Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo", uses=false) Using package ModelicaTest with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo) Using package Modelica with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo) Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo) Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo) Running command: "" <> buildModelFMU(ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_Fluid_Dissipation_Verifications_HeatTransfer_Plate_kc_turbulent",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_Fluid_Dissipation_Verifications_HeatTransfer_Plate_kc_turbulent",fmuType="me",version="2.0",platforms={"static"}) Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001268/0.001268, allocations: 111 kB / 17.33 MB, free: 6.004 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001441/0.001441, allocations: 193.3 kB / 18.25 MB, free: 5.094 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.349/1.349, allocations: 222.9 MB / 241.9 MB, free: 15.43 MB / 206.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.2095/0.2095, allocations: 44.17 MB / 336.2 MB, free: 2.945 MB / 270.1 MB Notification: Performance of FrontEnd - loaded program: time 0.001275/0.001275, allocations: 65.67 kB / 408 MB, free: 27.48 MB / 302.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.1036/0.1049, allocations: 60.82 MB / 468.8 MB, free: 14.62 MB / 350.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent): time 0.003163/0.1081, allocations: 1.87 MB / 470.7 MB, free: 12.74 MB / 350.1 MB Notification: Performance of NFInst.instExpressions: time 0.001405/0.1096, allocations: 0.9543 MB / 471.7 MB, free: 11.78 MB / 350.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 8.521e-05/0.1097, allocations: 0 / 471.7 MB, free: 11.78 MB / 350.1 MB Notification: Performance of NFTyping.typeComponents: time 0.0002417/0.1099, allocations: 35.8 kB / 471.7 MB, free: 11.74 MB / 350.1 MB Notification: Performance of NFTyping.typeBindings: time 0.0002349/0.1102, allocations: 67.61 kB / 471.8 MB, free: 11.68 MB / 350.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.0003652/0.1106, allocations: 107.7 kB / 471.9 MB, free: 11.57 MB / 350.1 MB Notification: Performance of NFFlatten.flatten: time 0.0002463/0.1108, allocations: 219.1 kB / 472.1 MB, free: 11.36 MB / 350.1 MB Notification: Performance of NFFlatten.resolveConnections: time 5.41e-05/0.1109, allocations: 13.56 kB / 472.1 MB, free: 11.34 MB / 350.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.0001434/0.1111, allocations: 79.69 kB / 472.2 MB, free: 11.26 MB / 350.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.0001529/0.1112, allocations: 111.6 kB / 472.3 MB, free: 11.15 MB / 350.1 MB Notification: Performance of NFPackage.collectConstants: time 2.553e-05/0.1113, allocations: 8 kB / 472.3 MB, free: 11.14 MB / 350.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.0002271/0.1115, allocations: 131.7 kB / 472.4 MB, free: 11.02 MB / 350.1 MB Notification: Performance of NFScalarize.scalarize: time 7.085e-05/0.1116, allocations: 51.81 kB / 472.5 MB, free: 10.96 MB / 350.1 MB Notification: Performance of NFVerifyModel.verify: time 8.671e-05/0.1117, allocations: 83.47 kB / 472.6 MB, free: 10.88 MB / 350.1 MB Notification: Performance of NFConvertDAE.convert: time 0.0003355/0.112, allocations: 247.4 kB / 472.8 MB, free: 10.64 MB / 350.1 MB Notification: Performance of FrontEnd - DAE generated: time 3.767e-06/0.112, allocations: 0 / 472.8 MB, free: 10.64 MB / 350.1 MB Notification: Performance of FrontEnd: time 1.513e-06/0.112, allocations: 0 / 472.8 MB, free: 10.64 MB / 350.1 MB Notification: Performance of Transformations before backend: time 6.512e-06/0.112, allocations: 0 / 472.8 MB, free: 10.64 MB / 350.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 34 * Number of variables: 34 Notification: Performance of Generate backend data structure: time 0.0009906/0.113, allocations: 0.5262 MB / 473.3 MB, free: 10.06 MB / 350.1 MB Notification: Performance of prepare preOptimizeDAE: time 3.775e-05/0.1131, allocations: 8.031 kB / 473.3 MB, free: 10.05 MB / 350.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 5.135e-05/0.1131, allocations: 50.73 kB / 473.4 MB, free: 9.996 MB / 350.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 4.754e-05/0.1132, allocations: 16.75 kB / 473.4 MB, free: 9.98 MB / 350.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.0002255/0.1134, allocations: 220.4 kB / 473.6 MB, free: 9.727 MB / 350.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 9.838e-06/0.1134, allocations: 16.55 kB / 473.6 MB, free: 9.711 MB / 350.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 2.857e-05/0.1135, allocations: 16.36 kB / 473.6 MB, free: 9.695 MB / 350.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.0005129/0.114, allocations: 274.7 kB / 473.9 MB, free: 9.406 MB / 350.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 8.826e-06/0.114, allocations: 0 / 473.9 MB, free: 9.406 MB / 350.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 2.073e-05/0.114, allocations: 8 kB / 473.9 MB, free: 9.398 MB / 350.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 2.504e-05/0.1141, allocations: 8.234 kB / 473.9 MB, free: 9.391 MB / 350.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0005405/0.1146, allocations: 232.4 kB / 474.2 MB, free: 9.164 MB / 350.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.001114/0.1157, allocations: 0.8023 MB / 475 MB, free: 8.301 MB / 350.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.0004015/0.1162, allocations: 191.7 kB / 475.1 MB, free: 8.086 MB / 350.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.0002516/0.1164, allocations: 102.5 kB / 475.2 MB, free: 7.977 MB / 350.1 MB Notification: Performance of preOpt evalFunc (simulation): time 3.834e-05/0.1165, allocations: 0 / 475.2 MB, free: 7.977 MB / 350.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.513e-05/0.1165, allocations: 42.69 kB / 475.3 MB, free: 7.926 MB / 350.1 MB Notification: Performance of pre-optimization done (n=11): time 1.203e-06/0.1165, allocations: 0 / 475.3 MB, free: 7.926 MB / 350.1 MB Notification: Performance of matching and sorting (n=11): time 0.0008953/0.1174, allocations: 313.1 kB / 475.6 MB, free: 7.613 MB / 350.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 5.383e-05/0.1175, allocations: 114.7 kB / 475.7 MB, free: 7.477 MB / 350.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0002529/0.1177, allocations: 257 kB / 476 MB, free: 7.215 MB / 350.1 MB Notification: Performance of collectPreVariables (initialization): time 2.248e-05/0.1178, allocations: 33.95 kB / 476 MB, free: 7.176 MB / 350.1 MB Notification: Performance of collectInitialEqns (initialization): time 8.944e-05/0.1179, allocations: 128.2 kB / 476.1 MB, free: 7.047 MB / 350.1 MB Notification: Performance of collectInitialBindings (initialization): time 3.595e-05/0.1179, allocations: 39.44 kB / 476.1 MB, free: 7.008 MB / 350.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 8.822e-05/0.118, allocations: 37.7 kB / 476.2 MB, free: 6.965 MB / 350.1 MB Notification: Performance of setup shared object (initialization): time 0.0001276/0.1181, allocations: 334.8 kB / 476.5 MB, free: 6.629 MB / 350.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.0002544/0.1184, allocations: 99.83 kB / 476.6 MB, free: 6.531 MB / 350.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.0002739/0.1187, allocations: 133 kB / 476.7 MB, free: 6.383 MB / 350.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.0005082/0.1192, allocations: 224.8 kB / 477 MB, free: 6.145 MB / 350.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 2.625e-06/0.1192, allocations: 0 / 477 MB, free: 6.145 MB / 350.1 MB Notification: Performance of matching and sorting (n=15) (initialization): time 0.0006257/0.1198, allocations: 277.2 kB / 477.2 MB, free: 5.867 MB / 350.1 MB Notification: Performance of prepare postOptimizeDAE: time 1.736e-05/0.1199, allocations: 6.5 kB / 477.2 MB, free: 5.863 MB / 350.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 2.476e-05/0.1199, allocations: 12 kB / 477.2 MB, free: 5.852 MB / 350.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 1.525e-05/0.1199, allocations: 4 kB / 477.3 MB, free: 5.848 MB / 350.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002389/0.1202, allocations: 39.89 kB / 477.3 MB, free: 5.809 MB / 350.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 8.025e-06/0.1202, allocations: 4 kB / 477.3 MB, free: 5.805 MB / 350.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0002092/0.1204, allocations: 39.83 kB / 477.3 MB, free: 5.766 MB / 350.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 3.135e-05/0.1204, allocations: 15.92 kB / 477.3 MB, free: 5.75 MB / 350.1 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 6 * Number of states: 0 () * Number of discrete variables: 0 () * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (15): * Single equations (assignments): 12 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 3 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.0001291/0.1206, allocations: 142.3 kB / 477.5 MB, free: 5.602 MB / 350.1 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 7.558e-05/0.1206, allocations: 15.81 kB / 477.5 MB, free: 5.586 MB / 350.1 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0004578/0.1211, allocations: 215.2 kB / 477.7 MB, free: 5.371 MB / 350.1 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 6.062e-06/0.1211, allocations: 3.984 kB / 477.7 MB, free: 5.367 MB / 350.1 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 7.484e-06/0.1211, allocations: 12 kB / 477.7 MB, free: 5.355 MB / 350.1 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 3.847e-06/0.1211, allocations: 0 / 477.7 MB, free: 5.355 MB / 350.1 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0003765/0.1215, allocations: 253.4 kB / 478 MB, free: 5.059 MB / 350.1 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.199e-05/0.1216, allocations: 15.98 kB / 478 MB, free: 5.043 MB / 350.1 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0001775/0.1217, allocations: 31.91 kB / 478 MB, free: 5.012 MB / 350.1 MB Notification: Performance of postOpt tearingSystem (simulation): time 2.895e-06/0.1218, allocations: 0 / 478 MB, free: 5.012 MB / 350.1 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.945e-05/0.1218, allocations: 7.984 kB / 478 MB, free: 5.004 MB / 350.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 2.214e-06/0.1218, allocations: 0 / 478 MB, free: 5.004 MB / 350.1 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.102e-06/0.1218, allocations: 0 / 478 MB, free: 5.004 MB / 350.1 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0006403/0.1224, allocations: 481.6 kB / 478.5 MB, free: 4.516 MB / 350.1 MB Notification: Performance of postOpt removeConstants (simulation): time 6.283e-05/0.1225, allocations: 104.8 kB / 478.6 MB, free: 4.395 MB / 350.1 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 3.795e-05/0.1225, allocations: 4 kB / 478.6 MB, free: 4.391 MB / 350.1 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.0002535/0.1228, allocations: 23.97 kB / 478.6 MB, free: 4.367 MB / 350.1 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 6.715e-05/0.1229, allocations: 19.92 kB / 478.7 MB, free: 4.348 MB / 350.1 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.527e-05/0.1229, allocations: 4 kB / 478.7 MB, free: 4.344 MB / 350.1 MB Notification: Performance of sorting global known variables: time 0.0001585/0.1231, allocations: 192.5 kB / 478.8 MB, free: 4.16 MB / 350.1 MB Notification: Performance of sort global known variables: time 1.51e-07/0.1231, allocations: 3.938 kB / 478.8 MB, free: 4.156 MB / 350.1 MB Notification: Performance of remove unused functions: time 0.0004098/0.1235, allocations: 64 kB / 478.9 MB, free: 4.094 MB / 350.1 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 3 * Number of states: 0 () * Number of discrete variables: 0 () * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for simulation (11): * Single equations (assignments): 8 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 3 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.001049/0.1245, allocations: 1.054 MB / 480 MB, free: 3.012 MB / 350.1 MB Notification: Performance of simCode: created initialization part: time 0.0006303/0.1252, allocations: 301 kB / 480.3 MB, free: 2.699 MB / 350.1 MB Notification: Performance of simCode: created event and clocks part: time 2.044e-06/0.1252, allocations: 3.938 kB / 480.3 MB, free: 2.695 MB / 350.1 MB Notification: Performance of simCode: created simulation system equations: time 0.0002898/0.1255, allocations: 177 kB / 480.4 MB, free: 2.504 MB / 350.1 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0005151/0.126, allocations: 52.56 kB / 480.5 MB, free: 2.453 MB / 350.1 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.003793/0.1298, allocations: 2.879 MB / 483.4 MB, free: 15.45 MB / 366.1 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0002685/0.1301, allocations: 0.7397 MB / 484.1 MB, free: 14.69 MB / 366.1 MB Notification: Performance of simCode: alias equations: time 0.0001236/0.1302, allocations: 41.52 kB / 484.1 MB, free: 14.65 MB / 366.1 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001006/0.1303, allocations: 55.41 kB / 484.2 MB, free: 14.59 MB / 366.1 MB Notification: Performance of SimCode: time 2.91e-07/0.1304, allocations: 0 / 484.2 MB, free: 14.59 MB / 366.1 MB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.01495/0.1453, allocations: 5.632 MB / 489.8 MB, free: 9.164 MB / 366.1 MB Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002153/0.1455, allocations: 240.8 kB / 490.1 MB, free: 8.906 MB / 366.1 MB Notification: Performance of buildModelFMU: Generate platform static: time 1.978/2.124, allocations: 0 / 490.1 MB, free: 8.906 MB / 366.1 MB (rm -f ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent.pipe ; mkfifo ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent.pipe ; head -c 1048576 < ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent.pipe >> ../files/ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent_res.mat --tempDir=temp_ModelicaTest_4_0_0_ModelicaTest_Fluid_Dissipation_Verifications_HeatTransfer_Plate_kc_turbulent_fmu --startTime=0 --stopTime=1.01 --timeout=50 --tolerance=1e-07 ModelicaTest_4_0_0_ModelicaTest_Fluid_Dissipation_Verifications_HeatTransfer_Plate_kc_turbulent.fmu > ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent.pipe 2>&1) diffSimulationResults("ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/Fluid/Dissipation/Verifications/HeatTransfer/Plate/kc_turbulent/kc_turbulent.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_turbulent.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,cp[1],cp[2],cp[3],eta[1],eta[2],eta[3],lambda[1],lambda[2],lambda[3],rho[1],rho[2],rho[3],velocity[1],velocity[2],velocity[3],Nu[1],Nu[2],Nu[3],Pr[1],Pr[2],Pr[3],Re[1],Re[2],Re[3],input_v_0.y,input_v_1.y,input_v_2.y Variables in the result:IN_con[1].L,IN_con[2].L,IN_con[3].L,IN_var[1].cp,IN_var[1].eta,IN_var[1].lambda,IN_var[1].rho,IN_var[1].velocity,IN_var[2].cp,IN_var[2].eta,IN_var[2].lambda,IN_var[2].rho,IN_var[2].velocity,IN_var[3].cp,IN_var[3].eta,IN_var[3].lambda,IN_var[3].rho,IN_var[3].velocity,L,Nu[1],Nu[2],Nu[3],Pr[1],Pr[2],Pr[3],Re[1],Re[2],Re[3],cp[1],cp[2],cp[3],eta[1],eta[2],eta[3],input_v_0.duration,input_v_0.height,input_v_0.offset,input_v_0.startTime,input_v_0.y,input_v_1.amplitude,input_v_1.f,input_v_1.offset,input_v_1.phase,input_v_1.startTime,input_v_1.y,input_v_2.fallTimeConst,input_v_2.offset,input_v_2.outMax,input_v_2.riseTime,input_v_2.riseTimeConst,input_v_2.startTime,input_v_2.y,lambda[1],lambda[2],lambda[3],n,rho[1],rho[2],rho[3],time,velocity[1],velocity[2],velocity[3]