, -0.568243, -4.078890 mu:0.331889 unit_bearing:0.450143 -0.080819 0.889291 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.227818, -0.467228, -4.410807 mu:0.331889 unit_bearing:0.098577 -0.034118 0.994544 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -1.303680, -0.554405, -4.073237 mu:0.331889 unit_bearing:0.455645 -0.076489 0.886869 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.747507, -0.467721, -4.311348 mu:0.331889 unit_bearing:0.271057 -0.038303 0.961801 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -1.369560, -0.126981, -4.093358 mu:0.331889 unit_bearing:0.477510 0.065125 0.876210 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -1.762069, 0.181834, -3.834821 mu:0.331889 unit_bearing:0.607779 0.156396 0.778553 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -1.118973, 0.120753, -4.215308 mu:0.331889 unit_bearing:0.394343 0.151665 0.906362 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.277992, 0.496893, -4.400504 mu:0.331889 unit_bearing:0.115230 0.283062 0.952154 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.277923, 0.510177, -4.398245 mu:0.331889 unit_bearing:0.115207 0.287347 0.950873 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.295224, 0.510341, -4.396129 mu:0.331889 unit_bearing:0.120949 0.287315 0.950169 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -1.444667, -1.636819, -3.475757 mu:0.331889 unit_bearing:0.502437 -0.457220 0.733831 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.640223, -1.143408, -4.144947 mu:0.331889 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.191558, -1.155749, -4.219388 mu:0.331889 unit_bearing:0.086543 -0.268670 0.959337 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.003]  If point is visible? -0.733563, -1.617160, -3.861285 mu:0.331889 unit_bearing:0.266429 -0.435150 0.860035 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.003]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  calculated Z=  0.785667
[18:03:08.004]  update seeds 305
[18:03:08.004]  If point is visible? -1.478718, -1.588497, -3.488446 mu:0.331889 unit_bearing:0.513738 -0.440788 0.736056 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -1.723711, -1.006433, -3.651566 mu:0.331889 unit_bearing:0.595049 -0.242450 0.766248 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -0.190539, -1.376543, -4.116668 mu:0.331889 unit_bearing:0.086205 -0.345558 0.934430 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -0.639939, -1.168070, -4.134428 mu:0.331889 unit_bearing:0.235356 -0.276165 0.931848 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -0.640495, -1.118685, -4.155228 mu:0.331889 unit_bearing:0.235541 -0.259056 0.936702 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -0.909252, -1.300002, -3.985020 mu:0.331889 unit_bearing:0.324738 -0.325669 0.887967 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -0.227786, -0.519203, -4.402142 mu:0.331889 unit_bearing:0.098567 -0.051590 0.993792 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -0.262633, -0.518731, -4.398513 mu:0.331889 unit_bearing:0.110132 -0.051581 0.992578 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -0.678699, -0.483030, -4.327566 mu:0.331889 unit_bearing:0.248220 -0.042690 0.967763 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -1.353398, -0.166717, -4.099887 mu:0.331889 unit_bearing:0.472146 0.052299 0.879968 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -1.386117, -0.164713, -4.082193 mu:0.331889 unit_bearing:0.483005 0.052244 0.874058 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -1.353108, -0.115026, -4.102789 mu:0.331889 unit_bearing:0.472049 0.069445 0.878833 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -1.734137, 0.039062, -3.862546 mu:0.331889 unit_bearing:0.598509 0.110486 0.793461 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -1.385977, -0.138906, -4.083758 mu:0.331889 unit_bearing:0.482958 0.060808 0.873529 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? 0.881463, 0.385155, -4.324882 mu:0.331889 unit_bearing:-0.269581 0.243195 0.931763 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -1.082554, 0.342372, -4.212158 mu:0.331889 unit_bearing:0.382255 0.224542 0.896360 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -1.115939, 0.343561, -4.197856 mu:0.331889 unit_bearing:0.393336 0.224355 0.891601 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  If point is visible? -0.502746, 0.459888, -4.371362 mu:0.331889 unit_bearing:0.189823 0.269693 0.944051 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058
[18:03:08.004]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.004]  calculated Z=  0.828390
[18:03:08.004]  update seeds 305
[18:03:08.004]  If point is visible? 0.232546, 0.095272, 0.281547 mu:-2.369580 unit_bearing:0.369531 -0.124459 0.920846 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.004]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.004]  If point is visible? 0.150730, 0.103297, 0.320399 mu:-2.369580 unit_bearing:0.161910 -0.132112 0.977922 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.004]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.004]  If point is visible? 0.198637, 0.096089, 0.301088 mu:-2.369580 unit_bearing:0.282150 -0.120737 0.951743 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.004]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.004]  If point is visible? -0.273125, -0.020883, 0.249872 mu:-2.369580 unit_bearing:-0.789382 0.139583 0.597823 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.004]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.004]  If point is visible? -0.255707, -0.024924, 0.264433 mu:-2.369580 unit_bearing:-0.754774 0.153292 0.637823 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.004]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.004]  If point is visible? -0.254599, -0.025724, 0.265262 mu:-2.369580 unit_bearing:-0.752504 0.155413 0.639988 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.004]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.004]  If point is visible? 0.323811, -0.072555, 0.207975 mu:-2.369580 unit_bearing:0.622293 0.249012 0.742122 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.004]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.004]  If point is visible? 0.324765, -0.071744, 0.207079 mu:-2.369580 unit_bearing:0.624856 0.246846 0.740690 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.004]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.288159, -0.077802, 0.243261 mu:-2.369580 unit_bearing:0.524468 0.271541 0.806969 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.189464, 0.103821, 0.303619 mu:-2.369580 unit_bearing:0.259291 -0.138192 0.955861 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.181337, -0.006049, 0.313271 mu:-2.369580 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.255709, -0.024059, 0.264496 mu:-2.369580 unit_bearing:-0.754851 0.151273 0.638213 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.246802, -0.027013, 0.271263 mu:-2.369580 unit_bearing:-0.736817 0.160177 0.656844 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.244557, -0.026889, 0.272976 mu:-2.369580 unit_bearing:-0.732321 0.160379 0.661804 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.242305, -0.028511, 0.274528 mu:-2.369580 unit_bearing:-0.727647 0.164641 0.665900 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.202598, -0.140775, 0.284088 mu:-2.369580 unit_bearing:0.310988 0.431439 0.846845 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.229372, 0.093769, 0.283994 mu:-2.369580 unit_bearing:0.361171 -0.120216 0.924718 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.020316, 0.083609, 0.349219 mu:-2.369580 unit_bearing:-0.247942 -0.077485 0.965671 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.253492, -0.025659, 0.266152 mu:-2.369580 unit_bearing:-0.750304 0.155516 0.642540 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.249041, -0.025400, 0.269667 mu:-2.369580 unit_bearing:-0.741440 0.155923 0.652652 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.257920, -0.022464, 0.262814 mu:-2.369580 unit_bearing:-0.759370 0.147037 0.633828 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.210760, -0.102572, 0.292712 mu:-2.369580 unit_bearing:0.324344 0.344080 0.881141 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.187507, -0.057035, 0.314664 mu:-2.369580 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.021120, -0.133487, 0.335822 mu:-2.369580 unit_bearing:-0.232774 0.429237 0.872681 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.183193, -0.116139, 0.302960 mu:-2.369580 unit_bearing:0.256448 0.378946 0.889176 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.084909, -0.136586, 0.324732 mu:-2.369580 unit_bearing:-0.376554 0.433323 0.818803 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401
[18:03:08.005]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.282292, 0.154852, 0.495529 mu:-1.561331 unit_bearing:0.259315 -0.133860 0.956471 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.412839, -0.007288, 0.434110 mu:-1.561331 unit_bearing:0.482598 0.105720 0.869438 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.432780, -0.026144, 0.401794 mu:-1.561331 unit_bearing:-0.806139 0.128792 0.577539 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.352774, 0.249064, 0.416723 mu:-1.561331 unit_bearing:0.386414 -0.294854 0.873925 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.282206, 0.157559, 0.494813 mu:-1.561331 unit_bearing:0.259291 -0.138192 0.955861 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.251068, -0.099407, 0.522022 mu:-1.561331 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.251231, -0.096592, 0.522427 mu:-1.561331 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.301339, -0.155071, 0.485689 mu:-1.561331 unit_bearing:0.302005 0.344553 0.888863 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? -0.036156, 0.126891, 0.564083 mu:-1.561331 unit_bearing:-0.247942 -0.077485 0.965671 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.276542, 0.037012, 0.518140 mu:-1.561331 unit_bearing:0.248201 0.053058 0.967254 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.021749, -0.062626, 0.575117 mu:-1.561331 unit_bearing:-0.155594 0.218308 0.963396 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.244329, -0.096306, 0.525298 mu:-1.561331 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.251856, -0.085334, 0.523916 mu:-1.561331 unit_bearing:0.212892 0.243756 0.946182 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.005]  If point is visible? 0.251549, -0.090963, 0.523197 mu:-1.561331 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.005]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.539810, -0.127387, 0.271274 mu:-1.561331 unit_bearing:0.727405 0.260853 0.634695 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.006]  If point is visible? 0.060738, -0.170317, 0.553017 mu:-1.561331 unit_bearing:-0.085811 0.380991 0.920588 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.006]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.301339, -0.155071, 0.485689 mu:-1.561331 unit_bearing:0.302005 0.344553 0.888863 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145
[18:03:08.006]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.429583, 0.088212, 0.626338 mu:-1.240737 unit_bearing:0.358812 -0.005665 0.933392 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.000277, -0.087499, 0.746546 mu:-1.240737 unit_bearing:-0.187077 0.228898 0.955305 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.290498, -0.131284, 0.688546 mu:-1.240737 unit_bearing:0.181212 0.274049 0.944489 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.349638, 0.201869, 0.646678 mu:-1.240737 unit_bearing:0.253566 -0.142556 0.956756 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.468221, 0.055730, 0.604377 mu:-1.240737 unit_bearing:0.411791 0.031016 0.910750 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.472237, 0.055397, 0.601579 mu:-1.240737 unit_bearing:0.417330 0.031003 0.908226 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.289972, 0.031719, 0.699583 mu:-1.240737 unit_bearing:0.173571 0.074981 0.981963 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? -0.354134, -0.011456, 0.665529 mu:-1.240737 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? -0.091548, -0.078594, 0.741354 mu:-1.240737 unit_bearing:-0.298160 0.217147 0.929488 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.360677, -0.201513, 0.641288 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.569629, -0.181844, 0.493656 mu:-1.240737 unit_bearing:0.567021 0.306844 0.764418 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.421918, 0.179653, 0.612929 mu:-1.240737 unit_bearing:0.349954 -0.120300 0.929010 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.293215, 0.201686, 0.671540 mu:-1.240737 unit_bearing:0.179144 -0.138571 0.974015 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.298062, -0.113818, 0.688508 mu:-1.240737 unit_bearing:0.189964 0.252534 0.948757 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.306776, -0.114175, 0.684987 mu:-1.240737 unit_bearing:0.201397 0.252441 0.946421 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.695956, -0.089087, 0.354985 mu:-1.240737 unit_bearing:0.749802 0.171646 0.639011 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  If point is visible? 0.305963, -0.128348, 0.682989 mu:-1.240737 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.306377, -0.121262, 0.684020 mu:-1.240737 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.360677, -0.201513, 0.641288 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? -0.028551, -0.241115, 0.713583 mu:-1.240737 unit_bearing:-0.210559 0.413090 0.886014 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.542312, 0.318835, 0.457219 mu:-1.240737 unit_bearing:0.528055 -0.315247 0.788528 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.544123, 0.318534, 0.455509 mu:-1.240737 unit_bearing:0.530659 -0.315134 0.786824 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.544303, 0.316961, 0.456298 mu:-1.240737 unit_bearing:0.530744 -0.313078 0.787587 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.449246, 0.306180, 0.546012 mu:-1.240737 unit_bearing:0.394870 -0.286236 0.873010 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.447380, 0.304775, 0.548092 mu:-1.240737 unit_bearing:0.392164 -0.284191 0.874896 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.432156, 0.295050, 0.563647 mu:-1.240737 unit_bearing:0.370358 -0.269862 0.888825 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.416773, 0.283496, 0.579229 mu:-1.240737 unit_bearing:0.348401 -0.253278 0.902478 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.457657, 0.274525, 0.555003 mu:-1.240737 unit_bearing:0.403980 -0.245893 0.881100 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.459654, 0.274310, 0.553620 mu:-1.240737 unit_bearing:0.406733 -0.245838 0.879848 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.459536, 0.275951, 0.552966 mu:-1.240737 unit_bearing:0.406691 -0.247957 0.879272 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.440434, 0.263204, 0.572224 mu:-1.240737 unit_bearing:0.379403 -0.229348 0.896355 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.442460, 0.263004, 0.570905 mu:-1.240737 unit_bearing:0.382177 -0.229301 0.895188 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.272621, 0.224805, 0.672560 mu:-1.240737 unit_bearing:0.153154 -0.166888 0.974008 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.006]  If point is visible? 0.274834, 0.224700, 0.671782 mu:-1.240737 unit_bearing:0.156031 -0.166876 0.973554 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.006]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.274895, 0.223000, 0.672283 mu:-1.240737 unit_bearing:0.156040 -0.164707 0.973922 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.277166, 0.221194, 0.671996 mu:-1.240737 unit_bearing:0.158925 -0.162527 0.973821 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.281583, 0.220980, 0.670407 mu:-1.240737 unit_bearing:0.164677 -0.162504 0.972869 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.347915, 0.188367, 0.651257 mu:-1.240737 unit_bearing:0.250807 -0.125236 0.959902 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.274536, 0.149346, 0.691037 mu:-1.240737 unit_bearing:0.153413 -0.071167 0.985596 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? -0.050976, 0.140665, 0.736811 mu:-1.240737 unit_bearing:-0.253715 -0.053555 0.965795 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.281577, 0.107397, 0.695690 mu:-1.240737 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.283790, 0.107298, 0.694892 mu:-1.240737 unit_bearing:0.164996 -0.018803 0.986115 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.285994, 0.108939, 0.693839 mu:-1.240737 unit_bearing:0.167876 -0.020983 0.985585 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.286028, 0.096741, 0.695501 mu:-1.240737 unit_bearing:0.167881 -0.005710 0.985791 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.288238, 0.096641, 0.694690 mu:-1.240737 unit_bearing:0.170762 -0.005710 0.985296 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.429583, 0.088212, 0.626338 mu:-1.240737 unit_bearing:0.358812 -0.005665 0.933392 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.303656, 0.090687, 0.689482 mu:-1.240737 unit_bearing:0.190908 0.000835 0.981608 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.351019, 0.030485, 0.673867 mu:-1.240737 unit_bearing:0.253866 0.072612 0.964510 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.414380, 0.017896, 0.640913 mu:-1.240737 unit_bearing:0.338929 0.083132 0.937132 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.508234, -0.018862, 0.576698 mu:-1.240737 unit_bearing:0.468902 0.118690 0.875239 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.354517, -0.006647, 0.672816 mu:-1.240737 unit_bearing:0.259397 0.118182 0.958513 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.415606, -0.015511, 0.640252 mu:-1.240737 unit_bearing:0.341497 0.124174 0.931644 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.470733, -0.017605, 0.604737 mu:-1.240737 unit_bearing:0.416803 0.121382 0.900856 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.415659, -0.013758, 0.640257 mu:-1.240737 unit_bearing:0.341513 0.122015 0.931923 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.468673, -0.019199, 0.606135 mu:-1.240737 unit_bearing:0.414020 0.123556 0.901844 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.470675, -0.019350, 0.604729 mu:-1.240737 unit_bearing:0.416783 0.123529 0.900574 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.468614, -0.020944, 0.606123 mu:-1.240737 unit_bearing:0.413999 0.125703 0.901556 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.415712, -0.012005, 0.640259 mu:-1.240737 unit_bearing:0.341528 0.119856 0.932198 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.470241, -0.031565, 0.604562 mu:-1.240737 unit_bearing:0.416630 0.138547 0.898456 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.472239, -0.031714, 0.603148 mu:-1.240737 unit_bearing:0.419390 0.138516 0.897176 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.472173, -0.033459, 0.603108 mu:-1.240737 unit_bearing:0.419366 0.140660 0.896854 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? -0.475049, -0.052889, 0.588698 mu:-1.240737 unit_bearing:-0.732244 0.162408 0.661394 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.417856, -0.064934, 0.636053 mu:-1.240737 unit_bearing:0.346556 0.184403 0.919725 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.419920, -0.065061, 0.634811 mu:-1.240737 unit_bearing:0.349358 0.184370 0.918671 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.421982, -0.065187, 0.633561 mu:-1.240737 unit_bearing:0.352158 0.184337 0.917608 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.419838, -0.066818, 0.634692 mu:-1.240737 unit_bearing:0.349333 0.186516 0.918247 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.423619, -0.074099, 0.631670 mu:-1.240737 unit_bearing:0.354828 0.195026 0.914364 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.425674, -0.074226, 0.630406 mu:-1.240737 unit_bearing:0.357623 0.194991 0.913282 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.000277, -0.087499, 0.746546 mu:-1.240737 unit_bearing:-0.187077 0.228898 0.955305 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.602802, -0.144936, 0.469095 mu:-1.240737 unit_bearing:0.611999 0.257678 0.747703 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.290498, -0.131284, 0.688546 mu:-1.240737 unit_bearing:0.181212 0.274049 0.944489 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.338105, -0.133274, 0.668266 mu:-1.240737 unit_bearing:0.243908 0.273433 0.930453 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.353040, -0.133957, 0.661122 mu:-1.240737 unit_bearing:0.263755 0.273193 0.925094 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.355165, -0.134056, 0.660074 mu:-1.240737 unit_bearing:0.266586 0.273157 0.924293 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.353153, -0.132190, 0.661396 mu:-1.240737 unit_bearing:0.263782 0.271059 0.925714 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.007]  If point is visible? 0.355278, -0.132290, 0.660348 mu:-1.240737 unit_bearing:0.266613 0.271023 0.924913 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.007]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.532521, -0.153242, 0.537433 mu:-1.240737 unit_bearing:0.511097 0.278240 0.813242 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.418093, 0.451428, 0.471942 mu:-1.240737 unit_bearing:0.369548 -0.476306 0.797851 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  If point is visible? 0.544482, 0.315387, 0.457084 mu:-1.240737 unit_bearing:0.530828 -0.311021 0.788345 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.431905, 0.298318, 0.562250 mu:-1.240737 unit_bearing:0.370275 -0.274098 0.887562 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.442566, 0.261351, 0.571524 mu:-1.240737 unit_bearing:0.382213 -0.227171 0.895716 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.283967, 0.215767, 0.671072 mu:-1.240737 unit_bearing:0.167579 -0.155983 0.973441 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.288374, 0.215549, 0.669443 mu:-1.240737 unit_bearing:0.173328 -0.155960 0.972437 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.345662, 0.191915, 0.651384 mu:-1.240737 unit_bearing:0.247931 -0.129586 0.960072 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.349750, 0.198464, 0.647594 mu:-1.240737 unit_bearing:0.253591 -0.138224 0.957385 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.349638, 0.201869, 0.646678 mu:-1.240737 unit_bearing:0.253566 -0.142556 0.956756 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.290374, 0.115695, 0.691179 mu:-1.240737 unit_bearing:0.173631 -0.029705 0.984363 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? -0.051020, 0.145846, 0.735869 mu:-1.240737 unit_bearing:-0.253701 -0.060078 0.965415 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? -0.050990, 0.142392, 0.736500 mu:-1.240737 unit_bearing:-0.253710 -0.055730 0.965673 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.290394, 0.112217, 0.691702 mu:-1.240737 unit_bearing:0.173634 -0.025343 0.984484 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.281570, 0.109138, 0.695441 mu:-1.240737 unit_bearing:0.162113 -0.020986 0.986549 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.290448, 0.091306, 0.694528 mu:-1.240737 unit_bearing:0.173642 0.000836 0.984808 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.286030, 0.094997, 0.695723 mu:-1.240737 unit_bearing:0.167881 -0.003528 0.985801 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.290447, 0.094796, 0.694094 mu:-1.240737 unit_bearing:0.173642 -0.003528 0.984803 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.468221, 0.055730, 0.604377 mu:-1.240737 unit_bearing:0.411791 0.031016 0.910750 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.472237, 0.055397, 0.601579 mu:-1.240737 unit_bearing:0.417330 0.031003 0.908226 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.289972, 0.031719, 0.699583 mu:-1.240737 unit_bearing:0.173571 0.074981 0.981963 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.506466, -0.013490, 0.578233 mu:-1.240737 unit_bearing:0.466251 0.112307 0.877495 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? -0.354134, -0.011456, 0.665529 mu:-1.240737 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? -0.525609, -0.037822, 0.548594 mu:-1.240737 unit_bearing:-0.785293 0.137789 0.603597 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.474234, -0.031863, 0.601727 mu:-1.240737 unit_bearing:0.422147 0.138485 0.895887 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.506352, -0.016962, 0.578240 mu:-1.240737 unit_bearing:0.466206 0.116584 0.876961 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.470370, -0.028074, 0.604629 mu:-1.240737 unit_bearing:0.416676 0.134258 0.899086 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? -0.091548, -0.078594, 0.741354 mu:-1.240737 unit_bearing:-0.298160 0.217147 0.929488 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.603953, -0.112415, 0.475733 mu:-1.240737 unit_bearing:0.611006 0.218633 0.760836 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.607334, -0.112738, 0.471838 mu:-1.240737 unit_bearing:0.616018 0.218441 0.756839 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.344741, -0.130028, 0.665788 mu:-1.240737 unit_bearing:0.252472 0.269061 0.929443 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.349007, -0.130225, 0.663741 mu:-1.240737 unit_bearing:0.258142 0.268994 0.927904 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.349227, -0.126691, 0.664268 mu:-1.240737 unit_bearing:0.258194 0.264721 0.929117 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.569629, -0.181844, 0.493656 mu:-1.240737 unit_bearing:0.567021 0.306844 0.764418 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.422355, -0.158654, 0.617960 mu:-1.240737 unit_bearing:0.358716 0.297081 0.884910 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.422079, -0.162162, 0.617293 mu:-1.240737 unit_bearing:0.358627 0.301300 0.883518 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.360677, -0.201513, 0.641288 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.008]  If point is visible? 0.421918, 0.179653, 0.612929 mu:-1.240737 unit_bearing:0.349954 -0.120300 0.929010 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.008]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.293215, 0.201686, 0.671540 mu:-1.240737 unit_bearing:0.179144 -0.138571 0.974015 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.338295, 0.046959, 0.678862 mu:-1.240737 unit_bearing:0.236763 0.053081 0.970116 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? -0.457734, -0.053644, 0.601270 mu:-1.240737 unit_bearing:-0.713937 0.165239 0.680434 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.297666, -0.120908, 0.687542 mu:-1.240737 unit_bearing:0.189895 0.261119 0.946444 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.306377, -0.121262, 0.684020 mu:-1.240737 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.486866, -0.011875, 0.593235 mu:-1.240737 unit_bearing:0.438916 0.112586 0.891446 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.338205, 0.039947, 0.679317 mu:-1.240737 unit_bearing:0.236745 0.061784 0.969605 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.470495, -0.024584, 0.604681 mu:-1.240737 unit_bearing:0.416720 0.129967 0.899696 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.607872, -0.105921, 0.472640 mu:-1.240737 unit_bearing:0.616304 0.210168 0.758946 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.470733, -0.017605, 0.604737 mu:-1.240737 unit_bearing:0.416803 0.121382 0.900856 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.478711, -0.018216, 0.599043 mu:-1.240737 unit_bearing:0.427836 0.121273 0.895684 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.534132, -0.134228, 0.540610 mu:-1.240737 unit_bearing:0.511820 0.255305 0.820280 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.695956, -0.089087, 0.354985 mu:-1.240737 unit_bearing:0.749802 0.171646 0.639011 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  If point is visible? 0.594795, -0.173420, 0.469477 mu:-1.240737 unit_bearing:0.602934 0.292813 0.742112 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? -0.028551, -0.241115, 0.713583 mu:-1.240737 unit_bearing:-0.210559 0.413090 0.886014 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? 0.360677, -0.201513, 0.641288 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630
[18:03:08.009]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.009]  If point is visible? -35.137682, -20.373755, -31.915167 mu:0.019370 unit_bearing:0.546112 -0.316486 0.775628 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -34.053450, -19.963188, -33.321514 mu:0.019370 unit_bearing:0.520632 -0.305272 0.797340 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -34.064532, -19.861844, -33.370790 mu:0.019370 unit_bearing:0.520711 -0.303208 0.798076 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -28.254061, -19.824288, -38.442403 mu:0.019370 unit_bearing:0.392021 -0.290514 0.872881 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -21.235783, -12.100790, -45.525544 mu:0.019370 unit_bearing:0.236528 -0.125305 0.963511 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? 3.930071, -10.443584, -50.460680 mu:0.019370 unit_bearing:-0.259347 -0.081794 0.962314 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -21.017770, -1.891612, -47.167980 mu:0.019370 unit_bearing:0.230989 0.074850 0.970073 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -21.013884, -1.666616, -47.178209 mu:0.019370 unit_bearing:0.230978 0.079199 0.969730 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? 11.078383, 5.071310, -50.223541 mu:0.019370 unit_bearing:-0.387745 0.215929 0.896119 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -0.124491, 5.493942, -51.387234 mu:0.019370 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -25.842137, 10.804411, -43.418070 mu:0.019370 unit_bearing:0.341775 0.310086 0.887151 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -25.860241, 10.579539, -43.462697 mu:0.019370 unit_bearing:0.341862 0.305868 0.888581 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -20.435305, 11.005178, -46.166286 mu:0.019370 unit_bearing:0.229139 0.320433 0.919140 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -20.983113, 11.028234, -45.913994 mu:0.019370 unit_bearing:0.240477 0.320281 0.916292 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -21.072207, 13.297929, -45.266586 mu:0.019370 unit_bearing:0.245481 0.362389 0.899118 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? 3.726150, 16.100285, -48.964542 mu:0.019370 unit_bearing:-0.238477 0.424995 0.873217 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -17.874691, -12.502694, -46.843604 mu:0.019370 unit_bearing:0.167673 -0.129920 0.977244 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -17.296106, -12.968000, -46.934395 mu:0.019370 unit_bearing:0.156132 -0.138652 0.977956 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -17.861787, -12.940801, -46.729275 mu:0.019370 unit_bearing:0.167643 -0.138613 0.976054 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? 7.111976, 4.584929, -50.983199 mu:0.019370 unit_bearing:-0.315181 0.208371 0.925874 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -30.304068, 0.730870, -41.840003 mu:0.019370 unit_bearing:0.427916 0.112691 0.896766 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -0.124491, 5.493942, -51.387234 mu:0.019370 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -43.773336, 6.096313, -26.728089 mu:0.019370 unit_bearing:0.740612 0.180171 0.647326 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.009]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.009]  If point is visible? -40.581101, 11.358622, -29.869627 mu:0.019370 unit_bearing:0.670941 0.288758 0.682976 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159
[18:03:08.010]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.010]  If point is visible? 0.294973, 0.601262, 0.839100 mu:-0.900527 unit_bearing:0.082773 -0.439992 0.894179 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  If point is visible? 0.608666, 0.413949, 0.787120 mu:-0.900527 unit_bearing:0.372962 -0.278274 0.885135 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.598344, 0.406089, 0.798282 mu:-0.900527 unit_bearing:0.362029 -0.270023 0.892201 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.557198, 0.302759, 0.866556 mu:-0.900527 unit_bearing:0.315770 -0.170172 0.933451 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.581382, -0.102457, 0.895553 mu:-0.900527 unit_bearing:0.340825 0.195198 0.919639 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.554936, -0.117893, 0.909398 mu:-0.900527 unit_bearing:0.315352 0.210514 0.925331 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.567281, 0.602831, 0.696085 mu:-0.900527 unit_bearing:0.348603 -0.457090 0.818257 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  If point is visible? 0.484287, 0.644577, 0.718715 mu:-0.900527 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  If point is visible? 0.605523, 0.418729, 0.786999 mu:-0.900527 unit_bearing:0.370105 -0.282559 0.884976 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.633307, 0.005322, 0.867608 mu:-0.900527 unit_bearing:0.389271 0.095797 0.916128 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? -0.184004, -0.118061, 1.039083 mu:-0.900527 unit_bearing:-0.359810 0.224897 0.905515 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? -0.157782, -0.117899, 1.043355 mu:-0.900527 unit_bearing:-0.337444 0.225221 0.914006 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.155855, -0.193543, 1.034510 mu:-0.900527 unit_bearing:-0.057488 0.291862 0.954731 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.772734, -0.260248, 0.711240 mu:-0.900527 unit_bearing:0.546133 0.316006 0.775809 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.033535, -0.308708, 1.017704 mu:-0.900527 unit_bearing:-0.159862 0.392954 0.905556 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.369395, 0.269966, 0.965341 mu:-0.900527 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.369106, 0.279398, 0.962887 mu:-0.900527 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.383448, 0.174334, 0.981037 mu:-0.900527 unit_bearing:0.144796 -0.042820 0.988535 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.660186, -0.016040, 0.848484 mu:-0.900527 unit_bearing:0.416881 0.112792 0.901936 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.869931, -0.253672, 0.601193 mu:-0.900527 unit_bearing:0.651454 0.298051 0.697691 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? -0.078180, -0.341123, 1.004789 mu:-0.900527 unit_bearing:-0.255397 0.420510 0.870600 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626
[18:03:08.010]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.596934, 0.356513, 0.972158 mu:-0.814727 unit_bearing:0.298662 -0.187558 0.935747 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.415986, 0.308402, 1.072359 mu:-0.814727 unit_bearing:0.138848 -0.138704 0.980552 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.523562, 0.253106, 1.041022 mu:-0.814727 unit_bearing:0.230922 -0.097100 0.968115 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? -0.106539, 0.200738, 1.163283 mu:-0.814727 unit_bearing:-0.290769 -0.042613 0.955844 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.621595, 0.120411, 1.012181 mu:-0.814727 unit_bearing:0.316530 0.007340 0.948554 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.442147, 0.130789, 1.097126 mu:-0.814727 unit_bearing:0.159235 0.007383 0.987213 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.592701, 0.082556, 1.032125 mu:-0.814727 unit_bearing:0.290972 0.039933 0.955898 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.642966, 0.047233, 1.005269 mu:-0.814727 unit_bearing:0.336184 0.065830 0.939493 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? -0.615567, -0.087224, 1.012784 mu:-0.814727 unit_bearing:-0.666443 0.175306 0.724653 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? -0.618987, -0.084791, 1.010962 mu:-0.814727 unit_bearing:-0.668922 0.173157 0.722883 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.640490, -0.113224, 1.001713 mu:-0.814727 unit_bearing:0.338019 0.195232 0.920667 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.640348, -0.115903, 1.001506 mu:-0.814727 unit_bearing:0.337994 0.197377 0.920219 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.470404, -0.212349, 1.073417 mu:-0.814727 unit_bearing:0.192566 0.282509 0.939738 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.476973, -0.212629, 1.070602 mu:-0.814727 unit_bearing:0.198274 0.282456 0.938566 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.499678, -0.216328, 1.059985 mu:-0.814727 unit_bearing:0.218202 0.284393 0.933546 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.502935, -0.216474, 1.058490 mu:-0.814727 unit_bearing:0.221049 0.284362 0.932886 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.499865, -0.213633, 1.060427 mu:-0.814727 unit_bearing:0.218225 0.282258 0.934189 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.503122, -0.213780, 1.058932 mu:-0.814727 unit_bearing:0.221072 0.282227 0.933528 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.569269, 0.695405, 0.797136 mu:-0.814727 unit_bearing:0.298445 -0.478983 0.825534 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  If point is visible? 0.583023, 0.596993, 0.861094 mu:-0.814727 unit_bearing:0.300920 -0.393050 0.868883 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  If point is visible? 0.653059, 0.449603, 0.898200 mu:-0.814727 unit_bearing:0.353683 -0.270179 0.895495 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.010]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.010]  If point is visible? 0.658795, 0.453970, 0.892115 mu:-0.814727 unit_bearing:0.359169 -0.274315 0.892048 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.409254, 0.308713, 1.074730 mu:-0.814727 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? -0.110208, 0.205950, 1.162057 mu:-0.814727 unit_bearing:-0.293601 -0.046950 0.954775 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.621184, 0.191575, 1.001844 mu:-0.814727 unit_bearing:0.316463 -0.051233 0.947220 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.677623, 0.071259, 0.981984 mu:-0.814727 unit_bearing:0.367166 0.044090 0.929110 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  calculated Z=  0.996093
[18:03:08.011]  update seeds 305
[18:03:08.011]  If point is visible? 0.683798, 0.070782, 0.977937 mu:-0.814727 unit_bearing:0.372765 0.044073 0.926878 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.677482, 0.060659, 0.982759 mu:-0.814727 unit_bearing:0.367140 0.052738 0.928670 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.677555, 0.065960, 0.982383 mu:-0.814727 unit_bearing:0.367153 0.048414 0.928900 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.683730, 0.065485, 0.978336 mu:-0.814727 unit_bearing:0.372753 0.048396 0.926668 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.402772, -0.020302, 1.118662 mu:-0.814727 unit_bearing:0.127332 0.131701 0.983077 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.627983, -0.112453, 1.009303 mu:-0.814727 unit_bearing:0.326781 0.195361 0.924688 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.487170, -0.207663, 1.067167 mu:-0.814727 unit_bearing:0.206872 0.278099 0.938011 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.494070, -0.202560, 1.065090 mu:-0.814727 unit_bearing:0.212615 0.273766 0.938002 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.493341, -0.213343, 1.063385 mu:-0.814727 unit_bearing:0.212529 0.282316 0.935483 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.493709, -0.207952, 1.064250 mu:-0.814727 unit_bearing:0.212573 0.278043 0.936752 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.838529, -0.286741, 0.811983 mu:-0.814727 unit_bearing:0.530593 0.316708 0.786236 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.841477, -0.307989, 0.801645 mu:-0.814727 unit_bearing:0.535065 0.332864 0.776471 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.581849, 0.606549, 0.855462 mu:-0.814727 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  If point is visible? 0.646491, 0.455197, 0.900008 mu:-0.814727 unit_bearing:0.348034 -0.274523 0.896387 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? -0.070204, -0.366536, 1.126542 mu:-0.814727 unit_bearing:-0.244351 0.412468 0.877589 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.942785, -0.279037, 0.699032 mu:-0.814727 unit_bearing:0.632120 0.299264 0.714749 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421
[18:03:08.011]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.388177, 0.411570, 0.480002 mu:-1.306765 unit_bearing:0.337872 -0.451414 0.825874 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  If point is visible? 0.409009, 0.283253, 0.546012 mu:-1.306765 unit_bearing:0.350821 -0.274472 0.895316 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.403647, 0.279155, 0.551669 mu:-1.306765 unit_bearing:0.342568 -0.268255 0.900381 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.366100, 0.066570, 0.632811 mu:-1.306765 unit_bearing:0.279623 0.020395 0.959893 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.459815, -0.001654, 0.576396 mu:-1.306765 unit_bearing:0.416986 0.099898 0.903406 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? -0.447220, -0.049145, 0.579538 mu:-1.306765 unit_bearing:-0.741209 0.161996 0.651435 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? -0.459560, -0.045079, 0.570660 mu:-1.306765 unit_bearing:-0.754696 0.155309 0.637427 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? -0.457508, -0.044968, 0.572223 mu:-1.306765 unit_bearing:-0.752504 0.155413 0.639988 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? -0.145800, -0.076396, 0.709355 mu:-1.306765 unit_bearing:-0.390481 0.218015 0.894424 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.547383, -0.116809, 0.487391 mu:-1.306765 unit_bearing:0.556927 0.235083 0.796598 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.550679, -0.117104, 0.483883 mu:-1.306765 unit_bearing:0.562104 0.234907 0.793006 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? -0.148010, -0.074752, 0.709078 mu:-1.306765 unit_bearing:-0.393284 0.215838 0.893723 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.549173, -0.115324, 0.485856 mu:-1.306765 unit_bearing:0.559583 0.232913 0.795373 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.297768, -0.159633, 0.650427 mu:-1.306765 unit_bearing:0.195077 0.316591 0.928286 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.374157, -0.156514, 0.613138 mu:-1.306765 unit_bearing:0.302719 0.306607 0.902415 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? -0.047343, -0.218394, 0.694282 mu:-1.306765 unit_bearing:-0.255840 0.399790 0.880178 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.359411, 0.147519, 0.623408 mu:-1.306765 unit_bearing:0.270930 -0.086096 0.958741 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.452235, -0.004355, 0.581953 mu:-1.306765 unit_bearing:0.405880 0.104287 0.907957 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.302747, 0.031931, 0.665883 mu:-1.306765 unit_bearing:0.190838 0.070590 0.979080 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.452023, -0.010978, 0.582025 mu:-1.306765 unit_bearing:0.405811 0.112889 0.906958 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.011]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.011]  If point is visible? 0.255461, -0.114042, 0.675866 mu:-1.306765 unit_bearing:0.132579 0.261509 0.956052 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.012]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.279157, -0.229500, 0.638286 mu:-1.306765 unit_bearing:0.176935 0.405276 0.896909 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.012]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.481745, -0.133056, 0.544426 mu:-1.306765 unit_bearing:0.458091 0.265238 0.848411 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.012]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.488882, -0.133573, 0.538357 mu:-1.306765 unit_bearing:0.468877 0.264943 0.842591 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422
[18:03:08.012]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.395404, 0.480092, 0.542901 mu:-1.183338 unit_bearing:0.295618 -0.481086 0.825328 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  If point is visible? 0.416639, 0.297226, 0.643053 mu:-1.183338 unit_bearing:0.300750 -0.251864 0.919845 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.462580, 0.052937, 0.675929 mu:-1.183338 unit_bearing:0.353149 0.039800 0.934720 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.403877, 0.042367, 0.711475 mu:-1.183338 unit_bearing:0.276714 0.057340 0.959240 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? -0.505610, -0.040916, 0.642537 mu:-1.183338 unit_bearing:-0.755076 0.145216 0.639353 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.388273, 0.485492, 0.543190 mu:-1.183338 unit_bearing:0.287135 -0.487387 0.824626 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  If point is visible? 0.608881, -0.116772, 0.546105 mu:-1.183338 unit_bearing:0.559965 0.220403 0.798662 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.604943, -0.120043, 0.549545 mu:-1.183338 unit_bearing:0.554652 0.224741 0.801157 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.411742, -0.161693, 0.690497 mu:-1.183338 unit_bearing:0.297313 0.293987 0.908392 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.324554, -0.198466, 0.724642 mu:-1.183338 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.441806, 0.327372, 0.612483 mu:-1.183338 unit_bearing:0.336565 -0.291679 0.895347 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.279997, 0.212617, 0.738319 mu:-1.183338 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.605809, -0.109217, 0.550782 mu:-1.183338 unit_bearing:0.555012 0.212204 0.804320 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.707790, -0.098987, 0.424273 mu:-1.183338 unit_bearing:0.704232 0.181944 0.686260 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.605237, -0.116435, 0.549974 mu:-1.183338 unit_bearing:0.554774 0.220565 0.802232 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.285181, -0.111157, 0.757540 mu:-1.183338 unit_bearing:0.132671 0.244300 0.960581 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  calculated Z=  1.038111
[18:03:08.012]  update seeds 305
[18:03:08.012]  If point is visible? 0.330818, -0.113077, 0.739404 mu:-1.183338 unit_bearing:0.190030 0.243940 0.950990 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? -0.039449, -0.230232, 0.780812 mu:-1.183338 unit_bearing:-0.244839 0.387512 0.888757 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.359138, -0.292289, 0.677182 mu:-1.183338 unit_bearing:0.243827 0.445454 0.861463 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.627653, -0.311342, 0.445115 mu:-1.183338 unit_bearing:0.612884 0.434365 0.660076 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186
[18:03:08.012]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.416618, 0.266758, 0.449646 mu:-1.454452 unit_bearing:0.430070 -0.300031 0.851482 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.448870, 0.259570, 0.424007 mu:-1.454452 unit_bearing:0.484070 -0.294198 0.824090 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.441289, 0.257991, 0.432214 mu:-1.454452 unit_bearing:0.470829 -0.290464 0.833037 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.440852, 0.262092, 0.430319 mu:-1.454452 unit_bearing:0.470636 -0.296721 0.830938 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.440999, 0.260726, 0.430954 mu:-1.454452 unit_bearing:0.470701 -0.294636 0.831643 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.358468, 0.223279, 0.514132 mu:-1.454452 unit_bearing:0.329219 -0.225834 0.916850 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.361845, 0.224379, 0.511457 mu:-1.454452 unit_bearing:0.334800 -0.227896 0.914315 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.348966, 0.208544, 0.525973 mu:-1.454452 unit_bearing:0.312625 -0.202463 0.928049 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.275137, 0.174940, 0.576326 mu:-1.454452 unit_bearing:0.193477 -0.145026 0.970327 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.320366, 0.030520, 0.578787 mu:-1.454452 unit_bearing:0.262450 0.063895 0.962828 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.347209, 0.031790, 0.563953 mu:-1.454452 unit_bearing:0.305114 0.059433 0.950459 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.216414, 0.023640, 0.622833 mu:-1.454452 unit_bearing:0.101430 0.081635 0.991488 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.218340, 0.025070, 0.622146 mu:-1.454452 unit_bearing:0.104323 0.079449 0.991365 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? -0.283635, -0.061066, 0.591796 mu:-1.454452 unit_bearing:-0.596342 0.198417 0.777822 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? -0.287554, -0.058260, 0.590246 mu:-1.454452 unit_bearing:-0.601541 0.194091 0.774905 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.419252, -0.132094, 0.500621 mu:-1.454452 unit_bearing:0.433196 0.284791 0.855123 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.012]  If point is visible? 0.340154, 0.374693, 0.437194 mu:-1.454452 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.012]  If point is visible? 0.439268, 0.262320, 0.431690 mu:-1.454452 unit_bearing:0.467954 -0.296807 0.832421 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.442432, 0.261863, 0.428941 mu:-1.454452 unit_bearing:0.473315 -0.296634 0.829446 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.442726, 0.259131, 0.430208 mu:-1.454452 unit_bearing:0.473445 -0.292465 0.830851 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.445879, 0.258670, 0.427435 mu:-1.454452 unit_bearing:0.478797 -0.292292 0.827840 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.214543, 0.025217, 0.623383 mu:-1.454452 unit_bearing:0.098541 0.079456 0.991956 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? -0.291583, -0.061296, 0.588052 mu:-1.454452 unit_bearing:-0.606474 0.198085 0.770034 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? -0.287612, -0.061180, 0.589938 mu:-1.454452 unit_bearing:-0.601417 0.198252 0.773947 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? -0.287554, -0.058260, 0.590246 mu:-1.454452 unit_bearing:-0.601541 0.194091 0.774905 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? -0.065037, -0.063760, 0.650958 mu:-1.454452 unit_bearing:-0.303855 0.212791 0.928651 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.486704, -0.100104, 0.447788 mu:-1.454452 unit_bearing:0.544110 0.229245 0.807088 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.328510, -0.134214, 0.560178 mu:-1.454452 unit_bearing:0.285988 0.298409 0.910584 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.205747, -0.156230, 0.607803 mu:-1.454452 unit_bearing:0.097708 0.338633 0.935832 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.221101, 0.173303, 0.598254 mu:-1.454452 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.618036, -0.069825, 0.268603 mu:-1.454452 unit_bearing:0.784787 0.153774 0.600386 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  If point is visible? 0.566160, -0.085017, 0.354590 mu:-1.454452 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.217480, -0.095940, 0.615827 mu:-1.454452 unit_bearing:0.109626 0.253021 0.961230 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.225006, -0.096222, 0.613235 mu:-1.454452 unit_bearing:0.121130 0.252968 0.959862 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.441892, -0.114283, 0.486317 mu:-1.454452 unit_bearing:0.469099 0.256545 0.845062 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  calculated Z=  0.995389
[18:03:08.013]  update seeds 305
[18:03:08.013]  If point is visible? 0.224639, -0.102280, 0.612426 mu:-1.454452 unit_bearing:0.121087 0.261570 0.957559 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.487644, -0.088342, 0.449151 mu:-1.454452 unit_bearing:0.544580 0.212508 0.811340 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.330178, -0.221466, 0.532318 mu:-1.454452 unit_bearing:0.300242 0.419429 0.856700 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255
[18:03:08.013]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.176861, 0.189171, 0.215796 mu:-2.858248 unit_bearing:0.324063 -0.453909 0.830030 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  If point is visible? 0.187604, 0.116893, 0.251562 mu:-2.858248 unit_bearing:0.337481 -0.236401 0.911165 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.186776, 0.116256, 0.252390 mu:-2.858248 unit_bearing:0.334710 -0.234306 0.912726 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.187656, 0.116174, 0.251834 mu:-2.858248 unit_bearing:0.337512 -0.234266 0.911704 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.186827, 0.115536, 0.252660 mu:-2.858248 unit_bearing:0.334741 -0.232170 0.913261 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.142830, 0.091177, 0.285755 mu:-2.858248 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.141978, 0.089012, 0.286774 mu:-2.858248 unit_bearing:0.190607 -0.145038 0.970893 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.173496, 0.081755, 0.272670 mu:-2.858248 unit_bearing:0.287780 -0.129363 0.948919 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.168888, -0.030641, 0.284805 mu:-2.858248 unit_bearing:0.275947 0.193725 0.941448 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.166318, -0.068950, 0.279922 mu:-2.858248 unit_bearing:0.274679 0.300704 0.913307 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.176224, 0.127900, 0.254064 mu:-2.858248 unit_bearing:0.303356 -0.266756 0.914777 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? -0.026873, 0.073669, 0.318909 mu:-2.858248 unit_bearing:-0.299134 -0.090319 0.949927 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? -0.200487, -0.017237, 0.262175 mu:-2.858248 unit_bearing:-0.741735 0.147816 0.654202 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.119130, -0.052171, 0.304146 mu:-2.858248 unit_bearing:0.126834 0.261540 0.956823 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.166381, -0.068185, 0.280062 mu:-2.858248 unit_bearing:0.274711 0.298581 0.913993 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.168180, -0.068278, 0.279062 mu:-2.858248 unit_bearing:0.280352 0.298496 0.912306 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.285780, -0.107290, 0.154334 mu:-2.858248 unit_bearing:0.688216 0.365724 0.626581 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? -0.200487, -0.017237, 0.262175 mu:-2.858248 unit_bearing:-0.741735 0.147816 0.654202 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.132768, -0.046553, 0.299830 mu:-2.858248 unit_bearing:0.167118 0.244100 0.955242 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.013]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.013]  If point is visible? 0.290531, -0.043391, 0.172991 mu:-2.858248 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.014]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.113587, -0.048870, 0.306573 mu:-2.858248 unit_bearing:0.109626 0.253021 0.961230 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.014]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.117412, -0.049015, 0.305241 mu:-2.858248 unit_bearing:0.121130 0.252968 0.959862 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.014]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.243749, -0.125253, 0.199193 mu:-2.858248 unit_bearing:0.544682 0.432310 0.718631 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.014]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? -0.008682, -0.092308, 0.315470 mu:-2.858248 unit_bearing:-0.233713 0.379351 0.895249 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790
[18:03:08.014]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.226401, -0.118029, 0.665063 mu:-1.388332 unit_bearing:0.109517 0.276658 0.954707 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.438297, -0.141622, 0.545787 mu:-1.388332 unit_bearing:0.433086 0.288988 0.853770 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? -0.272258, -0.057067, 0.655167 mu:-1.388332 unit_bearing:-0.565775 0.190979 0.802138 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? -0.043014, -0.069945, 0.706722 mu:-1.388332 unit_bearing:-0.269854 0.217447 0.938028 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.533681, -0.138125, 0.455996 mu:-1.388332 unit_bearing:0.588954 0.268976 0.762093 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? -0.043138, -0.073103, 0.706398 mu:-1.388332 unit_bearing:-0.269811 0.221744 0.937034 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.269108, -0.172103, 0.637212 mu:-1.388332 unit_bearing:0.177663 0.346459 0.921087 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.261136, -0.174954, 0.639700 mu:-1.388332 unit_bearing:0.166221 0.350808 0.921577 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.250769, -0.203050, 0.635574 mu:-1.388332 unit_bearing:0.154419 0.388825 0.908278 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.231520, 0.175371, 0.650696 mu:-1.388332 unit_bearing:0.110019 -0.130074 0.985381 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.231323, 0.181492, 0.649107 mu:-1.388332 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.227107, -0.106921, 0.666679 mu:-1.388332 unit_bearing:0.109588 0.261625 0.958928 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.234982, -0.107217, 0.663945 mu:-1.388332 unit_bearing:0.121087 0.261570 0.957559 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.586341, -0.094591, 0.400220 mu:-1.388332 unit_bearing:0.675331 0.199550 0.710005 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.603241, -0.168938, 0.348464 mu:-1.388332 unit_bearing:0.716338 0.293243 0.633142 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.242426, -0.113865, 0.660213 mu:-1.388332 unit_bearing:0.132531 0.270099 0.953668 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.331516, -0.225239, 0.590255 mu:-1.388332 unit_bearing:0.278162 0.411734 0.867814 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.441528, -0.124606, 0.547312 mu:-1.388332 unit_bearing:0.436392 0.265798 0.859601 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.448316, -0.125089, 0.541758 mu:-1.388332 unit_bearing:0.447262 0.265523 0.854081 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? -0.015861, -0.190150, 0.685723 mu:-1.388332 unit_bearing:-0.222415 0.379535 0.898045 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808
[18:03:08.014]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.458043, 0.189010, 0.860830 mu:-1.000543 unit_bearing:0.256692 -0.081803 0.963025 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.494214, 0.197096, 0.838969 mu:-1.000543 unit_bearing:0.296485 -0.092498 0.950547 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? -0.080881, 0.163549, 0.974915 mu:-1.000543 unit_bearing:-0.293610 -0.042607 0.954975 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? -0.132134, -0.097135, 0.978114 mu:-1.000543 unit_bearing:-0.337559 0.216664 0.916030 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? -0.012608, -0.272736, 0.953763 mu:-1.000543 unit_bearing:-0.210972 0.388082 0.897153 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.482320, 0.545728, 0.677468 mu:-1.000543 unit_bearing:0.310150 -0.458413 0.832865 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  If point is visible? 0.492226, 0.544610, 0.671299 mu:-1.000543 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  If point is visible? -0.069121, 0.172251, 0.974338 mu:-1.000543 unit_bearing:-0.282222 -0.051319 0.957976 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.611289, -0.172812, 0.764717 mu:-1.000543 unit_bearing:0.436392 0.265798 0.859601 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.620716, -0.173480, 0.757023 mu:-1.000543 unit_bearing:0.447262 0.265523 0.854081 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.827762, -0.124620, 0.539890 mu:-1.000543 unit_bearing:0.694578 0.190525 0.693730 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.014]  If point is visible? 0.649315, -0.166916, 0.734438 mu:-1.000543 unit_bearing:0.479850 0.256251 0.839095 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665
[18:03:08.014]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.236] add new frame
[18:03:08.236] update seed
[18:03:08.236] add key frame
[18:03:08.236]  If point is visible? -1.324265, -1.191725, -2.113943 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067638 y=0.000000 z=-0.764680
[18:03:08.236]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.236] init seeds
[18:03:08.236] update seed
[18:03:08.236] init seeds
[18:03:08.239] DepthFilter: Initialized 19 new seeds
[18:03:08.241] DepthFilter: Initialized 138 new seeds
[18:03:08.462] add new frame
[18:03:08.462] add key frame
[18:03:08.462] update seed
[18:03:08.462] init seeds
[18:03:08.465] DepthFilter: Initialized 11 new seeds
[18:03:08.706] add new frame
[18:03:08.707] update seed
[18:03:08.707]  If point is visible? -1.324170, -1.191725, -2.113865 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -1.288804, -1.178512, -2.160678 mu:0.439455 unit_bearing:0.561608 -0.439274 0.701167 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -1.289726, -1.170300, -2.166678 mu:0.439455 unit_bearing:0.561903 -0.435371 0.703361 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -1.289266, -1.174409, -2.163684 mu:0.439455 unit_bearing:0.561756 -0.437323 0.702267 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.951825, -1.142569, -2.447799 mu:0.439455 unit_bearing:0.407511 -0.408219 0.816879 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.957818, -1.141930, -2.444588 mu:0.439455 unit_bearing:0.410214 -0.408113 0.815579 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.899772, -1.113160, -2.497496 mu:0.439455 unit_bearing:0.383655 -0.392730 0.835806 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.905836, -1.112576, -2.494473 mu:0.439455 unit_bearing:0.386384 -0.392637 0.834592 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.720791, -1.007659, -2.646348 mu:0.439455 unit_bearing:0.302121 -0.338741 0.891054 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.726860, -1.011765, -2.641586 mu:0.439455 unit_bearing:0.304878 -0.340787 0.889333 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.665662, -0.974855, -2.685514 mu:0.439455 unit_bearing:0.277155 -0.322335 0.905144 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.788383, -0.866084, -2.686861 mu:0.439455 unit_bearing:0.331280 -0.274819 0.902623 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.788536, -0.861461, -2.688868 mu:0.439455 unit_bearing:0.331316 -0.272695 0.903254 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? 0.986756, -0.774609, -2.696828 mu:0.439455 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.259737, -0.781370, -2.876554 mu:0.439455 unit_bearing:0.095327 -0.227709 0.969052 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.266253, -0.781229, -2.875585 mu:0.439455 unit_bearing:0.098209 -0.227700 0.968766 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.272767, -0.781084, -2.874598 mu:0.439455 unit_bearing:0.101090 -0.227690 0.968472 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.272917, -0.771607, -2.878058 mu:0.439455 unit_bearing:0.101105 -0.223370 0.969476 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.565109, -0.690864, -2.838326 mu:0.439455 unit_bearing:0.230437 -0.190280 0.954302 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.565355, -0.676577, -2.842957 mu:0.439455 unit_bearing:0.230481 -0.183800 0.955560 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.475592, -0.660998, -2.873155 mu:0.439455 unit_bearing:0.190465 -0.175388 0.965900 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.481974, -0.665548, -2.870067 mu:0.439455 unit_bearing:0.193321 -0.177538 0.964939 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.801208, -0.607324, -2.778110 mu:0.439455 unit_bearing:0.335605 -0.157067 0.928816 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.707]  If point is visible? -0.796621, -0.492684, -2.811128 mu:0.439455 unit_bearing:0.333177 -0.105295 0.936966 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.707]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.790492, -0.478576, -2.817047 mu:0.439455 unit_bearing:0.330395 -0.098824 0.938655 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.822068, -0.462329, -2.807301 mu:0.439455 unit_bearing:0.344511 -0.092259 0.934238 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.809912, -0.419534, -2.821747 mu:0.439455 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.348130, -0.422968, -2.961480 mu:0.439455 unit_bearing:0.133226 -0.066834 0.988830 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.276312, -0.429422, -2.972620 mu:0.439455 unit_bearing:0.101444 -0.069052 0.992442 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.282849, -0.429292, -2.971617 mu:0.439455 unit_bearing:0.104335 -0.069049 0.992142 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.276334, -0.424534, -2.973562 mu:0.439455 unit_bearing:0.101446 -0.066870 0.992591 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.282871, -0.424404, -2.972559 mu:0.439455 unit_bearing:0.104337 -0.066867 0.992292 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.740550, -0.418341, -2.850216 mu:0.439455 unit_bearing:0.307911 -0.070774 0.948779 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.746881, -0.418022, -2.847815 mu:0.439455 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.746916, -0.413169, -2.848769 mu:0.439455 unit_bearing:0.310750 -0.068596 0.948013 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.315754, -0.360042, -2.978518 mu:0.439455 unit_bearing:0.118812 -0.038474 0.992171 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -1.193789, 0.009077, -2.658433 mu:0.439455 unit_bearing:0.512191 0.105385 0.852382 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? 0.840360, 0.134828, -2.900717 mu:0.439455 unit_bearing:-0.385568 0.173211 0.906275 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -1.563223, 0.274217, -2.327580 mu:0.439455 unit_bearing:0.682302 0.203315 0.702230 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -1.568588, 0.269881, -2.322719 mu:0.439455 unit_bearing:0.684752 0.201163 0.700463 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.504996, 0.541062, -2.899240 mu:0.439483 unit_bearing:0.206047 0.350345 0.913675 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629448, Z inverse max: 0.249519
[18:03:08.708]  If point is visible? -0.511254, 0.546214, -2.896394 mu:0.439455 unit_bearing:0.208857 0.352418 0.912239 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.866041, 0.604656, -2.749689 mu:0.439455 unit_bearing:0.367945 0.370052 0.853040 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.872156, 0.604832, -2.746748 mu:0.439455 unit_bearing:0.370694 0.369971 0.851885 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? 0.092030, 0.594441, -2.961000 mu:0.439455 unit_bearing:-0.057211 0.376913 0.924480 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? 0.098718, 0.604422, -2.958191 mu:0.439455 unit_bearing:-0.060058 0.381116 0.922574 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -1.325154, -1.183608, -2.119980 mu:0.439455 unit_bearing:0.578441 -0.443677 0.684513 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.899506, -1.117544, -2.494821 mu:0.439455 unit_bearing:0.383585 -0.394785 0.834869 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -1.324170, -1.191725, -2.113865 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.858535, -0.970338, -2.602695 mu:0.439455 unit_bearing:0.363634 -0.324800 0.873084 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? -0.870837, -0.969328, -2.596979 mu:0.439455 unit_bearing:0.369161 -0.324666 0.870811 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? 1.173350, -0.831028, -2.571567 mu:0.439455 unit_bearing:-0.527101 -0.265703 0.807196 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.708]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.708]  If point is visible? 1.160180, -0.877364, -2.557619 mu:0.439455 unit_bearing:-0.521140 -0.286661 0.803889 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.835757, -0.926810, -2.636190 mu:0.439455 unit_bearing:0.353020 -0.304020 0.884844 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.858934, -0.961276, -2.607250 mu:0.439455 unit_bearing:0.363734 -0.320604 0.874592 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 0.870897, -0.938929, -2.675481 mu:0.439455 unit_bearing:-0.396924 -0.307202 0.864915 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 1.036804, -0.816552, -2.654645 mu:0.439455 unit_bearing:-0.468954 -0.254940 0.845629 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 0.986756, -0.774609, -2.696828 mu:0.439455 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 0.936467, -0.666258, -2.759075 mu:0.439523 unit_bearing:-0.426867 -0.183820 0.885435 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629568, Z inverse max: 0.249477
[18:03:08.709]  If point is visible? -0.564940, -0.700376, -2.835185 mu:0.439455 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.552446, -0.681884, -2.845113 mu:0.439455 unit_bearing:0.224754 -0.185999 0.956499 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.565274, -0.681342, -2.841424 mu:0.439455 unit_bearing:0.230467 -0.185961 0.955146 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 1.251033, -0.547723, -2.629520 mu:0.439455 unit_bearing:-0.561705 -0.139028 0.815573 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.809912, -0.419534, -2.821747 mu:0.439455 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.295766, -0.458316, -2.963677 mu:0.439455 unit_bearing:0.110100 -0.082134 0.990521 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.947735, -0.275535, -2.782279 mu:0.439455 unit_bearing:0.400717 -0.012124 0.916122 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.296220, -0.212554, -3.000776 mu:0.439455 unit_bearing:0.110147 0.027049 0.993547 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 1.275134, 0.114513, -2.690008 mu:0.439455 unit_bearing:-0.571826 0.153065 0.805969 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 1.201472, 0.110547, -2.734509 mu:0.439455 unit_bearing:-0.540482 0.153719 0.827194 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  calculated Z=  0.692647
[18:03:08.709]  update seeds 305
[18:03:08.709]  If point is visible? 1.189099, 0.109911, -2.741614 mu:0.439455 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 1.201377, 0.120295, -2.733993 mu:0.439455 unit_bearing:-0.540403 0.157943 0.826450 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.436836, 0.129149, -2.979742 mu:0.439455 unit_bearing:0.173245 0.174966 0.969213 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -1.568833, 0.265131, -2.323277 mu:0.439455 unit_bearing:0.684834 0.199121 0.700966 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -1.764168, 0.366433, -2.063824 mu:0.439455 unit_bearing:0.776527 0.229412 0.586836 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -1.561589, 0.388466, -2.304900 mu:0.439455 unit_bearing:0.682389 0.251933 0.686203 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? 0.312032, 0.354386, -2.999070 mu:0.439455 unit_bearing:-0.155250 0.274245 0.949045 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -1.793251, 0.433476, -2.000299 mu:0.439455 unit_bearing:0.790864 0.255252 0.556219 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -1.064204, 0.507946, -2.672172 mu:0.439455 unit_bearing:0.456358 0.323717 0.828821 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -1.491163, 0.507993, -2.342543 mu:0.439455 unit_bearing:0.650976 0.306084 0.694653 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.505341, 0.531120, -2.901800 mu:0.439455 unit_bearing:0.206102 0.346123 0.915271 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.709]  If point is visible? -0.865803, 0.609579, -2.748295 mu:0.439455 unit_bearing:0.367885 0.372125 0.852164 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.709]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.312381, 0.537746, -2.942780 mu:0.439455 unit_bearing:0.120531 0.351208 0.928507 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.505645, 0.521139, -2.904174 mu:0.439455 unit_bearing:0.206156 0.341897 0.916846 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.064259, 0.605173, -2.954228 mu:0.439455 unit_bearing:0.011561 0.381231 0.924407 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -1.148617, 0.667029, -2.568397 mu:0.439455 unit_bearing:0.496110 0.387548 0.776969 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -1.160125, 0.667390, -2.560450 mu:0.439455 unit_bearing:0.501336 0.387280 0.773742 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.866278, 0.599732, -2.751071 mu:0.439455 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 0.249481, 0.654232, -2.936482 mu:0.439455 unit_bearing:-0.125618 0.401680 0.907124 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 0.236444, 0.654220, -2.937538 mu:0.439455 unit_bearing:-0.119919 0.401731 0.907872 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 0.277603, 0.822763, -2.875794 mu:0.439455 unit_bearing:-0.136177 0.471939 0.871051 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 1.011187, -0.855231, -2.650495 mu:0.439455 unit_bearing:-0.457724 -0.272033 0.846455 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 1.011400, -0.836966, -2.658566 mu:0.439455 unit_bearing:-0.457945 -0.263634 0.848990 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.293234, -0.718863, -2.893229 mu:0.439455 unit_bearing:0.109832 -0.199552 0.973712 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.295591, -0.487545, -2.957411 mu:0.439455 unit_bearing:0.110082 -0.095219 0.989351 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.269680, -0.449087, -2.969730 mu:0.439455 unit_bearing:0.098543 -0.077785 0.992088 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.322390, -0.291047, -2.987485 mu:0.439455 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -1.560955, 0.397935, -2.303152 mu:0.439455 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -1.569787, 0.246131, -2.325390 mu:0.439455 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -1.791340, 0.431731, -1.980501 mu:0.441900 unit_bearing:0.794854 0.254841 0.550694 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.635806, Z inverse max: 0.247995
[18:03:08.710]  calculated Z=  0.796368
[18:03:08.710]  update seeds 305
[18:03:08.710]  If point is visible? -1.718442, 0.371891, -2.124524 mu:0.439455 unit_bearing:0.755142 0.235043 0.611977 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 0.288696, 0.664248, -2.929796 mu:0.439455 unit_bearing:-0.142656 0.405690 0.902809 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -1.299976, 0.440316, -2.529144 mu:0.439455 unit_bearing:0.562791 0.286559 0.775339 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 0.314952, 0.684192, -2.920728 mu:0.439455 unit_bearing:-0.153927 0.413904 0.897212 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.866278, 0.599732, -2.751071 mu:0.439455 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -1.052845, 0.703005, -2.616143 mu:0.439455 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 0.419372, 0.743958, -2.886156 mu:0.439455 unit_bearing:-0.198838 0.438121 0.876649 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -0.795724, 0.518469, -2.804934 mu:0.439488 unit_bearing:0.335666 0.335443 0.880231 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629465, Z inverse max: 0.249512
[18:03:08.710]  If point is visible? -0.820560, 0.519257, -2.794238 mu:0.439455 unit_bearing:0.346777 0.335188 0.876010 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? 0.290072, 0.783280, -2.889491 mu:0.439455 unit_bearing:-0.142056 0.455451 0.878854 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.629357, Z inverse max: 0.249553
[18:03:08.710]  If point is visible? -1.775285, -1.577963, -2.551161 mu:0.331889 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.710]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.729070, -1.555034, -2.617126 mu:0.331889 unit_bearing:0.561756 -0.437323 0.702267 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.221015, -1.478964, -3.051581 mu:0.331889 unit_bearing:0.386313 -0.394692 0.833655 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.213341, -1.473935, -3.059127 mu:0.331889 unit_bearing:0.383655 -0.392730 0.835806 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.221369, -1.473162, -3.055123 mu:0.331889 unit_bearing:0.386384 -0.392637 0.834592 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.213691, -1.468125, -3.062654 mu:0.331889 unit_bearing:0.383724 -0.390674 0.836738 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.072332, -1.392683, -3.181038 mu:0.331889 unit_bearing:0.335062 -0.361034 0.870281 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.236959, -1.337447, -3.128390 mu:0.331889 unit_bearing:0.390614 -0.344968 0.853474 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.245015, -1.336708, -3.124344 mu:0.331889 unit_bearing:0.393353 -0.344888 0.852248 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.245319, -1.330780, -3.127523 mu:0.331889 unit_bearing:0.393413 -0.342806 0.853059 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.976352, -1.334241, -3.256221 mu:0.331889 unit_bearing:0.302121 -0.338741 0.891054 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.984388, -1.339677, -3.249916 mu:0.331889 unit_bearing:0.304878 -0.340787 0.889333 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.903355, -1.290806, -3.308081 mu:0.331889 unit_bearing:0.277155 -0.322335 0.905144 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.065850, -1.146782, -3.309864 mu:0.331889 unit_bearing:0.331280 -0.274819 0.902623 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.066053, -1.140661, -3.312523 mu:0.331889 unit_bearing:0.331316 -0.272695 0.903254 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? 1.284611, -1.025660, -3.323061 mu:0.331889 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.365870, -1.034612, -3.561037 mu:0.331889 unit_bearing:0.095327 -0.227709 0.969052 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.374498, -1.034425, -3.559754 mu:0.331889 unit_bearing:0.098209 -0.227700 0.968766 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.383124, -1.034234, -3.558447 mu:0.331889 unit_bearing:0.101090 -0.227690 0.968472 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.383321, -1.021684, -3.563028 mu:0.331889 unit_bearing:0.101105 -0.223370 0.969476 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.770539, -0.895856, -3.516551 mu:0.331889 unit_bearing:0.230481 -0.183800 0.955560 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.651684, -0.875228, -3.556536 mu:0.331889 unit_bearing:0.190465 -0.175388 0.965900 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -0.660134, -0.881252, -3.552448 mu:0.331889 unit_bearing:0.193321 -0.177538 0.964939 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.082832, -0.804158, -3.430687 mu:0.331889 unit_bearing:0.335605 -0.157067 0.928816 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.076759, -0.652363, -3.474406 mu:0.331889 unit_bearing:0.333177 -0.105295 0.936966 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.068573, -0.640067, -3.480776 mu:0.331889 unit_bearing:0.330383 -0.100987 0.938429 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.068643, -0.633682, -3.482243 mu:0.331889 unit_bearing:0.330395 -0.098824 0.938655 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.110453, -0.612170, -3.469339 mu:0.331889 unit_bearing:0.344511 -0.092259 0.934238 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.711]  If point is visible? -1.094408, -0.549091, -3.489745 mu:0.331889 unit_bearing:0.338983 -0.070655 0.938136 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.711]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.094357, -0.555505, -3.488467 mu:0.331889 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -0.387818, -0.568598, -3.688238 mu:0.331889 unit_bearing:0.101444 -0.069052 0.992442 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -0.396472, -0.568426, -3.686910 mu:0.331889 unit_bearing:0.104335 -0.069049 0.992142 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -0.387847, -0.562125, -3.689485 mu:0.331889 unit_bearing:0.101446 -0.066870 0.992591 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -0.396502, -0.561954, -3.688157 mu:0.331889 unit_bearing:0.104337 -0.066867 0.992292 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -0.440043, -0.476732, -3.696047 mu:0.331889 unit_bearing:0.118812 -0.038474 0.992171 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.185177, -0.077882, -3.503695 mu:0.331889 unit_bearing:0.369797 0.085133 0.925204 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? 1.090768, 0.178525, -3.593031 mu:0.331889 unit_bearing:-0.385568 0.173211 0.906275 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -2.098920, 0.357349, -2.827705 mu:0.331889 unit_bearing:0.684752 0.201163 0.700463 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -0.605799, 0.721440, -3.611417 mu:0.331889 unit_bearing:0.177592 0.352799 0.918691 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -0.690460, 0.723071, -3.589631 mu:0.331889 unit_bearing:0.206019 0.352455 0.912870 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  calculated Z=  0.834909
[18:03:08.712]  update seeds 305
[18:03:08.712]  If point is visible? -0.698904, 0.723242, -3.587308 mu:0.331889 unit_bearing:0.208857 0.352418 0.912239 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? 0.108654, 0.793697, -3.670949 mu:0.331889 unit_bearing:-0.060066 0.379010 0.923441 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? 0.108760, 0.800315, -3.669132 mu:0.331889 unit_bearing:-0.060058 0.381116 0.922574 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.177089, 0.794339, -3.390991 mu:0.331889 unit_bearing:0.370755 0.367898 0.852755 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.185180, 0.794575, -3.387070 mu:0.331889 unit_bearing:0.373502 0.367817 0.851591 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.168677, 0.800625, -3.393055 mu:0.331889 unit_bearing:0.367945 0.370052 0.853040 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.176774, 0.800858, -3.389160 mu:0.331889 unit_bearing:0.370694 0.369971 0.851885 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? 0.099905, 0.787099, -3.672852 mu:0.331889 unit_bearing:-0.057211 0.376913 0.924480 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.775285, -1.577963, -2.551161 mu:0.331889 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.212989, -1.479739, -3.055585 mu:0.331889 unit_bearing:0.383585 -0.394785 0.834869 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.159267, -1.272825, -3.204452 mu:0.331889 unit_bearing:0.363734 -0.320604 0.874592 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -1.236959, -1.337447, -3.128390 mu:0.331889 unit_bearing:0.390614 -0.344968 0.853474 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? 1.131202, -1.243235, -3.294796 mu:0.331889 unit_bearing:-0.396924 -0.307202 0.864915 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? 1.514242, -1.161718, -3.138735 mu:0.331889 unit_bearing:-0.521140 -0.286661 0.803889 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  calculated Z=  0.888441
[18:03:08.712]  update seeds 305
[18:03:08.712]  If point is visible? 1.350880, -1.081196, -3.267207 mu:0.331889 unit_bearing:-0.468954 -0.254940 0.845629 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? 1.284611, -1.025660, -3.323061 mu:0.331889 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.712]  If point is visible? -0.769990, -0.927368, -3.506260 mu:0.331889 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.712]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -0.753657, -0.890258, -3.523449 mu:0.331889 unit_bearing:0.224783 -0.181678 0.957322 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -0.770213, -0.914773, -3.510420 mu:0.331889 unit_bearing:0.230437 -0.190280 0.954302 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 1.218201, -0.882328, -3.405890 mu:0.331889 unit_bearing:-0.426867 -0.183820 0.885435 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  calculated Z=  0.762210
[18:03:08.713]  update seeds 305
[18:03:08.713]  If point is visible? -0.753447, -0.902882, -3.519406 mu:0.331889 unit_bearing:0.224754 -0.185999 0.956499 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -0.770431, -0.902164, -3.514522 mu:0.331889 unit_bearing:0.230467 -0.185961 0.955146 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 1.634540, -0.725240, -3.233939 mu:0.331889 unit_bearing:-0.561705 -0.139028 0.815573 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  calculated Z=  0.874708
[18:03:08.713]  update seeds 305
[18:03:08.713]  If point is visible? -0.993647, -0.612088, -3.517292 mu:0.331889 unit_bearing:0.305000 -0.090293 0.948062 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -1.010410, -0.611231, -3.510960 mu:0.331889 unit_bearing:0.310663 -0.090267 0.946224 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -0.413576, -0.606856, -3.676396 mu:0.331889 unit_bearing:0.110100 -0.082134 0.990521 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -1.094357, -0.555505, -3.488467 mu:0.331889 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -0.414177, -0.281442, -3.725520 mu:0.331889 unit_bearing:0.110147 0.027049 0.993547 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 1.746814, 0.143451, -3.262319 mu:0.331889 unit_bearing:-0.597624 0.148281 0.787946 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 1.666598, 0.138776, -3.314672 mu:0.331889 unit_bearing:-0.571911 0.148858 0.806696 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 1.666453, 0.151626, -3.314031 mu:0.331889 unit_bearing:-0.571826 0.153065 0.805969 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 1.568917, 0.146376, -3.372955 mu:0.331889 unit_bearing:-0.540482 0.153719 0.827194 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 1.552533, 0.145533, -3.382363 mu:0.331889 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 1.568790, 0.159283, -3.372271 mu:0.331889 unit_bearing:-0.540403 0.157943 0.826450 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -0.600367, 0.171006, -3.697668 mu:0.331889 unit_bearing:0.173245 0.174966 0.969213 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -2.099883, 0.338482, -2.829874 mu:0.331889 unit_bearing:0.684997 0.195036 0.701955 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -2.099244, 0.351060, -2.828443 mu:0.331889 unit_bearing:0.684834 0.199121 0.700966 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -2.357887, 0.485194, -2.484901 mu:0.331889 unit_bearing:0.776527 0.229412 0.586836 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? 0.391209, 0.469242, -3.723260 mu:0.331889 unit_bearing:-0.155250 0.274245 0.949045 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -2.396396, 0.573966, -2.400788 mu:0.331889 unit_bearing:0.790864 0.255252 0.556219 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -2.088812, 0.526906, -2.801796 mu:0.331889 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -2.089652, 0.514367, -2.804110 mu:0.331889 unit_bearing:0.682389 0.251933 0.686203 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -0.691074, 0.703255, -3.594465 mu:0.331889 unit_bearing:0.206102 0.346123 0.915271 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -1.996402, 0.672633, -2.853953 mu:0.331889 unit_bearing:0.650976 0.306084 0.694653 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -1.431065, 0.672572, -3.290414 mu:0.331889 unit_bearing:0.456358 0.323717 0.828821 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.713]  If point is visible? -1.541940, 0.896001, -3.148844 mu:0.331889 unit_bearing:0.495908 0.391592 0.775068 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.713]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -0.691476, 0.690040, -3.597607 mu:0.331890 unit_bearing:0.206156 0.341897 0.916846 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.542836, 0.883213, -3.153007 mu:0.331889 unit_bearing:0.496110 0.387548 0.776969 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.558073, 0.883691, -3.142484 mu:0.331889 unit_bearing:0.501336 0.387280 0.773742 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -0.435576, 0.712029, -3.648727 mu:0.331889 unit_bearing:0.120531 0.351208 0.928507 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.168991, 0.794105, -3.394885 mu:0.331889 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  calculated Z=  0.783783
[18:03:08.714]  update seeds 305
[18:03:08.714]  If point is visible? 0.308386, 0.866269, -3.640388 mu:0.331889 unit_bearing:-0.125618 0.401680 0.907124 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? 0.291122, 0.866253, -3.641785 mu:0.331889 unit_bearing:-0.119919 0.401731 0.907872 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -0.107038, 0.801309, -3.663885 mu:0.331889 unit_bearing:0.011561 0.381231 0.924407 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? 0.345622, 1.089420, -3.560031 mu:0.331889 unit_bearing:-0.136177 0.471939 0.871051 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? 1.317241, -1.108226, -3.272399 mu:0.331889 unit_bearing:-0.457945 -0.263634 0.848990 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -0.993260, -0.650476, -3.508623 mu:0.331889 unit_bearing:0.304937 -0.103289 0.946755 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? 1.316960, -1.132412, -3.261712 mu:0.331889 unit_bearing:-0.457724 -0.272033 0.846455 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -0.410224, -0.951846, -3.583117 mu:0.331889 unit_bearing:0.109832 -0.199552 0.973712 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -0.378896, -0.620470, -3.679052 mu:0.331889 unit_bearing:0.098533 -0.086511 0.991366 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -0.379036, -0.594636, -3.684411 mu:0.331889 unit_bearing:0.098543 -0.077785 0.992088 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -0.448830, -0.385375, -3.707921 mu:0.331889 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -2.297342, 0.492420, -2.565274 mu:0.331889 unit_bearing:0.755142 0.235043 0.611977 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -2.407565, 0.574837, -2.383533 mu:0.331889 unit_bearing:0.794854 0.254841 0.550694 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -2.090476, 0.501825, -2.806361 mu:0.331889 unit_bearing:0.682600 0.247892 0.687464 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -2.100507, 0.325902, -2.831241 mu:0.331889 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.075658, 0.686558, -3.466411 mu:0.331889 unit_bearing:0.335666 0.335443 0.880231 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.108456, 0.687548, -3.452042 mu:0.331889 unit_bearing:0.346777 0.335188 0.876010 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -2.088812, 0.526906, -2.801796 mu:0.331889 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? 0.360310, 0.879530, -3.631535 mu:0.331889 unit_bearing:-0.142656 0.405690 0.902809 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.416024, 0.930849, -3.216226 mu:0.331889 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.743250, 0.583023, -3.101031 mu:0.331889 unit_bearing:0.562791 0.286559 0.775339 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? 0.533338, 0.985075, -3.573751 mu:0.331889 unit_bearing:-0.198838 0.438121 0.876649 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? 0.362132, 1.037141, -3.578167 mu:0.331889 unit_bearing:-0.142056 0.455451 0.878854 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.097358, -1.772185, -3.591396 mu:0.331889 unit_bearing:0.387379 -0.497267 0.776314 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.222990, -1.670926, -3.600630 mu:0.331889 unit_bearing:0.429075 -0.463537 0.775260 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.714]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.714]  If point is visible? -1.215288, -1.666307, -3.608823 mu:0.331889 unit_bearing:0.426518 -0.461685 0.777772 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.223303, -1.665391, -3.604736 mu:0.331889 unit_bearing:0.429178 -0.461548 0.776389 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.129317, -1.619896, -3.692097 mu:0.331889 unit_bearing:0.397986 -0.443028 0.803327 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.137443, -1.619079, -3.688320 mu:0.331889 unit_bearing:0.400682 -0.442911 0.802049 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.186041, -1.614039, -3.665075 mu:0.331889 unit_bearing:0.416812 -0.442192 0.794188 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.825032, -1.616984, -3.832072 mu:0.331889 unit_bearing:0.296996 -0.436407 0.849319 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.816840, -1.611805, -3.838642 mu:0.331889 unit_bearing:0.294278 -0.434435 0.851274 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.993520, -1.541176, -3.812975 mu:0.331889 unit_bearing:0.352916 -0.412207 0.839962 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.001590, -1.546271, -3.805984 mu:0.331889 unit_bearing:0.355594 -0.414168 0.837865 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.045522, -1.467457, -3.835845 mu:0.331889 unit_bearing:0.370175 -0.386998 0.844514 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.199443, -1.192782, -4.206122 mu:0.331889 unit_bearing:0.089370 -0.281539 0.955379 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.190726, -1.205269, -4.201519 mu:0.331889 unit_bearing:0.086477 -0.285839 0.954368 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.199417, -1.198963, -4.203439 mu:0.331889 unit_bearing:0.089362 -0.283683 0.954745 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.614389, -1.094914, -4.174757 mu:0.331889 unit_bearing:0.227086 -0.250568 0.941088 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.174353, -0.885949, -4.321839 mu:0.331889 unit_bearing:0.081043 -0.175783 0.981087 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.092386, -0.858474, -4.096356 mu:0.331889 unit_bearing:0.385728 -0.175852 0.905698 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.940993, -0.848588, -4.160971 mu:0.331889 unit_bearing:0.335483 -0.169982 0.926584 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.067902, -0.803575, -4.124114 mu:0.331889 unit_bearing:0.377603 -0.156645 0.912622 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.093343, -0.776848, -4.121062 mu:0.331889 unit_bearing:0.386046 -0.147964 0.910536 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.118859, -0.737451, -4.120996 mu:0.331889 unit_bearing:0.394515 -0.134989 0.908920 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.226862, -0.744938, -4.356750 mu:0.331889 unit_bearing:0.098470 -0.127920 0.986884 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.967477, -0.727187, -4.186154 mu:0.331889 unit_bearing:0.344273 -0.128973 0.929969 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.993146, -0.687742, -4.186501 mu:0.331889 unit_bearing:0.352792 -0.115964 0.928488 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -1.001598, -0.687289, -4.183314 mu:0.331889 unit_bearing:0.355597 -0.115944 0.927420 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.993053, -0.700449, -4.183310 mu:0.331889 unit_bearing:0.352761 -0.120279 0.927951 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.715]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.715]  If point is visible? -0.209552, -0.680967, -4.374118 mu:0.331889 unit_bearing:0.092725 -0.106144 0.990018 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -0.209543, -0.687399, -4.372612 mu:0.331889 unit_bearing:0.092722 -0.108324 0.989782 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -0.279224, -0.667097, -4.369821 mu:0.331889 unit_bearing:0.115849 -0.101749 0.988042 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -0.244496, -0.603140, -4.387638 mu:0.331889 unit_bearing:0.104323 -0.079960 0.991324 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -0.244511, -0.590215, -4.390263 mu:0.331889 unit_bearing:0.104328 -0.075596 0.991666 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.170859, -0.447941, -4.161322 mu:0.331889 unit_bearing:0.411773 -0.037989 0.910494 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -0.227188, -0.460722, -4.415121 mu:0.331889 unit_bearing:0.098578 -0.031934 0.994617 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.179321, -0.396079, -4.165509 mu:0.331889 unit_bearing:0.414581 -0.020735 0.909776 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.187712, -0.337664, -4.169528 mu:0.331889 unit_bearing:0.417366 -0.001330 0.908737 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.019745, -0.339869, -4.240863 mu:0.331889 unit_bearing:0.361620 0.000829 0.932325 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.028139, -0.268174, -4.245384 mu:0.331889 unit_bearing:0.364405 0.024629 0.930915 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -0.401222, -0.255521, -4.417365 mu:0.331889 unit_bearing:0.156338 0.035754 0.987056 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.212293, -0.155226, -4.174583 mu:0.331889 unit_bearing:0.425524 0.058973 0.903023 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  calculated Z=  0.773392
[18:03:08.716]  update seeds 305
[18:03:08.716]  If point is visible? -1.052406, -0.019448, -4.248543 mu:0.331889 unit_bearing:0.372460 0.106691 0.921895 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.228023, -0.017914, -4.171494 mu:0.331889 unit_bearing:0.430745 0.104080 0.896452 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.943273, 0.087652, -3.692487 mu:0.331889 unit_bearing:0.668129 0.119481 0.734390 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.235502, 0.067172, -4.167140 mu:0.331889 unit_bearing:0.433227 0.131933 0.891576 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.218261, 0.125111, -4.173316 mu:0.331889 unit_bearing:0.427505 0.151269 0.891267 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.109904, 0.126953, -4.221935 mu:0.331889 unit_bearing:0.391542 0.153842 0.907208 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.118270, 0.127299, -4.218340 mu:0.331889 unit_bearing:0.394319 0.153811 0.906010 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.126630, 0.127647, -4.214718 mu:0.331889 unit_bearing:0.397094 0.153779 0.904803 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.218339, 0.118583, -4.173571 mu:0.331889 unit_bearing:0.427531 0.149129 0.891615 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.101461, 0.133159, -4.225225 mu:0.331889 unit_bearing:0.388740 0.156019 0.908041 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.084559, 0.145587, -4.231681 mu:0.331889 unit_bearing:0.383131 0.160374 0.909665 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.092940, 0.145922, -4.228167 mu:0.331889 unit_bearing:0.385912 0.160343 0.908494 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.084486, 0.152141, -4.231360 mu:0.331889 unit_bearing:0.383107 0.162520 0.909294 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? -1.092867, 0.152474, -4.227846 mu:0.331889 unit_bearing:0.385888 0.162488 0.908123 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? 1.863177, 0.416590, -3.837485 mu:0.331889 unit_bearing:-0.595192 0.233703 0.768850 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.716]  If point is visible? 1.000980, 0.407973, -4.288725 mu:0.331889 unit_bearing:-0.309038 0.249116 0.917844 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.716]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? 0.992499, 0.407746, -4.291528 mu:0.331889 unit_bearing:-0.306223 0.249154 0.918776 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? 1.855094, 0.428975, -3.841350 mu:0.331889 unit_bearing:-0.592509 0.237939 0.769622 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? 1.862954, 0.422988, -3.836526 mu:0.331889 unit_bearing:-0.595118 0.235772 0.768275 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.605634, 0.421932, -4.358243 mu:0.331889 unit_bearing:0.224181 0.256526 0.940180 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.536109, 0.506836, -4.360004 mu:0.331889 unit_bearing:0.201106 0.284566 0.937325 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.596266, 0.501237, -4.347790 mu:0.331889 unit_bearing:0.221072 0.282227 0.933528 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.604627, 0.521251, -4.342315 mu:0.331889 unit_bearing:0.223847 0.288599 0.930915 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.268569, 0.523382, -4.400240 mu:0.331889 unit_bearing:0.112312 0.291644 0.949910 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.277220, 0.523461, -4.399220 mu:0.331889 unit_bearing:0.115184 0.291628 0.949571 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.596127, 0.514479, -4.345498 mu:0.331889 unit_bearing:0.221025 0.286497 0.932238 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -1.263611, 0.915025, -3.994622 mu:0.331889 unit_bearing:0.442556 0.404251 0.800453 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -1.145022, -1.629508, -3.676608 mu:0.331889 unit_bearing:0.403198 -0.446821 0.798613 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -1.145561, -1.618256, -3.684514 mu:0.331889 unit_bearing:0.403377 -0.442794 0.800762 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -1.192385, -1.646762, -3.637178 mu:0.331889 unit_bearing:0.418917 -0.454099 0.786322 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.766867, -1.603554, -3.862131 mu:0.331889 unit_bearing:0.277692 -0.430767 0.858677 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? 1.364250, -1.632095, -3.629331 mu:0.331889 unit_bearing:-0.429603 -0.449585 0.783144 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -1.017906, -1.550659, -3.795590 mu:0.331889 unit_bearing:0.361009 -0.416034 0.834619 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? 1.435880, -1.477862, -3.694745 mu:0.331889 unit_bearing:-0.453376 -0.396133 0.798454 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.684017, -1.550361, -3.923501 mu:0.331889 unit_bearing:0.250195 -0.410762 0.876742 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.639590, -1.143408, -4.148242 mu:0.331889 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.656718, -1.142697, -4.143979 mu:0.331889 unit_bearing:0.241135 -0.267554 0.932882 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.208162, -1.180277, -4.210640 mu:0.331889 unit_bearing:0.092264 -0.277237 0.956361 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -0.984688, -0.688191, -4.189662 mu:0.331889 unit_bearing:0.349985 -0.115984 0.929547 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -1.001504, -0.699994, -4.180122 mu:0.331889 unit_bearing:0.355566 -0.120258 0.926882 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.717]  If point is visible? -1.286471, -0.568243, -4.082185 mu:0.331889 unit_bearing:0.450143 -0.080819 0.889291 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.717]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.227185, -0.467228, -4.414102 mu:0.331889 unit_bearing:0.098577 -0.034118 0.994544 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.303047, -0.554405, -4.076532 mu:0.331889 unit_bearing:0.455645 -0.076489 0.886869 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.746875, -0.467721, -4.314643 mu:0.331889 unit_bearing:0.271057 -0.038303 0.961801 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.368927, -0.126981, -4.096653 mu:0.331889 unit_bearing:0.477510 0.065125 0.876210 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.761436, 0.181834, -3.838116 mu:0.331889 unit_bearing:0.607779 0.156396 0.778553 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.118341, 0.120753, -4.218603 mu:0.331889 unit_bearing:0.394343 0.151665 0.906362 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.277360, 0.496893, -4.403799 mu:0.331889 unit_bearing:0.115230 0.283062 0.952154 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.277291, 0.510177, -4.401540 mu:0.331889 unit_bearing:0.115207 0.287347 0.950873 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.294592, 0.510341, -4.399424 mu:0.331889 unit_bearing:0.120949 0.287315 0.950169 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.444034, -1.636819, -3.479052 mu:0.331889 unit_bearing:0.502437 -0.457220 0.733831 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.639590, -1.143408, -4.148242 mu:0.331889 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.190925, -1.155749, -4.222683 mu:0.331889 unit_bearing:0.086543 -0.268670 0.959337 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.732931, -1.617160, -3.864581 mu:0.331889 unit_bearing:0.266429 -0.435150 0.860035 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.478086, -1.588497, -3.491741 mu:0.331889 unit_bearing:0.513738 -0.440788 0.736056 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.723078, -1.006433, -3.654861 mu:0.331889 unit_bearing:0.595049 -0.242450 0.766248 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.189907, -1.376543, -4.119964 mu:0.331889 unit_bearing:0.086205 -0.345558 0.934430 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.639307, -1.168070, -4.137723 mu:0.331889 unit_bearing:0.235356 -0.276165 0.931848 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.639863, -1.118685, -4.158523 mu:0.331889 unit_bearing:0.235541 -0.259056 0.936702 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.908620, -1.300002, -3.988315 mu:0.331889 unit_bearing:0.324738 -0.325669 0.887967 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.227154, -0.519203, -4.405437 mu:0.331889 unit_bearing:0.098567 -0.051590 0.993792 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.262001, -0.518731, -4.401808 mu:0.331889 unit_bearing:0.110132 -0.051581 0.992578 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -0.678067, -0.483030, -4.330861 mu:0.331889 unit_bearing:0.248220 -0.042690 0.967763 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.352766, -0.166717, -4.103183 mu:0.331889 unit_bearing:0.472146 0.052299 0.879968 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.385484, -0.164713, -4.085488 mu:0.331889 unit_bearing:0.483005 0.052244 0.874058 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.352476, -0.115026, -4.106084 mu:0.331889 unit_bearing:0.472049 0.069445 0.878833 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.718]  If point is visible? -1.733504, 0.039062, -3.865841 mu:0.331889 unit_bearing:0.598509 0.110486 0.793461 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.718]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.719]  If point is visible? -1.385344, -0.138906, -4.087053 mu:0.331889 unit_bearing:0.482958 0.060808 0.873529 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.719]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.719]  If point is visible? 0.882096, 0.385155, -4.328178 mu:0.331889 unit_bearing:-0.269581 0.243195 0.931763 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.719]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.719]  If point is visible? -1.081922, 0.342372, -4.215453 mu:0.331889 unit_bearing:0.382255 0.224542 0.896360 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.719]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.719]  If point is visible? -1.115306, 0.343561, -4.201151 mu:0.331889 unit_bearing:0.393336 0.224355 0.891601 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.719]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.719]  If point is visible? -0.502113, 0.459888, -4.374657 mu:0.331889 unit_bearing:0.189823 0.269693 0.944051 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353
[18:03:08.719]  Z inverse min: 0.467202, Z inverse max: 0.196577
[18:03:08.719]  If point is visible? 0.233178, 0.095272, 0.278252 mu:-2.369580 unit_bearing:0.369531 -0.124459 0.920846 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.151362, 0.103297, 0.317104 mu:-2.369580 unit_bearing:0.161910 -0.132112 0.977922 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.199270, 0.096089, 0.297793 mu:-2.369580 unit_bearing:0.282150 -0.120737 0.951743 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.272493, -0.020883, 0.246577 mu:-2.369580 unit_bearing:-0.789382 0.139583 0.597823 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.255075, -0.024924, 0.261138 mu:-2.369580 unit_bearing:-0.754774 0.153292 0.637823 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.253967, -0.025724, 0.261967 mu:-2.369580 unit_bearing:-0.752504 0.155413 0.639988 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.324443, -0.072555, 0.204680 mu:-2.369580 unit_bearing:0.622293 0.249012 0.742122 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.325398, -0.071744, 0.203784 mu:-2.369580 unit_bearing:0.624856 0.246846 0.740690 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.288791, -0.077802, 0.239966 mu:-2.369580 unit_bearing:0.524468 0.271541 0.806969 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.190096, 0.103821, 0.300324 mu:-2.369580 unit_bearing:0.259291 -0.138192 0.955861 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  calculated Z=  1.117711
[18:03:08.719]  update seeds 305
[18:03:08.719]  If point is visible? -0.180705, -0.006049, 0.309976 mu:-2.369580 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.255077, -0.024059, 0.261201 mu:-2.369580 unit_bearing:-0.754851 0.151273 0.638213 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.246169, -0.027013, 0.267967 mu:-2.369580 unit_bearing:-0.736817 0.160177 0.656844 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.243924, -0.026889, 0.269680 mu:-2.369580 unit_bearing:-0.732321 0.160379 0.661804 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.241672, -0.028511, 0.271233 mu:-2.369580 unit_bearing:-0.727647 0.164641 0.665900 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.203230, -0.140775, 0.280793 mu:-2.369580 unit_bearing:0.310988 0.431439 0.846845 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.230004, 0.093769, 0.280699 mu:-2.369580 unit_bearing:0.361171 -0.120216 0.924718 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.019683, 0.083609, 0.345924 mu:-2.369580 unit_bearing:-0.247942 -0.077485 0.965671 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.252859, -0.025659, 0.262857 mu:-2.369580 unit_bearing:-0.750304 0.155516 0.642540 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.248408, -0.025400, 0.266372 mu:-2.369580 unit_bearing:-0.741440 0.155923 0.652652 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.257287, -0.022464, 0.259519 mu:-2.369580 unit_bearing:-0.759370 0.147037 0.633828 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  calculated Z=  1.140253
[18:03:08.719]  update seeds 305
[18:03:08.719]  If point is visible? 0.211392, -0.102572, 0.289417 mu:-2.369580 unit_bearing:0.324344 0.344080 0.881141 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.188140, -0.057035, 0.311368 mu:-2.369580 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? -0.020487, -0.133487, 0.332527 mu:-2.369580 unit_bearing:-0.232774 0.429237 0.872681 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.719]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.719]  If point is visible? 0.183825, -0.116139, 0.299665 mu:-2.369580 unit_bearing:0.256448 0.378946 0.889176 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.720]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? -0.084276, -0.136586, 0.321437 mu:-2.369580 unit_bearing:-0.376554 0.433323 0.818803 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696
[18:03:08.720]  Z inverse min: -2.116264, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.282924, 0.154852, 0.492234 mu:-1.561331 unit_bearing:0.259315 -0.133860 0.956471 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.413471, -0.007288, 0.430815 mu:-1.561331 unit_bearing:0.482598 0.105720 0.869438 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? -0.432148, -0.026144, 0.398499 mu:-1.561331 unit_bearing:-0.806139 0.128792 0.577539 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.353407, 0.249064, 0.413428 mu:-1.561331 unit_bearing:0.386414 -0.294854 0.873925 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.282838, 0.157559, 0.491518 mu:-1.561331 unit_bearing:0.259291 -0.138192 0.955861 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.251701, -0.099407, 0.518727 mu:-1.561331 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.251864, -0.096592, 0.519131 mu:-1.561331 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.301971, -0.155071, 0.482393 mu:-1.561331 unit_bearing:0.302005 0.344553 0.888863 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? -0.035524, 0.126891, 0.560788 mu:-1.561331 unit_bearing:-0.247942 -0.077485 0.965671 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.277174, 0.037012, 0.514845 mu:-1.561331 unit_bearing:0.248201 0.053058 0.967254 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.022381, -0.062626, 0.571822 mu:-1.561331 unit_bearing:-0.155594 0.218308 0.963396 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.244961, -0.096306, 0.522003 mu:-1.561331 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.252489, -0.085334, 0.520621 mu:-1.561331 unit_bearing:0.212892 0.243756 0.946182 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.252182, -0.090963, 0.519902 mu:-1.561331 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.540443, -0.127387, 0.267979 mu:-1.561331 unit_bearing:0.727405 0.260853 0.634695 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  If point is visible? 0.061371, -0.170317, 0.549722 mu:-1.561331 unit_bearing:-0.085811 0.380991 0.920588 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.301971, -0.155071, 0.482393 mu:-1.561331 unit_bearing:0.302005 0.344553 0.888863 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440
[18:03:08.720]  Z inverse min: -1.432729, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.430216, 0.088212, 0.623043 mu:-1.240737 unit_bearing:0.358812 -0.005665 0.933392 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.000910, -0.087499, 0.743251 mu:-1.240737 unit_bearing:-0.187077 0.228898 0.955305 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.291130, -0.131284, 0.685251 mu:-1.240737 unit_bearing:0.181212 0.274049 0.944489 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.350270, 0.201869, 0.643383 mu:-1.240737 unit_bearing:0.253566 -0.142556 0.956756 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.468853, 0.055730, 0.601082 mu:-1.240737 unit_bearing:0.411791 0.031016 0.910750 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.472870, 0.055397, 0.598284 mu:-1.240737 unit_bearing:0.417330 0.031003 0.908226 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.290604, 0.031719, 0.696288 mu:-1.240737 unit_bearing:0.173571 0.074981 0.981963 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? -0.353502, -0.011456, 0.662234 mu:-1.240737 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? -0.090916, -0.078594, 0.738059 mu:-1.240737 unit_bearing:-0.298160 0.217147 0.929488 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.361310, -0.201513, 0.637993 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.570262, -0.181844, 0.490360 mu:-1.240737 unit_bearing:0.567021 0.306844 0.764418 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.422550, 0.179653, 0.609634 mu:-1.240737 unit_bearing:0.349954 -0.120300 0.929010 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.293848, 0.201686, 0.668245 mu:-1.240737 unit_bearing:0.179144 -0.138571 0.974015 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.298694, -0.113818, 0.685213 mu:-1.240737 unit_bearing:0.189964 0.252534 0.948757 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.307409, -0.114175, 0.681692 mu:-1.240737 unit_bearing:0.201397 0.252441 0.946421 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.696588, -0.089087, 0.351690 mu:-1.240737 unit_bearing:0.749802 0.171646 0.639011 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  If point is visible? 0.306595, -0.128348, 0.679694 mu:-1.240737 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.307009, -0.121262, 0.680725 mu:-1.240737 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.720]  If point is visible? 0.361310, -0.201513, 0.637993 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.720]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? -0.027918, -0.241115, 0.710288 mu:-1.240737 unit_bearing:-0.210559 0.413090 0.886014 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.542945, 0.318835, 0.453924 mu:-1.240737 unit_bearing:0.528055 -0.315247 0.788528 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.544756, 0.318534, 0.452214 mu:-1.240737 unit_bearing:0.530659 -0.315134 0.786824 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.544936, 0.316961, 0.453003 mu:-1.240737 unit_bearing:0.530744 -0.313078 0.787587 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.449878, 0.306180, 0.542717 mu:-1.240737 unit_bearing:0.394870 -0.286236 0.873010 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.448012, 0.304775, 0.544797 mu:-1.240737 unit_bearing:0.392164 -0.284191 0.874896 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.432789, 0.295050, 0.560352 mu:-1.240737 unit_bearing:0.370358 -0.269862 0.888825 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.417406, 0.283496, 0.575934 mu:-1.240737 unit_bearing:0.348401 -0.253278 0.902478 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.458290, 0.274525, 0.551708 mu:-1.240737 unit_bearing:0.403980 -0.245893 0.881100 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.460286, 0.274310, 0.550325 mu:-1.240737 unit_bearing:0.406733 -0.245838 0.879848 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.460168, 0.275951, 0.549671 mu:-1.240737 unit_bearing:0.406691 -0.247957 0.879272 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.441067, 0.263204, 0.568929 mu:-1.240737 unit_bearing:0.379403 -0.229348 0.896355 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.443093, 0.263004, 0.567610 mu:-1.240737 unit_bearing:0.382177 -0.229301 0.895188 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.273253, 0.224805, 0.669264 mu:-1.240737 unit_bearing:0.153154 -0.166888 0.974008 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.275466, 0.224700, 0.668487 mu:-1.240737 unit_bearing:0.156031 -0.166876 0.973554 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.275527, 0.223000, 0.668988 mu:-1.240737 unit_bearing:0.156040 -0.164707 0.973922 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.277798, 0.221194, 0.668701 mu:-1.240737 unit_bearing:0.158925 -0.162527 0.973821 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.282216, 0.220980, 0.667112 mu:-1.240737 unit_bearing:0.164677 -0.162504 0.972869 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.348548, 0.188367, 0.647962 mu:-1.240737 unit_bearing:0.250807 -0.125236 0.959902 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.275168, 0.149346, 0.687742 mu:-1.240737 unit_bearing:0.153413 -0.071167 0.985596 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? -0.050343, 0.140665, 0.733515 mu:-1.240737 unit_bearing:-0.253715 -0.053555 0.965795 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.282210, 0.107397, 0.692395 mu:-1.240737 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.284423, 0.107298, 0.691597 mu:-1.240737 unit_bearing:0.164996 -0.018803 0.986115 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.286626, 0.108939, 0.690544 mu:-1.240737 unit_bearing:0.167876 -0.020983 0.985585 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.286661, 0.096741, 0.692205 mu:-1.240737 unit_bearing:0.167881 -0.005710 0.985791 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.288870, 0.096641, 0.691395 mu:-1.240737 unit_bearing:0.170762 -0.005710 0.985296 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.430216, 0.088212, 0.623043 mu:-1.240737 unit_bearing:0.358812 -0.005665 0.933392 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.304289, 0.090687, 0.686187 mu:-1.240737 unit_bearing:0.190908 0.000835 0.981608 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.351652, 0.030485, 0.670571 mu:-1.240737 unit_bearing:0.253866 0.072612 0.964510 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.415012, 0.017896, 0.637618 mu:-1.240737 unit_bearing:0.338929 0.083132 0.937132 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.508866, -0.018862, 0.573403 mu:-1.240737 unit_bearing:0.468902 0.118690 0.875239 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.355149, -0.006647, 0.669521 mu:-1.240737 unit_bearing:0.259397 0.118182 0.958513 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.416238, -0.015511, 0.636957 mu:-1.240737 unit_bearing:0.341497 0.124174 0.931644 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.471365, -0.017605, 0.601442 mu:-1.240737 unit_bearing:0.416803 0.121382 0.900856 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.416292, -0.013758, 0.636962 mu:-1.240737 unit_bearing:0.341513 0.122015 0.931923 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.469305, -0.019199, 0.602840 mu:-1.240737 unit_bearing:0.414020 0.123556 0.901844 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.471307, -0.019350, 0.601434 mu:-1.240737 unit_bearing:0.416783 0.123529 0.900574 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.469246, -0.020944, 0.602828 mu:-1.240737 unit_bearing:0.413999 0.125703 0.901556 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.416344, -0.012005, 0.636964 mu:-1.240737 unit_bearing:0.341528 0.119856 0.932198 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.721]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.721]  If point is visible? 0.470874, -0.031565, 0.601266 mu:-1.240737 unit_bearing:0.416630 0.138547 0.898456 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.472872, -0.031714, 0.599852 mu:-1.240737 unit_bearing:0.419390 0.138516 0.897176 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.472805, -0.033459, 0.599813 mu:-1.240737 unit_bearing:0.419366 0.140660 0.896854 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? -0.474417, -0.052889, 0.585403 mu:-1.240737 unit_bearing:-0.732244 0.162408 0.661394 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.418488, -0.064934, 0.632758 mu:-1.240737 unit_bearing:0.346556 0.184403 0.919725 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.420553, -0.065061, 0.631516 mu:-1.240737 unit_bearing:0.349358 0.184370 0.918671 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.422615, -0.065187, 0.630266 mu:-1.240737 unit_bearing:0.352158 0.184337 0.917608 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.420471, -0.066818, 0.631397 mu:-1.240737 unit_bearing:0.349333 0.186516 0.918247 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.424251, -0.074099, 0.628374 mu:-1.240737 unit_bearing:0.354828 0.195026 0.914364 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.426307, -0.074226, 0.627111 mu:-1.240737 unit_bearing:0.357623 0.194991 0.913282 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.000910, -0.087499, 0.743251 mu:-1.240737 unit_bearing:-0.187077 0.228898 0.955305 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.603434, -0.144936, 0.465800 mu:-1.240737 unit_bearing:0.611999 0.257678 0.747703 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.291130, -0.131284, 0.685251 mu:-1.240737 unit_bearing:0.181212 0.274049 0.944489 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.338737, -0.133274, 0.664971 mu:-1.240737 unit_bearing:0.243908 0.273433 0.930453 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.353672, -0.133957, 0.657826 mu:-1.240737 unit_bearing:0.263755 0.273193 0.925094 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.355797, -0.134056, 0.656778 mu:-1.240737 unit_bearing:0.266586 0.273157 0.924293 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.353785, -0.132190, 0.658100 mu:-1.240737 unit_bearing:0.263782 0.271059 0.925714 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.355910, -0.132290, 0.657052 mu:-1.240737 unit_bearing:0.266613 0.271023 0.924913 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.533154, -0.153242, 0.534137 mu:-1.240737 unit_bearing:0.511097 0.278240 0.813242 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.418726, 0.451428, 0.468647 mu:-1.240737 unit_bearing:0.369548 -0.476306 0.797851 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  If point is visible? 0.545115, 0.315387, 0.453789 mu:-1.240737 unit_bearing:0.530828 -0.311021 0.788345 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.432537, 0.298318, 0.558955 mu:-1.240737 unit_bearing:0.370275 -0.274098 0.887562 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.443199, 0.261351, 0.568229 mu:-1.240737 unit_bearing:0.382213 -0.227171 0.895716 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.284599, 0.215767, 0.667777 mu:-1.240737 unit_bearing:0.167579 -0.155983 0.973441 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.289007, 0.215549, 0.666148 mu:-1.240737 unit_bearing:0.173328 -0.155960 0.972437 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.346295, 0.191915, 0.648089 mu:-1.240737 unit_bearing:0.247931 -0.129586 0.960072 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.350382, 0.198464, 0.644299 mu:-1.240737 unit_bearing:0.253591 -0.138224 0.957385 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.350270, 0.201869, 0.643383 mu:-1.240737 unit_bearing:0.253566 -0.142556 0.956756 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.291006, 0.115695, 0.687884 mu:-1.240737 unit_bearing:0.173631 -0.029705 0.984363 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? -0.050388, 0.145846, 0.732574 mu:-1.240737 unit_bearing:-0.253701 -0.060078 0.965415 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? -0.050357, 0.142392, 0.733205 mu:-1.240737 unit_bearing:-0.253710 -0.055730 0.965673 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.291026, 0.112217, 0.688407 mu:-1.240737 unit_bearing:0.173634 -0.025343 0.984484 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.282202, 0.109138, 0.692146 mu:-1.240737 unit_bearing:0.162113 -0.020986 0.986549 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.291081, 0.091306, 0.691232 mu:-1.240737 unit_bearing:0.173642 0.000836 0.984808 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.286662, 0.094997, 0.692428 mu:-1.240737 unit_bearing:0.167881 -0.003528 0.985801 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.291080, 0.094796, 0.690799 mu:-1.240737 unit_bearing:0.173642 -0.003528 0.984803 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.468853, 0.055730, 0.601082 mu:-1.240737 unit_bearing:0.411791 0.031016 0.910750 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.722]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.722]  If point is visible? 0.472870, 0.055397, 0.598284 mu:-1.240737 unit_bearing:0.417330 0.031003 0.908226 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.290604, 0.031719, 0.696288 mu:-1.240737 unit_bearing:0.173571 0.074981 0.981963 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.507099, -0.013490, 0.574938 mu:-1.240737 unit_bearing:0.466251 0.112307 0.877495 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? -0.353502, -0.011456, 0.662234 mu:-1.240737 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? -0.524977, -0.037822, 0.545299 mu:-1.240737 unit_bearing:-0.785293 0.137789 0.603597 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.474866, -0.031863, 0.598432 mu:-1.240737 unit_bearing:0.422147 0.138485 0.895887 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.506984, -0.016962, 0.574944 mu:-1.240737 unit_bearing:0.466206 0.116584 0.876961 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.471003, -0.028074, 0.601334 mu:-1.240737 unit_bearing:0.416676 0.134258 0.899086 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? -0.090916, -0.078594, 0.738059 mu:-1.240737 unit_bearing:-0.298160 0.217147 0.929488 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.604586, -0.112415, 0.472438 mu:-1.240737 unit_bearing:0.611006 0.218633 0.760836 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.607967, -0.112738, 0.468543 mu:-1.240737 unit_bearing:0.616018 0.218441 0.756839 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.345373, -0.130028, 0.662493 mu:-1.240737 unit_bearing:0.252472 0.269061 0.929443 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.349640, -0.130225, 0.660445 mu:-1.240737 unit_bearing:0.258142 0.268994 0.927904 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.349859, -0.126691, 0.660973 mu:-1.240737 unit_bearing:0.258194 0.264721 0.929117 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.570262, -0.181844, 0.490360 mu:-1.240737 unit_bearing:0.567021 0.306844 0.764418 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.422987, -0.158654, 0.614665 mu:-1.240737 unit_bearing:0.358716 0.297081 0.884910 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.422711, -0.162162, 0.613998 mu:-1.240737 unit_bearing:0.358627 0.301300 0.883518 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.361310, -0.201513, 0.637993 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.422550, 0.179653, 0.609634 mu:-1.240737 unit_bearing:0.349954 -0.120300 0.929010 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.293848, 0.201686, 0.668245 mu:-1.240737 unit_bearing:0.179144 -0.138571 0.974015 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.338927, 0.046959, 0.675567 mu:-1.240737 unit_bearing:0.236763 0.053081 0.970116 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? -0.457102, -0.053644, 0.597975 mu:-1.240737 unit_bearing:-0.713937 0.165239 0.680434 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.298299, -0.120908, 0.684247 mu:-1.240737 unit_bearing:0.189895 0.261119 0.946444 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.307009, -0.121262, 0.680725 mu:-1.240737 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.487498, -0.011875, 0.589940 mu:-1.240737 unit_bearing:0.438916 0.112586 0.891446 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.338838, 0.039947, 0.676022 mu:-1.240737 unit_bearing:0.236745 0.061784 0.969605 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.471128, -0.024584, 0.601386 mu:-1.240737 unit_bearing:0.416720 0.129967 0.899696 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.608504, -0.105921, 0.469345 mu:-1.240737 unit_bearing:0.616304 0.210168 0.758946 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.471365, -0.017605, 0.601442 mu:-1.240737 unit_bearing:0.416803 0.121382 0.900856 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.479344, -0.018216, 0.595748 mu:-1.240737 unit_bearing:0.427836 0.121273 0.895684 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.534765, -0.134228, 0.537314 mu:-1.240737 unit_bearing:0.511820 0.255305 0.820280 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.696588, -0.089087, 0.351690 mu:-1.240737 unit_bearing:0.749802 0.171646 0.639011 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  If point is visible? 0.595427, -0.173420, 0.466182 mu:-1.240737 unit_bearing:0.602934 0.292813 0.742112 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? -0.027918, -0.241115, 0.710288 mu:-1.240737 unit_bearing:-0.210559 0.413090 0.886014 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? 0.361310, -0.201513, 0.637993 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925
[18:03:08.723]  Z inverse min: -1.088850, Z inverse max: 0.000000
[18:03:08.723]  If point is visible? -35.137050, -20.373755, -31.918462 mu:0.019370 unit_bearing:0.546112 -0.316486 0.775628 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.723]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.723]  If point is visible? -34.052817, -19.963188, -33.324809 mu:0.019370 unit_bearing:0.520632 -0.305272 0.797340 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.723]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.723]  If point is visible? -34.063899, -19.861844, -33.374085 mu:0.019370 unit_bearing:0.520711 -0.303208 0.798076 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.723]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -28.253428, -19.824288, -38.445698 mu:0.019370 unit_bearing:0.392021 -0.290514 0.872881 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -21.235151, -12.100790, -45.528839 mu:0.019370 unit_bearing:0.236528 -0.125305 0.963511 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? 3.930704, -10.443584, -50.463976 mu:0.019370 unit_bearing:-0.259347 -0.081794 0.962314 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -21.017138, -1.891612, -47.171275 mu:0.019370 unit_bearing:0.230989 0.074850 0.970073 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -21.013251, -1.666616, -47.181504 mu:0.019370 unit_bearing:0.230978 0.079199 0.969730 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? 11.079015, 5.071310, -50.226836 mu:0.019370 unit_bearing:-0.387745 0.215929 0.896119 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -0.123859, 5.493942, -51.390529 mu:0.019370 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -25.841504, 10.804411, -43.421365 mu:0.019370 unit_bearing:0.341775 0.310086 0.887151 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -25.859608, 10.579539, -43.465992 mu:0.019370 unit_bearing:0.341862 0.305868 0.888581 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -20.434672, 11.005178, -46.169581 mu:0.019370 unit_bearing:0.229139 0.320433 0.919140 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -20.982481, 11.028234, -45.917289 mu:0.019370 unit_bearing:0.240477 0.320281 0.916292 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -21.071575, 13.297929, -45.269881 mu:0.019370 unit_bearing:0.245481 0.362389 0.899118 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? 3.726782, 16.100285, -48.967837 mu:0.019370 unit_bearing:-0.238477 0.424995 0.873217 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -17.874059, -12.502694, -46.846899 mu:0.019370 unit_bearing:0.167673 -0.129920 0.977244 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -17.295474, -12.968000, -46.937691 mu:0.019370 unit_bearing:0.156132 -0.138652 0.977956 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -17.861155, -12.940801, -46.732570 mu:0.019370 unit_bearing:0.167643 -0.138613 0.976054 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? 7.112608, 4.584929, -50.986494 mu:0.019370 unit_bearing:-0.315181 0.208371 0.925874 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -30.303435, 0.730870, -41.843298 mu:0.019370 unit_bearing:0.427916 0.112691 0.896766 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -0.123859, 5.493942, -51.390529 mu:0.019370 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -43.772703, 6.096313, -26.731384 mu:0.019370 unit_bearing:0.740612 0.180171 0.647326 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? -40.580469, 11.358622, -29.872922 mu:0.019370 unit_bearing:0.670941 0.288758 0.682976 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454
[18:03:08.724]  Z inverse min: 0.031834, Z inverse max: 0.006906
[18:03:08.724]  If point is visible? 0.295606, 0.601262, 0.835805 mu:-0.900527 unit_bearing:0.082773 -0.439992 0.894179 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  If point is visible? 0.609299, 0.413949, 0.783825 mu:-0.900527 unit_bearing:0.372962 -0.278274 0.885135 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.598977, 0.406089, 0.794987 mu:-0.900527 unit_bearing:0.362029 -0.270023 0.892201 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.557830, 0.302759, 0.863260 mu:-0.900527 unit_bearing:0.315770 -0.170172 0.933451 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.582014, -0.102457, 0.892258 mu:-0.900527 unit_bearing:0.340825 0.195198 0.919639 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.555569, -0.117893, 0.906103 mu:-0.900527 unit_bearing:0.315352 0.210514 0.925331 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.567914, 0.602831, 0.692790 mu:-0.900527 unit_bearing:0.348603 -0.457090 0.818257 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  If point is visible? 0.484919, 0.644577, 0.715420 mu:-0.900527 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  If point is visible? 0.606155, 0.418729, 0.783704 mu:-0.900527 unit_bearing:0.370105 -0.282559 0.884976 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.633940, 0.005322, 0.864313 mu:-0.900527 unit_bearing:0.389271 0.095797 0.916128 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? -0.183372, -0.118061, 1.035788 mu:-0.900527 unit_bearing:-0.359810 0.224897 0.905515 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? -0.157150, -0.117899, 1.040060 mu:-0.900527 unit_bearing:-0.337444 0.225221 0.914006 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.156487, -0.193543, 1.031215 mu:-0.900527 unit_bearing:-0.057488 0.291862 0.954731 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.773366, -0.260248, 0.707945 mu:-0.900527 unit_bearing:0.546133 0.316006 0.775809 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.034168, -0.308708, 1.014409 mu:-0.900527 unit_bearing:-0.159862 0.392954 0.905556 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.370027, 0.269966, 0.962046 mu:-0.900527 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.369738, 0.279398, 0.959592 mu:-0.900527 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.384081, 0.174334, 0.977742 mu:-0.900527 unit_bearing:0.144796 -0.042820 0.988535 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.660818, -0.016040, 0.845189 mu:-0.900527 unit_bearing:0.416881 0.112792 0.901936 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? 0.870564, -0.253672, 0.597898 mu:-0.900527 unit_bearing:0.651454 0.298051 0.697691 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.724]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.724]  If point is visible? -0.077547, -0.341123, 1.001494 mu:-0.900527 unit_bearing:-0.255397 0.420510 0.870600 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921
[18:03:08.725]  Z inverse min: -0.879126, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.597567, 0.356513, 0.968863 mu:-0.814727 unit_bearing:0.298662 -0.187558 0.935747 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.416618, 0.308402, 1.069064 mu:-0.814727 unit_bearing:0.138848 -0.138704 0.980552 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.524194, 0.253106, 1.037727 mu:-0.814727 unit_bearing:0.230922 -0.097100 0.968115 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? -0.105906, 0.200738, 1.159988 mu:-0.814727 unit_bearing:-0.290769 -0.042613 0.955844 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.622227, 0.120411, 1.008886 mu:-0.814727 unit_bearing:0.316530 0.007340 0.948554 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.442779, 0.130789, 1.093831 mu:-0.814727 unit_bearing:0.159235 0.007383 0.987213 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.593334, 0.082556, 1.028829 mu:-0.814727 unit_bearing:0.290972 0.039933 0.955898 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.643598, 0.047233, 1.001974 mu:-0.814727 unit_bearing:0.336184 0.065830 0.939493 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? -0.614934, -0.087224, 1.009489 mu:-0.814727 unit_bearing:-0.666443 0.175306 0.724653 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? -0.618355, -0.084791, 1.007667 mu:-0.814727 unit_bearing:-0.668922 0.173157 0.722883 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.641123, -0.113224, 0.998418 mu:-0.814727 unit_bearing:0.338019 0.195232 0.920667 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.640981, -0.115903, 0.998210 mu:-0.814727 unit_bearing:0.337994 0.197377 0.920219 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.471036, -0.212349, 1.070122 mu:-0.814727 unit_bearing:0.192566 0.282509 0.939738 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.477606, -0.212629, 1.067307 mu:-0.814727 unit_bearing:0.198274 0.282456 0.938566 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.500311, -0.216328, 1.056690 mu:-0.814727 unit_bearing:0.218202 0.284393 0.933546 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.503567, -0.216474, 1.055195 mu:-0.814727 unit_bearing:0.221049 0.284362 0.932886 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.500498, -0.213633, 1.057131 mu:-0.814727 unit_bearing:0.218225 0.282258 0.934189 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.503755, -0.213780, 1.055637 mu:-0.814727 unit_bearing:0.221072 0.282227 0.933528 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.569902, 0.695405, 0.793841 mu:-0.814727 unit_bearing:0.298445 -0.478983 0.825534 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  If point is visible? 0.583656, 0.596993, 0.857799 mu:-0.814727 unit_bearing:0.300920 -0.393050 0.868883 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  If point is visible? 0.653691, 0.449603, 0.894905 mu:-0.814727 unit_bearing:0.353683 -0.270179 0.895495 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.659428, 0.453970, 0.888819 mu:-0.814727 unit_bearing:0.359169 -0.274315 0.892048 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.409886, 0.308713, 1.071435 mu:-0.814727 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? -0.109575, 0.205950, 1.158762 mu:-0.814727 unit_bearing:-0.293601 -0.046950 0.954775 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.621816, 0.191575, 0.998549 mu:-0.814727 unit_bearing:0.316463 -0.051233 0.947220 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.678255, 0.071259, 0.978689 mu:-0.814727 unit_bearing:0.367166 0.044090 0.929110 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.684431, 0.070782, 0.974642 mu:-0.814727 unit_bearing:0.372765 0.044073 0.926878 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.678114, 0.060659, 0.979464 mu:-0.814727 unit_bearing:0.367140 0.052738 0.928670 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.678188, 0.065960, 0.979088 mu:-0.814727 unit_bearing:0.367153 0.048414 0.928900 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.684363, 0.065485, 0.975041 mu:-0.814727 unit_bearing:0.372753 0.048396 0.926668 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.403405, -0.020302, 1.115367 mu:-0.814727 unit_bearing:0.127332 0.131701 0.983077 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.628615, -0.112453, 1.006008 mu:-0.814727 unit_bearing:0.326781 0.195361 0.924688 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.487802, -0.207663, 1.063872 mu:-0.814727 unit_bearing:0.206872 0.278099 0.938011 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.494703, -0.202560, 1.061795 mu:-0.814727 unit_bearing:0.212615 0.273766 0.938002 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.493973, -0.213343, 1.060090 mu:-0.814727 unit_bearing:0.212529 0.282316 0.935483 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.494341, -0.207952, 1.060955 mu:-0.814727 unit_bearing:0.212573 0.278043 0.936752 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.839162, -0.286741, 0.808687 mu:-0.814727 unit_bearing:0.530593 0.316708 0.786236 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.842109, -0.307989, 0.798350 mu:-0.814727 unit_bearing:0.535065 0.332864 0.776471 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.582482, 0.606549, 0.852166 mu:-0.814727 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  If point is visible? 0.647123, 0.455197, 0.896713 mu:-0.814727 unit_bearing:0.348034 -0.274523 0.896387 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? -0.069572, -0.366536, 1.123247 mu:-0.814727 unit_bearing:-0.244351 0.412468 0.877589 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.943418, -0.279037, 0.695737 mu:-0.814727 unit_bearing:0.632120 0.299264 0.714749 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716
[18:03:08.725]  Z inverse min: -0.742640, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.388809, 0.411570, 0.476707 mu:-1.306765 unit_bearing:0.337872 -0.451414 0.825874 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.725]  If point is visible? 0.409641, 0.283253, 0.542717 mu:-1.306765 unit_bearing:0.350821 -0.274472 0.895316 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.725]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.725]  If point is visible? 0.404279, 0.279155, 0.548373 mu:-1.306765 unit_bearing:0.342568 -0.268255 0.900381 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.725]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.366733, 0.066570, 0.629516 mu:-1.306765 unit_bearing:0.279623 0.020395 0.959893 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.460447, -0.001654, 0.573100 mu:-1.306765 unit_bearing:0.416986 0.099898 0.903406 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? -0.446588, -0.049145, 0.576243 mu:-1.306765 unit_bearing:-0.741209 0.161996 0.651435 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? -0.458927, -0.045079, 0.567365 mu:-1.306765 unit_bearing:-0.754696 0.155309 0.637427 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? -0.456876, -0.044968, 0.568927 mu:-1.306765 unit_bearing:-0.752504 0.155413 0.639988 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? -0.145168, -0.076396, 0.706060 mu:-1.306765 unit_bearing:-0.390481 0.218015 0.894424 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  calculated Z=  4.268810
[18:03:08.726]  update seeds 305
[18:03:08.726]  If point is visible? 0.548015, -0.116809, 0.484096 mu:-1.306765 unit_bearing:0.556927 0.235083 0.796598 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.551312, -0.117104, 0.480587 mu:-1.306765 unit_bearing:0.562104 0.234907 0.793006 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? -0.147377, -0.074752, 0.705783 mu:-1.306765 unit_bearing:-0.393284 0.215838 0.893723 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.549806, -0.115324, 0.482561 mu:-1.306765 unit_bearing:0.559583 0.232913 0.795373 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.298400, -0.159633, 0.647132 mu:-1.306765 unit_bearing:0.195077 0.316591 0.928286 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.374790, -0.156514, 0.609843 mu:-1.306765 unit_bearing:0.302719 0.306607 0.902415 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? -0.046711, -0.218394, 0.690987 mu:-1.306765 unit_bearing:-0.255840 0.399790 0.880178 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.360043, 0.147519, 0.620113 mu:-1.306765 unit_bearing:0.270930 -0.086096 0.958741 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.452868, -0.004355, 0.578658 mu:-1.306765 unit_bearing:0.405880 0.104287 0.907957 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.303379, 0.031931, 0.662588 mu:-1.306765 unit_bearing:0.190838 0.070590 0.979080 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  calculated Z=  1.075924
[18:03:08.726]  update seeds 305
[18:03:08.726]  If point is visible? 0.452656, -0.010978, 0.578730 mu:-1.306765 unit_bearing:0.405811 0.112889 0.906958 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.256093, -0.114042, 0.672571 mu:-1.306765 unit_bearing:0.132579 0.261509 0.956052 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.279790, -0.229500, 0.634990 mu:-1.306765 unit_bearing:0.176935 0.405276 0.896909 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.482377, -0.133056, 0.541131 mu:-1.306765 unit_bearing:0.458091 0.265238 0.848411 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.489514, -0.133573, 0.535062 mu:-1.306765 unit_bearing:0.468877 0.264943 0.842591 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717
[18:03:08.726]  Z inverse min: -1.267089, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.396036, 0.480092, 0.539605 mu:-1.183338 unit_bearing:0.295618 -0.481086 0.825328 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  If point is visible? 0.417271, 0.297226, 0.639758 mu:-1.183338 unit_bearing:0.300750 -0.251864 0.919845 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.463213, 0.052937, 0.672634 mu:-1.183338 unit_bearing:0.353149 0.039800 0.934720 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.404510, 0.042367, 0.708179 mu:-1.183338 unit_bearing:0.276714 0.057340 0.959240 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? -0.504977, -0.040916, 0.639242 mu:-1.183338 unit_bearing:-0.755076 0.145216 0.639353 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.388905, 0.485492, 0.539895 mu:-1.183338 unit_bearing:0.287135 -0.487387 0.824626 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  If point is visible? 0.609514, -0.116772, 0.542810 mu:-1.183338 unit_bearing:0.559965 0.220403 0.798662 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.605575, -0.120043, 0.546250 mu:-1.183338 unit_bearing:0.554652 0.224741 0.801157 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.412374, -0.161693, 0.687202 mu:-1.183338 unit_bearing:0.297313 0.293987 0.908392 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.325187, -0.198466, 0.721347 mu:-1.183338 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.442439, 0.327372, 0.609188 mu:-1.183338 unit_bearing:0.336565 -0.291679 0.895347 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.280630, 0.212617, 0.735024 mu:-1.183338 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.606442, -0.109217, 0.547486 mu:-1.183338 unit_bearing:0.555012 0.212204 0.804320 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.708422, -0.098987, 0.420977 mu:-1.183338 unit_bearing:0.704232 0.181944 0.686260 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.605870, -0.116435, 0.546679 mu:-1.183338 unit_bearing:0.554774 0.220565 0.802232 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.285814, -0.111157, 0.754245 mu:-1.183338 unit_bearing:0.132671 0.244300 0.960581 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.726]  If point is visible? 0.331450, -0.113077, 0.736109 mu:-1.183338 unit_bearing:0.190030 0.243940 0.950990 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.726]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? -0.038817, -0.230232, 0.777516 mu:-1.183338 unit_bearing:-0.244839 0.387512 0.888757 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.727]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.359771, -0.292289, 0.673887 mu:-1.183338 unit_bearing:0.243827 0.445454 0.861463 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.727]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.628286, -0.311342, 0.441820 mu:-1.183338 unit_bearing:0.612884 0.434365 0.660076 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481
[18:03:08.727]  Z inverse min: -1.125069, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.417250, 0.266758, 0.446351 mu:-1.454452 unit_bearing:0.430070 -0.300031 0.851482 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.449503, 0.259570, 0.420712 mu:-1.454452 unit_bearing:0.484070 -0.294198 0.824090 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.441922, 0.257991, 0.428919 mu:-1.454452 unit_bearing:0.470829 -0.290464 0.833037 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.441484, 0.262092, 0.427024 mu:-1.454452 unit_bearing:0.470636 -0.296721 0.830938 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.441631, 0.260726, 0.427659 mu:-1.454452 unit_bearing:0.470701 -0.294636 0.831643 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.359100, 0.223279, 0.510837 mu:-1.454452 unit_bearing:0.329219 -0.225834 0.916850 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.362478, 0.224379, 0.508162 mu:-1.454452 unit_bearing:0.334800 -0.227896 0.914315 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.349598, 0.208544, 0.522678 mu:-1.454452 unit_bearing:0.312625 -0.202463 0.928049 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.275770, 0.174940, 0.573031 mu:-1.454452 unit_bearing:0.193477 -0.145026 0.970327 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.320999, 0.030520, 0.575491 mu:-1.454452 unit_bearing:0.262450 0.063895 0.962828 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.347841, 0.031790, 0.560658 mu:-1.454452 unit_bearing:0.305114 0.059433 0.950459 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.217047, 0.023640, 0.619537 mu:-1.454452 unit_bearing:0.101430 0.081635 0.991488 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.218972, 0.025070, 0.618851 mu:-1.454452 unit_bearing:0.104323 0.079449 0.991365 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? -0.283002, -0.061066, 0.588501 mu:-1.454452 unit_bearing:-0.596342 0.198417 0.777822 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? -0.286922, -0.058260, 0.586951 mu:-1.454452 unit_bearing:-0.601541 0.194091 0.774905 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.419884, -0.132094, 0.497326 mu:-1.454452 unit_bearing:0.433196 0.284791 0.855123 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.340787, 0.374693, 0.433899 mu:-1.454452 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  If point is visible? 0.439900, 0.262320, 0.428395 mu:-1.454452 unit_bearing:0.467954 -0.296807 0.832421 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.443065, 0.261863, 0.425646 mu:-1.454452 unit_bearing:0.473315 -0.296634 0.829446 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.443358, 0.259131, 0.426913 mu:-1.454452 unit_bearing:0.473445 -0.292465 0.830851 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.446511, 0.258670, 0.424140 mu:-1.454452 unit_bearing:0.478797 -0.292292 0.827840 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.215175, 0.025217, 0.620088 mu:-1.454452 unit_bearing:0.098541 0.079456 0.991956 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? -0.290950, -0.061296, 0.584757 mu:-1.454452 unit_bearing:-0.606474 0.198085 0.770034 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? -0.286979, -0.061180, 0.586643 mu:-1.454452 unit_bearing:-0.601417 0.198252 0.773947 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? -0.286922, -0.058260, 0.586951 mu:-1.454452 unit_bearing:-0.601541 0.194091 0.774905 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? -0.064405, -0.063760, 0.647663 mu:-1.454452 unit_bearing:-0.303855 0.212791 0.928651 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.487337, -0.100104, 0.444492 mu:-1.454452 unit_bearing:0.544110 0.229245 0.807088 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.329143, -0.134214, 0.556882 mu:-1.454452 unit_bearing:0.285988 0.298409 0.910584 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.206380, -0.156230, 0.604508 mu:-1.454452 unit_bearing:0.097708 0.338633 0.935832 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.221733, 0.173303, 0.594959 mu:-1.454452 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.618668, -0.069825, 0.265307 mu:-1.454452 unit_bearing:0.784787 0.153774 0.600386 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  If point is visible? 0.566792, -0.085017, 0.351294 mu:-1.454452 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.218112, -0.095940, 0.612531 mu:-1.454452 unit_bearing:0.109626 0.253021 0.961230 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.225639, -0.096222, 0.609940 mu:-1.454452 unit_bearing:0.121130 0.252968 0.959862 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.442525, -0.114283, 0.483022 mu:-1.454452 unit_bearing:0.469099 0.256545 0.845062 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.225272, -0.102280, 0.609131 mu:-1.454452 unit_bearing:0.121087 0.261570 0.957559 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.488277, -0.088342, 0.445856 mu:-1.454452 unit_bearing:0.544580 0.212508 0.811340 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.727]  If point is visible? 0.330810, -0.221466, 0.529022 mu:-1.454452 unit_bearing:0.300242 0.419429 0.856700 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550
[18:03:08.727]  Z inverse min: -1.351774, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.177493, 0.189171, 0.212501 mu:-2.858248 unit_bearing:0.324063 -0.453909 0.830030 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  If point is visible? 0.188236, 0.116893, 0.248267 mu:-2.858248 unit_bearing:0.337481 -0.236401 0.911165 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.187409, 0.116256, 0.249095 mu:-2.858248 unit_bearing:0.334710 -0.234306 0.912726 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.188288, 0.116174, 0.248539 mu:-2.858248 unit_bearing:0.337512 -0.234266 0.911704 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.187460, 0.115536, 0.249365 mu:-2.858248 unit_bearing:0.334741 -0.232170 0.913261 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.143463, 0.091177, 0.282460 mu:-2.858248 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.142610, 0.089012, 0.283478 mu:-2.858248 unit_bearing:0.190607 -0.145038 0.970893 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.174129, 0.081755, 0.269375 mu:-2.858248 unit_bearing:0.287780 -0.129363 0.948919 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.169520, -0.030641, 0.281510 mu:-2.858248 unit_bearing:0.275947 0.193725 0.941448 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.166950, -0.068950, 0.276627 mu:-2.858248 unit_bearing:0.274679 0.300704 0.913307 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.176856, 0.127900, 0.250769 mu:-2.858248 unit_bearing:0.303356 -0.266756 0.914777 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? -0.026241, 0.073669, 0.315614 mu:-2.858248 unit_bearing:-0.299134 -0.090319 0.949927 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? -0.199855, -0.017237, 0.258880 mu:-2.858248 unit_bearing:-0.741735 0.147816 0.654202 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.119762, -0.052171, 0.300851 mu:-2.858248 unit_bearing:0.126834 0.261540 0.956823 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.167013, -0.068185, 0.276767 mu:-2.858248 unit_bearing:0.274711 0.298581 0.913993 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.168812, -0.068278, 0.275766 mu:-2.858248 unit_bearing:0.280352 0.298496 0.912306 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.286412, -0.107290, 0.151039 mu:-2.858248 unit_bearing:0.688216 0.365724 0.626581 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? -0.199855, -0.017237, 0.258880 mu:-2.858248 unit_bearing:-0.741735 0.147816 0.654202 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.133400, -0.046553, 0.296535 mu:-2.858248 unit_bearing:0.167118 0.244100 0.955242 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.291164, -0.043391, 0.169696 mu:-2.858248 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  If point is visible? 0.114220, -0.048870, 0.303278 mu:-2.858248 unit_bearing:0.109626 0.253021 0.961230 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.118045, -0.049015, 0.301945 mu:-2.858248 unit_bearing:0.121130 0.252968 0.959862 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.244381, -0.125253, 0.195898 mu:-2.858248 unit_bearing:0.544682 0.432310 0.718631 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? -0.008049, -0.092308, 0.312175 mu:-2.858248 unit_bearing:-0.233713 0.379351 0.895249 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085
[18:03:08.728]  Z inverse min: -2.667194, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.227034, -0.118029, 0.661768 mu:-1.388332 unit_bearing:0.109517 0.276658 0.954707 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.438929, -0.141622, 0.542492 mu:-1.388332 unit_bearing:0.433086 0.288988 0.853770 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? -0.271625, -0.057067, 0.651872 mu:-1.388332 unit_bearing:-0.565775 0.190979 0.802138 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? -0.042382, -0.069945, 0.703426 mu:-1.388332 unit_bearing:-0.269854 0.217447 0.938028 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.534313, -0.138125, 0.452701 mu:-1.388332 unit_bearing:0.588954 0.268976 0.762093 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? -0.042506, -0.073103, 0.703103 mu:-1.388332 unit_bearing:-0.269811 0.221744 0.937034 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.269740, -0.172103, 0.633917 mu:-1.388332 unit_bearing:0.177663 0.346459 0.921087 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.261768, -0.174954, 0.636405 mu:-1.388332 unit_bearing:0.166221 0.350808 0.921577 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.728]  If point is visible? 0.251402, -0.203050, 0.632279 mu:-1.388332 unit_bearing:0.154419 0.388825 0.908278 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.728]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.232153, 0.175371, 0.647401 mu:-1.388332 unit_bearing:0.110019 -0.130074 0.985381 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.231955, 0.181492, 0.645812 mu:-1.388332 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.227739, -0.106921, 0.663384 mu:-1.388332 unit_bearing:0.109588 0.261625 0.958928 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.235615, -0.107217, 0.660650 mu:-1.388332 unit_bearing:0.121087 0.261570 0.957559 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.586973, -0.094591, 0.396925 mu:-1.388332 unit_bearing:0.675331 0.199550 0.710005 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.603873, -0.168938, 0.345169 mu:-1.388332 unit_bearing:0.716338 0.293243 0.633142 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.243059, -0.113865, 0.656918 mu:-1.388332 unit_bearing:0.132531 0.270099 0.953668 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.332148, -0.225239, 0.586960 mu:-1.388332 unit_bearing:0.278162 0.411734 0.867814 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.442161, -0.124606, 0.544017 mu:-1.388332 unit_bearing:0.436392 0.265798 0.859601 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.448948, -0.125089, 0.538463 mu:-1.388332 unit_bearing:0.447262 0.265523 0.854081 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? -0.015229, -0.190150, 0.682428 mu:-1.388332 unit_bearing:-0.222415 0.379535 0.898045 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103
[18:03:08.729]  Z inverse min: -1.153099, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.458675, 0.189010, 0.857535 mu:-1.000543 unit_bearing:0.256692 -0.081803 0.963025 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.494846, 0.197096, 0.835674 mu:-1.000543 unit_bearing:0.296485 -0.092498 0.950547 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? -0.080248, 0.163549, 0.971620 mu:-1.000543 unit_bearing:-0.293610 -0.042607 0.954975 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? -0.131502, -0.097135, 0.974818 mu:-1.000543 unit_bearing:-0.337559 0.216664 0.916030 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? -0.011976, -0.272736, 0.950468 mu:-1.000543 unit_bearing:-0.210972 0.388082 0.897153 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.482953, 0.545728, 0.674173 mu:-1.000543 unit_bearing:0.310150 -0.458413 0.832865 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  If point is visible? 0.492858, 0.544610, 0.668004 mu:-1.000543 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  If point is visible? -0.068489, 0.172251, 0.971043 mu:-1.000543 unit_bearing:-0.282222 -0.051319 0.957976 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.611921, -0.172812, 0.761422 mu:-1.000543 unit_bearing:0.436392 0.265798 0.859601 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.621349, -0.173480, 0.753728 mu:-1.000543 unit_bearing:0.447262 0.265523 0.854081 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.828395, -0.124620, 0.536595 mu:-1.000543 unit_bearing:0.694578 0.190525 0.693730 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.649947, -0.166916, 0.731143 mu:-1.000543 unit_bearing:0.479850 0.256251 0.839095 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960
[18:03:08.729]  Z inverse min: -0.898607, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.517444, -0.017661, 1.126086 mu:-0.806909 unit_bearing:0.219364 0.124873 0.967619 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? -0.708540, -0.086256, 1.013118 mu:-0.806909 unit_bearing:-0.727492 0.168702 0.665053 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? -0.156648, -0.134029, 1.222094 mu:-0.806909 unit_bearing:-0.326194 0.227513 0.917516 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.636078, 0.197690, 1.045210 mu:-0.806909 unit_bearing:0.322107 -0.055553 0.945072 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? -0.070749, 0.197801, 1.221434 mu:-0.806909 unit_bearing:-0.265158 -0.038313 0.963444 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.993088, -0.291400, 0.681920 mu:-0.806909 unit_bearing:0.674893 0.300431 0.673989 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.471123, -0.453521, 1.052840 mu:-0.806909 unit_bearing:0.204115 0.466748 0.860513 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.679088, -0.440427, 0.938614 mu:-0.806909 unit_bearing:0.387110 0.445029 0.807524 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.402871, 0.311959, 1.129817 mu:-0.806909 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.416463, 0.311336, 1.125051 mu:-0.806909 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? -0.674513, -0.089830, 1.035785 mu:-0.806909 unit_bearing:-0.704380 0.173793 0.688218 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.727598, -0.017784, 1.003213 mu:-0.806909 unit_bearing:0.405811 0.112889 0.906958 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 1.022073, -0.153917, 0.683984 mu:-0.806909 unit_bearing:0.694578 0.190525 0.693730 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 1.040562, -0.145944, 0.657335 mu:-0.806909 unit_bearing:0.713477 0.181519 0.676758 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.775726, -0.215485, 0.942320 mu:-0.806909 unit_bearing:0.458091 0.265238 0.848411 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.787283, -0.216323, 0.932492 mu:-0.806909 unit_bearing:0.468877 0.264943 0.842591 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.577805, -0.366187, 1.033526 mu:-0.806909 unit_bearing:0.289725 0.394904 0.871843 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.679846, -0.435149, 0.940525 mu:-0.806909 unit_bearing:0.387278 0.440989 0.809657 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.678322, -0.445700, 0.936676 mu:-0.806909 unit_bearing:0.386939 0.449062 0.805370 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.729]  If point is visible? 0.359804, 0.721140, 0.941579 mu:-0.806909 unit_bearing:0.110750 -0.484972 0.867489 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  If point is visible? 0.565763, 0.691354, 0.859093 mu:-0.806909 unit_bearing:0.287714 -0.469228 0.834892 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  If point is visible? 0.635500, 0.651371, 0.841406 mu:-0.806909 unit_bearing:0.346530 -0.438946 0.829002 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  If point is visible? 0.635857, 0.649021, 0.842951 mu:-0.806909 unit_bearing:0.346601 -0.436911 0.830046 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.729]  If point is visible? 0.756709, 0.484181, 0.853870 mu:-0.806909 unit_bearing:0.443514 -0.303818 0.843202 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.808349, 0.450152, 0.824666 mu:-0.806909 unit_bearing:0.489864 -0.279436 0.825802 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.660246, 0.385390, 0.975543 mu:-0.806909 unit_bearing:0.349006 -0.212732 0.912655 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.663195, 0.387656, 0.972640 mu:-0.806909 unit_bearing:0.351773 -0.214833 0.911100 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.666302, 0.387361, 0.970633 mu:-0.806909 unit_bearing:0.354568 -0.214794 0.910025 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.565693, 0.380477, 1.035062 mu:-0.806909 unit_bearing:0.264510 -0.202944 0.942788 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.625379, 0.337163, 1.015557 mu:-0.806909 unit_bearing:0.315770 -0.170172 0.933451 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.402234, 0.330343, 1.124806 mu:-0.806909 unit_bearing:0.121505 -0.153967 0.980577 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.405635, 0.330188, 1.123630 mu:-0.806909 unit_bearing:0.124389 -0.153959 0.980216 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.429922, 0.313318, 1.119424 mu:-0.806909 unit_bearing:0.144605 -0.140861 0.979412 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.517508, 0.287527, 1.088870 mu:-0.806909 unit_bearing:0.219371 -0.123210 0.967830 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.635360, 0.234671, 1.037972 mu:-0.806909 unit_bearing:0.321993 -0.085883 0.942839 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.401786, 0.208771, 1.153731 mu:-0.806909 unit_bearing:0.118800 -0.053757 0.991462 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.415790, 0.160039, 1.156556 mu:-0.806909 unit_bearing:0.130379 -0.014449 0.991359 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.425979, 0.159588, 1.152905 mu:-0.806909 unit_bearing:0.139041 -0.014447 0.990181 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.415798, 0.157358, 1.156921 mu:-0.806909 unit_bearing:0.130379 -0.012266 0.991388 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.425988, 0.156907, 1.153270 mu:-0.806909 unit_bearing:0.139041 -0.012264 0.990211 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.429379, 0.156754, 1.152033 mu:-0.806909 unit_bearing:0.141928 -0.012263 0.989801 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.456403, 0.155486, 1.141771 mu:-0.806909 unit_bearing:0.164999 -0.012257 0.986218 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.415805, 0.154675, 1.157280 mu:-0.806909 unit_bearing:0.130380 -0.010082 0.991413 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.456410, 0.152806, 1.142130 mu:-0.806909 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.412408, 0.152139, 1.158831 mu:-0.806909 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.419215, 0.135730, 1.158427 mu:-0.806909 unit_bearing:0.133268 0.005204 0.991066 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.442916, 0.126598, 1.150617 mu:-0.806909 unit_bearing:0.153468 0.011749 0.988084 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.651686, 0.047111, 1.053200 mu:-0.806909 unit_bearing:0.336184 0.065830 0.939493 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.603734, 0.039592, 1.081701 mu:-0.806909 unit_bearing:0.293719 0.074655 0.952972 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.603680, 0.036899, 1.081827 mu:-0.806909 unit_bearing:0.293711 0.076824 0.952802 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.512092, 0.031423, 1.128230 mu:-0.806909 unit_bearing:0.213769 0.085773 0.973111 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.651734, 0.049796, 1.053047 mu:-0.806909 unit_bearing:0.336192 0.063665 0.939639 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.349852, 0.046631, 1.188081 mu:-0.806909 unit_bearing:0.075400 0.079479 0.993981 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.421449, 0.030297, 1.165153 mu:-0.806909 unit_bearing:0.136076 0.090306 0.986574 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.605404, -0.019963, 1.081308 mu:-0.806909 unit_bearing:0.296331 0.122313 0.947221 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.517444, -0.017661, 1.126086 mu:-0.806909 unit_bearing:0.219364 0.124873 0.967619 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.699423, -0.034475, 1.022628 mu:-0.806909 unit_bearing:0.380665 0.128166 0.915788 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.745051, -0.038011, 0.989751 mu:-0.806909 unit_bearing:0.422260 0.127765 0.897425 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.686977, -0.036261, 1.030968 mu:-0.806909 unit_bearing:0.369482 0.130417 0.920041 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? -0.823402, -0.054873, 0.924576 mu:-0.806909 unit_bearing:-0.803886 0.134860 0.579293 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.741835, -0.043133, 0.991954 mu:-0.806909 unit_bearing:0.419458 0.132084 0.898114 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.686774, -0.041646, 1.030900 mu:-0.806909 unit_bearing:0.369444 0.134723 0.919435 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.741940, -0.040451, 0.991988 mu:-0.806909 unit_bearing:0.419480 0.129939 0.898417 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.683573, -0.044117, 1.032922 mu:-0.806909 unit_bearing:0.366630 0.136901 0.920239 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? -0.807441, -0.058820, 0.938311 mu:-0.806909 unit_bearing:-0.793519 0.139372 0.592371 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.686013, -0.060503, 1.030473 mu:-0.806909 unit_bearing:0.369304 0.149783 0.917158 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.689103, -0.060723, 1.028395 mu:-0.806909 unit_bearing:0.372096 0.149755 0.916034 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.730]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.730]  If point is visible? 0.606426, -0.076971, 1.078175 mu:-0.806909 unit_bearing:0.298840 0.167663 0.939459 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? -0.708540, -0.086256, 1.013118 mu:-0.806909 unit_bearing:-0.727492 0.168702 0.665053 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.608469, -0.101541, 1.074986 mu:-0.806909 unit_bearing:0.301494 0.187028 0.934945 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.611656, -0.101732, 1.073158 mu:-0.806909 unit_bearing:0.304320 0.187000 0.934035 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.614840, -0.101923, 1.071319 mu:-0.806909 unit_bearing:0.307144 0.186972 0.933115 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.652721, -0.104284, 1.048439 mu:-0.806909 unit_bearing:0.340923 0.186614 0.921383 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.611382, -0.107150, 1.072786 mu:-0.806909 unit_bearing:0.304277 0.191303 0.933176 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.614565, -0.107340, 1.070947 mu:-0.806909 unit_bearing:0.307101 0.191275 0.932257 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.649447, -0.106786, 1.050219 mu:-0.806909 unit_bearing:0.338093 0.188793 0.921982 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.620199, -0.121265, 1.066203 mu:-0.806909 unit_bearing:0.312631 0.201961 0.928156 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? -0.156648, -0.134029, 1.222094 mu:-0.806909 unit_bearing:-0.326194 0.227513 0.917516 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? -0.061927, -0.139483, 1.229937 mu:-0.806909 unit_bearing:-0.252668 0.232652 0.939165 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.887586, -0.187011, 0.844616 mu:-0.806909 unit_bearing:0.562170 0.232826 0.793572 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.887358, -0.189653, 0.844266 mu:-0.806909 unit_bearing:0.562104 0.234907 0.793006 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.514501, -0.208294, 1.108164 mu:-0.806909 unit_bearing:0.223986 0.275788 0.934757 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.514691, -0.205574, 1.108585 mu:-0.806909 unit_bearing:0.224008 0.273651 0.935380 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.819660, -0.237508, 0.898832 mu:-0.806909 unit_bearing:0.500513 0.278600 0.819676 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.607810, -0.253805, 1.049898 mu:-0.806909 unit_bearing:0.308330 0.306508 0.900547 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.610874, 0.674956, 0.841053 mu:-0.806909 unit_bearing:0.326674 -0.457869 0.826825 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  If point is visible? 0.331393, 0.653939, 0.999308 mu:-0.806909 unit_bearing:0.080023 -0.425474 0.901425 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  If point is visible? 0.349449, 0.724004, 0.943278 mu:-0.806909 unit_bearing:0.102236 -0.487099 0.867342 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  If point is visible? 0.356139, 0.723656, 0.941041 mu:-0.806909 unit_bearing:0.107897 -0.487040 0.866689 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  If point is visible? 0.584771, 0.687042, 0.849774 mu:-0.806909 unit_bearing:0.304366 -0.466691 0.830398 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  If point is visible? 0.807841, 0.455088, 0.822452 mu:-0.806909 unit_bearing:0.489733 -0.283607 0.824457 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.642849, 0.363980, 0.995187 mu:-0.806909 unit_bearing:0.332422 -0.193653 0.923035 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.409497, 0.316908, 1.126051 mu:-0.806909 unit_bearing:0.127303 -0.143084 0.981489 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.416287, 0.316593, 1.123648 mu:-0.806909 unit_bearing:0.133070 -0.143068 0.980726 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.423065, 0.316272, 1.121204 mu:-0.806909 unit_bearing:0.138835 -0.143052 0.979929 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.511136, 0.280029, 1.093822 mu:-0.806909 unit_bearing:0.213667 -0.116718 0.969909 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.517254, 0.295414, 1.086878 mu:-0.806909 unit_bearing:0.219343 -0.129722 0.966985 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.636078, 0.197690, 1.045210 mu:-0.806909 unit_bearing:0.322107 -0.055553 0.945072 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.419215, 0.135730, 1.158427 mu:-0.806909 unit_bearing:0.133268 0.005204 0.991066 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? -0.070749, 0.197801, 1.221434 mu:-0.806909 unit_bearing:-0.265158 -0.038313 0.963444 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.425970, 0.162268, 1.152534 mu:-0.806909 unit_bearing:0.139040 -0.016630 0.990147 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.636589, 0.123230, 1.056272 mu:-0.806909 unit_bearing:0.322187 0.005169 0.946662 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.686529, 0.071339, 1.029435 mu:-0.806909 unit_bearing:0.367166 0.044090 0.929110 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.692733, 0.070852, 1.025304 mu:-0.806909 unit_bearing:0.372765 0.044073 0.926878 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.412396, 0.157505, 1.158118 mu:-0.806909 unit_bearing:0.127491 -0.012266 0.991764 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.419197, 0.157209, 1.155714 mu:-0.806909 unit_bearing:0.133267 -0.012265 0.991004 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.512148, 0.034127, 1.128126 mu:-0.806909 unit_bearing:0.213775 0.083597 0.973299 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.733092, -0.034363, 0.998773 mu:-0.806909 unit_bearing:0.411234 0.125730 0.902817 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.739132, -0.034844, 0.994294 mu:-0.806909 unit_bearing:0.416762 0.125675 0.900286 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.738928, -0.040210, 0.994244 mu:-0.806909 unit_bearing:0.416720 0.129967 0.899696 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.689441, -0.052641, 1.028615 mu:-0.806909 unit_bearing:0.372159 0.143304 0.917040 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.689218, -0.058029, 1.028474 mu:-0.806909 unit_bearing:0.372117 0.147605 0.916374 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? -0.667691, -0.094690, 1.039765 mu:-0.806909 unit_bearing:-0.699567 0.178077 0.692022 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.618551, -0.091283, 1.070142 mu:-0.806909 unit_bearing:0.310050 0.178336 0.933844 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? -0.368468, -0.117381, 1.177464 mu:-0.806909 unit_bearing:-0.486157 0.209791 0.848316 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.618288, -0.096699, 1.069818 mu:-0.806909 unit_bearing:0.310009 0.182641 0.933026 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.731]  If point is visible? 0.032468, -0.137389, 1.231310 mu:-0.806909 unit_bearing:-0.178469 0.231110 0.956419 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.731]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? -0.032500, -0.131448, 1.231952 mu:-0.806909 unit_bearing:-0.229957 0.226415 0.946497 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.032700, -0.131936, 1.231900 mu:-0.806909 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? -0.347508, -0.149139, 1.180241 mu:-0.806909 unit_bearing:-0.469432 0.235499 0.850984 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.891137, -0.176686, 0.843098 mu:-0.806909 unit_bearing:0.565014 0.224407 0.793978 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.884920, -0.186770, 0.847462 mu:-0.806909 unit_bearing:0.559583 0.232913 0.795373 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.890696, -0.181969, 0.842441 mu:-0.806909 unit_bearing:0.564885 0.228574 0.792880 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.502301, -0.194079, 1.116312 mu:-0.806909 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.501937, -0.199523, 1.115516 mu:-0.806909 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.508507, -0.199826, 1.112482 mu:-0.806909 unit_bearing:0.218357 0.269431 0.937938 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.607810, -0.253805, 1.049898 mu:-0.806909 unit_bearing:0.308330 0.306508 0.900547 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.993088, -0.291400, 0.681920 mu:-0.806909 unit_bearing:0.674893 0.300431 0.673989 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.608265, -0.248394, 1.050928 mu:-0.806909 unit_bearing:0.308404 0.302276 0.901951 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.614564, -0.248731, 1.047178 mu:-0.806909 unit_bearing:0.314010 0.302176 0.900048 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.035850, -0.328185, 1.194595 mu:-0.806909 unit_bearing:-0.165697 0.380308 0.909896 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.471123, -0.453521, 1.052840 mu:-0.806909 unit_bearing:0.204115 0.466748 0.860513 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.679088, -0.440427, 0.938614 mu:-0.806909 unit_bearing:0.387110 0.445029 0.807524 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.416800, 0.300809, 1.127787 mu:-0.806909 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.430350, 0.300166, 1.122859 mu:-0.806909 unit_bearing:0.144637 -0.129990 0.980909 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.590601, 0.602252, 0.908071 mu:-0.806909 unit_bearing:0.300920 -0.393050 0.868883 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.603255, 0.684970, 0.838452 mu:-0.806909 unit_bearing:0.320894 -0.466146 0.824461 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  If point is visible? 0.616988, 0.674242, 0.837155 mu:-0.806909 unit_bearing:0.332168 -0.457681 0.824738 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  If point is visible? 0.629160, 0.672783, 0.829232 mu:-0.806909 unit_bearing:0.343132 -0.457291 0.820454 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  If point is visible? 0.416463, 0.311336, 1.125051 mu:-0.806909 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.432525, 0.194063, 1.145154 mu:-0.806909 unit_bearing:0.144796 -0.042820 0.988535 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.727227, -0.028517, 1.003234 mu:-0.806909 unit_bearing:0.405737 0.121487 0.905880 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? -0.674513, -0.089830, 1.035785 mu:-0.806909 unit_bearing:-0.704380 0.173793 0.688218 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.727598, -0.017784, 1.003213 mu:-0.806909 unit_bearing:0.405811 0.112889 0.906958 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.689657, -0.047255, 1.028731 mu:-0.806909 unit_bearing:0.372199 0.139001 0.917685 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.690070, -0.036486, 1.028893 mu:-0.806909 unit_bearing:0.372275 0.130392 0.918917 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.702398, -0.037393, 1.020484 mu:-0.806909 unit_bearing:0.383433 0.130292 0.914332 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.726828, -0.039255, 1.003160 mu:-0.806909 unit_bearing:0.405656 0.130080 0.904722 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 1.040562, -0.145944, 0.657335 mu:-0.806909 unit_bearing:0.713477 0.181519 0.676758 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.612931, -0.074651, 1.074655 mu:-0.806909 unit_bearing:0.304515 0.165459 0.938027 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 1.022073, -0.153917, 0.683984 mu:-0.806909 unit_bearing:0.694578 0.190525 0.693730 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.775726, -0.215485, 0.942320 mu:-0.806909 unit_bearing:0.458091 0.265238 0.848411 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.787283, -0.216323, 0.932492 mu:-0.806909 unit_bearing:0.468877 0.264943 0.842591 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.611924, -0.096314, 1.073505 mu:-0.806909 unit_bearing:0.304361 0.182695 0.934873 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.577805, -0.366187, 1.033526 mu:-0.806909 unit_bearing:0.289725 0.394904 0.871843 T_cur_ref: x=0.000096 y=0.000000 z=0.000078
[18:03:08.732]  Z inverse min: -0.773154, Z inverse max: 0.000000
[18:03:08.732]  If point is visible? 0.679846, -0.435149, 0.940525 mu:-0.806909 unit_bearing:0.387278 0.440989 0.809657 T_