#include "bits/stdc++.h"
using namespace std;
const double SZ = 10.0;
const int MAX_N = 200;
const int INF = 1e+9;
const int IT = 100;
const int IT_UE = 100;
const double C_NS = 0.299792458;
int n;
double bs[4][2];
double ue[MAX_N][2];
double t[MAX_N][4];
double bs_best[4][2];
double ue_best[MAX_N][2];
double toa[4];
std::random_device rd;
std::mt19937 gen(rd());
std::uniform_real_distribution < > dis(0, 1);
double get_rand(double x = 1) {
return dis(gen) * x;
}
int main() {
cin >> n;
cin >> bs[0][0] >> bs[0][1];
cin >> bs[1][0] >> bs[1][1];
for (int i = 0; i < n; ++i)
for (int j = 0; j < 4; ++j)
cin >> t[i][j];
double min_loss = INF;
for (int i = 0; i < IT; ++i) {
bs[2][0] = -get_rand() * SZ;
bs[2][1] = get_rand() * SZ;
bs[3][0] = get_rand() * SZ;
bs[3][1] = get_rand() * SZ;
double loss_tdoa = 0;
for (int j = 0; j < n; ++j) {
double min_loss_ue = INF;
for (int k = 0; k < IT_UE; ++k) {
double ue_x = (get_rand(2) - 1) * SZ;
double ue_y = (get_rand(2) - 1) * SZ;
for (int l = 0; l < 4; ++l)
toa[l] = sqrt((ue_x - bs[l][0]) * (ue_x - bs[l][0]) + (ue_y - bs[l][1]) * (ue_y - bs[l][1])) / C_NS;
double loss = 0;
for (int l = 1; l < 4; ++l)
loss += ((toa[l] - toa[0]) - (t[j][l] - t[j][0])) * ((toa[l] - toa[0]) - (t[j][l] - t[j][0]));
if (loss < min_loss_ue) {
min_loss_ue = loss;
ue[j][0] = ue_x;
ue[j][1] = ue_y;
}
}
loss_tdoa += min_loss_ue;
}
if (loss_tdoa < min_loss) {
min_loss = loss_tdoa;
for (int j = 0; j < 4; ++j) {
bs_best[j][0] = bs[j][0];
bs_best[j][1] = bs[j][1];
}
for (int j = 0; j < n; ++j) {
ue_best[j][0] = ue[j][0];
ue_best[j][1] = ue[j][1];
}
}
}
for (int i = 2; i < 4; ++i)
printf("%0.9f %0.9f\n", bs_best[i][0], bs_best[i][1]);
for (int i = 0; i < n; ++i)
printf("%0.9f %0.9f\n", ue_best[i][0], ue_best[i][1]);
return 0;
}
