#1 , 2 ,3 ,4 ,err_x #xm,ym ,err_per,err_a,0.01 0.5, 1222,5.0 ,100 ,0.01 0.7, 430 ,15.0 ,40 ,0.05 1.0, 145 ,25.0 ,2 ,0.05 1.2, 97 ,15.0 ,1 ,0.1 2.0, 23 ,5.0 ,0.1 ,0.1