#n k d nodes time 160 120 25 31.4 219.818 160 120 50 17.4 143.417 160 120 75 9.8 82.1499 160 40 25 744.6 2856.42 160 40 50 11325.4 37565.2 160 40 75 8050.6 26302.6 160 80 25 395.4 1835.2 160 80 50 993.4 4654.52 160 80 75 3829 18653.9