a1 k1 y b1 x time_ 0 time_ 10000 a1 k1 y b1 x kp time_ 10000 time_ 10360 a1 k1 y b1 x time_ 10360 time_ 11440 a1 k1 y b1 x kp time_ 11440 time_ 11800 a1 k1 y b1 x time_ 11800 time_ 12880 a1 k1 y b1 x kp time_ 12880 time_ 13240 a1 k1 y b1 x time_ 13240 time_ 14320 a1 k1 y b1 x kp time_ 14320 time_ 14680 a1 k1 y b1 x time_ 14680 time_ 15760 a1 k1 y b1 x kp time_ 15760 time_ 16120 epsilon a2 a3 x y z k2 x 2 b2 y epsilon delta a4 x a5 x z k3 x b3 z