int laps, cpCount;

// function that gives a score to the result of simulating moves
float Evaluate(Pod* pods)
{
	float score = 0;
	for (int p = 0; p < 4; p++)
	{

		int podCpsPassed = pods[p].lap*cpCount + pods[p].target->prev->id;
		int owner = p < 2 ? 1 : -1;
		//if (owner==1) {
		    //score += (podCpsPassed * 50000 - dist(pods[p].target->loc, pods[p].loc)); // scoring race completion by all pods, multiplying enemy score by -1
		    score += (podCpsPassed * 50000 - dist(pods[p].target->loc, pods[p].loc))*owner; // scoring race completion by all pods, multiplying enemy score by -1
		//}
	}

	//score += dist(pods[0].loc, pods[1].loc); // our pods love each other. they want to stay together
	return score;
}

int main()
{
    char latestLap='a';
    int latestTargetId=-1;
    Pod podToStop;

	cin >> laps >> cpCount;

	Checkpoint cps[cpCount];

	for (int i = 0; i < cpCount; i++)
	{
		cps[i].id = i;
		cin >> cps[i].loc;
		cps[i].prev = &cps[(i + cpCount - 1) % cpCount];
		cps[i].next = &cps[(i + 1) % cpCount];
	}

	Pod pods[4];

	for (int i = 0; i < 4; i++) {
		pods[i].target = &cps[1];
	}
	for (int i = 2; i <=4; i++) {
	    pods[i].boostUsed = true;
	}


	int podToStop_nextTargetId;// = podToStop.target->next->id;
    vec2d podToStop_nextTarget;// = podToStop.target->next->loc;

	while (1)
	{
		for (int i = 0; i < 4; i++)
		{
			int ncp = 0;
			cin >> pods[i].loc >> pods[i].vel >> pods[i].view.angle >> ncp;
			if (ncp == -1)
			{
				cout << "0 0 0\n0 0 0\nEnemy is dead!";
				exit(0);
			}
			while (ncp != pods[i].target->id)
				pods[i].ValidateCP();

			if (pods[i].view.angle != -1)
				pods[i].view.angle *= toRad;
			else pods[i].view.angle = getAbsoluteAngle(cps[1].loc - pods[i].loc);

			if ((int)pods[i].lap > (int)latestLap && i >= 2) {
                if (pods[i].target->id > latestTargetId || pods[i].target->id==0) {
                    latestTargetId=pods[i].target->id;
                    latestLap=pods[i].lap;
		            podToStop=pods[i];
			    }
			} else  {
			    if (i >= 2) {
                    if (pods[i].target->id > latestTargetId || pods[i].target->id==0) {
                        latestTargetId=pods[i].target->id;
                        latestLap=pods[i].lap;
    		            podToStop=pods[i];
    			    }
			    }
			}
			if (i >= 2) {
    		    cerr << "Target id: " << pods[i].target->id << endl;
    		    cerr << "Lap: " << (int)pods[i].lap << endl;

			}
        }
        cerr << "LatestTargetId: " << latestTargetId << endl;
        cerr << "LatestLap: " << (int)latestLap << endl;
        cerr << "PodToStop.targetId: " << podToStop.target->id << endl;
        cerr << "PodToStop.lap: " << (int)podToStop.lap << endl;

		GameMove bestMoves[2];
		float bestScore = -10000000000;
		for (int i = 0; i < 2000; i++)
		{
			Pod testPods[4];
			memcpy(testPods, pods, sizeof(pods));

			GameMove moves[2];
			for (int m = 0; m < 2; m++)
			    //moves[m] = GameMove(frand(-36 * toRad, 36 * toRad), frand(-100, maxThrust+100));
				moves[m] = GameMove(frand(-45 * toRad, 45 * toRad), frand(-50, maxThrust+50));

			GameMove FirstTurnMoves[2];
			memcpy(FirstTurnMoves, moves, sizeof(FirstTurnMoves));

			for (int turn = 0; turn < 20; turn++)
			{
				testPods[0].Apply(moves[0]);
				testPods[1].Apply(moves[1]);

				testPods[2].Apply(testPods[2].GetMoveAction(testPods[2].target->loc - testPods[2].vel * 3, 100));
				testPods[3].Apply(testPods[3].GetMoveAction(testPods[3].target->loc - testPods[3].vel * 3, 100));

				play(testPods);

				for (int m = 0; m < 2; m++)
					moves[m] = GameMove(
						moves[m].angle + pow(frand(-3, 3), 3)*toRad,
						moves[m].thrust + pow(frand(-3, 9), 3)*6
					);
			}

			float score = Evaluate(testPods);

			if (score > bestScore)
			{
				bestScore = score;
				memcpy(bestMoves, FirstTurnMoves, sizeof(FirstTurnMoves));
			}
		}

		pods[0].PrintAction(bestMoves[0]);
		//pods[1].PrintAction(bestMoves[1]);


		/*if (!podToStop_nextTargetId && podToStop.target->next->id) {
		      podToStop_nextTargetId = podToStop.target->next->id;
		}
		if (podToStop_nextTargetId != 0 ) {
		    if (podToStop_nextTargetId == podToStop_nextTargetId+2) {

		    }
		}*/

		cout << podToStop.target->next->loc << " 100" << endl;
	}
}