Y add 82.0 sub mul -6.9 mul sub mul 0.242 inv sub mul -0.488 x_3 mul -80.60000000000001 x_2 mul -0.025 mul mul cos add -66.4 mul -71.7 x_3 sin add -5.8100000000000005 mul 0.215 x_4 x_1 x_2 mul -0.079 x_0