global_xs=[-30 -20 -10 0 1 2 3 4 5 ];
global_ys=[0 0 0 2 2 2 2 2 2 ];
err(4) = 0;
smooth(4) = 0.05;
n_valid(4) = 6;
theta{4} = [0 2 -0.450594 -0.790327 8.7182 25.6645 ];
