% Auto-generated on Mon Apr 15 15:12:28 GMT+00:00 2002

% Nodes
% N: index, node_name, x_position, y_position, node_type, node_heuristics;
N: 0, Node 0, -248.22008, -210.87155, REGULAR, 62.0;
N: 1, Node 1, -332.56873, -141.28394, START, 69.0;
N: 2, Node 2, -398.99323, -36.90252, REGULAR, 76.0;
N: 3, Node 3, -362.0907, 59.044033, REGULAR, 73.0;
N: 4, Node 4, -290.3944, 122.305504, REGULAR, 68.0;
N: 5, Node 5, -275.63336, 185.56697, REGULAR, 69.0;
N: 6, Node 6, -278.79645, 238.28487, REGULAR, 71.0;
N: 7, Node 7, -120.64279, 176.07776, REGULAR, 55.0;
N: 8, Node 8, -94.283844, 74.8594, REGULAR, 49.0;
N: 9, Node 9, 93.39183, 117.03371, REGULAR, 34.0;
N: 10, Node 10, -56.326965, -49.554813, REGULAR, 43.0;
N: 11, Node 11, 130.29434, -47.4461, REGULAR, 25.0;
N: 12, Node 12, 233.62141, 110.70756, REGULAR, 24.0;
N: 13, Node 13, 151.38152, 230.90434, REGULAR, 38.0;
N: 14, Node 14, 362.25302, 40.06559, REGULAR, 12.0;
N: 15, Node 15, 395.99252, -79.07683, GOAL, 0.0;
N: 16, Node 16, 311.64386, -187.67567, REGULAR, 13.0;
N: 17, Node 17, 200.93631, -238.28487, REGULAR, 24.0;
N: 18, Node 18, 353.81818, 132.84908, REGULAR, 21.0;
N: 19, Node 19, 351.70947, 211.9259, REGULAR, 28.0;
N: 20, Node 20, -175.46939, -81.18555, REGULAR, 54.0;

% Edges
% E: from_node_index, to_node_index, edge_cost;
E: 0, 1, 10.4;
E: 1, 2, 11.7;
E: 2, 1, 11.7;
E: 1, 0, 10.4;
E: 0, 10, 23.8;
E: 10, 0, 23.8;
E: 10, 2, 32.5;
E: 2, 10, 32.5;
E: 2, 3, 9.7;
E: 2, 3, 9.7;
E: 3, 2, 9.7;
E: 3, 4, 9.1;
E: 4, 5, 6.2;
E: 5, 6, 5.0;
E: 6, 7, 16.1;
E: 7, 8, 9.9;
E: 8, 10, 12.3;
E: 10, 8, 12.3;
E: 8, 7, 9.9;
E: 7, 6, 16.1;
E: 6, 5, 5.0;
E: 5, 4, 6.2;
E: 4, 3, 9.1;
E: 10, 11, 17.7;
E: 11, 10, 17.7;
E: 11, 12, 17.9;
E: 12, 13, 13.8;
E: 12, 14, 13.9;
E: 14, 18, 8.8;
E: 18, 19, 7.5;
E: 19, 18, 7.5;
E: 18, 14, 8.8;
E: 12, 14, 13.9;
E: 14, 12, 13.9;
E: 13, 12, 13.8;
E: 14, 15, 11.7;
E: 15, 14, 11.7;
E: 15, 16, 13.0;
E: 16, 17, 11.5;
E: 17, 16, 11.5;
E: 16, 15, 13.0;
E: 12, 9, 13.3;
E: 9, 8, 18.2;
E: 8, 9, 18.2;
E: 9, 12, 13.3;
E: 12, 11, 17.9;
E: 3, 10, 30.8;
E: 10, 3, 30.8;
E: 1, 20, 16.0;
E: 20, 1, 16.0;
E: 10, 12, 31.4;
E: 12, 10, 31.4;
E: 14, 11, 23.5;
E: 11, 14, 23.5;
E: 18, 12, 11.6;
E: 12, 18, 11.6;
E: 13, 18, 21.3;
E: 18, 13, 21.3;
E: 8, 13, 27.6;
E: 13, 8, 27.6;
E: 4, 8, 19.1;
E: 8, 4, 19.1;
E: 4, 7, 16.9;
E: 7, 4, 16.9;

% Miscellaneous
% M: name, value;
M: HEURISTICS, AUTOMATIC;
M: COSTS, AUTOMATIC;