diff --git a/code/CMakeLists.txt b/code/CMakeLists.txt
index 52efa44..048956a 100755
--- a/code/CMakeLists.txt
+++ b/code/CMakeLists.txt
@@ -67,7 +67,7 @@ ADD_DEFINITIONS(
         -O2
 	-DWITH_TESTS
 	-DWITH_ASSERTIONS
-        #-DUSE_FIXED_SEED
+        -DUSE_FIXED_SEED
 )
 
 endif()
diff --git a/code/Settings.h b/code/Settings.h
index 535dd9d..f3b21ca 100644
--- a/code/Settings.h
+++ b/code/Settings.h
@@ -21,7 +21,7 @@ namespace MiscSettings {
 
     const int numBSParticles = 500;
 
-    const int lag = 30;
+    const int lag = 5;
 
     const int fixedLagGap = 1;
 
diff --git a/code/main.cpp b/code/main.cpp
index 09c38f9..cadec5b 100644
--- a/code/main.cpp
+++ b/code/main.cpp
@@ -92,31 +92,31 @@ int main(void) {
 //    eval.run();}
 
 
-    for(int i = 0; i < 10; ++i){
+    for(int i = 0; i < 1; ++i){
 
         //nexus
-        std::string name = "bergwerk_path1_nexus_simple_interval_" + std::to_string(i);
-        {SmoothingEval1 eval; eval.bergwerk_path1_nexus_simple(name);    eval.run();}
+//        std::string name = "bergwerk_path1_nexus_simple_interval_" + std::to_string(i);
+//        {SmoothingEval1 eval; eval.bergwerk_path1_nexus_simple(name);    eval.run();}
 
-        name = "bergwerk_path2_nexus_simple_interval" + std::to_string(i);
-        {SmoothingEval1 eval; eval.bergwerk_path2_nexus_simple(name);    eval.run();}
+//        name = "bergwerk_path2_nexus_simple_interval" + std::to_string(i);
+//        {SmoothingEval1 eval; eval.bergwerk_path2_nexus_simple(name);    eval.run();}
 
-        name = "bergwerk_path3_nexus_simple_interval" + std::to_string(i);
-        {SmoothingEval1 eval; eval.bergwerk_path3_nexus_simple(name);    eval.run();}
+//        name = "bergwerk_path3_nexus_simple_interval" + std::to_string(i);
+//        {SmoothingEval1 eval; eval.bergwerk_path3_nexus_simple(name);    eval.run();}
 
         name = "bergwerk_path4_nexus_simple_interval" + std::to_string(i);
         {SmoothingEval1 eval; eval.bergwerk_path4_nexus_simple(name);    eval.run();}
 
 
         //galaxy
-        name = "bergwerk_path1_galaxy_simple_interval" + std::to_string(i);
-        {SmoothingEval1 eval; eval.bergwerk_path1_galaxy_simple(name);	eval.run();}
+//        name = "bergwerk_path1_galaxy_simple_interval" + std::to_string(i);
+//        {SmoothingEval1 eval; eval.bergwerk_path1_galaxy_simple(name);	eval.run();}
 
-        name = "bergwerk_path2_galaxy_simple_interval" + std::to_string(i);
-        {SmoothingEval1 eval; eval.bergwerk_path2_galaxy_simple(name);	eval.run();}
+//        name = "bergwerk_path2_galaxy_simple_interval" + std::to_string(i);
+//        {SmoothingEval1 eval; eval.bergwerk_path2_galaxy_simple(name);	eval.run();}
 
-        name = "bergwerk_path3_galaxy_simple_interval" + std::to_string(i);
-        {SmoothingEval1 eval; eval.bergwerk_path3_galaxy_simple(name);	eval.run();}
+//        name = "bergwerk_path3_galaxy_simple_interval" + std::to_string(i);
+//        {SmoothingEval1 eval; eval.bergwerk_path3_galaxy_simple(name);	eval.run();}
 
         name = "bergwerk_path4_galaxy_simple_interval" + std::to_string(i);
         {SmoothingEval1 eval; eval.bergwerk_path4_galaxy_simple(name);	eval.run();}
diff --git a/tex/bare_conf.dvi b/tex/bare_conf.dvi
index 420cc71..de71b6c 100644
Binary files a/tex/bare_conf.dvi and b/tex/bare_conf.dvi differ
diff --git a/tex/bare_conf.tex b/tex/bare_conf.tex
index 6074b35..3aa133f 100644
--- a/tex/bare_conf.tex
+++ b/tex/bare_conf.tex
@@ -118,7 +118,7 @@
 
 
 % gfx include folder
-\graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/},{gfx/activity/},{gfx/eval/interval_path4_comp/},{gfx/eval/interval_path3_bad/},{gfx/particles/}, {gfx/eval/lag_path4_error/}, {gfx/eval/interval_path3_good/}, {gfx/eval/interval_path2_good/}, {gfx/eval/interval_path2_bad/}, {gfx/eval/interval_path2_compare/}}
+\graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/},{gfx/activity/},{gfx/eval/interval_path4_comp/},{gfx/eval/interval_path3_bad/},{gfx/particles/}, {gfx/eval/lag_path4_comp/}, {gfx/eval/interval_path3_good/}, {gfx/eval/interval_path2_good/}, {gfx/eval/interval_path2_bad/}, {gfx/eval/interval_path2_compare/}}
 
 
 % correct bad hyphenation here
diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex
index 8cda86d..89a553a 100644
--- a/tex/chapters/experiments.tex
+++ b/tex/chapters/experiments.tex
@@ -113,13 +113,18 @@ This phenomena could be observed for both smoothers respectively.
 At next, we discuss the advantages and disadvantages of utilizing FBS and BS as fixed-lag smoother. 
 Compared to fixed-interval smoothing, timely errors are now of higher importance due to an interest on real-time localization. 
 Especially interesting in this context are small lags $\tau < 10$ considering filter updates near \SI{500}{\milli\second}.
-Fig. \ref{} illustrates the different estimations for path 4 using a fixed-lag $\tau = 5$. 
+Fig. \ref{fig:lag_comp_path4} illustrates the different estimations for path 4 using a fixed-lag $\tau = 5$. 
 The associated approximation errors alongside the path can additionally be seen in fig. \ref{fig:lag_error_path4}. 
 Due to the small number of sample realisations for BS and the additional resampling for FBS, the errors are changing very frequently in contrast to the filter.
 For better distinction, the path was divided into $10$ individual segments.
 %
 \begin{figure}
-	\input{gfx/eval/lag_path4_error/error_timed_costum}
+	\input{gfx/eval/lag_path4_comp/path4_lag_comp}
+	\caption{Hier muss ich noch was schreiben. Bin aber seeeehr muede. Geh jetzt ins Bett. Nachti.}
+	\label{fig:lag_comp_path4}
+\end{figure}
+\begin{figure}
+	\input{gfx/eval/lag_path4_comp/error_timed}
 	\caption{Hier muss ich noch was schreiben. Bin aber seeeehr muede. Geh jetzt ins Bett. Nachti.}
 	\label{fig:lag_error_path4}
 \end{figure}
diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/err_dist_norm_bergwerk_path4_nexus_simple_interval5.dat b/tex/gfx/eval/lag_path4_comp/BS_5/err_dist_norm_bergwerk_path4_nexus_simple_interval5.dat
new file mode 100644
index 0000000..9f9156e
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/err_dist_norm_bergwerk_path4_nexus_simple_interval5.dat
@@ -0,0 +1,266 @@
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diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/err_dist_smooth_bergwerk_path4_nexus_simple_interval5.dat b/tex/gfx/eval/lag_path4_comp/BS_5/err_dist_smooth_bergwerk_path4_nexus_simple_interval5.dat
new file mode 100644
index 0000000..215f6ac
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/err_dist_smooth_bergwerk_path4_nexus_simple_interval5.dat
@@ -0,0 +1,261 @@
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diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/err_norm_bergwerk_path4_nexus_simple_interval5.dat b/tex/gfx/eval/lag_path4_comp/BS_5/err_norm_bergwerk_path4_nexus_simple_interval5.dat
new file mode 100644
index 0000000..4c2b778
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/err_norm_bergwerk_path4_nexus_simple_interval5.dat
@@ -0,0 +1,266 @@
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diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/err_smooth_bergwerk_path4_nexus_simple_interval5.dat b/tex/gfx/eval/lag_path4_comp/BS_5/err_smooth_bergwerk_path4_nexus_simple_interval5.dat
new file mode 100644
index 0000000..d7b706b
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/err_smooth_bergwerk_path4_nexus_simple_interval5.dat
@@ -0,0 +1,261 @@
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diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/est_norm_bergwerk_path4_nexus_simple_interval5.dat b/tex/gfx/eval/lag_path4_comp/BS_5/est_norm_bergwerk_path4_nexus_simple_interval5.dat
new file mode 100644
index 0000000..cbbeb8c
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/est_norm_bergwerk_path4_nexus_simple_interval5.dat
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diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/est_smooth_bergwerk_path4_nexus_simple_interval5.dat b/tex/gfx/eval/lag_path4_comp/BS_5/est_smooth_bergwerk_path4_nexus_simple_interval5.dat
new file mode 100644
index 0000000..c026a8e
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/est_smooth_bergwerk_path4_nexus_simple_interval5.dat
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+6965.51 4403.63 348.911
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+7251.64 4289.7 306.136
+7345.99 4265.1 283.411
+7383.47 4360.62 263.331
+7363.55 4338.6 238.749
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+7367.52 4373.01 193.055
+7378.6 4249.31 169.527
+7361.36 4252.92 168.566
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+7362.17 4039.53 135.786
+7508.26 3881.01 104.94
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+7605.2 3832.53 113.824
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+7493.21 3396.03 8.9625
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+7070.93 3593.99 0.0259068
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+7091.08 3917.07 0
+7084.45 3910.65 0
+7061.8 3986.2 0
+e
diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/path_bergwerk_path4_nexus_simple_interval5.dat b/tex/gfx/eval/lag_path4_comp/BS_5/path_bergwerk_path4_nexus_simple_interval5.dat
new file mode 100644
index 0000000..edc4ca5
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/path_bergwerk_path4_nexus_simple_interval5.dat
@@ -0,0 +1,22 @@
+1140 530 1060
+1140 530 1060
+1140 2100 1060
+1140 2880 1060
+1140 4442.21 1060
+1190 4840 1060
+1660 4840 890
+1660 5040 890
+1180 5040 720
+1180 4840 720
+1180 4460 720
+2350 4460 720
+4440 4440 720
+5183.26 4280 720
+5800 4280 550
+6110 4280 380
+7680 4280 380
+7680 3860 190
+7680 3400 0
+7400 3400 0
+7400 4030 0
+e
diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/plot_bergwerk_path4_nexus_simple_interval5.gp b/tex/gfx/eval/lag_path4_comp/BS_5/plot_bergwerk_path4_nexus_simple_interval5.gp
new file mode 100644
index 0000000..af14aef
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/plot_bergwerk_path4_nexus_simple_interval5.gp
@@ -0,0 +1,16 @@
+set terminal eps size 3.4,2
+set output 'bergwerk_path4_nexus_simple_interval5.eps'
+set termoption dashlength 0.5
+set ticslevel 0
+set view equal xy
+set zrange [0:2200]
+set multiplot layout 1,1 scale 2.7,2.7 offset 0,0.23
+set view 72,33
+unset border
+unset xtics
+unset ytics
+unset ztics
+splot \
+'floors.dat'							skip 21 notitle with lines lc rgb '#777777', \
+'path_bergwerk_path4_nexus_simple_interval5.dat'			skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \
+'est_norm_bergwerk_path4_nexus_simple_interval5.dat'		skip 21 notitle with lines lw 2.5 lc rgb '#000099', 'est_smooth_bergwerk_path4_nexus_simple_interval5.dat'	skip 21 notitle with lines lw 2.5 lc rgb '#000000' 
\ No newline at end of file
diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/plot_dist_err_bergwerk_path4_nexus_simple_interval5.gp b/tex/gfx/eval/lag_path4_comp/BS_5/plot_dist_err_bergwerk_path4_nexus_simple_interval5.gp
new file mode 100644
index 0000000..d31b4e8
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/plot_dist_err_bergwerk_path4_nexus_simple_interval5.gp
@@ -0,0 +1,3 @@
+plot \
+'err_dist_norm_bergwerk_path4_nexus_simple_interval5.dat' with lines, \
+'err_dist_smooth_bergwerk_path4_nexus_simple_interval5.dat' with lines
\ No newline at end of file
diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/plot_err_bergwerk_path4_nexus_simple_interval5.gp b/tex/gfx/eval/lag_path4_comp/BS_5/plot_err_bergwerk_path4_nexus_simple_interval5.gp
new file mode 100644
index 0000000..f8bfdba
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/plot_err_bergwerk_path4_nexus_simple_interval5.gp
@@ -0,0 +1,3 @@
+plot \
+'err_norm_bergwerk_path4_nexus_simple_interval5.dat' with lines, \
+'err_smooth_bergwerk_path4_nexus_simple_interval5.dat' with lines
\ No newline at end of file
diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/smoothed_bergwerk_path4_nexus_simple_interval5.stats b/tex/gfx/eval/lag_path4_comp/BS_5/smoothed_bergwerk_path4_nexus_simple_interval5.stats
new file mode 100644
index 0000000..7a9a5b5
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/smoothed_bergwerk_path4_nexus_simple_interval5.stats
@@ -0,0 +1,783 @@
+
+	cnt(1)	min(553.077)	max(553.077)	range(0)	med(553.077)	avg(553.077)	stdDev(0)	
+
+
+	cnt(2)	min(468.584)	max(553.077)	range(84.4938)	med(553.077)	avg(510.831)	stdDev(42.2469)	
+
+
+	cnt(3)	min(459.248)	max(553.077)	range(93.829)	med(468.584)	avg(493.637)	stdDev(42.2035)	
+
+
+	cnt(4)	min(389.631)	max(553.077)	range(163.447)	med(468.584)	avg(467.635)	stdDev(58.0007)	
+
+
+	cnt(5)	min(339.919)	max(553.077)	range(213.159)	med(459.248)	avg(442.092)	stdDev(72.8086)	
+
+
+	cnt(6)	min(306.026)	max(553.077)	range(247.051)	med(459.248)	avg(419.414)	stdDev(83.5998)	
+
+
+	cnt(7)	min(306.026)	max(553.077)	range(247.051)	med(389.631)	avg(409.13)	stdDev(81.3947)	
+
+
+	cnt(8)	min(306.026)	max(553.077)	range(247.051)	med(389.631)	avg(399.218)	stdDev(80.5274)	
+
+
+	cnt(9)	min(306.026)	max(553.077)	range(247.051)	med(347.425)	avg(389.321)	stdDev(80.9188)	
+
+
+	cnt(10)	min(306.026)	max(553.077)	range(247.051)	med(347.425)	avg(382.956)	stdDev(79.1055)	
+
+
+	cnt(11)	min(306.026)	max(553.077)	range(247.051)	med(339.919)	avg(376.065)	stdDev(78.509)	
+
+
+	cnt(12)	min(306.026)	max(553.077)	range(247.051)	med(347.425)	avg(374.331)	stdDev(75.3862)	
+
+
+	cnt(13)	min(263.518)	max(553.077)	range(289.559)	med(339.919)	avg(365.807)	stdDev(78.2166)	
+
+
+	cnt(14)	min(263.518)	max(553.077)	range(289.559)	med(339.919)	avg(362.281)	stdDev(76.4363)	
+
+
+	cnt(15)	min(241.726)	max(553.077)	range(311.351)	med(329.836)	avg(354.244)	stdDev(79.7327)	
+
+
+	cnt(16)	min(233.281)	max(553.077)	range(319.796)	med(329.836)	avg(346.684)	stdDev(82.5671)	
+
+
+	cnt(17)	min(206.959)	max(553.077)	range(346.119)	med(325.671)	avg(338.465)	stdDev(86.5862)	
+
+
+	cnt(18)	min(203.773)	max(553.077)	range(349.305)	med(325.671)	avg(330.982)	stdDev(89.6245)	
+
+
+	cnt(19)	min(143.173)	max(553.077)	range(409.905)	med(316.438)	avg(321.097)	stdDev(96.7911)	
+
+
+	cnt(20)	min(143.173)	max(553.077)	range(409.905)	med(316.438)	avg(312.471)	stdDev(101.557)	
+
+
+	cnt(21)	min(126.67)	max(553.077)	range(426.407)	med(310.139)	avg(303.624)	stdDev(106.716)	
+
+
+	cnt(22)	min(124.475)	max(553.077)	range(428.603)	med(310.139)	avg(295.481)	stdDev(110.739)	
+
+
+	cnt(23)	min(62.3264)	max(553.077)	range(490.751)	med(307.154)	avg(285.343)	stdDev(118.282)	
+
+
+	cnt(24)	min(53.7581)	max(553.077)	range(499.319)	med(307.154)	avg(275.694)	stdDev(124.697)	
+
+
+	cnt(25)	min(53.7581)	max(553.077)	range(499.319)	med(306.026)	avg(268.371)	stdDev(127.336)	
+
+
+	cnt(26)	min(53.7581)	max(553.077)	range(499.319)	med(306.026)	avg(261.267)	stdDev(129.816)	
+
+
+	cnt(27)	min(53.7581)	max(553.077)	range(499.319)	med(263.518)	avg(256.276)	stdDev(129.908)	
+
+
+	cnt(28)	min(53.7581)	max(553.077)	range(499.319)	med(263.518)	avg(253.403)	stdDev(128.437)	
+
+
+	cnt(29)	min(53.7581)	max(553.077)	range(499.319)	med(241.726)	avg(252.907)	stdDev(126.23)	
+
+
+	cnt(30)	min(53.7581)	max(553.077)	range(499.319)	med(241.726)	avg(251.61)	stdDev(124.305)	
+
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+	cnt(31)	min(53.7581)	max(553.077)	range(499.319)	med(239.018)	avg(250.762)	stdDev(122.372)	
+
+
+	cnt(32)	min(53.7581)	max(553.077)	range(499.319)	med(239.018)	avg(249.065)	stdDev(120.815)	
+
+
+	cnt(33)	min(53.7581)	max(553.077)	range(499.319)	med(233.281)	avg(248.486)	stdDev(119.015)	
+
+
+	cnt(34)	min(53.7581)	max(553.077)	range(499.319)	med(233.281)	avg(247.914)	stdDev(117.298)	
+
+
+	cnt(35)	min(53.7581)	max(553.077)	range(499.319)	med(229.976)	avg(246.896)	stdDev(115.763)	
+
+
+	cnt(36)	min(53.7581)	max(553.077)	range(499.319)	med(229.976)	avg(245.774)	stdDev(114.336)	
+
+
+	cnt(37)	min(53.7581)	max(553.077)	range(499.319)	med(229.018)	avg(244.55)	stdDev(113.02)	
+
+
+	cnt(38)	min(53.7581)	max(553.077)	range(499.319)	med(229.018)	avg(242.513)	stdDev(112.209)	
+
+
+	cnt(39)	min(53.7581)	max(553.077)	range(499.319)	med(225.33)	avg(240.247)	stdDev(111.638)	
+
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+	cnt(40)	min(53.7581)	max(553.077)	range(499.319)	med(225.33)	avg(238.504)	stdDev(110.77)	
+
+
+	cnt(41)	min(53.7581)	max(553.077)	range(499.319)	med(213.981)	avg(237.216)	stdDev(109.713)	
+
+
+	cnt(42)	min(53.7581)	max(553.077)	range(499.319)	med(213.981)	avg(235.908)	stdDev(108.722)	
+
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+	cnt(43)	min(53.7581)	max(553.077)	range(499.319)	med(212.295)	avg(233.643)	stdDev(108.449)	
+
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+	cnt(44)	min(53.7581)	max(553.077)	range(499.319)	med(212.295)	avg(231.589)	stdDev(108.052)	
+
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+	cnt(45)	min(53.7581)	max(553.077)	range(499.319)	med(206.959)	avg(229.293)	stdDev(107.925)	
+
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+	cnt(46)	min(53.7581)	max(553.077)	range(499.319)	med(206.959)	avg(227.01)	stdDev(107.839)	
+
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+	cnt(47)	min(53.7581)	max(553.077)	range(499.319)	med(206.525)	avg(225.001)	stdDev(107.552)	
+
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+	cnt(48)	min(53.7581)	max(553.077)	range(499.319)	med(206.525)	avg(222.022)	stdDev(108.367)	
+
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+	cnt(49)	min(53.7581)	max(553.077)	range(499.319)	med(203.773)	avg(219.781)	stdDev(108.373)	
+
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+	cnt(50)	min(53.7581)	max(553.077)	range(499.319)	med(203.773)	avg(217.394)	stdDev(108.578)	
+
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+	cnt(51)	min(53.7581)	max(553.077)	range(499.319)	med(200.453)	avg(215.031)	stdDev(108.798)	
+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+	cnt(65)	min(53.7581)	max(553.077)	range(499.319)	med(206.525)	avg(215.43)	stdDev(99.0742)	
+
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+
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+
+
+	cnt(68)	min(53.7581)	max(553.077)	range(499.319)	med(205.578)	avg(210.955)	stdDev(99.4841)	
+
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+	cnt(69)	min(9.61303)	max(553.077)	range(543.464)	med(203.773)	avg(208.037)	stdDev(101.65)	
+
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+
+
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+
+
+	cnt(72)	min(9.61303)	max(553.077)	range(543.464)	med(200.453)	avg(203.735)	stdDev(101.956)	
+
+
+	cnt(73)	min(9.61303)	max(553.077)	range(543.464)	med(196.444)	avg(201.768)	stdDev(102.622)	
+
+
+	cnt(74)	min(9.61303)	max(553.077)	range(543.464)	med(196.444)	avg(199.91)	stdDev(103.155)	
+
+
+	cnt(75)	min(9.61303)	max(553.077)	range(543.464)	med(185.687)	avg(198.521)	stdDev(103.159)	
+
+
+	cnt(76)	min(9.61303)	max(553.077)	range(543.464)	med(185.687)	avg(197.011)	stdDev(103.31)	
+
+
+	cnt(77)	min(9.61303)	max(553.077)	range(543.464)	med(182.302)	avg(195.365)	stdDev(103.635)	
+
+
+	cnt(78)	min(9.61303)	max(553.077)	range(543.464)	med(182.302)	avg(194.126)	stdDev(103.541)	
+
+
+	cnt(79)	min(9.61303)	max(553.077)	range(543.464)	med(175.852)	avg(193.213)	stdDev(103.199)	
+
+
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+
+
+	cnt(81)	min(9.61303)	max(553.077)	range(543.464)	med(170.529)	avg(190.979)	stdDev(102.912)	
+
+
+	cnt(82)	min(9.61303)	max(553.077)	range(543.464)	med(170.529)	avg(189.514)	stdDev(103.13)	
+
+
+	cnt(83)	min(9.61303)	max(553.077)	range(543.464)	med(167.158)	avg(187.885)	stdDev(103.563)	
+
+
+	cnt(84)	min(9.61303)	max(553.077)	range(543.464)	med(167.158)	avg(186.173)	stdDev(104.119)	
+
+
+	cnt(85)	min(9.61303)	max(553.077)	range(543.464)	med(164.556)	avg(184.552)	stdDev(104.565)	
+
+
+	cnt(86)	min(9.61303)	max(553.077)	range(543.464)	med(164.556)	avg(183.298)	stdDev(104.596)	
+
+
+	cnt(87)	min(9.61303)	max(553.077)	range(543.464)	med(164.2)	avg(182.871)	stdDev(104.069)	
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diff --git a/tex/gfx/eval/lag_path4_comp/BS_5/unsmoothed_bergwerk_path4_nexus_simple_interval5.stats b/tex/gfx/eval/lag_path4_comp/BS_5/unsmoothed_bergwerk_path4_nexus_simple_interval5.stats
new file mode 100644
index 0000000..fafb374
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/BS_5/unsmoothed_bergwerk_path4_nexus_simple_interval5.stats
@@ -0,0 +1,798 @@
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/act_bergwerk_path4_nexus_simple_interval8.dat b/tex/gfx/eval/lag_path4_comp/FBS_5/act_bergwerk_path4_nexus_simple_interval8.dat
new file mode 100644
index 0000000..c395b76
--- /dev/null
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/bergwerk_path4_nexus_simple_interval8.png b/tex/gfx/eval/lag_path4_comp/FBS_5/bergwerk_path4_nexus_simple_interval8.png
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index 0000000..1c23422
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/err_dist_norm_bergwerk_path4_nexus_simple_interval8.dat b/tex/gfx/eval/lag_path4_comp/FBS_5/err_dist_norm_bergwerk_path4_nexus_simple_interval8.dat
new file mode 100644
index 0000000..2735f4e
--- /dev/null
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/err_dist_smooth_bergwerk_path4_nexus_simple_interval8.dat b/tex/gfx/eval/lag_path4_comp/FBS_5/err_dist_smooth_bergwerk_path4_nexus_simple_interval8.dat
new file mode 100644
index 0000000..e5d3a82
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/err_dist_smooth_bergwerk_path4_nexus_simple_interval8.dat
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/err_norm_bergwerk_path4_nexus_simple_interval8.dat b/tex/gfx/eval/lag_path4_comp/FBS_5/err_norm_bergwerk_path4_nexus_simple_interval8.dat
new file mode 100644
index 0000000..8f2e6e1
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/err_norm_bergwerk_path4_nexus_simple_interval8.dat
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/err_smooth_bergwerk_path4_nexus_simple_interval8.dat b/tex/gfx/eval/lag_path4_comp/FBS_5/err_smooth_bergwerk_path4_nexus_simple_interval8.dat
new file mode 100644
index 0000000..bad09aa
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/err_smooth_bergwerk_path4_nexus_simple_interval8.dat
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/est_norm_bergwerk_path4_nexus_simple_interval8.dat b/tex/gfx/eval/lag_path4_comp/FBS_5/est_norm_bergwerk_path4_nexus_simple_interval8.dat
new file mode 100644
index 0000000..7732106
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/est_norm_bergwerk_path4_nexus_simple_interval8.dat
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/est_smooth_bergwerk_path4_nexus_simple_interval8.dat b/tex/gfx/eval/lag_path4_comp/FBS_5/est_smooth_bergwerk_path4_nexus_simple_interval8.dat
new file mode 100644
index 0000000..a8a4947
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/est_smooth_bergwerk_path4_nexus_simple_interval8.dat
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+7025.9 3642.53 0.00370089
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+7085.73 3702.4 0.000566137
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+7129.74 3814.29 0.000118141
+7106.51 3853.73 0.0014814
+7108.52 3901.5 1.58724e-09
+7104.53 3946.78 0.00139872
+7087.59 3962.25 1.13526e-05
+e
diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/path_bergwerk_path4_nexus_simple_interval8.dat b/tex/gfx/eval/lag_path4_comp/FBS_5/path_bergwerk_path4_nexus_simple_interval8.dat
new file mode 100644
index 0000000..edc4ca5
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/path_bergwerk_path4_nexus_simple_interval8.dat
@@ -0,0 +1,22 @@
+1140 530 1060
+1140 530 1060
+1140 2100 1060
+1140 2880 1060
+1140 4442.21 1060
+1190 4840 1060
+1660 4840 890
+1660 5040 890
+1180 5040 720
+1180 4840 720
+1180 4460 720
+2350 4460 720
+4440 4440 720
+5183.26 4280 720
+5800 4280 550
+6110 4280 380
+7680 4280 380
+7680 3860 190
+7680 3400 0
+7400 3400 0
+7400 4030 0
+e
diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/plot_bergwerk_path4_nexus_simple_interval8.gp b/tex/gfx/eval/lag_path4_comp/FBS_5/plot_bergwerk_path4_nexus_simple_interval8.gp
new file mode 100644
index 0000000..e36c204
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/plot_bergwerk_path4_nexus_simple_interval8.gp
@@ -0,0 +1,16 @@
+set terminal eps size 3.4,2
+set output 'bergwerk_path4_nexus_simple_interval8.eps'
+set termoption dashlength 0.5
+set ticslevel 0
+set view equal xy
+set zrange [0:2200]
+set multiplot layout 1,1 scale 2.7,2.7 offset 0,0.23
+set view 72,33
+unset border
+unset xtics
+unset ytics
+unset ztics
+splot \
+'floors.dat'							skip 21 notitle with lines lc rgb '#777777', \
+'path_bergwerk_path4_nexus_simple_interval8.dat'			skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \
+'est_norm_bergwerk_path4_nexus_simple_interval8.dat'		skip 21 notitle with lines lw 2.5 lc rgb '#000099', 'est_smooth_bergwerk_path4_nexus_simple_interval8.dat'	skip 21 notitle with lines lw 2.5 lc rgb '#000000' 
\ No newline at end of file
diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/plot_dist_err_bergwerk_path4_nexus_simple_interval8.gp b/tex/gfx/eval/lag_path4_comp/FBS_5/plot_dist_err_bergwerk_path4_nexus_simple_interval8.gp
new file mode 100644
index 0000000..21ee87a
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/plot_dist_err_bergwerk_path4_nexus_simple_interval8.gp
@@ -0,0 +1,3 @@
+plot \
+'err_dist_norm_bergwerk_path4_nexus_simple_interval8.dat' with lines, \
+'err_dist_smooth_bergwerk_path4_nexus_simple_interval8.dat' with lines
\ No newline at end of file
diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/plot_err_bergwerk_path4_nexus_simple_interval8.gp b/tex/gfx/eval/lag_path4_comp/FBS_5/plot_err_bergwerk_path4_nexus_simple_interval8.gp
new file mode 100644
index 0000000..8498cbd
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/plot_err_bergwerk_path4_nexus_simple_interval8.gp
@@ -0,0 +1,3 @@
+plot \
+'err_norm_bergwerk_path4_nexus_simple_interval8.dat' with lines, \
+'err_smooth_bergwerk_path4_nexus_simple_interval8.dat' with lines
\ No newline at end of file
diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/smoothed_bergwerk_path4_nexus_simple_interval8.stats b/tex/gfx/eval/lag_path4_comp/FBS_5/smoothed_bergwerk_path4_nexus_simple_interval8.stats
new file mode 100644
index 0000000..610cfea
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/smoothed_bergwerk_path4_nexus_simple_interval8.stats
@@ -0,0 +1,783 @@
+
+	cnt(1)	min(719.041)	max(719.041)	range(0)	med(719.041)	avg(719.041)	stdDev(0)	
+
+
+	cnt(2)	min(638.863)	max(719.041)	range(80.1777)	med(719.041)	avg(678.952)	stdDev(40.0889)	
+
+
+	cnt(3)	min(571.902)	max(719.041)	range(147.139)	med(638.863)	avg(643.269)	stdDev(60.1501)	
+
+
+	cnt(4)	min(571.902)	max(719.041)	range(147.139)	med(638.863)	avg(627.759)	stdDev(58.6105)	
+
+
+	cnt(5)	min(532.894)	max(719.041)	range(186.147)	med(581.229)	avg(608.786)	stdDev(64.715)	
+
+
+	cnt(6)	min(472.484)	max(719.041)	range(246.557)	med(581.229)	avg(586.069)	stdDev(77.9123)	
+
+
+	cnt(7)	min(462.581)	max(719.041)	range(256.46)	med(571.902)	avg(568.428)	stdDev(84.0856)	
+
+
+	cnt(8)	min(454.188)	max(719.041)	range(264.853)	med(571.902)	avg(554.148)	stdDev(87.2584)	
+
+
+	cnt(9)	min(427.677)	max(719.041)	range(291.364)	med(532.894)	avg(540.096)	stdDev(91.366)	
+
+
+	cnt(10)	min(425.491)	max(719.041)	range(293.55)	med(532.894)	avg(528.635)	stdDev(93.2473)	
+
+
+	cnt(11)	min(381.768)	max(719.041)	range(337.273)	med(472.484)	avg(515.284)	stdDev(98.4238)	
+
+
+	cnt(12)	min(381.768)	max(719.041)	range(337.273)	med(472.484)	avg(506.639)	stdDev(98.4984)	
+
+
+	cnt(13)	min(369.015)	max(719.041)	range(350.026)	med(462.581)	avg(496.053)	stdDev(101.491)	
+
+
+	cnt(14)	min(344.426)	max(719.041)	range(374.615)	med(462.581)	avg(485.222)	stdDev(105.307)	
+
+
+	cnt(15)	min(344.426)	max(719.041)	range(374.615)	med(454.188)	avg(478.485)	stdDev(104.813)	
+
+
+	cnt(16)	min(246.026)	max(719.041)	range(473.015)	med(454.188)	avg(463.957)	stdDev(116.041)	
+
+
+	cnt(17)	min(246.026)	max(719.041)	range(473.015)	med(427.677)	avg(453.934)	stdDev(119.501)	
+
+
+	cnt(18)	min(246.026)	max(719.041)	range(473.015)	med(427.677)	avg(445.815)	stdDev(120.863)	
+
+
+	cnt(19)	min(246.026)	max(719.041)	range(473.015)	med(425.491)	avg(438.041)	stdDev(122.175)	
+
+
+	cnt(20)	min(246.026)	max(719.041)	range(473.015)	med(425.491)	avg(429.53)	stdDev(124.727)	
+
+
+	cnt(21)	min(246.026)	max(719.041)	range(473.015)	med(411.551)	avg(423.544)	stdDev(124.63)	
+
+
+	cnt(22)	min(246.026)	max(719.041)	range(473.015)	med(411.551)	avg(418.4)	stdDev(124.025)	
+
+
+	cnt(23)	min(246.026)	max(719.041)	range(473.015)	med(384.169)	avg(412.825)	stdDev(124.086)	
+
+
+	cnt(24)	min(246.026)	max(719.041)	range(473.015)	med(384.169)	avg(407.798)	stdDev(123.842)	
+
+
+	cnt(25)	min(246.026)	max(719.041)	range(473.015)	med(381.768)	avg(402.859)	stdDev(123.73)	
+
+
+	cnt(26)	min(246.026)	max(719.041)	range(473.015)	med(381.768)	avg(398.732)	stdDev(123.069)	
+
+
+	cnt(27)	min(246.026)	max(719.041)	range(473.015)	med(369.015)	avg(396.735)	stdDev(121.197)	
+
+
+	cnt(28)	min(246.026)	max(719.041)	range(473.015)	med(369.015)	avg(395.097)	stdDev(119.317)	
+
+
+	cnt(29)	min(246.026)	max(719.041)	range(473.015)	med(350.894)	avg(390.341)	stdDev(119.912)	
+
+
+	cnt(30)	min(244.338)	max(719.041)	range(474.703)	med(350.894)	avg(385.474)	stdDev(120.775)	
+
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+	cnt(31)	min(224.547)	max(719.041)	range(494.494)	med(344.799)	avg(380.283)	stdDev(122.166)	
+
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+	cnt(32)	min(216.693)	max(719.041)	range(502.348)	med(344.799)	avg(375.171)	stdDev(123.565)	
+
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+	cnt(33)	min(216.693)	max(719.041)	range(502.348)	med(344.426)	avg(370.886)	stdDev(124.069)	
+
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+	cnt(34)	min(182.996)	max(719.041)	range(536.045)	med(344.426)	avg(365.36)	stdDev(126.286)	
+
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+	cnt(35)	min(177.738)	max(719.041)	range(541.303)	med(310.373)	avg(359.999)	stdDev(128.334)	
+
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+	cnt(36)	min(177.738)	max(719.041)	range(541.303)	med(310.373)	avg(355.019)	stdDev(129.924)	
+
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+	cnt(37)	min(169.656)	max(719.041)	range(549.385)	med(307.782)	avg(350.009)	stdDev(131.634)	
+
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+	cnt(38)	min(169.656)	max(719.041)	range(549.385)	med(307.782)	avg(345.556)	stdDev(132.684)	
+
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+	cnt(39)	min(169.656)	max(719.041)	range(549.385)	med(303.835)	avg(341.843)	stdDev(132.957)	
+
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+	cnt(40)	min(169.656)	max(719.041)	range(549.385)	med(303.835)	avg(338.45)	stdDev(132.984)	
+
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+	cnt(41)	min(169.656)	max(719.041)	range(549.385)	med(298.112)	avg(335.676)	stdDev(132.519)	
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+	cnt(43)	min(169.656)	max(719.041)	range(549.385)	med(295.569)	avg(331.131)	stdDev(131.032)	
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+	cnt(44)	min(169.656)	max(719.041)	range(549.385)	med(295.569)	avg(329.331)	stdDev(130.071)	
+
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+	cnt(45)	min(169.656)	max(719.041)	range(549.385)	med(293.577)	avg(326.893)	stdDev(129.63)	
+
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+	cnt(46)	min(169.656)	max(719.041)	range(549.385)	med(293.577)	avg(324.877)	stdDev(128.925)	
+
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+	cnt(47)	min(169.656)	max(719.041)	range(549.385)	med(292.191)	avg(322.759)	stdDev(128.352)	
+
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+	cnt(48)	min(169.656)	max(719.041)	range(549.385)	med(292.191)	avg(320.85)	stdDev(127.681)	
+
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+	cnt(49)	min(169.656)	max(719.041)	range(549.385)	med(290.163)	avg(319.222)	stdDev(126.873)	
+
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+
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+
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+	cnt(54)	min(169.656)	max(719.041)	range(549.385)	med(293.577)	avg(322.313)	stdDev(122.728)	
+
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+
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+	cnt(60)	min(169.656)	max(719.813)	range(550.157)	med(303.835)	avg(349.297)	stdDev(144.089)	
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diff --git a/tex/gfx/eval/lag_path4_comp/FBS_5/unsmoothed_bergwerk_path4_nexus_simple_interval8.stats b/tex/gfx/eval/lag_path4_comp/FBS_5/unsmoothed_bergwerk_path4_nexus_simple_interval8.stats
new file mode 100644
index 0000000..13169c8
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/FBS_5/unsmoothed_bergwerk_path4_nexus_simple_interval8.stats
@@ -0,0 +1,798 @@
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diff --git a/tex/gfx/eval/lag_path4_comp/path4.dat b/tex/gfx/eval/lag_path4_comp/path4.dat
new file mode 100644
index 0000000..edc4ca5
--- /dev/null
+++ b/tex/gfx/eval/lag_path4_comp/path4.dat
@@ -0,0 +1,22 @@
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+e
diff --git a/tex/gfx/eval/lag_path4_comp/path4_error_verlauf.gp b/tex/gfx/eval/lag_path4_comp/path4_error_verlauf.gp
index c696fd6..a2805e7 100644
--- a/tex/gfx/eval/lag_path4_comp/path4_error_verlauf.gp
+++ b/tex/gfx/eval/lag_path4_comp/path4_error_verlauf.gp
@@ -52,45 +52,45 @@ set bmargin 1.2
 	
 
 
-set object 1 rectangle from 0,0 to 14,15 fs solid noborder fc rgb "#eeeeee" behind	# standing
-set label 1 "\\footnotesize{1}" at 7,2 center rotate by 0 front
+#set object 1 rectangle from 0,0 to 14,15 fs solid noborder fc rgb "#eeeeee" behind	# standing
+#set label 1 "\\footnotesize{1}" at 7,2 center rotate by 0 front
 
-set object 2 rectangle from 14,0 to 40,15 fs solid noborder fc rgb "#dddddd" behind	# walking down the way
-set label 2 "\\footnotesize{2}" at 27,10 center rotate by 0 front
+set object 2 rectangle from 0,0 to 10,15 fs solid noborder fc rgb "#dddddd" behind	# walking down the way
+set label 2 "\\footnotesize{2}" at 5,10 center rotate by 0 front
 
-set object 3 rectangle from 40,0 to 51,15 fs solid noborder fc rgb "#eeeeee" behind	# ignoring the shortest path
-set label 3 "\\footnotesize{3}" at 45.5,10 center rotate by 0 front
+set object 3 rectangle from 10,0 to 21,15 fs solid noborder fc rgb "#eeeeee" behind	# ignoring the shortest path
+set label 3 "\\footnotesize{3}" at 15.5,10 center rotate by 0 front
 
-set object 4 rectangle from 51,0 to 65,15 fs solid noborder fc rgb "#dddddd" behind	# stairwell
-set label 4 "\\footnotesize{4}" at 58,10 center rotate by 0 front
+set object 4 rectangle from 21,0 to 35,15 fs solid noborder fc rgb "#dddddd" behind	# stairwell
+set label 4 "\\footnotesize{4}" at 28,10 center rotate by 0 front
 
-set object 5 rectangle from 65,0 to 74,15 fs solid noborder fc rgb "#eeeeee" behind	# exit stairwell
-set label 5 "\\footnotesize{5}" at 69.5,10 center rotate by 0 front
+set object 5 rectangle from 35,0 to 44,15 fs solid noborder fc rgb "#eeeeee" behind	# exit stairwell
+set label 5 "\\footnotesize{5}" at 39.5,10 center rotate by 0 front
 
-set object 6 rectangle from 74,0 to 105,15 fs solid noborder fc rgb "#dddddd" behind # floor
-set label 6 "\\footnotesize{6}" at 89.5,10 center rotate by 0 front
+set object 6 rectangle from 44,0 to 75,15 fs solid noborder fc rgb "#dddddd" behind # floor
+set label 6 "\\footnotesize{6}" at 59.5,10 center rotate by 0 front
 
-set object 7 rectangle from 105,0 to 116,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f1
-set label 7 "\\footnotesize{7}" at 110.5,10 center rotate by 0 front
+set object 7 rectangle from 75,0 to 86,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f1
+set label 7 "\\footnotesize{7}" at 80.5,10 center rotate by 0 front
 
-set object 8 rectangle from 116,0 to 130,15 fs solid noborder fc rgb "#dddddd" behind # floor
-set label 8 "\\footnotesize{8}" at 123,10 center rotate by 0 front
+set object 8 rectangle from 86,0 to 100,15 fs solid noborder fc rgb "#dddddd" behind # floor
+set label 8 "\\footnotesize{8}" at 93,10 center rotate by 0 front
 
-set object 9 rectangle from 130,0 to 142,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f0
-set label 9 "\\footnotesize{9}" at 136,10 center rotate by 0 front
+set object 9 rectangle from 100,0 to 112,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f0
+set label 9 "\\footnotesize{9}" at 106,12 center rotate by 0 front
 
-set object 10 rectangle from 142,0 to 150,15 fs solid noborder fc rgb "#dddddd" behind # end
-set label 10 "\\footnotesize{10}" at 146,10 center rotate by 0 front
+set object 10 rectangle from 112,0 to 120,15 fs solid noborder fc rgb "#dddddd" behind # end
+set label 10 "\\footnotesize{10}" at 116,10 center rotate by 0 front
 
 set object 900 rectangle at graph 0.5, 0.94 size graph 0.65,0.12 fs solid fc rgb "#ffffff" lc rgb "#000000" 
-set label 901 "\\textcolor[rgb]{0,0,0}{\\footnotesize{simple}}" at graph 0.28, 0.94 center front
-set label 902 "\\textcolor[rgb]{0,0,0.8}{\\footnotesize{multi}}" at graph 0.49, 0.94 center front
-set label 903 "\\textcolor[rgb]{0.8,0,0}{\\footnotesize{shortest}}" at graph 0.71, 0.94 center front
+set label 901 "\\textcolor[rgb]{0,0.6,0}{\\footnotesize{filtered}}" at graph 0.28, 0.94 center front
+set label 902 "\\textcolor[rgb]{0,0,0.8}{\\footnotesize{BS}}" at graph 0.49, 0.94 center front
+set label 903 "\\textcolor[rgb]{0.8,0,0}{\\footnotesize{FBS}}" at graph 0.71, 0.94 center front
 
 unset key
-set yrange[0:13]
-set xrange[0:151]
+set yrange[0:14]
+set xrange[0:120]
 plot \
-	"BS_5/err_norm_fixedIntervallSimpleTransPath4.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lw 1.2 lc rgb "#000000", \
-	"FBS_5/err_smooth_fixedIntervallSimpleTransPath4.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lw 1.2 lc rgb "#0000cc", \
-	"BS_5/err_smooth_fixedIntervallSimpleTransPath4.dat"	using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lw 1.2 lc rgb "#cc0000", \
+	"FBS_5/err_norm_bergwerk_path4_nexus_simple_interval8.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lw 1.2 lc rgb "#00cc00", \
+	"FBS_5/err_smooth_bergwerk_path4_nexus_simple_interval8.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lw 1.2 lc rgb "#cc0000", \
+	"BS_5/err_smooth_bergwerk_path4_nexus_simple_interval5.dat"	using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lw 1.2 lc rgb "#0000cc", \
diff --git a/tex/gfx/eval/lag_path4_comp/path4_lag_comp.eps b/tex/gfx/eval/lag_path4_comp/path4_lag_comp.eps
index 2306f50..d5af183 100644
--- a/tex/gfx/eval/lag_path4_comp/path4_lag_comp.eps
+++ b/tex/gfx/eval/lag_path4_comp/path4_lag_comp.eps
@@ -1,7 +1,7 @@
 %!PS-Adobe-2.0 EPSF-2.0
 %%Title: path4_lag_comp.tex
 %%Creator: gnuplot 5.0 patchlevel 1
-%%CreationDate: Thu May  5 21:49:27 2016
+%%CreationDate: Mon May  9 17:40:09 2016
 %%DocumentFonts: 
 %%BoundingBox: 50 50 294 150
 %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
   /Author (toni)
 %  /Producer (gnuplot)
 %  /Keywords ()
-  /CreationDate (Thu May  5 21:49:27 2016)
+  /CreationDate (Mon May  9 17:40:09 2016)
   /DOCINFO pdfmark
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diff --git a/tex/gfx/eval/lag_path4_comp/path4_lag_comp.tex b/tex/gfx/eval/lag_path4_comp/path4_lag_comp.tex
index a19dd56..05ba874 100644
--- a/tex/gfx/eval/lag_path4_comp/path4_lag_comp.tex
+++ b/tex/gfx/eval/lag_path4_comp/path4_lag_comp.tex
@@ -84,28 +84,28 @@
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diff --git a/tex/gfx/eval/lag_path4_comp/path4_sections.gp b/tex/gfx/eval/lag_path4_comp/path4_sections.gp
index ec738fa..526124e 100644
--- a/tex/gfx/eval/lag_path4_comp/path4_sections.gp
+++ b/tex/gfx/eval/lag_path4_comp/path4_sections.gp
@@ -3,9 +3,9 @@ set output "path4_lag_comp.tex"
 set termoption dashlength 0.5
 set ticslevel 0
 set view equal xy
-set zrange [0:2400]
+set zrange [0:2800]
 set multiplot layout 1,1 scale 3.25,3.25 offset -0.10,0.31
-set view 73,33
+set view 70,33
 unset border
 unset xtics
 unset ytics
@@ -43,11 +43,11 @@ set object 10 polygon from 7500,3300,0 to 7000,3300,0 to 7000,4200,0 to 7500,420
 
 # plot
 splot\
-	'data/floors.dat'			with lines lc rgb "#888888" notitle,\
-	'data/path4.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \
-	'BS_5/est_norm_bergwerk_path4_nexus_simple_interval2.dat'	skip 21 title "\\footnotesize{smoothed (FBS)}" with lines lw 1.0 lc rgb '#00FF00', \
-	'FBS_5/est_smooth_bergwerk_path4_nexus_simple_interval2.dat'	skip 21 title "\\footnotesize{smoothed (FBS)}" with lines lw 1.0 lc rgb '#FF0000', \
-	'BS_5/est_smooth_bergwerk_path4_nexus_simple_interval2.dat'	skip 21 title "\\footnotesize{smoothed (BS)}" with lines lw 1.0 lc rgb '#0000FF'
+	'floors.dat'			with lines lc rgb "#888888" notitle,\
+	'path4.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \
+	'FBS_5/est_norm_bergwerk_path4_nexus_simple_interval8.dat'	skip 21 title "\\footnotesize{filtered}" with lines lw 1.0 lc rgb '#00FF00', \
+	'FBS_5/est_smooth_bergwerk_path4_nexus_simple_interval8.dat'	skip 21 title "\\footnotesize{smoothed (FBS)}" with lines lw 1.0 lc rgb '#FF0000', \
+	'BS_5/est_smooth_bergwerk_path4_nexus_simple_interval5.dat'	skip 21 title "\\footnotesize{smoothed (BS)}" with lines lw 1.0 lc rgb '#0000FF'
 
 # done
 unset multiplot
diff --git a/tex/gfx/eval/lag_path4_comp/path4_timed_error.gp b/tex/gfx/eval/lag_path4_comp/path4_timed_error.gp
deleted file mode 100644
index 4d1d22c..0000000
--- a/tex/gfx/eval/lag_path4_comp/path4_timed_error.gp
+++ /dev/null
@@ -1,72 +0,0 @@
-set terminal epslatex size 3.4,1.4
-set output "activity_over_time.tex"
-
-#set terminal eps size 3.4,1.4
-#set output "activity_over_time.eps"
-
-#set multiplot layout 2,1
-#set format y "\\footnotesize{%.1f m}"
-set format x "\\footnotesize{%.0f s}"
-set key horizontal
-set yrange[0:17]
-set xrange[0:91]
-set xtics nomirror
-set ytics nomirror
-set key at graph 1,1 opaque box samplen 1.0 spacing 0.8 width -13
-
-set lmargin 7.0
-set tmargin 0.3
-set rmargin 0.4
-set bmargin 1.2
-
-
-set object 1 rectangle from 0,0 to 14,15 fs solid noborder fc rgb "#eeeeee" behind	# standing
-set label 1 "\\footnotesize{1}" at 7,5.5 center rotate by 0 front
-
-set object 2 rectangle from 14,0 to 40,15 fs solid noborder fc rgb "#dddddd" behind	# walking down the way
-set label 2 "\\footnotesize{2}" at 27,5.5 center rotate by 0 front
-
-set object 3 rectangle from 40,0 to 51,15 fs solid noborder fc rgb "#eeeeee" behind	# ignoring the shortest path
-set label 3 "\\footnotesize{3}" at 45.5,5.5 center rotate by 0 front
-
-set object 4 rectangle from 51,0 to 65,15 fs solid noborder fc rgb "#dddddd" behind	# stairwell
-set label 4 "\\footnotesize{4}" at 58,5.5 center rotate by 0 front
-
-set object 5 rectangle from 65,0 to 74,15 fs solid noborder fc rgb "#eeeeee" behind	# exit stairwell
-set label 5 "\\footnotesize{5}" at 69.5,5.5 center rotate by 0 front
-
-set object 6 rectangle from 74,0 to 105,15 fs solid noborder fc rgb "#dddddd" behind # floor
-set label 6 "\\footnotesize{6}" at 89.5,5.5 center rotate by 0 front
-
-set object 7 rectangle from 105,0 to 116,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f1
-set label 7 "\\footnotesize{7}" at 110.5,5.5 center rotate by 0 front
-
-set object 8 rectangle from 116,0 to 128,15 fs solid noborder fc rgb "#dddddd" behind # floor
-set label 8 "\\footnotesize{8}" at 122,5.5 center rotate by 0 front
-
-set object 9 rectangle from 128,0 to 140,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f0
-set label 9 "\\footnotesize{9}" at 134,5.5 center rotate by 0 front
-
-set object 10 rectangle from 140,0 to 150,15 fs solid noborder fc rgb "#dddddd" behind # end
-set label 10 "\\footnotesize{10}" at 145,5.5 center rotate by 0 front
-
-#set object 900 rectangle at graph 0.5, 0.94 size graph 0.65,0.12 fs solid fc rgb "#ffffff" lc rgb "#000000" 
-#set label 901 "\\textcolor[rgb]{0,0,0}{\\footnotesize{simple}}" at graph 0.28, 0.94 center front
-#set label 902 "\\textcolor[rgb]{0,0,0.8}{\\footnotesize{multi}}" at graph 0.49, 0.94 center front
-#set label 903 "\\textcolor[rgb]{0.8,0,0}{\\footnotesize{shortest}}" at graph 0.71, 0.94 center front
-
-set grid y
-set format y ""
-set ytics 0 4
-set ytics add ("\\footnotesize{unkown}" 0)
-set ytics add ("\\footnotesize{standing}" 1)
-set ytics add ("\\footnotesize{walking}" 2)
-set ytics add ("\\footnotesize{stairs\\_up}" 3)
-set ytics add ("\\footnotesize{stairs\\_down}" 4)
-
-unset key
-set yrange[0:6]
-set xrange[0:151]
-
-plot \
-	"act_bergwerk_path4_nexus_simple_interval0.dat" using ($0/2+0):1 with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lw 1.2 lc rgb "#000000"